Fix line endings. WHAMMY.

1 files changed, 775 insertions, 775 deletions

diff --git a/mp/src/public/jigglebones.cpp b/mp/src/public/jigglebones.cpp
index a8155d47..10038e58 100644
--- a/mp/src/public/jigglebones.cpp
+++ b/mp/src/public/jigglebones.cpp
@@ -1,775 +1,775 @@
-//========= Copyright Valve Corporation, All rights reserved. ============//

-//

-// Purpose: 

-//

-// $NoKeywords: $

-//===========================================================================//

-

-#include "tier1/convar.h"

-#include "jigglebones.h"

-

-#ifdef CLIENT_DLL

-#include "engine/ivdebugoverlay.h"

-#include "cdll_client_int.h"

-#endif // CLIENT_DLL

-

-// memdbgon must be the last include file in a .cpp file!!!

-#include "tier0/memdbgon.h"

-

-#ifdef CLIENT_DLL

-//-----------------------------------------------------------------------------

-ConVar cl_jiggle_bone_debug( "cl_jiggle_bone_debug", "0", FCVAR_CHEAT, "Display physics-based 'jiggle bone' debugging information" );

-ConVar cl_jiggle_bone_debug_yaw_constraints( "cl_jiggle_bone_debug_yaw_constraints", "0", FCVAR_CHEAT, "Display physics-based 'jiggle bone' debugging information" );

-ConVar cl_jiggle_bone_debug_pitch_constraints( "cl_jiggle_bone_debug_pitch_constraints", "0", FCVAR_CHEAT, "Display physics-based 'jiggle bone' debugging information" );

-#endif // CLIENT_DLL

-

-ConVar cl_jiggle_bone_framerate_cutoff( "cl_jiggle_bone_framerate_cutoff", "45", 0, "Skip jiggle bone simulation if framerate drops below this value (frames/second)" );

-

-

-//-----------------------------------------------------------------------------

-JiggleData * CJiggleBones::GetJiggleData( int bone, float currenttime, const Vector &initBasePos, const Vector &initTipPos )

-{

-	FOR_EACH_LL( m_jiggleBoneState, it )

-	{

-		if ( m_jiggleBoneState[it].bone == bone )

-		{

-			return &m_jiggleBoneState[it];

-		}

-	}

-

-	JiggleData data;

-	data.Init( bone, currenttime, initBasePos, initTipPos );

-

-	int idx = m_jiggleBoneState.AddToHead( data );

-	if ( idx == m_jiggleBoneState.InvalidIndex() )

-		return NULL;

-

-	return &m_jiggleBoneState[idx];

-}

-

-

-//-----------------------------------------------------------------------------

-/**

- * Do spring physics calculations and update "jiggle bone" matrix

- * (Michael Booth, Turtle Rock Studios)

- */

-void CJiggleBones::BuildJiggleTransformations( int boneIndex, float currenttime, const mstudiojigglebone_t *jiggleInfo, const matrix3x4_t &goalMX, matrix3x4_t &boneMX )

-{

-	Vector goalBasePosition;

-	MatrixPosition( goalMX, goalBasePosition );

-

-	Vector goalForward, goalUp, goalLeft;

-	MatrixGetColumn( goalMX, 0, goalLeft );

-	MatrixGetColumn( goalMX, 1, goalUp );

-	MatrixGetColumn( goalMX, 2, goalForward );

-

-	// compute goal tip position

-	Vector goalTip = goalBasePosition + jiggleInfo->length * goalForward;

-

-	JiggleData *data = GetJiggleData( boneIndex, currenttime, goalBasePosition, goalTip );

-	if ( !data )

-	{

-		return;

-	}

-

-	// if frames have been skipped since our last update, we were likely

-	// disabled and re-enabled, so re-init

-#if defined(CLIENT_DLL) || defined(GAME_DLL)

-	float timeTolerance = 1.2f * gpGlobals->frametime;

-#else

-	float timeTolerance = 0.5f;

-#endif

-

-	if ( currenttime - data->lastUpdate > timeTolerance )

-	{

-		data->Init( boneIndex, currenttime, goalBasePosition, goalTip );

-	}

-

-	if ( data->lastLeft.IsZero() )

-	{

-		data->lastLeft = goalLeft;

-	}

-

-	// limit maximum deltaT to avoid simulation blowups

-	// if framerate is too low, skip jigglebones altogether, since movement will be too

-	// large between frames to simulate with a simple Euler integration

-	float deltaT = currenttime - data->lastUpdate;

-

-	const float thousandHZ = 0.001f;

-	if ( deltaT < thousandHZ )

-	{

-		deltaT = thousandHZ;

-	}

-	else if ( cl_jiggle_bone_framerate_cutoff.GetFloat() <= 0.0f || deltaT > ( 1.0f / cl_jiggle_bone_framerate_cutoff.GetFloat() ) )

-	{

-		// disable jigglebone - just use goal matrix

-		boneMX = goalMX;

-		return;

-	}

-

-	// we want lastUpdate here, so if jigglebones were skipped they get reinitialized if they turn back on

-	data->lastUpdate = currenttime;

-

-	//

-	// Bone tip flex

-	//

-	if ( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) )

-	{

-		// apply gravity in global space

-		data->tipAccel.z -= jiggleInfo->tipMass;

-

-		if ( jiggleInfo->flags & JIGGLE_IS_FLEXIBLE )

-		{

-			// decompose into local coordinates

-			Vector error = goalTip - data->tipPos;

-

-			Vector localError;

-			localError.x = DotProduct( goalLeft, error );

-			localError.y = DotProduct( goalUp, error );

-			localError.z = DotProduct( goalForward, error );

-

-			Vector localVel;

-			localVel.x = DotProduct( goalLeft, data->tipVel );

-			localVel.y = DotProduct( goalUp, data->tipVel );

-

-			// yaw spring

-			float yawAccel = jiggleInfo->yawStiffness * localError.x - jiggleInfo->yawDamping * localVel.x;

-

-			// pitch spring

-			float pitchAccel = jiggleInfo->pitchStiffness * localError.y - jiggleInfo->pitchDamping * localVel.y;

-

-			if ( jiggleInfo->flags & JIGGLE_HAS_LENGTH_CONSTRAINT )

-			{

-				// drive tip towards goal tip position	

-				data->tipAccel += yawAccel * goalLeft + pitchAccel * goalUp;

-			}

-			else

-			{

-				// allow flex along length of spring

-				localVel.z = DotProduct( goalForward, data->tipVel );

-

-				// along spring

-				float alongAccel = jiggleInfo->alongStiffness * localError.z - jiggleInfo->alongDamping * localVel.z;

-

-				// drive tip towards goal tip position	

-				data->tipAccel += yawAccel * goalLeft + pitchAccel * goalUp + alongAccel * goalForward;

-			}

-		}

-

-

-		// simple euler integration		

-		data->tipVel += data->tipAccel * deltaT;

-		data->tipPos += data->tipVel * deltaT;

-

-		// clear this timestep's accumulated accelerations

-		data->tipAccel = vec3_origin;		

-

-		//

-		// Apply optional constraints

-		//

-		if ( jiggleInfo->flags & ( JIGGLE_HAS_YAW_CONSTRAINT | JIGGLE_HAS_PITCH_CONSTRAINT ) )

-		{

-			// find components of spring vector in local coordinate system

-			Vector along = data->tipPos - goalBasePosition;

-			Vector localAlong;

-			localAlong.x = DotProduct( goalLeft, along );

-			localAlong.y = DotProduct( goalUp, along );

-			localAlong.z = DotProduct( goalForward, along );

-

-			Vector localVel;

-			localVel.x = DotProduct( goalLeft, data->tipVel );

-			localVel.y = DotProduct( goalUp, data->tipVel );

-			localVel.z = DotProduct( goalForward, data->tipVel );

-

-			if ( jiggleInfo->flags & JIGGLE_HAS_YAW_CONSTRAINT )

