--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Giantarm.cpp	Wed Feb 03 18:37:01 2010 +0900
@@ -0,0 +1,352 @@
+/*
+ *  giantarm.cpp
+ *  Martial
+ *
+ *  Created by e075743 on 10/02/03.
+ *  Copyright 2010 __MyCompanyName__. All rights reserved.
+ *
+ */
+
+#include "Giantarm.h"
+
+Giantarm::Giantarm(char* _name) : Humanoid::Humanoid(_name) {
+	moveCount = 0.0;
+	//scale = osg::Vec3(0.01,0.01,0.01);
+	
+	humanoidNode = osgDB::readNodeFile("Giantarm.osg");
+	humanoidForm = new osg::PositionAttitudeTransform();
+	humanoidForm->addChild(humanoidNode);
+	mform->addChild(humanoidForm);
+	
+	//ノードにアクセス。MatrixTransformをnameで検索(visitor内部で std::map で保持)
+	SearchMatrixTransformVisitor visitor = SearchMatrixTransformVisitor();
+	
+	humanoidNode->accept(visitor);
+	bodyForm = visitor.getMatrixTransform("body");
+	leftUpperArmForm = visitor.getMatrixTransform("left_arm");
+	rightUpperArmForm = visitor.getMatrixTransform("right_arm");
+	leftDownArmForm = visitor.getMatrixTransform("left_hand");
+	rightDownArmForm = visitor.getMatrixTransform("right_hand");
+	//leftUpperLegForm = visitor.getMatrixTransform("left_leg1");	
+	//rightUpperLegForm = visitor.getMatrixTransform("right_leg1");
+	//leftDownLegForm = visitor.getMatrixTransform("left_leg2");	
+	//rightDownLegForm = visitor.getMatrixTransform("right_leg2");
+	
+	//衝突判定ノードの追加
+	CollisionNode* collisionNode;
+	
+	bodyForm->setMatrix(osg::Matrix());
+	
+	collisionNode = new CollisionNode("Body-Node1", new osg::Sphere(osg::Vec3(0, 0, 0), 0.5));
+	bodyForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Body-Node2", new osg::Sphere(osg::Vec3(0, 0, 0.5), 0.5));
+	bodyForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Body-Node3", new osg::Sphere(osg::Vec3(0, 0, -0.6), 0.5));
+	bodyForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Left-Arm-Node", new osg::Sphere(osg::Vec3(1, -0.4, -0.7), 0.3));
+	leftDownArmForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	collisionNode = new CollisionNode("Right-Arm-Node", new osg::Sphere(osg::Vec3(-1, -0.4, -0.7), 0.3));
+	rightDownArmForm->addChild(collisionNode->getGeode());
+	collisionNodeList.push_back(collisionNode);
+	//collisionNode = new CollisionNode("Left-Leg-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 30));
+	//leftUpperLegForm->addChild(collisionNode->getGeode());
+	//collisionNodeList.push_back(collisionNode);
+	//collisionNode = new CollisionNode("Right-Leg-Node", new osg::Sphere(osg::Vec3(0, 0, 0), 30));
+	//rightUpperLegForm->addChild(collisionNode->getGeode());
+	//collisionNodeList.push_back(collisionNode);	
+	
+	SearchGeodeVisitor gvisitor = SearchGeodeVisitor();
+	
+	gvisitor.setSearchGeodeName("Collision_right_leg1_geode");
+	humanoidNode->accept(gvisitor);
+	
+	//std::cout << "getVisitor: result = " << gvisitor.getGeode().getName(); << "\n";
+	
+	unWaitFunc = &Giantarm::nop;
+	funcs[PUSH_LEFT]		= &Giantarm::walk;
