public void UpdateTransforms(ModelNode pNode, Matrix4 transf)
{
string nodename = pNode.Name;
Matrix4 nodeTransf = Matrix4.Identity;
double time;
SingleAnimationNode pNodeAnim = FindNodeAnim(nodename, pNode.Mode, out time);
if (pNodeAnim != null)
{
BEPUutilities.Vector3 vec = pNodeAnim.lerpPos(time);
BEPUutilities.Quaternion quat = pNodeAnim.lerpRotate(time);
OpenTK.Quaternion oquat = new OpenTK.Quaternion(quat.X, quat.Y, quat.Z, quat.W);
Matrix4 trans;
Matrix4.CreateTranslation(vec.X, vec.Y, vec.Z, out trans);
trans.Transpose();
Matrix4 rot;
Matrix4.CreateFromQuaternion(ref oquat, out rot);
rot.Transpose();
Matrix4.Mult(ref trans, ref rot, out nodeTransf);
}
Matrix4 global;
Matrix4.Mult(ref transf, ref nodeTransf, out global);
for (int i = 0; i < pNode.Bones.Count; i++)
{
//Matrix4 modded;
//Matrix4.Mult(ref globalInverse, ref global, out modded);
Matrix4.Mult(ref global, ref pNode.Bones[i].Offset, out pNode.Bones[i].Transform);
}
for (int i = 0; i < pNode.Children.Count; i++)
{
UpdateTransforms(pNode.Children[i], global);
}
}
//Animation frame data collection methods
public static Quaternion fetchRotQuaternion(TkAnimNodeData node, TkAnimMetadata animMeta, int frameCounter)
{
//Load Frames
//Console.WriteLine("Setting Frame Index {0}", frameIndex);
TkAnimNodeFrameData frame = animMeta.AnimFrameData[frameCounter];
TkAnimNodeFrameData stillframe = animMeta.StillFrameData;
OpenTK.Quaternion q;
//Check if there is a rotation for that node
if (node.RotIndex < frame.Rotations.Count)
{
int rotindex = node.RotIndex;
q = new OpenTK.Quaternion(frame.Rotations[rotindex].x,
frame.Rotations[rotindex].y,
frame.Rotations[rotindex].z,
frame.Rotations[rotindex].w);
}
else //Load stillframedata
{
int rotindex = node.RotIndex - frame.Rotations.Count;
q = new OpenTK.Quaternion(stillframe.Rotations[rotindex].x,
stillframe.Rotations[rotindex].y,
stillframe.Rotations[rotindex].z,
stillframe.Rotations[rotindex].w);
}
return(q);
}
/// <summary>
/// Gets the forward vector of this controller.
/// </summary>
/// <returns></returns>
public Location ForwardVector()
{
OpenTK.Quaternion loquat = Position.ExtractRotation(true);
BEPUutilities.Quaternion lquat = new BEPUutilities.Quaternion(loquat.X, loquat.Y, loquat.Z, loquat.W);
BEPUutilities.Vector3 lforw = -BEPUutilities.Quaternion.Transform(BEPUutilities.Vector3.UnitZ, lquat);
return(new Location(lforw));
}
public static OpenTK.Matrix4 GLSRT(OpenTK.Vector3 pos, OpenTK.Quaternion qua, OpenTK.Vector3 scale)
{
OpenTK.Matrix4 t = OpenTK.Matrix4.CreateTranslation(pos);
OpenTK.Matrix4 r = OpenTK.Matrix4.CreateFromQuaternion(qua);
OpenTK.Matrix4 s = OpenTK.Matrix4.CreateScale(scale);
return(s * r * t);
}
public override void applyPoses(Dictionary <string, Matrix4> poseMatrices)
{
foreach (KeyValuePair <string, Matrix4> kp in poseMatrices)
{
string node_name = kp.Key;
if (jointDict.ContainsKey(node_name))
{
Joint j = jointDict[node_name];
//j.localPoseMatrix = kp.Value;
//Vector3 tr = kp.Value.ExtractTranslation();
Vector3 sc = kp.Value.ExtractScale();
OpenTK.Quaternion q = kp.Value.ExtractRotation();
//j.localRotation = Matrix4.CreateFromQuaternion(q);
//j.localPosition = tr;
j.localRotation = Matrix4.CreateFromQuaternion(q) * j.__localRotation;
j.localScale = sc;
//j.localPoseMatrix = kp.Value;
}
}
update();
}
public void Update(float dt)
{
m_fDeltaTime = dt;
