/// <summary>
/// SQTTransformを生成
/// </summary>
/// <param name="scales">スケールベクトル</param>
/// <param name="rotation">回転クォータニオン</param>
/// <param name="translation">移動ベクトル</param>
/// <param name="result">SQTTransform</param>
public static void Create(ref Vector3 scales, ref Quaternion rotation, ref Vector3 translation, out SQTTransform result)
{
result = new SQTTransform()
{
Scales = scales, Rotation = rotation, Translation = translation
};
}
/// <summary>
/// SQTTransformの乗算
/// </summary>
public static void Multiply(ref SQTTransform value1, ref SQTTransform value2, out SQTTransform result)
{
result = new SQTTransform();
// 平行移動の算出
// 拡大→回転
Vector3 temp = new Vector3();
Vector3 newTranslation;
temp.X = value1.Translation.X * value2.Scales.X;
temp.Y = value1.Translation.Y * value2.Scales.Y;
temp.Z = value1.Translation.Z * value2.Scales.Z;
Vector3.Transform(ref temp, ref value2.Rotation, out newTranslation);
newTranslation.X += value2.Translation.X;
newTranslation.Y += value2.Translation.Y;
newTranslation.Z += value2.Translation.Z;
// 回転部分の結合(回転と拡大は独立だったはず……)
Quaternion.Multiply(ref value1.Rotation, ref value2.Rotation,
out result.Rotation);
//拡大部分の結合
result.Scales.X = value1.Scales.X * value2.Scales.X;
result.Scales.Y = value1.Scales.Y * value2.Scales.Y;
result.Scales.Z = value1.Scales.Z * value2.Scales.Z;
result.Translation = newTranslation;
}
/// <summary>
/// SQTTransformの乗算
/// </summary>
public static void Multiply(ref SQTTransform value1, ref SQTTransform value2, out SQTTransform result)
{
result = new SQTTransform();
// 平行移動の算出
// 拡大→回転
Vector3 temp = new Vector3();
Vector3 newTranslation;
temp.X = value1.Translation.X * value2.Scales.X;
temp.Y = value1.Translation.Y * value2.Scales.Y;
temp.Z = value1.Translation.Z * value2.Scales.Z;
Vector3.Transform(ref temp, ref value2.Rotation, out newTranslation);
newTranslation.X += value2.Translation.X;
newTranslation.Y += value2.Translation.Y;
newTranslation.Z += value2.Translation.Z;
// 回転部分の結合(回転と拡大は独立だったはず……)
Quaternion.Multiply(ref value1.Rotation, ref value2.Rotation,
out result.Rotation);
//拡大部分の結合
result.Scales.X = value1.Scales.X * value2.Scales.X;
result.Scales.Y = value1.Scales.Y * value2.Scales.Y;
result.Scales.Z = value1.Scales.Z * value2.Scales.Z;
result.Translation = newTranslation;
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="name">名前</param>
/// <param name="bindPose">バインドポーズ</param>
/// <param name="inverseBindPose">逆バインドポーズ</param>
/// <param name="skeletonHierarchy">親ボーン番号</param>
public MMDBone(string name, SQTTransform bindPose, Matrix inverseBindPose, int skeletonHierarchy)
{
Name = name;
BindPose = bindPose;
InverseBindPose = inverseBindPose;
SkeletonHierarchy = skeletonHierarchy;
LocalTransform = bindPose;
GlobalTransform = Matrix.Identity;
}
/// <summary>
/// 補完
/// </summary>
/// <param name="frame1">フレーム1</param>
/// <param name="frame2">フレーム2</param>
/// <param name="Progress">進行度合い</param>
/// <param name="result">補完結果</param>
public static void Lerp(MMDBoneKeyFrame frame1, MMDBoneKeyFrame frame2, decimal Progress, out SQTTransform result)
{
decimal ProgX, ProgY, ProgZ, ProgR;
ProgX = (decimal)frame2.Curve[0].Evaluate((float)Progress);
ProgY = (decimal)frame2.Curve[1].Evaluate((float)Progress);
ProgZ = (decimal)frame2.Curve[2].Evaluate((float)Progress);
ProgR = (decimal)frame2.Curve[3].Evaluate((float)Progress);
decimal x, y, z;
Quaternion q;
Vector3 scales;
x = MathHelper.Lerp(frame1.Location.X, frame2.Location.X, ProgX);
y = MathHelper.Lerp(frame1.Location.Y, frame2.Location.Y, ProgY);
z = MathHelper.Lerp(frame1.Location.Z, frame2.Location.Z, ProgZ);
Quaternion.Slerp(ref frame1.Quatanion, ref frame2.Quatanion, ProgR, out q);
//MMDはスケールのアニメーションを含まないので、スケールのベジェ曲線計算は行わない
Vector3.Lerp(ref frame1.Scales, ref frame2.Scales, Progress, out scales);
Vector3 t = new Vector3(x, y, z);
SQTTransform.Create(ref scales, ref q, ref t, out result);
}
/// <summary>
/// このフレームのSQTトランスフォームを取得
/// </summary>
/// <param name="result">SQLトランスフォーム</param>
public void GetSQTTransform(out SQTTransform result)
{
SQTTransform.Create(ref Scales, ref Quatanion, ref Location, out result);
}
/// <summary>
/// 姿勢の線形補間
/// </summary>
/// <param name="pose1">姿勢1</param>
/// <param name="pose2">姿勢2</param>
/// <param name="amount">補完係数(0-1)</param>
/// <param name="result">線形補間された姿勢</param>
/// <remarks>Quaternionは球状線形補間を使用</remarks>
internal static void Lerp(ref SQTTransform pose1, ref SQTTransform pose2, float amount, out SQTTransform result)
{
Vector3.Lerp(ref pose1.Scales, ref pose2.Scales, amount, out result.Scales);
Vector3.Lerp(ref pose1.Translation, ref pose2.Translation, amount, out result.Translation);
Quaternion.Slerp(ref pose1.Rotation, ref pose2.Rotation, amount, out result.Rotation);
}
/// <summary>
/// SQTTransformを生成
/// </summary>
/// <param name="scales">スケールベクトル</param>
/// <param name="rotation">回転クォータニオン</param>
/// <param name="translation">移動ベクトル</param>
/// <param name="result">SQTTransform</param>
public static void Create(ref Vector3 scales, ref Quaternion rotation, ref Vector3 translation, out SQTTransform result)
{
result = new SQTTransform() { Scales = scales, Rotation = rotation, Translation = translation };
}
/// <summary>
/// 姿勢の線形補間
/// </summary>
/// <param name="pose1">姿勢1</param>
/// <param name="pose2">姿勢2</param>
/// <param name="amount">補完係数(0-1)</param>
/// <param name="result">線形補間された姿勢</param>
/// <remarks>Quaternionは球状線形補間を使用</remarks>
internal static void Lerp(ref SQTTransform pose1, ref SQTTransform pose2, float amount, out SQTTransform result)
{
Vector3.Lerp(ref pose1.Scales, ref pose2.Scales, amount, out result.Scales);
Vector3.Lerp(ref pose1.Translation, ref pose2.Translation, amount, out result.Translation);
Quaternion.Slerp(ref pose1.Rotation, ref pose2.Rotation, amount, out result.Rotation);
}