-			{

-				// enforce yaw constraints in local XZ plane

-				float yawError = atan2( localAlong.x, localAlong.z );

-

-				bool isAtLimit = false;

-				float yaw = 0.0f;

-

-				if ( yawError < jiggleInfo->minYaw )

-				{

-					// at angular limit

-					isAtLimit = true;

-					yaw = jiggleInfo->minYaw;

-				}

-				else if ( yawError > jiggleInfo->maxYaw )

-				{

-					// at angular limit

-					isAtLimit = true;

-					yaw = jiggleInfo->maxYaw;

-				}

-

-				if ( isAtLimit )

-				{

-					float sy, cy;

-					SinCos( yaw, &sy, &cy );

-

-					// yaw matrix

-					matrix3x4_t yawMatrix;

-

-					yawMatrix[0][0] = cy;

-					yawMatrix[1][0] = 0;

-					yawMatrix[2][0] = -sy;

-

-					yawMatrix[0][1] = 0;

-					yawMatrix[1][1] = 1.0f;

-					yawMatrix[2][1] = 0;

-

-					yawMatrix[0][2] = sy;

-					yawMatrix[1][2] = 0;

-					yawMatrix[2][2] = cy;

-

-					yawMatrix[0][3] = 0;

-					yawMatrix[1][3] = 0;

-					yawMatrix[2][3] = 0;

-

-					// global coordinates of limit

-					matrix3x4_t limitMatrix;					

-					ConcatTransforms( goalMX, yawMatrix, limitMatrix );

-

-					Vector limitLeft( limitMatrix.m_flMatVal[0][0], 

-									  limitMatrix.m_flMatVal[1][0],

-									  limitMatrix.m_flMatVal[2][0] );

-

-					Vector limitUp( limitMatrix.m_flMatVal[0][1], 

-									limitMatrix.m_flMatVal[1][1],

-									limitMatrix.m_flMatVal[2][1] );

-

-					Vector limitForward( limitMatrix.m_flMatVal[0][2], 

-										 limitMatrix.m_flMatVal[1][2],

-										 limitMatrix.m_flMatVal[2][2] );

-

-#ifdef CLIENT_DLL

-					if ( cl_jiggle_bone_debug_yaw_constraints.GetBool() )

-					{

-						float dT = 0.01f;

-						const float axisSize = 10.0f;

-						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitLeft, 0, 255, 255, true, dT );

-						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitUp, 255, 255, 0, true, dT );

-						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitForward, 255, 0, 255, true, dT );

-					}

-#endif // CLIENT_DLL

-

-					Vector limitAlong( DotProduct( limitLeft, along ), 

-									   DotProduct( limitUp, along ),

-									   DotProduct( limitForward, along ) );

-

-					// clip to limit plane

-					data->tipPos = goalBasePosition + limitAlong.y * limitUp + limitAlong.z * limitForward;

-

-					// removed friction and velocity clipping against constraint - was causing simulation blowups (MSB 12/9/2010)

-					data->tipVel.Zero();

-

-					// update along vectors for use by pitch constraint

-					along = data->tipPos - goalBasePosition;

-					localAlong.x = DotProduct( goalLeft, along );

-					localAlong.y = DotProduct( goalUp, along );

-					localAlong.z = DotProduct( goalForward, along );

-

-					localVel.x = DotProduct( goalLeft, data->tipVel );

-					localVel.y = DotProduct( goalUp, data->tipVel );

-					localVel.z = DotProduct( goalForward, data->tipVel );

-				}

-			}

-

-

-			if ( jiggleInfo->flags & JIGGLE_HAS_PITCH_CONSTRAINT )

-			{

-				// enforce pitch constraints in local YZ plane

-				float pitchError = atan2( localAlong.y, localAlong.z );

-

-				bool isAtLimit = false;

-				float pitch = 0.0f;

-

-				if ( pitchError < jiggleInfo->minPitch )

-				{

-					// at angular limit

-					isAtLimit = true;

-					pitch = jiggleInfo->minPitch;

-				}

-				else if ( pitchError > jiggleInfo->maxPitch )

-				{

-					// at angular limit

-					isAtLimit = true;

-					pitch = jiggleInfo->maxPitch;

-				}

-

-				if ( isAtLimit )

-				{

-					float sp, cp;

-					SinCos( pitch, &sp, &cp );

-

-					// pitch matrix

-					matrix3x4_t pitchMatrix;

-

-					pitchMatrix[0][0] = 1.0f;

-					pitchMatrix[1][0] = 0;

-					pitchMatrix[2][0] = 0;

-

-					pitchMatrix[0][1] = 0;

-					pitchMatrix[1][1] = cp;

-					pitchMatrix[2][1] = -sp;

-

-					pitchMatrix[0][2] = 0;

-					pitchMatrix[1][2] = sp;

-					pitchMatrix[2][2] = cp;

-

-					pitchMatrix[0][3] = 0;

-					pitchMatrix[1][3] = 0;

-					pitchMatrix[2][3] = 0;

-

-					// global coordinates of limit

-					matrix3x4_t limitMatrix;					

-					ConcatTransforms( goalMX, pitchMatrix, limitMatrix );

-

-					Vector limitLeft( limitMatrix.m_flMatVal[0][0], 

-									  limitMatrix.m_flMatVal[1][0],

-									  limitMatrix.m_flMatVal[2][0] );

-

-					Vector limitUp( limitMatrix.m_flMatVal[0][1], 

-									limitMatrix.m_flMatVal[1][1],

-									limitMatrix.m_flMatVal[2][1] );

-

-					Vector limitForward( limitMatrix.m_flMatVal[0][2], 

-										 limitMatrix.m_flMatVal[1][2],

-										 limitMatrix.m_flMatVal[2][2] );

-

-#ifdef CLIENT_DLL

-					if (cl_jiggle_bone_debug_pitch_constraints.GetBool())

-					{

-						float dT = 0.01f;

-						const float axisSize = 10.0f;

-						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitLeft, 0, 255, 255, true, dT );

-						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitUp, 255, 255, 0, true, dT );

-						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitForward, 255, 0, 255, true, dT );

-					}

-#endif // CLIENT_DLL

-

-					Vector limitAlong( DotProduct( limitLeft, along ), 

-									   DotProduct( limitUp, along ),

-									   DotProduct( limitForward, along ) );

-

-					// clip to limit plane

-					data->tipPos = goalBasePosition + limitAlong.x * limitLeft + limitAlong.z * limitForward;

-

-					// removed friction and velocity clipping against constraint - was causing simulation blowups (MSB 12/9/2010)

-					data->tipVel.Zero();

-				}

-			}

-		}

-

-		// needed for matrix assembly below

-		Vector forward = data->tipPos - goalBasePosition;

-		forward.NormalizeInPlace();

-

-		if ( jiggleInfo->flags & JIGGLE_HAS_ANGLE_CONSTRAINT )

-		{

-			// enforce max angular error

-			Vector error = goalTip - data->tipPos;

-			float dot = DotProduct( forward, goalForward );

-			float angleBetween = acos( dot );

-			if ( dot < 0.0f )

-			{

-				angleBetween = 2.0f * M_PI - angleBetween;

-			}

-

-			if ( angleBetween > jiggleInfo->angleLimit )

-			{

-				// at angular limit

-				float maxBetween = jiggleInfo->length * sin( jiggleInfo->angleLimit );

-

-				Vector delta = goalTip - data->tipPos;

-				delta.NormalizeInPlace();

-

-				data->tipPos = goalTip - maxBetween * delta;

-

-				forward = data->tipPos - goalBasePosition;

-				forward.NormalizeInPlace();

-			}

-		}

-

-		if ( jiggleInfo->flags & JIGGLE_HAS_LENGTH_CONSTRAINT )

-		{

-			// enforce spring length

-			data->tipPos = goalBasePosition + jiggleInfo->length * forward;

-

-			// zero velocity along forward bone axis

-			data->tipVel -= DotProduct( data->tipVel, forward ) * forward;

-		}

-

-		//

-		// Build bone matrix to align along current tip direction

-		//

-		Vector left = CrossProduct( goalUp, forward );

-		left.NormalizeInPlace();

-

-		if ( DotProduct( left, data->lastLeft ) < 0.0f )

-		{

-			// The bone has rotated so far its on the other side of the up vector

-			// resulting in the cross product result flipping 180 degrees around the up

-			// vector.  Flip it back.