+	funcs[PUSH_RIGHT]		= &Giantarm::turn;
+	funcs[PUSH_UP]			= &Giantarm::jump;
+	funcs[PUSH_DOWN]		= &Giantarm::squat;
+	funcs[PUSH_RIGHTUP]		= &Giantarm::jump;
+	funcs[PUSH_LEFTUP]		= &Giantarm::jump;
+	funcs[PUSH_RIGHTDOWN]	= &Giantarm::walk;
+	funcs[PUSH_LEFTDOWN]	= &Giantarm::walk;	
+	funcs[RELEASE_HAT]		= &Giantarm::stop;
+	funcs[PUSH_A]			= &Giantarm::punch;
+	funcs[PUSH_B]			= &Giantarm::nop;
+	funcs[PUSH_C]			= &Giantarm::nop;
+	funcs[PUSH_D]			= &Giantarm::nop;
+	funcs[RELEASE_BUTTON]	= &Giantarm::stop;
+}
+
+void Giantarm::releaseHat() {
+	printInput("Class Giantarm [%s] :: RELEASE-HAT\n", name);
+	(this->*funcs[RELEASE_HAT])();
+}
+
+void Giantarm::pushLeft() {
+	printInput("Class Giantarm [%s] :: PUSH-LEFT\n", name);
+	(this->*funcs[PUSH_LEFT])();
+}
+
+void Giantarm::pushRight() {
+	printInput("Class Giantarm [%s] :: PUSH-RIGHT\n", name);
+	(this->*funcs[PUSH_RIGHT])();
+}
+
+void Giantarm::pushUp() {
+	printInput("Class Giantarm [%s] :: PUSH-UP\n", name);
+	(this->*funcs[PUSH_UP])();
+}
+
+void Giantarm::pushDown() {
+	printInput("Class Giantarm [%s] :: PUSH-DOWN\n", name);
+	//(this->*funcs[PUSH_RIGHTDOWN])();
+	(this->*funcs[PUSH_A])();
+}
+
+void Giantarm::pushRightUp() {
+	printInput("Class Giantarm [%s] :: PUSH-RIGHT-UP\n", name);
+	(this->*funcs[PUSH_RIGHTUP])();
+}
+void Giantarm::pushRightDown() {
+	printInput("Class Giantarm [%s] :: PUSH-RIGHT-DOWN\n", name);
+	(this->*funcs[PUSH_RIGHTDOWN])();
+}
+void Giantarm::pushLeftUp() {
+	printInput("Class Giantarm [%s] :: PUSH-LEFT-UP\n", name);
+	(this->*funcs[PUSH_RIGHTUP])();
+}
+
+void Giantarm::pushLeftDown() {
+	printInput("Class Giantarm [%s] :: PUSH-LEFT-DOWN\n", name);
+	(this->*funcs[PUSH_LEFTDOWN])();
+}
+
+void Giantarm::pushA() {
+	printInput("Class Giantarm [%s] :: PUSH-A\n", name);
+	(this->*funcs[PUSH_A])();
+}
+
+void Giantarm::releaseA() {
+	printInput("Class Giantarm [%s] :: RELEASE-A\n", name);
+}
+
+void Giantarm::pushB() {
+	printInput("Class Giantarm [%s] :: PUSH-B\n", name);
+	(this->*funcs[PUSH_B])();
+}
+
+void Giantarm::releaseB() {
+	printInput("Class Giantarm [%s] :: RELASE-B\n", name);
+}
+
+void Giantarm::pushC() {
+	printInput("Class Giantarm [%s] :: PUSH-C\n", name);
+	(this->*funcs[PUSH_C])();
+}
+
+void Giantarm::releaseC() {
+	printInput("Class Giantarm [%s] :: RELEASE-C\n", name);
+}
+
+void Giantarm::pushD() {
+	printInput("Class Giantarm [%s] :: PUSH-D\n", name);
+	(this->*funcs[PUSH_D])();
+}
+
+void Giantarm::releaseD() {
+	printInput("Class Giantarm [%s] :: RELEASE-D\n", name);
+}
+
+void Giantarm::stackPush() {
+	stack[PUSH_LEFT]		= funcs[PUSH_LEFT];
+	stack[PUSH_RIGHT]		= funcs[PUSH_RIGHT];
+	stack[PUSH_UP]			= funcs[PUSH_UP];
+	stack[PUSH_DOWN]		= funcs[PUSH_DOWN];
+	stack[PUSH_RIGHTUP]		= funcs[PUSH_RIGHTUP];
+	stack[PUSH_LEFTUP]		= funcs[PUSH_LEFTUP];
+	stack[PUSH_RIGHTDOWN]	= funcs[PUSH_RIGHTDOWN];
