//here we go, thats the method called by vvvv each frame
//all data handling should be in here
public void Evaluate(int SpreadMax)
{
//if any of the inputs has changed
//recompute the outputs
bool recalculate = false;
bool chainRangeChanged = false;
bool recalculateOrientation = false;
if (FChainStart.PinIsChanged)
{
FChainStart.GetString(0, out chainStart);
recalculate = true;
chainRangeChanged = true;
}
if (FChainEnd.PinIsChanged)
{
FChainEnd.GetString(0, out chainEnd);
recalculate = true;
chainRangeChanged = true;
}
object currInterface;
if (FPoseInput.PinIsChanged || chainRangeChanged)
{
if (FPoseInput.IsConnected)
{
FPoseInput.GetUpstreamInterface(out currInterface);
Skeleton s = (Skeleton)currInterface;
if (outputSkeleton == null || !s.Uid.Equals(outputSkeleton.Uid))
{
outputSkeleton = (Skeleton)((Skeleton)currInterface).DeepCopy();
outputSkeleton.BuildJointTable();
workingSkeleton = (Skeleton)outputSkeleton.DeepCopy();
workingSkeleton.BuildJointTable();
chainRangeChanged = true;
}
else
{
foreach (KeyValuePair <string, IJoint> pair in s.JointTable)
{
if (!jointChain.Exists(delegate(IJoint j) { return(j.Name == pair.Key); }))
{
outputSkeleton.JointTable[pair.Key].BaseTransform = pair.Value.BaseTransform;
outputSkeleton.JointTable[pair.Key].AnimationTransform = pair.Value.AnimationTransform;
workingSkeleton.JointTable[pair.Key].BaseTransform = pair.Value.BaseTransform;
workingSkeleton.JointTable[pair.Key].AnimationTransform = pair.Value.AnimationTransform;
}
outputSkeleton.JointTable[pair.Key].Constraints = pair.Value.Constraints;
workingSkeleton.JointTable[pair.Key].Constraints = pair.Value.Constraints;
}
}
workingSkeleton.CalculateCombinedTransforms();
recalculate = true;
}
else
{
outputSkeleton = null;
}
}
if (FVelocityInput.PinIsChanged)
{
double x;
FVelocityInput.GetValue(0, out x);
iterationsPerFrame = (int)(x * 10);
}
if (iterationsPerFrame > 0)
{
if (FTargetInput.PinIsChanged)
{
targetPosW = new Vector3D();
FTargetInput.GetValue3D(0, out targetPosW.x, out targetPosW.y, out targetPosW.z);
recalculate = true;
}
if (FEpsilonInput.PinIsChanged)
{
FEpsilonInput.GetValue(0, out epsilon);
recalculate = true;
}
if (FPoleTargetInput.PinIsChanged || FEnablePoleTargetInput.PinIsChanged)
{
double x;
FEnablePoleTargetInput.GetValue(0, out x);
enablePoleTarget = x > 0.0;
poleTargetW = new Vector3D();
FPoleTargetInput.GetValue3D(0, out poleTargetW.x, out poleTargetW.y, out poleTargetW.z);
recalculateOrientation = true;
}
if (chainRangeChanged && outputSkeleton != null)
{
initRotations();
}
double delta = VMath.Dist(endPosW, targetPosW);
if ((delta > epsilon || recalculate) && outputSkeleton != null && !string.IsNullOrEmpty(chainStart) && !string.IsNullOrEmpty(chainEnd))
{
List <Vector2D> constraints = new List <Vector2D>();
for (int i = 0; i < iterationsPerFrame; i++)
{
for (int j = 0; j < 3; j++)
{
IJoint currJoint = workingSkeleton.JointTable[chainEnd];
endPosW = currJoint.CombinedTransform * new Vector3D(0);
while (currJoint.Name != chainStart)
{
currJoint = currJoint.Parent;
Vector3D rotationAxis = new Vector3D(0, 0, 0);
rotationAxis[j] = 1;
double torque = calculateTorque(currJoint, rotationAxis);
Vector3D rot = rotations[currJoint.Name];
if ((rot[j] + torque) < currJoint.Constraints[j].x * 2 * Math.PI || (rot[j] + torque) > currJoint.Constraints[j].y * 2 * Math.PI)
{
torque = 0;
}
Matrix4x4 newTransform = VMath.Rotate(torque * rotationAxis.x, torque * rotationAxis.y, torque * rotationAxis.z) * currJoint.AnimationTransform;
Vector3D testVec = newTransform * new Vector3D(0);
if (!Double.IsInfinity(testVec.x) && !Double.IsNaN(testVec.x)) // an evil bug fix, to avoid n.def. values in animation transform matrix. the actual reason, why this would happen has not been found yet.