-			left = -left;

-		}

-		data->lastLeft = left;

-

-#ifdef CLIENT_DLL

-		if ( cl_jiggle_bone_debug.GetBool() )

-		{

-			debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 10.0f * data->lastLeft, 255, 0, 255, true, 0.01f );

-		}

-#endif

-

-		Vector up = CrossProduct( forward, left );

-

-		boneMX[0][0] = left.x;

-		boneMX[1][0] = left.y;

-		boneMX[2][0] = left.z;

-		boneMX[0][1] = up.x;

-		boneMX[1][1] = up.y;

-		boneMX[2][1] = up.z;

-		boneMX[0][2] = forward.x;

-		boneMX[1][2] = forward.y;

-		boneMX[2][2] = forward.z;

-

-		boneMX[0][3] = goalBasePosition.x;

-		boneMX[1][3] = goalBasePosition.y;

-		boneMX[2][3] = goalBasePosition.z;

-	}

-

-

-	//

-	// Bone base flex

-	//

-	if ( jiggleInfo->flags & JIGGLE_HAS_BASE_SPRING )

-	{

-		// gravity

-		data->baseAccel.z -= jiggleInfo->baseMass;

-

-		// simple spring

-		Vector error = goalBasePosition - data->basePos;

-		data->baseAccel += jiggleInfo->baseStiffness * error - jiggleInfo->baseDamping * data->baseVel;

-

-		data->baseVel += data->baseAccel * deltaT;

-		data->basePos += data->baseVel * deltaT;

-

-		// clear this timestep's accumulated accelerations

-		data->baseAccel = vec3_origin;		

-

-		// constrain to limits

-		error = data->basePos - goalBasePosition;

-		Vector localError;

-		localError.x = DotProduct( goalLeft, error );

-		localError.y = DotProduct( goalUp, error );

-		localError.z = DotProduct( goalForward, error );

-

-		Vector localVel;

-		localVel.x = DotProduct( goalLeft, data->baseVel );

-		localVel.y = DotProduct( goalUp, data->baseVel );

-		localVel.z = DotProduct( goalForward, data->baseVel );

-

-		// horizontal constraint

-		if ( localError.x < jiggleInfo->baseMinLeft )

-		{

-			localError.x = jiggleInfo->baseMinLeft;

-

-			// friction

-			data->baseAccel -= jiggleInfo->baseLeftFriction * (localVel.y * goalUp + localVel.z * goalForward);

-		}

-		else if ( localError.x > jiggleInfo->baseMaxLeft )

-		{

-			localError.x = jiggleInfo->baseMaxLeft;

-

-			// friction

-			data->baseAccel -= jiggleInfo->baseLeftFriction * (localVel.y * goalUp + localVel.z * goalForward);

-		}

-

-		if ( localError.y < jiggleInfo->baseMinUp )

-		{

-			localError.y = jiggleInfo->baseMinUp;

-

-			// friction

-			data->baseAccel -= jiggleInfo->baseUpFriction * (localVel.x * goalLeft + localVel.z * goalForward);

-		}

-		else if ( localError.y > jiggleInfo->baseMaxUp )

-		{

-			localError.y = jiggleInfo->baseMaxUp;

-

-			// friction

-			data->baseAccel -= jiggleInfo->baseUpFriction * (localVel.x * goalLeft + localVel.z * goalForward);

-		}

-

-		if ( localError.z < jiggleInfo->baseMinForward )

-		{

-			localError.z = jiggleInfo->baseMinForward;

-

-			// friction

-			data->baseAccel -= jiggleInfo->baseForwardFriction * (localVel.x * goalLeft + localVel.y * goalUp);

-		}

-		else if ( localError.z > jiggleInfo->baseMaxForward )

-		{

-			localError.z = jiggleInfo->baseMaxForward;

-

-			// friction

-			data->baseAccel -= jiggleInfo->baseForwardFriction * (localVel.x * goalLeft + localVel.y * goalUp);

-		}

-

-		data->basePos = goalBasePosition + localError.x * goalLeft + localError.y * goalUp + localError.z * goalForward;

-

-

-		// fix up velocity

-		data->baseVel = (data->basePos - data->baseLastPos) / deltaT;

-		data->baseLastPos = data->basePos;

-

-

-		if ( !( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) ) )

-		{

-			// no tip flex - use bone's goal orientation

-			boneMX = goalMX;							

-		}

-

-		// update bone position

-		MatrixSetColumn( data->basePos, 3, boneMX );

-	}

-	else if ( jiggleInfo->flags & JIGGLE_IS_BOING )

-	{

-		// estimate velocity

-		Vector vel = goalBasePosition - data->lastBoingPos;

-

-#ifdef CLIENT_DLL

-		if ( cl_jiggle_bone_debug.GetBool() )

-		{

-			debugoverlay->AddLineOverlay( data->lastBoingPos, goalBasePosition, 0, 128, ( gpGlobals->framecount & 0x1 ) ? 0 : 200, true, 999.9f );

-		}

-#endif

-

-		data->lastBoingPos = goalBasePosition;

-

-		float speed = vel.NormalizeInPlace();

-		if ( speed < 0.00001f )

-		{

-			vel = Vector( 0, 0, 1.0f );

-			speed = 0.0f;

-		}

-		else

-		{

-			speed /= deltaT;

-		}

-

-		data->boingTime += deltaT;

-

-		// if velocity changed a lot, we impacted and should *boing*

-		const float minSpeed = 5.0f; // 15.0f;

-		const float minReBoingTime = 0.5f;

-		if ( ( speed > minSpeed || data->boingSpeed > minSpeed ) && data->boingTime > minReBoingTime )

-		{

-			if ( fabs( data->boingSpeed - speed ) > jiggleInfo->boingImpactSpeed || DotProduct( vel, data->boingVelDir ) < jiggleInfo->boingImpactAngle )

-			{

-				data->boingTime = 0.0f;

-				data->boingDir = -vel;

-

-#ifdef CLIENT_DLL

-				if ( cl_jiggle_bone_debug.GetBool() )

-				{

-					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 5.0f * data->boingDir, 255, 255, 0, true, 999.9f );

-					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + Vector( 0.1, 0, 0 ), 128, 128, 0, true, 999.9f );

-					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + Vector( 0, 0.1, 0 ), 128, 128, 0, true, 999.9f );

-					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + Vector( 0, 0, 0.1 ), 128, 128, 0, true, 999.9f );

-				}

-#endif

-			}

-		}

-

-		data->boingVelDir = vel;

-		data->boingSpeed = speed;

-

-		float damping = 1.0f - ( jiggleInfo->boingDampingRate * data->boingTime );

-		if ( damping < 0.01f )

-		{

-			// boing has entirely damped out

-			boneMX = goalMX;

-		}

-		else

-		{

-			damping *= damping;

-			damping *= damping;

-

-			float flex = jiggleInfo->boingAmplitude * cos( jiggleInfo->boingFrequency * data->boingTime ) * damping;

-

- 			float squash = 1.0f + flex;

- 			float stretch = 1.0f - flex;

-

-

-			boneMX[0][0] = goalLeft.x;

-			boneMX[1][0] = goalLeft.y;

-			boneMX[2][0] = goalLeft.z;

-

-			boneMX[0][1] = goalUp.x;

-			boneMX[1][1] = goalUp.y;

-			boneMX[2][1] = goalUp.z;

-

-			boneMX[0][2] = goalForward.x;

-			boneMX[1][2] = goalForward.y;

-			boneMX[2][2] = goalForward.z;

-

-			boneMX[0][3] = 0.0f;