+	stack[PUSH_LEFTDOWN]	= funcs[PUSH_LEFTDOWN];
+	stack[RELEASE_HAT]		= funcs[RELEASE_HAT];
+	stack[PUSH_A]			= funcs[PUSH_A];
+	stack[PUSH_B]			= funcs[PUSH_B];
+	stack[PUSH_C]			= funcs[PUSH_C];
+	stack[PUSH_D]			= funcs[PUSH_D];
+	stack[RELEASE_BUTTON]	= funcs[RELEASE_BUTTON];
+	
+	funcs[PUSH_LEFT]		= &Giantarm::wait;
+	funcs[PUSH_RIGHT]		= &Giantarm::wait;
+	funcs[PUSH_UP]			= &Giantarm::wait;
+	funcs[PUSH_DOWN]		= &Giantarm::wait;
+	funcs[PUSH_RIGHTUP]		= &Giantarm::wait;
+	funcs[PUSH_LEFTUP]		= &Giantarm::wait;
+	funcs[PUSH_RIGHTDOWN]	= &Giantarm::wait;
+	funcs[PUSH_LEFTDOWN]	= &Giantarm::wait;
+	funcs[RELEASE_HAT]		= &Giantarm::wait;
+	funcs[PUSH_A]			= &Giantarm::wait;
+	funcs[PUSH_B]			= &Giantarm::wait;
+	funcs[PUSH_C]			= &Giantarm::wait;
+	funcs[PUSH_D]			= &Giantarm::wait;
+	funcs[RELEASE_BUTTON]	= &Giantarm::wait;
+}
+
+void Giantarm::stackPop() {
+	funcs[PUSH_LEFT]		= stack[PUSH_LEFT];
+	funcs[PUSH_RIGHT]		= stack[PUSH_RIGHT];
+	funcs[PUSH_UP]		= stack[PUSH_UP];
+	funcs[PUSH_DOWN]		= stack[PUSH_DOWN];
+	funcs[PUSH_RIGHTUP]	= stack[PUSH_RIGHTUP];
+	funcs[PUSH_LEFTUP]	= stack[PUSH_LEFTUP];
+	funcs[PUSH_RIGHTDOWN]	= stack[PUSH_RIGHTDOWN];
+	funcs[PUSH_LEFTDOWN]	= stack[PUSH_LEFTDOWN];
+	funcs[RELEASE_HAT]	=	stack[RELEASE_HAT];
+	funcs[PUSH_A]			= stack[PUSH_A];
+	funcs[PUSH_B]			= stack[PUSH_B];
+	funcs[PUSH_C]			= stack[PUSH_C];
+	funcs[PUSH_D]			= stack[PUSH_D];
+	funcs[RELEASE_BUTTON]	= stack[RELEASE_BUTTON];
+}
+
+/*  Giantarmの各モーションを定義 */
+
+void Giantarm::punch() {
+	float sinVal = sin(moveCount);
+	float cosVal = cos(moveCount);
+	double punch[6][3] = {{5.0,-30.0,-30.0},{10.0,-90.0,-90.0},{15.0,-90.0,60.0},{15.0,-90.0,60.0},{10.0,-90.0,-90.0},{0.0,0.0,0.0}};
+	osg::Matrixd roteMatrix;
+	osg::Matrixd dirMatrix;
+	osg::Matrixd accMatrix;
+	
+	bodyForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(punch[(int)moveCount%6][0]), osg::Vec3(0,0,1)));
+	rightUpperArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(punch[(int)moveCount%6][1]), osg::Vec3(1,0,0)));
+	rightDownArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(punch[(int)moveCount%6][2]), osg::Vec3(1,0,0)));
+	moveCount += 1;
+	//if(moveCount <= 0.5){
+	//bodyForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*10.0), osg::Vec3(0,0,1)));
+	//rightUpperArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*60.0-90), osg::Vec3(1,0,0)));
+	//rightDownArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*60.0-20), osg::Vec3(1,0,0)));
+	//}
+}
+
+void Giantarm::walk() {
+	velocity = osg::Vec3(0.5*avatarDirection,0,0);
+	moveCount += (float)avatarDirection * 0.5;
+	float sinVal = sin(moveCount);
+	float cosVal = cos(moveCount);
+	
+	setPos(osg::Vec3(position.x(), position.y(), position.z()+cos(moveCount)*0.01));
+	
+	osg::Matrixd roteMatrix;
+	osg::Matrixd dirMatrix;
+	osg::Matrixd accMatrix;
+	
+	//positionAttitudeMatrix.setAttitude();での演算にくらべると、倍高速?