{
rot[j] += torque;
rotations[currJoint.Name] = rot;
currJoint.AnimationTransform = newTransform;
outputSkeleton.JointTable[currJoint.Name].AnimationTransform = currJoint.AnimationTransform;
}
}
}
try
{
Matrix4x4 pre;
if (workingSkeleton.JointTable[chainStart].Parent != null)
{
pre = workingSkeleton.JointTable[chainStart].Parent.CombinedTransform;
}
else
{
pre = VMath.IdentityMatrix;
}
((JointInfo)workingSkeleton.JointTable[chainStart]).CalculateCombinedTransforms(pre);
}
catch (Exception)
{
workingSkeleton.CalculateCombinedTransforms();
}
}
FPoseOutput.MarkPinAsChanged();
}
if ((recalculate || recalculateOrientation) && enablePoleTarget && outputSkeleton != null && !string.IsNullOrEmpty(chainStart) && !string.IsNullOrEmpty(chainEnd))
{
endPosW = workingSkeleton.JointTable[chainEnd].CombinedTransform * new Vector3D(0);
Vector3D poleTargetLocal = VMath.Inverse(workingSkeleton.JointTable[chainStart].CombinedTransform) * poleTargetW;
Vector3D t = VMath.Inverse(workingSkeleton.JointTable[chainStart].CombinedTransform) * endPosW; // endpoint in local coords
Vector3D a = VMath.Inverse(workingSkeleton.JointTable[chainStart].CombinedTransform) * (workingSkeleton.JointTable[chainStart].Children[0].CombinedTransform * new Vector3D(0)); // next child in local coords
Vector3D x = t * ((a.x * t.x + a.y * t.y + a.z * t.z) / Math.Pow(VMath.Dist(new Vector3D(0), t), 2));
Vector3D y = t * ((poleTargetLocal.x * t.x + poleTargetLocal.y * t.y + poleTargetLocal.z * t.z) / Math.Pow(VMath.Dist(new Vector3D(0), t), 2));
Vector3D c = poleTargetLocal - y;
Vector3D b = a - x;
double angle = vectorAngle(b, c);
Vector3D n = new Vector3D();
n.x = c.y * b.z - c.z * b.y;
n.y = c.z * b.x - c.x * b.z;
n.z = c.x * b.y - c.y * b.x;
n = n / VMath.Dist(new Vector3D(0), n);
FDebugOutput.SetValue(0, angle);
chainRotation = RotateAroundAxis(angle, n);
FPoseOutput.MarkPinAsChanged();
}
if (!enablePoleTarget)
{
chainRotation = VMath.IdentityMatrix;
}
outputSkeleton.JointTable[chainStart].AnimationTransform = chainRotation * outputSkeleton.JointTable[chainStart].AnimationTransform;
}
FPoseOutput.SetInterface(outputSkeleton);
}
//here we go, thats the method called by vvvv each frame
//all data handling should be in here
public void Evaluate(int SpreadMax)
{
//if any of the inputs has changed
//recompute the outputs
if (vertices.Count != FVerticesInput.SliceCount / 3)
{
vertices.Clear();
double x, y, z;
for (int i = 0; i < FVerticesInput.SliceCount - 2; i += 3)
{
FVerticesInput.GetValue(i, out x);
FVerticesInput.GetValue(i + 1, out y);
FVerticesInput.GetValue(i + 2, out z);
vertices.Add(new Vector3D(x, y, z));
}
}
if (FSkeletonInput.PinIsChanged)
{
if (FSkeletonInput.IsConnected)
{
object currInterface;
FSkeletonInput.GetUpstreamInterface(out currInterface);
skeleton = (Skeleton)currInterface;
}
}
double apply;
FApplyInput.GetValue(0, out apply);
if (apply == 1 && skeleton != null)
{
skeleton.CalculateCombinedTransforms();
skinWeights = new Dictionary <int, Dictionary <int, double> >();
Vector3D origin = new Vector3D(0);