-			boneMX[1][3] = 0.0f;

-			boneMX[2][3] = 0.0f;

-

-

-			// build transform into "boing space", where Z is along primary boing axis

-			Vector boingSide;

-			if ( fabs( data->boingDir.x ) < 0.9f )

-			{

-				boingSide = CrossProduct( data->boingDir, Vector( 1.0f, 0, 0 ) );

-			}

-			else

-			{

-				boingSide = CrossProduct( data->boingDir, Vector( 0, 0, 1.0f ) );

-			}

-			boingSide.NormalizeInPlace();

-

-			Vector boingOtherSide = CrossProduct( data->boingDir, boingSide );

-

-			matrix3x4_t xfrmToBoingCoordsMX;

-

-			xfrmToBoingCoordsMX[0][0] = boingSide.x;

-			xfrmToBoingCoordsMX[0][1] = boingSide.y;

-			xfrmToBoingCoordsMX[0][2] = boingSide.z;

-

-			xfrmToBoingCoordsMX[1][0] = boingOtherSide.x;

-			xfrmToBoingCoordsMX[1][1] = boingOtherSide.y;

-			xfrmToBoingCoordsMX[1][2] = boingOtherSide.z;

-

-			xfrmToBoingCoordsMX[2][0] = data->boingDir.x;

-			xfrmToBoingCoordsMX[2][1] = data->boingDir.y;

-			xfrmToBoingCoordsMX[2][2] = data->boingDir.z;

-

-			xfrmToBoingCoordsMX[0][3] = 0.0f;

-			xfrmToBoingCoordsMX[1][3] = 0.0f;

-			xfrmToBoingCoordsMX[2][3] = 0.0f;

-

-			// build squash and stretch transform in "boing space"

-			matrix3x4_t boingMX;

-

-			boingMX[0][0] = squash;

-			boingMX[1][0] = 0.0f;

-			boingMX[2][0] = 0.0f;

-

-			boingMX[0][1] = 0.0f;

-			boingMX[1][1] = squash;

-			boingMX[2][1] = 0.0f;

-

-			boingMX[0][2] = 0.0f;

-			boingMX[1][2] = 0.0f;

-			boingMX[2][2] = stretch;

-

-			boingMX[0][3] = 0.0f;

-			boingMX[1][3] = 0.0f;

-			boingMX[2][3] = 0.0f;

-

-			// transform back from boing space (inverse is transpose since orthogonal)

-			matrix3x4_t xfrmFromBoingCoordsMX;

-			xfrmFromBoingCoordsMX[0][0] = xfrmToBoingCoordsMX[0][0];

-			xfrmFromBoingCoordsMX[1][0] = xfrmToBoingCoordsMX[0][1];

-			xfrmFromBoingCoordsMX[2][0] = xfrmToBoingCoordsMX[0][2];

-

-			xfrmFromBoingCoordsMX[0][1] = xfrmToBoingCoordsMX[1][0];

-			xfrmFromBoingCoordsMX[1][1] = xfrmToBoingCoordsMX[1][1];

-			xfrmFromBoingCoordsMX[2][1] = xfrmToBoingCoordsMX[1][2];

-

-			xfrmFromBoingCoordsMX[0][2] = xfrmToBoingCoordsMX[2][0];

-			xfrmFromBoingCoordsMX[1][2] = xfrmToBoingCoordsMX[2][1];

-			xfrmFromBoingCoordsMX[2][2] = xfrmToBoingCoordsMX[2][2];

-

-			xfrmFromBoingCoordsMX[0][3] = 0.0f;

-			xfrmFromBoingCoordsMX[1][3] = 0.0f;

-			xfrmFromBoingCoordsMX[2][3] = 0.0f;

-

-			// put it all together

-			matrix3x4_t xfrmMX;

-			MatrixMultiply( xfrmToBoingCoordsMX, boingMX, xfrmMX );

-			MatrixMultiply( xfrmMX, xfrmFromBoingCoordsMX, xfrmMX );

-			MatrixMultiply( boneMX, xfrmMX, boneMX );

-

-#ifdef CLIENT_DLL

-			if ( cl_jiggle_bone_debug.GetBool() )

-			{

-				float dT = 0.01f;

-				debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 50.0f * data->boingDir, 255, 255, 0, true, dT );

-				debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 50.0f * boingSide, 255, 0, 255, true, dT );

-				debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 50.0f * boingOtherSide, 0, 255, 255, true, dT );

-			}

-#endif

-

-			boneMX[0][3] = goalBasePosition.x;

-			boneMX[1][3] = goalBasePosition.y;

-			boneMX[2][3] = goalBasePosition.z;

-		}

-	}

-	else if ( !( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) ) )

-	{

-		// no flex at all - just use goal matrix

-		boneMX = goalMX;

-	}

-

-#ifdef CLIENT_DLL

-	// debug display for client only so server doesn't try to also draw it

-	if ( cl_jiggle_bone_debug.GetBool() )

-	{

-		float dT = 0.01f;

-		const float axisSize = 5.0f;

-		debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * goalLeft, 255, 0, 0, true, dT );

-		debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * goalUp, 0, 255, 0, true, dT );

-		debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * goalForward, 0, 0, 255, true, dT );

-

-		if ( cl_jiggle_bone_debug.GetInt() > 1 )

-		{

-			DevMsg( "Jiggle bone #%d, basePos( %3.2f, %3.2f, %3.2f ), tipPos( %3.2f, %3.2f, %3.2f ), left( %3.2f, %3.2f, %3.2f ), up( %3.2f, %3.2f, %3.2f ), forward( %3.2f, %3.2f, %3.2f )\n", 

-						data->bone,

-						goalBasePosition.x, goalBasePosition.y, goalBasePosition.z, 

-						data->tipPos.x, data->tipPos.y, data->tipPos.z,

-						goalLeft.x, goalLeft.y, goalLeft.z,

-						goalUp.x, goalUp.y, goalUp.z,

-						goalForward.x, goalForward.y, goalForward.z );

-		}

-

-		const float sz = 1.0f;

-

-		if ( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) )

-		{

-			debugoverlay->AddLineOverlay( goalBasePosition, 

-				data->tipPos, 255, 255, 0, true, dT );

-

-			debugoverlay->AddLineOverlay( data->tipPos + Vector( -sz, 0, 0 ), 

-				data->tipPos + Vector( sz, 0, 0 ), 0, 255, 255, true, dT );

-			debugoverlay->AddLineOverlay( data->tipPos + Vector( 0, -sz, 0 ), 

-				data->tipPos + Vector( 0, sz, 0 ), 0, 255, 255, true, dT );

-			debugoverlay->AddLineOverlay( data->tipPos + Vector( 0, 0, -sz ), 

-				data->tipPos + Vector( 0, 0, sz ), 0, 255, 255, true, dT );

-		}

-

-		if ( jiggleInfo->flags & JIGGLE_HAS_BASE_SPRING )

-		{

-			debugoverlay->AddLineOverlay( data->basePos + Vector( -sz, 0, 0 ), 

-				data->basePos + Vector( sz, 0, 0 ), 255, 0, 255, true, dT );

-			debugoverlay->AddLineOverlay( data->basePos + Vector( 0, -sz, 0 ), 

-				data->basePos + Vector( 0, sz, 0 ), 255, 0, 255, true, dT );

-			debugoverlay->AddLineOverlay( data->basePos + Vector( 0, 0, -sz ), 

-				data->basePos + Vector( 0, 0, sz ), 255, 0, 255, true, dT );

-		}

-

-

-		if ( jiggleInfo->flags & JIGGLE_IS_BOING )

-		{

-			if ( cl_jiggle_bone_debug.GetInt() > 2 )

-			{

-				DevMsg( "  boingSpeed = %3.2f, boingVelDir( %3.2f, %3.2f, %3.2f )\n", data->boingVelDir.Length() / deltaT, data->boingVelDir.x, data->boingVelDir.y, data->boingVelDir.z );