+	bodyForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*10.0), osg::Vec3(0,0,1)));
+	leftUpperArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*30.0+10), osg::Vec3(1,0,0)));
+	rightUpperArmForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*-30.0+10), osg::Vec3(1,0,0)));
+	//leftUpperLegForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*-45.0), osg::Vec3(1,0,0)));
+	//rightUpperLegForm->setMatrix(osg::Matrixf::rotate(osg::DegreesToRadians(sinVal*45.0), osg::Vec3(1,0,0)));
+	
+}
+
+void Giantarm::turn() {
+	angularVelocity = osg::Vec3(0,0,osg::DegreesToRadians(180.0/10.0));
+	motionTime = 10;
+	avatarDirection *= -1;
+	void (Giantarm::*tmp)() = funcs[PUSH_LEFT];
+	funcs[PUSH_LEFT] = funcs[PUSH_RIGHT];
+	funcs[PUSH_RIGHT] = tmp;
+	stackPush();
+	unWaitFunc = &Giantarm::stop;
+	wait();
+}
+
+void Giantarm::jump() {
+	funcs[PUSH_UP] = &Giantarm::nop;
+	funcs[PUSH_RIGHTUP] = &Giantarm::nop;
+	funcs[PUSH_LEFTUP] = &Giantarm::nop;	
+	velocity = osg::Vec3(velocity.x(), velocity.y(), 4);
+	acceleration = osg::Vec3(acceleration.x(), acceleration.y(), -0.3);
+}
+
+void Giantarm::stop() {
+	moveCount = 0;
+	motionTime = 0;
+	velocity = osg::Vec3(0,0,0);
+	angularVelocity = osg::Vec3(0,0,0);
+}
+
+void Giantarm::wait() {
+	if ((--motionTime) < 0) {
+		(this->*unWaitFunc)();
+		unWaitFunc = &Giantarm::nop;
+		stackPop();
+	}
+}
+
+//以下、未実装
+
+void Giantarm:: run() {};
+void Giantarm:: squat() {};
+void Giantarm:: down() {};
+void Giantarm:: freeze() {};
+
+void Giantarm::frame() {
+	update();
+}
+
+void Giantarm::update() {
+	
+	//[当たり判定の処理] - 未実装,ただ判定を消すだけ
+	std::list<CollisionNode*>::iterator iter;
+	for (iter = collisionNodeList.begin(); iter != collisionNodeList.end(); ++iter) {
+		(*iter)->setCollision(false);
+	}
+	
+	osg::Matrixd roteMatrix;
+	osg::Matrixd dirMatrix;
+	osg::Matrixd accMatrix;
+	
+	direction += angularVelocity;
+	velocity  += acceleration;
+	
+	accMatrix.makeTranslate(acceleration);
+	roteMatrix.makeRotate(
+						  osg::Quat(
+									direction.x(), osg::Vec3(1,0,0),
+									direction.y(), osg::Vec3(0,1,0),
+									direction.z(), osg::Vec3(0,0,1)
+									)
+						  );
+	
+	velocity += (accMatrix*roteMatrix).getTrans();
+	position += velocity;
+	
+	// 地面を抜けた場合
+	if (position.z() < 0) {
+		position.z() = 0;
+		funcs[PUSH_UP] = &Giantarm::jump;
+		funcs[PUSH_RIGHTUP] = &Giantarm::jump;
+		funcs[PUSH_LEFTUP] = &Giantarm::jump;
+		velocity = osg::Vec3(velocity.x(), velocity.y(), 0);
+		acceleration = osg::Vec3(acceleration.x(), acceleration.y(), 0);
+	}
+	
+	accMatrix.makeTranslate(acceleration);
+	roteMatrix.makeRotate(
+						  osg::Quat(
+									defaultDirection.x()+direction.x(), osg::Vec3(1,0,0),
+									defaultDirection.y()+direction.y(), osg::Vec3(0,1,0),
+									defaultDirection.z()+direction.z(), osg::Vec3(0,0,1)
+									)
+						  );
+	
+	dirMatrix.makeTranslate(position);
+	accMatrix.makeScale(scale);
+	mform->setMatrix(accMatrix*roteMatrix*dirMatrix);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Giantarm.h	Wed Feb 03 18:37:01 2010 +0900
@@ -0,0 +1,57 @@
+/*
+ *  giantarm.h
+ *  Martial
+ *
+ *  Created by e075743 on 10/02/03.
+ *  Copyright 2010 __MyCompanyName__. All rights reserved.
+ *
+ */
+
+#ifndef _Giantarm_H_
+#define _Giantarm_H_
+
+#include "Humanoid.h"
+
+class Giantarm : public Humanoid {
+protected:
+	void (Giantarm::*funcs[14])();
+	void (Giantarm::*stack[14])();
+	void (Giantarm::*frameFunc)();
+	void (Giantarm::*unWaitFunc)();		
+	virtual void walk();
+	virtual void turn();
+	virtual void jump();
+	void punch();
+	virtual void run();
+	virtual void squat();
+	virtual void down();
+	virtual void wait();
+	virtual void freeze();
+	virtual void stop();
+	virtual void update();
+	virtual void stackPush();
+	virtual void stackPop();
+	virtual void nop() {}; //none operation
+public:
+	Giantarm(char* _name = "Giantarm");
+	virtual void frame();
+	virtual void releaseHat();
+	virtual void pushRight();
+	virtual void pushLeft();
+	virtual void pushUp();
+	virtual void pushDown();
+	virtual void pushRightUp();
+	virtual void pushRightDown();
+	virtual void pushLeftUp();
+	virtual void pushLeftDown();
+	virtual void pushA();
+	virtual void releaseA();
+	virtual void pushB();
+	virtual void releaseB();
+	virtual void pushC();
+	virtual void releaseC();
+	virtual void pushD();
+	virtual void releaseD();
+};
+
+#endif