double d;
for (int i = 0; i < vertices.Count; i++)
{
IJoint nearest = getNearestBone(vertices[i], skeleton.Root, out d);
Dictionary <int, double> jointWeights = new Dictionary <int, double>();
jointWeights.Add(nearest.Id, 1.0);
skinWeights.Add(i, jointWeights);
}
int sliceNum = 0;
for (int i = 0; i < vertices.Count; i++)
{
if (!skinWeights.ContainsKey(i))
{
continue;
}
IDictionaryEnumerator boneEnum = skinWeights[i].GetEnumerator();
while (boneEnum.MoveNext())
{
FIndicesOutput.SliceCount = sliceNum + 1;
FBindIndicesOutput.SliceCount = sliceNum + 1;
FSkinWeightsOutput.SliceCount = sliceNum + 1;
FIndicesOutput.SetValue(sliceNum, i);
FBindIndicesOutput.SetValue(sliceNum, (int)boneEnum.Key);
FSkinWeightsOutput.SetValue(sliceNum, (double)boneEnum.Value);
sliceNum++;
}
}
}
}
//here we go, thats the method called by vvvv each frame
//all data handling should be in here
public void Evaluate(int SpreadMax)
{
//if any of the inputs has changed
//recompute the outputs
bool recalculate = false;
if (FJointNameInput.PinIsChanged)
{
jointNames = new List <string>();
string jointName;
for (int i = 0; i < FJointNameInput.SliceCount; i++)
{
FJointNameInput.GetString(i, out jointName);
jointNames.Add(jointName);
}
recalculate = true;
if (jointNames.Count == 1 && string.IsNullOrEmpty(jointNames[0]))
{
jointsSelected = false;
}
else
{
jointsSelected = true;
}
}
if (FSkeletonInput.PinIsChanged)
{
if (FSkeletonInput.IsConnected)
{
object currInterface;
FSkeletonInput.GetUpstreamInterface(out currInterface);
inputSkeleton = (Skeleton)currInterface;
// if there are no specific joints selected via input pin, collect them all
if (jointNames == null || !jointsSelected)
{
jointNames = new List <string>();
foreach (KeyValuePair <string, IJoint> pair in inputSkeleton.JointTable)
{
// Only add those with a valid array index.
// It's not a must that all bones are used as skinning matrices.
if (pair.Value.Id >= 0)
{
jointNames.Add(pair.Key);
}
}
}
}
else
{
inputSkeleton = null;
}
recalculate = true;
}
if (FInverseBindPoseInput.PinIsChanged)
{
recalculate = true;
}
if (FOutputModeInput.PinIsChanged)
{
FOutputModeInput.GetOrd(0, out outputMode);
recalculate = true;
}
if (recalculate && inputSkeleton != null)
{
inputSkeleton.CalculateCombinedTransforms();
int jointCount;
if (outputMode == OUTPUT_MODE_DYNAMIC)
{
jointCount = jointNames.Count;
}
else
{
jointCount = 60;
}
FTransformOutput.SliceCount = jointCount;
IJoint currJoint;
Matrix4x4 currIBPMatrix;
int i = 0;
for (i = 0; i < jointNames.Count; i++)
{
currJoint = inputSkeleton.JointTable[jointNames[i]];
if (currJoint != null)
{
int sliceIndex;
if (outputMode == OUTPUT_MODE_STATIC)
{
sliceIndex = currJoint.Id;
}
else
{
sliceIndex = i;
}
FInverseBindPoseInput.GetMatrix(sliceIndex, out currIBPMatrix);
FTransformOutput.SetMatrix(sliceIndex, currIBPMatrix * currJoint.CombinedTransform);
}
}
// Pad remaining slices with Identity Matrices
for (int j = i; j < jointCount; j++)
{
FTransformOutput.SetMatrix(j, VMath.IdentityMatrix);
}
}
}