-			}

-		}

-	}

-#endif // CLIENT_DLL

-}

-

+//========= Copyright Valve Corporation, All rights reserved. ============//
+//
+// Purpose: 
+//
+// $NoKeywords: $
+//===========================================================================//
+
+#include "tier1/convar.h"
+#include "jigglebones.h"
+
+#ifdef CLIENT_DLL
+#include "engine/ivdebugoverlay.h"
+#include "cdll_client_int.h"
+#endif // CLIENT_DLL
+
+// memdbgon must be the last include file in a .cpp file!!!
+#include "tier0/memdbgon.h"
+
+#ifdef CLIENT_DLL
+//-----------------------------------------------------------------------------
+ConVar cl_jiggle_bone_debug( "cl_jiggle_bone_debug", "0", FCVAR_CHEAT, "Display physics-based 'jiggle bone' debugging information" );
+ConVar cl_jiggle_bone_debug_yaw_constraints( "cl_jiggle_bone_debug_yaw_constraints", "0", FCVAR_CHEAT, "Display physics-based 'jiggle bone' debugging information" );
+ConVar cl_jiggle_bone_debug_pitch_constraints( "cl_jiggle_bone_debug_pitch_constraints", "0", FCVAR_CHEAT, "Display physics-based 'jiggle bone' debugging information" );
+#endif // CLIENT_DLL
+
+ConVar cl_jiggle_bone_framerate_cutoff( "cl_jiggle_bone_framerate_cutoff", "45", 0, "Skip jiggle bone simulation if framerate drops below this value (frames/second)" );
+
+
+//-----------------------------------------------------------------------------
+JiggleData * CJiggleBones::GetJiggleData( int bone, float currenttime, const Vector &initBasePos, const Vector &initTipPos )
+{
+	FOR_EACH_LL( m_jiggleBoneState, it )
+	{
+		if ( m_jiggleBoneState[it].bone == bone )
+		{
+			return &m_jiggleBoneState[it];
+		}
+	}
+
+	JiggleData data;
+	data.Init( bone, currenttime, initBasePos, initTipPos );
+
+	int idx = m_jiggleBoneState.AddToHead( data );
+	if ( idx == m_jiggleBoneState.InvalidIndex() )
+		return NULL;
+
+	return &m_jiggleBoneState[idx];
+}
+
+
+//-----------------------------------------------------------------------------
+/**
+ * Do spring physics calculations and update "jiggle bone" matrix
+ * (Michael Booth, Turtle Rock Studios)
+ */
+void CJiggleBones::BuildJiggleTransformations( int boneIndex, float currenttime, const mstudiojigglebone_t *jiggleInfo, const matrix3x4_t &goalMX, matrix3x4_t &boneMX )
+{
+	Vector goalBasePosition;
+	MatrixPosition( goalMX, goalBasePosition );
+
+	Vector goalForward, goalUp, goalLeft;
+	MatrixGetColumn( goalMX, 0, goalLeft );
+	MatrixGetColumn( goalMX, 1, goalUp );
+	MatrixGetColumn( goalMX, 2, goalForward );
+
+	// compute goal tip position
+	Vector goalTip = goalBasePosition + jiggleInfo->length * goalForward;
+
+	JiggleData *data = GetJiggleData( boneIndex, currenttime, goalBasePosition, goalTip );
+	if ( !data )
+	{
+		return;
+	}
+
+	// if frames have been skipped since our last update, we were likely
+	// disabled and re-enabled, so re-init
+#if defined(CLIENT_DLL) || defined(GAME_DLL)
+	float timeTolerance = 1.2f * gpGlobals->frametime;
+#else
+	float timeTolerance = 0.5f;
+#endif
+
+	if ( currenttime - data->lastUpdate > timeTolerance )
+	{
+		data->Init( boneIndex, currenttime, goalBasePosition, goalTip );
+	}
+
+	if ( data->lastLeft.IsZero() )
+	{
+		data->lastLeft = goalLeft;
+	}
+
+	// limit maximum deltaT to avoid simulation blowups
+	// if framerate is too low, skip jigglebones altogether, since movement will be too
+	// large between frames to simulate with a simple Euler integration
+	float deltaT = currenttime - data->lastUpdate;
+
+	const float thousandHZ = 0.001f;
+	if ( deltaT < thousandHZ )
+	{
+		deltaT = thousandHZ;
+	}
+	else if ( cl_jiggle_bone_framerate_cutoff.GetFloat() <= 0.0f || deltaT > ( 1.0f / cl_jiggle_bone_framerate_cutoff.GetFloat() ) )
+	{
+		// disable jigglebone - just use goal matrix
+		boneMX = goalMX;
+		return;
+	}
+
+	// we want lastUpdate here, so if jigglebones were skipped they get reinitialized if they turn back on
+	data->lastUpdate = currenttime;
+
+	//
+	// Bone tip flex
+	//
+	if ( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) )
+	{
+		// apply gravity in global space
+		data->tipAccel.z -= jiggleInfo->tipMass;
+
+		if ( jiggleInfo->flags & JIGGLE_IS_FLEXIBLE )
+		{
+			// decompose into local coordinates
+			Vector error = goalTip - data->tipPos;
+
+			Vector localError;
+			localError.x = DotProduct( goalLeft, error );
+			localError.y = DotProduct( goalUp, error );
+			localError.z = DotProduct( goalForward, error );
+
+			Vector localVel;
+			localVel.x = DotProduct( goalLeft, data->tipVel );
+			localVel.y = DotProduct( goalUp, data->tipVel );
+
+			// yaw spring
+			float yawAccel = jiggleInfo->yawStiffness * localError.x - jiggleInfo->yawDamping * localVel.x;
+
+			// pitch spring
+			float pitchAccel = jiggleInfo->pitchStiffness * localError.y - jiggleInfo->pitchDamping * localVel.y;
+
+			if ( jiggleInfo->flags & JIGGLE_HAS_LENGTH_CONSTRAINT )
+			{
+				// drive tip towards goal tip position	
+				data->tipAccel += yawAccel * goalLeft + pitchAccel * goalUp;
+			}
+			else
+			{
+				// allow flex along length of spring
+				localVel.z = DotProduct( goalForward, data->tipVel );
+
+				// along spring
+				float alongAccel = jiggleInfo->alongStiffness * localError.z - jiggleInfo->alongDamping * localVel.z;
+
+				// drive tip towards goal tip position	
+				data->tipAccel += yawAccel * goalLeft + pitchAccel * goalUp + alongAccel * goalForward;
+			}
+		}
+
+
+		// simple euler integration		
+		data->tipVel += data->tipAccel * deltaT;
+		data->tipPos += data->tipVel * deltaT;
+
+		// clear this timestep's accumulated accelerations
+		data->tipAccel = vec3_origin;		
+
+		//
+		// Apply optional constraints
+		//
+		if ( jiggleInfo->flags & ( JIGGLE_HAS_YAW_CONSTRAINT | JIGGLE_HAS_PITCH_CONSTRAINT ) )
+		{
+			// find components of spring vector in local coordinate system
+			Vector along = data->tipPos - goalBasePosition;
+			Vector localAlong;
+			localAlong.x = DotProduct( goalLeft, along );
+			localAlong.y = DotProduct( goalUp, along );
+			localAlong.z = DotProduct( goalForward, along );
+
+			Vector localVel;
+			localVel.x = DotProduct( goalLeft, data->tipVel );
+			localVel.y = DotProduct( goalUp, data->tipVel );
+			localVel.z = DotProduct( goalForward, data->tipVel );
+
+			if ( jiggleInfo->flags & JIGGLE_HAS_YAW_CONSTRAINT )
+			{
+				// enforce yaw constraints in local XZ plane
+				float yawError = atan2( localAlong.x, localAlong.z );
+
+				bool isAtLimit = false;
+				float yaw = 0.0f;
+
+				if ( yawError < jiggleInfo->minYaw )
+				{
+					// at angular limit
+					isAtLimit = true;
+					yaw = jiggleInfo->minYaw;
+				}
+				else if ( yawError > jiggleInfo->maxYaw )
+				{
+					// at angular limit
+					isAtLimit = true;
+					yaw = jiggleInfo->maxYaw;
+				}
+
+				if ( isAtLimit )
+				{
+					float sy, cy;
+					SinCos( yaw, &sy, &cy );
+
+					// yaw matrix
+					matrix3x4_t yawMatrix;
+
+					yawMatrix[0][0] = cy;
+					yawMatrix[1][0] = 0;
+					yawMatrix[2][0] = -sy;
+
+					yawMatrix[0][1] = 0;
+					yawMatrix[1][1] = 1.0f;
+					yawMatrix[2][1] = 0;
+
+					yawMatrix[0][2] = sy;
+					yawMatrix[1][2] = 0;
+					yawMatrix[2][2] = cy;
+
+					yawMatrix[0][3] = 0;
+					yawMatrix[1][3] = 0;
+					yawMatrix[2][3] = 0;
+
+					// global coordinates of limit
+					matrix3x4_t limitMatrix;					
+					ConcatTransforms( goalMX, yawMatrix, limitMatrix );
+
+					Vector limitLeft( limitMatrix.m_flMatVal[0][0], 
+									  limitMatrix.m_flMatVal[1][0],
+									  limitMatrix.m_flMatVal[2][0] );
+
+					Vector limitUp( limitMatrix.m_flMatVal[0][1], 
+									limitMatrix.m_flMatVal[1][1],
+									limitMatrix.m_flMatVal[2][1] );
+
+					Vector limitForward( limitMatrix.m_flMatVal[0][2], 
+										 limitMatrix.m_flMatVal[1][2],
+										 limitMatrix.m_flMatVal[2][2] );
+
+#ifdef CLIENT_DLL
+					if ( cl_jiggle_bone_debug_yaw_constraints.GetBool() )
+					{
+						float dT = 0.01f;
+						const float axisSize = 10.0f;
+						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitLeft, 0, 255, 255, true, dT );
+						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitUp, 255, 255, 0, true, dT );
+						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitForward, 255, 0, 255, true, dT );
+					}
+#endif // CLIENT_DLL
+
+					Vector limitAlong( DotProduct( limitLeft, along ), 
+									   DotProduct( limitUp, along ),
+									   DotProduct( limitForward, along ) );
+
+					// clip to limit plane
+					data->tipPos = goalBasePosition + limitAlong.y * limitUp + limitAlong.z * limitForward;
+
+					// removed friction and velocity clipping against constraint - was causing simulation blowups (MSB 12/9/2010)
+					data->tipVel.Zero();
+
+					// update along vectors for use by pitch constraint
+					along = data->tipPos - goalBasePosition;
+					localAlong.x = DotProduct( goalLeft, along );
+					localAlong.y = DotProduct( goalUp, along );
+					localAlong.z = DotProduct( goalForward, along );
+
+					localVel.x = DotProduct( goalLeft, data->tipVel );
+					localVel.y = DotProduct( goalUp, data->tipVel );
+					localVel.z = DotProduct( goalForward, data->tipVel );
+				}
+			}
+
+
+			if ( jiggleInfo->flags & JIGGLE_HAS_PITCH_CONSTRAINT )
+			{
+				// enforce pitch constraints in local YZ plane
+				float pitchError = atan2( localAlong.y, localAlong.z );
+
+				bool isAtLimit = false;
+				float pitch = 0.0f;
+
+				if ( pitchError < jiggleInfo->minPitch )
+				{
+					// at angular limit
+					isAtLimit = true;
+					pitch = jiggleInfo->minPitch;
+				}
+				else if ( pitchError > jiggleInfo->maxPitch )
+				{
+					// at angular limit
+					isAtLimit = true;
+					pitch = jiggleInfo->maxPitch;
+				}
+
+				if ( isAtLimit )
+				{
+					float sp, cp;
+					SinCos( pitch, &sp, &cp );
+
+					// pitch matrix
+					matrix3x4_t pitchMatrix;
+
+					pitchMatrix[0][0] = 1.0f;
+					pitchMatrix[1][0] = 0;
+					pitchMatrix[2][0] = 0;
+
+					pitchMatrix[0][1] = 0;
+					pitchMatrix[1][1] = cp;
+					pitchMatrix[2][1] = -sp;
+
+					pitchMatrix[0][2] = 0;
+					pitchMatrix[1][2] = sp;
+					pitchMatrix[2][2] = cp;
+
+					pitchMatrix[0][3] = 0;
+					pitchMatrix[1][3] = 0;
+					pitchMatrix[2][3] = 0;
+
+					// global coordinates of limit
+					matrix3x4_t limitMatrix;					
+					ConcatTransforms( goalMX, pitchMatrix, limitMatrix );
+
+					Vector limitLeft( limitMatrix.m_flMatVal[0][0], 
+									  limitMatrix.m_flMatVal[1][0],
+									  limitMatrix.m_flMatVal[2][0] );
+
+					Vector limitUp( limitMatrix.m_flMatVal[0][1], 
+									limitMatrix.m_flMatVal[1][1],
+									limitMatrix.m_flMatVal[2][1] );
+
+					Vector limitForward( limitMatrix.m_flMatVal[0][2], 
+										 limitMatrix.m_flMatVal[1][2],
+										 limitMatrix.m_flMatVal[2][2] );
+
+#ifdef CLIENT_DLL
+					if (cl_jiggle_bone_debug_pitch_constraints.GetBool())
+					{
+						float dT = 0.01f;
+						const float axisSize = 10.0f;
+						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitLeft, 0, 255, 255, true, dT );
+						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitUp, 255, 255, 0, true, dT );
+						debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * limitForward, 255, 0, 255, true, dT );
+					}
+#endif // CLIENT_DLL
+
+					Vector limitAlong( DotProduct( limitLeft, along ), 
+									   DotProduct( limitUp, along ),
+									   DotProduct( limitForward, along ) );
+
+					// clip to limit plane
+					data->tipPos = goalBasePosition + limitAlong.x * limitLeft + limitAlong.z * limitForward;
+
+					// removed friction and velocity clipping against constraint - was causing simulation blowups (MSB 12/9/2010)
+					data->tipVel.Zero();
+				}
+			}
+		}
+
+		// needed for matrix assembly below
+		Vector forward = data->tipPos - goalBasePosition;
+		forward.NormalizeInPlace();
+
+		if ( jiggleInfo->flags & JIGGLE_HAS_ANGLE_CONSTRAINT )
+		{
+			// enforce max angular error
+			Vector error = goalTip - data->tipPos;
+			float dot = DotProduct( forward, goalForward );
+			float angleBetween = acos( dot );
+			if ( dot < 0.0f )
+			{
+				angleBetween = 2.0f * M_PI - angleBetween;
+			}
+
+			if ( angleBetween > jiggleInfo->angleLimit )
+			{
+				// at angular limit
+				float maxBetween = jiggleInfo->length * sin( jiggleInfo->angleLimit );
+
+				Vector delta = goalTip - data->tipPos;
+				delta.NormalizeInPlace();
+
+				data->tipPos = goalTip - maxBetween * delta;
+
+				forward = data->tipPos - goalBasePosition;
+				forward.NormalizeInPlace();
+			}
+		}
+
+		if ( jiggleInfo->flags & JIGGLE_HAS_LENGTH_CONSTRAINT )
+		{
+			// enforce spring length
+			data->tipPos = goalBasePosition + jiggleInfo->length * forward;
+
+			// zero velocity along forward bone axis
+			data->tipVel -= DotProduct( data->tipVel, forward ) * forward;
+		}
+
+		//
+		// Build bone matrix to align along current tip direction
+		//
+		Vector left = CrossProduct( goalUp, forward );
+		left.NormalizeInPlace();
+
+		if ( DotProduct( left, data->lastLeft ) < 0.0f )
+		{
+			// The bone has rotated so far its on the other side of the up vector
+			// resulting in the cross product result flipping 180 degrees around the up
+			// vector.  Flip it back.
+			left = -left;
+		}
+		data->lastLeft = left;
+
+#ifdef CLIENT_DLL
+		if ( cl_jiggle_bone_debug.GetBool() )
+		{
+			debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 10.0f * data->lastLeft, 255, 0, 255, true, 0.01f );
+		}
+#endif
+
+		Vector up = CrossProduct( forward, left );
+
+		boneMX[0][0] = left.x;
+		boneMX[1][0] = left.y;
+		boneMX[2][0] = left.z;
+		boneMX[0][1] = up.x;
+		boneMX[1][1] = up.y;
+		boneMX[2][1] = up.z;
+		boneMX[0][2] = forward.x;
+		boneMX[1][2] = forward.y;
+		boneMX[2][2] = forward.z;
+
+		boneMX[0][3] = goalBasePosition.x;
+		boneMX[1][3] = goalBasePosition.y;
+		boneMX[2][3] = goalBasePosition.z;
+	}
+
+
+	//
+	// Bone base flex
+	//
+	if ( jiggleInfo->flags & JIGGLE_HAS_BASE_SPRING )
+	{
+		// gravity
+		data->baseAccel.z -= jiggleInfo->baseMass;
+
+		// simple spring
+		Vector error = goalBasePosition - data->basePos;
+		data->baseAccel += jiggleInfo->baseStiffness * error - jiggleInfo->baseDamping * data->baseVel;
+
+		data->baseVel += data->baseAccel * deltaT;
+		data->basePos += data->baseVel * deltaT;
+
+		// clear this timestep's accumulated accelerations
+		data->baseAccel = vec3_origin;		
+
+		// constrain to limits
+		error = data->basePos - goalBasePosition;
+		Vector localError;
+		localError.x = DotProduct( goalLeft, error );
+		localError.y = DotProduct( goalUp, error );
+		localError.z = DotProduct( goalForward, error );
+
+		Vector localVel;
+		localVel.x = DotProduct( goalLeft, data->baseVel );
+		localVel.y = DotProduct( goalUp, data->baseVel );
+		localVel.z = DotProduct( goalForward, data->baseVel );
+
+		// horizontal constraint
+		if ( localError.x < jiggleInfo->baseMinLeft )
+		{
+			localError.x = jiggleInfo->baseMinLeft;
+
+			// friction
+			data->baseAccel -= jiggleInfo->baseLeftFriction * (localVel.y * goalUp + localVel.z * goalForward);
+		}
+		else if ( localError.x > jiggleInfo->baseMaxLeft )
+		{
+			localError.x = jiggleInfo->baseMaxLeft;
+
+			// friction
+			data->baseAccel -= jiggleInfo->baseLeftFriction * (localVel.y * goalUp + localVel.z * goalForward);
+		}
+
+		if ( localError.y < jiggleInfo->baseMinUp )
+		{
+			localError.y = jiggleInfo->baseMinUp;
+
+			// friction
+			data->baseAccel -= jiggleInfo->baseUpFriction * (localVel.x * goalLeft + localVel.z * goalForward);
+		}
+		else if ( localError.y > jiggleInfo->baseMaxUp )
+		{
+			localError.y = jiggleInfo->baseMaxUp;
+
+			// friction
+			data->baseAccel -= jiggleInfo->baseUpFriction * (localVel.x * goalLeft + localVel.z * goalForward);
+		}
+
+		if ( localError.z < jiggleInfo->baseMinForward )
+		{
+			localError.z = jiggleInfo->baseMinForward;
+
+			// friction
+			data->baseAccel -= jiggleInfo->baseForwardFriction * (localVel.x * goalLeft + localVel.y * goalUp);
+		}
+		else if ( localError.z > jiggleInfo->baseMaxForward )
+		{
+			localError.z = jiggleInfo->baseMaxForward;
+
+			// friction
+			data->baseAccel -= jiggleInfo->baseForwardFriction * (localVel.x * goalLeft + localVel.y * goalUp);
+		}
+
+		data->basePos = goalBasePosition + localError.x * goalLeft + localError.y * goalUp + localError.z * goalForward;
+
+
+		// fix up velocity
+		data->baseVel = (data->basePos - data->baseLastPos) / deltaT;
+		data->baseLastPos = data->basePos;
+
+
+		if ( !( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) ) )
+		{
+			// no tip flex - use bone's goal orientation
+			boneMX = goalMX;							
+		}
+
+		// update bone position
+		MatrixSetColumn( data->basePos, 3, boneMX );
+	}
+	else if ( jiggleInfo->flags & JIGGLE_IS_BOING )
+	{
+		// estimate velocity
+		Vector vel = goalBasePosition - data->lastBoingPos;
+
+#ifdef CLIENT_DLL
+		if ( cl_jiggle_bone_debug.GetBool() )
+		{
+			debugoverlay->AddLineOverlay( data->lastBoingPos, goalBasePosition, 0, 128, ( gpGlobals->framecount & 0x1 ) ? 0 : 200, true, 999.9f );
+		}
+#endif
+
+		data->lastBoingPos = goalBasePosition;
+
+		float speed = vel.NormalizeInPlace();
+		if ( speed < 0.00001f )
+		{
+			vel = Vector( 0, 0, 1.0f );
+			speed = 0.0f;
+		}
+		else
+		{
+			speed /= deltaT;
+		}
+
+		data->boingTime += deltaT;
+
+		// if velocity changed a lot, we impacted and should *boing*
+		const float minSpeed = 5.0f; // 15.0f;
+		const float minReBoingTime = 0.5f;
+		if ( ( speed > minSpeed || data->boingSpeed > minSpeed ) && data->boingTime > minReBoingTime )
+		{
+			if ( fabs( data->boingSpeed - speed ) > jiggleInfo->boingImpactSpeed || DotProduct( vel, data->boingVelDir ) < jiggleInfo->boingImpactAngle )
+			{
+				data->boingTime = 0.0f;
+				data->boingDir = -vel;
+
+#ifdef CLIENT_DLL
+				if ( cl_jiggle_bone_debug.GetBool() )
+				{
+					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 5.0f * data->boingDir, 255, 255, 0, true, 999.9f );
+					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + Vector( 0.1, 0, 0 ), 128, 128, 0, true, 999.9f );
+					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + Vector( 0, 0.1, 0 ), 128, 128, 0, true, 999.9f );
+					debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + Vector( 0, 0, 0.1 ), 128, 128, 0, true, 999.9f );
+				}
+#endif
+			}
+		}
+
+		data->boingVelDir = vel;
+		data->boingSpeed = speed;
+
+		float damping = 1.0f - ( jiggleInfo->boingDampingRate * data->boingTime );
+		if ( damping < 0.01f )
+		{
+			// boing has entirely damped out
+			boneMX = goalMX;
+		}
+		else
+		{
+			damping *= damping;
+			damping *= damping;
+
+			float flex = jiggleInfo->boingAmplitude * cos( jiggleInfo->boingFrequency * data->boingTime ) * damping;
+
+ 			float squash = 1.0f + flex;
+ 			float stretch = 1.0f - flex;
+
+
+			boneMX[0][0] = goalLeft.x;
+			boneMX[1][0] = goalLeft.y;
+			boneMX[2][0] = goalLeft.z;
+
+			boneMX[0][1] = goalUp.x;
+			boneMX[1][1] = goalUp.y;
+			boneMX[2][1] = goalUp.z;
+
+			boneMX[0][2] = goalForward.x;
+			boneMX[1][2] = goalForward.y;
+			boneMX[2][2] = goalForward.z;
+
+			boneMX[0][3] = 0.0f;
+			boneMX[1][3] = 0.0f;
+			boneMX[2][3] = 0.0f;
+
+
+			// build transform into "boing space", where Z is along primary boing axis
+			Vector boingSide;
+			if ( fabs( data->boingDir.x ) < 0.9f )
+			{
+				boingSide = CrossProduct( data->boingDir, Vector( 1.0f, 0, 0 ) );
+			}
+			else
+			{
+				boingSide = CrossProduct( data->boingDir, Vector( 0, 0, 1.0f ) );
+			}
+			boingSide.NormalizeInPlace();
+
+			Vector boingOtherSide = CrossProduct( data->boingDir, boingSide );
+
+			matrix3x4_t xfrmToBoingCoordsMX;
+
+			xfrmToBoingCoordsMX[0][0] = boingSide.x;
+			xfrmToBoingCoordsMX[0][1] = boingSide.y;
+			xfrmToBoingCoordsMX[0][2] = boingSide.z;
+
+			xfrmToBoingCoordsMX[1][0] = boingOtherSide.x;
+			xfrmToBoingCoordsMX[1][1] = boingOtherSide.y;
+			xfrmToBoingCoordsMX[1][2] = boingOtherSide.z;
+
+			xfrmToBoingCoordsMX[2][0] = data->boingDir.x;
+			xfrmToBoingCoordsMX[2][1] = data->boingDir.y;
+			xfrmToBoingCoordsMX[2][2] = data->boingDir.z;
+
+			xfrmToBoingCoordsMX[0][3] = 0.0f;
+			xfrmToBoingCoordsMX[1][3] = 0.0f;
+			xfrmToBoingCoordsMX[2][3] = 0.0f;
+
+			// build squash and stretch transform in "boing space"
+			matrix3x4_t boingMX;
+
+			boingMX[0][0] = squash;
+			boingMX[1][0] = 0.0f;
+			boingMX[2][0] = 0.0f;
+
+			boingMX[0][1] = 0.0f;
+			boingMX[1][1] = squash;
+			boingMX[2][1] = 0.0f;
+
+			boingMX[0][2] = 0.0f;
+			boingMX[1][2] = 0.0f;
+			boingMX[2][2] = stretch;
+
+			boingMX[0][3] = 0.0f;
+			boingMX[1][3] = 0.0f;
+			boingMX[2][3] = 0.0f;
+
+			// transform back from boing space (inverse is transpose since orthogonal)
+			matrix3x4_t xfrmFromBoingCoordsMX;
+			xfrmFromBoingCoordsMX[0][0] = xfrmToBoingCoordsMX[0][0];
+			xfrmFromBoingCoordsMX[1][0] = xfrmToBoingCoordsMX[0][1];
+			xfrmFromBoingCoordsMX[2][0] = xfrmToBoingCoordsMX[0][2];
+
+			xfrmFromBoingCoordsMX[0][1] = xfrmToBoingCoordsMX[1][0];
+			xfrmFromBoingCoordsMX[1][1] = xfrmToBoingCoordsMX[1][1];
+			xfrmFromBoingCoordsMX[2][1] = xfrmToBoingCoordsMX[1][2];
+
+			xfrmFromBoingCoordsMX[0][2] = xfrmToBoingCoordsMX[2][0];
+			xfrmFromBoingCoordsMX[1][2] = xfrmToBoingCoordsMX[2][1];
+			xfrmFromBoingCoordsMX[2][2] = xfrmToBoingCoordsMX[2][2];
+
+			xfrmFromBoingCoordsMX[0][3] = 0.0f;
+			xfrmFromBoingCoordsMX[1][3] = 0.0f;
+			xfrmFromBoingCoordsMX[2][3] = 0.0f;
+
+			// put it all together
+			matrix3x4_t xfrmMX;
+			MatrixMultiply( xfrmToBoingCoordsMX, boingMX, xfrmMX );
+			MatrixMultiply( xfrmMX, xfrmFromBoingCoordsMX, xfrmMX );
+			MatrixMultiply( boneMX, xfrmMX, boneMX );
+
+#ifdef CLIENT_DLL
+			if ( cl_jiggle_bone_debug.GetBool() )
+			{
+				float dT = 0.01f;
+				debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 50.0f * data->boingDir, 255, 255, 0, true, dT );
+				debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 50.0f * boingSide, 255, 0, 255, true, dT );
+				debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + 50.0f * boingOtherSide, 0, 255, 255, true, dT );
+			}
+#endif
+
+			boneMX[0][3] = goalBasePosition.x;
+			boneMX[1][3] = goalBasePosition.y;
+			boneMX[2][3] = goalBasePosition.z;
+		}
+	}
+	else if ( !( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) ) )
+	{
+		// no flex at all - just use goal matrix
+		boneMX = goalMX;
+	}
+
+#ifdef CLIENT_DLL
+	// debug display for client only so server doesn't try to also draw it
+	if ( cl_jiggle_bone_debug.GetBool() )
+	{
+		float dT = 0.01f;
+		const float axisSize = 5.0f;
+		debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * goalLeft, 255, 0, 0, true, dT );
+		debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * goalUp, 0, 255, 0, true, dT );
+		debugoverlay->AddLineOverlay( goalBasePosition, goalBasePosition + axisSize * goalForward, 0, 0, 255, true, dT );
+
+		if ( cl_jiggle_bone_debug.GetInt() > 1 )
+		{
+			DevMsg( "Jiggle bone #%d, basePos( %3.2f, %3.2f, %3.2f ), tipPos( %3.2f, %3.2f, %3.2f ), left( %3.2f, %3.2f, %3.2f ), up( %3.2f, %3.2f, %3.2f ), forward( %3.2f, %3.2f, %3.2f )\n", 
+						data->bone,
+						goalBasePosition.x, goalBasePosition.y, goalBasePosition.z, 
+						data->tipPos.x, data->tipPos.y, data->tipPos.z,
+						goalLeft.x, goalLeft.y, goalLeft.z,
+						goalUp.x, goalUp.y, goalUp.z,
+						goalForward.x, goalForward.y, goalForward.z );
+		}
+
+		const float sz = 1.0f;
+
+		if ( jiggleInfo->flags & ( JIGGLE_IS_FLEXIBLE | JIGGLE_IS_RIGID ) )
+		{
+			debugoverlay->AddLineOverlay( goalBasePosition, 
+				data->tipPos, 255, 255, 0, true, dT );
+
+			debugoverlay->AddLineOverlay( data->tipPos + Vector( -sz, 0, 0 ), 
+				data->tipPos + Vector( sz, 0, 0 ), 0, 255, 255, true, dT );
+			debugoverlay->AddLineOverlay( data->tipPos + Vector( 0, -sz, 0 ), 
+				data->tipPos + Vector( 0, sz, 0 ), 0, 255, 255, true, dT );
+			debugoverlay->AddLineOverlay( data->tipPos + Vector( 0, 0, -sz ), 
+				data->tipPos + Vector( 0, 0, sz ), 0, 255, 255, true, dT );
+		}
+
+		if ( jiggleInfo->flags & JIGGLE_HAS_BASE_SPRING )
+		{
+			debugoverlay->AddLineOverlay( data->basePos + Vector( -sz, 0, 0 ), 
+				data->basePos + Vector( sz, 0, 0 ), 255, 0, 255, true, dT );
+			debugoverlay->AddLineOverlay( data->basePos + Vector( 0, -sz, 0 ), 
+				data->basePos + Vector( 0, sz, 0 ), 255, 0, 255, true, dT );
+			debugoverlay->AddLineOverlay( data->basePos + Vector( 0, 0, -sz ), 
+				data->basePos + Vector( 0, 0, sz ), 255, 0, 255, true, dT );
+		}
+
+
+		if ( jiggleInfo->flags & JIGGLE_IS_BOING )
+		{
+			if ( cl_jiggle_bone_debug.GetInt() > 2 )
+			{
+				DevMsg( "  boingSpeed = %3.2f, boingVelDir( %3.2f, %3.2f, %3.2f )\n", data->boingVelDir.Length() / deltaT, data->boingVelDir.x, data->boingVelDir.y, data->boingVelDir.z );
+			}
+		}
+	}
+#endif // CLIENT_DLL
+}
+