m_v3LinearAcceleration = m_fGravity + (m_v3Force / m_fMass);
m_v3LinearVelocity += m_v3LinearAcceleration * m_fDeltaTime;
m_v3Position += m_v3LinearVelocity * m_fDeltaTime;
Matrix4 m4Translate = Matrix4.CreateTranslation(m_v3Position);
m_v3AngularAcceleration = (m_v3Torque / m_fMass);
m_v3AngularVelocity += m_v3AngularAcceleration * m_fDeltaTime;
m_v3Rotate += m_v3AngularVelocity * m_fDeltaTime;
// damping
m_v3LinearVelocity *= (float)Math.Pow(m_fLinearDamping, m_fDeltaTime);
m_v3AngularVelocity *= (float)Math.Pow(m_fAngularDamping, m_fDeltaTime);
//Matrix4 m4RotX = Matrix4.CreateRotationX(m_v3Rotate.X);
//Matrix4 m4RotY = Matrix4.CreateRotationY(m_v3Rotate.Y);
//Matrix4 m4RotZ = Matrix4.CreateRotationZ(m_v3Rotate.Z);
//Matrix4 m4RotXYZ = Matrix4.Mult(Matrix4.Mult(m4RotX, m4RotY), m4RotZ);
OpenTK.Quaternion quat = ToQuaternion(m_v3Rotate.X, m_v3Rotate.Y, m_v3Rotate.Z);
Matrix4 m4Rotate = Matrix4.CreateFromQuaternion(quat);
m_m4World = Matrix4.Mult(m4Rotate, m4Translate);
}
public static void AssertEquals(TK.Quaternion q1, Quaternion q2, String msg)
{
AssertEquals(q1.X, q2.X, msg + String.Format(" => checking X component ({0} == {1}", q1.X, q2.X));
AssertEquals(q1.Y, q2.Y, msg + String.Format(" => checking Y component ({0} == {1}", q1.Y, q2.Y));
AssertEquals(q1.Z, q2.Z, msg + String.Format(" => checking Z component ({0} == {1}", q1.Z, q2.Z));
AssertEquals(q1.W, q2.W, msg + String.Format(" => checking W component ({0} == {1}", q1.W, q2.W));
}
//No longer previewing
protected override void LeftMouseUpResizing(Viewport2D viewport, ViewportEvent e)
{
if (_currentTool == null)
{
base.LeftMouseUpResizing(viewport, e);
return;
}
var transformation = GetTransformMatrix(viewport, e);
if (transformation.HasValue)
{
Matrix4 m = (Matrix4)transformation;
Vector3 c = m.ExtractTranslation();
OpenTK.Quaternion q = m.ExtractRotation();
if (_currentTool.GetType() == typeof(MoveTool))
{
TotalTranslation += new Coordinate((decimal)c.X, (decimal)c.Y, (decimal)c.Z);
}
else if (_currentTool.GetType() == typeof(RotateTool))
{
q.Invert();
TotalRotation *= q;
}
_form.KeyFrameEdit(-1, TotalTranslation, ToGeometric(TotalRotation));
//var createClone = KeyboardState.Shift && State.Handle == ResizeHandle.Center;
//ExecuteTransform(_currentTool.GetTransformName(), CreateMatrixMultTransformation(transformation.Value), createClone);
}
Document.EndSelectionTransform();
State.ActiveViewport = null;
State.Action = BoxAction.Drawn;
SelectionChanged();
}
/// <summary>
/// Function to blend from one keyframe to another.
/// </summary>
public void ChangeLocalFixedDataBlend(ActionState st)
{
Debug.Assert(0 <= st.KfBlend && st.KfBlend <= 1);
foreach (NodeAnimationChannel channel in _action.NodeAnimationChannels)
{
BoneNode bone_nd = _scene.GetBoneNode(channel.NodeName);
// now rotation
tk.Quaternion target_roto = tk.Quaternion.Identity;
if (channel.RotationKeyCount > st.TargetKeyframe)
{
target_roto = channel.RotationKeys[st.TargetKeyframe].Value.eToOpenTK();
}
tk.Quaternion start_frame_roto = channel.RotationKeys[st.OriginKeyframe].Value.eToOpenTK();
tk.Quaternion result_roto = tk.Quaternion.Slerp(start_frame_roto, target_roto, (float)st.KfBlend);
// now translation
tk.Vector3 target_trans = tk.Vector3.Zero;
if (channel.PositionKeyCount > st.TargetKeyframe)
{
target_trans = channel.PositionKeys[st.TargetKeyframe].Value.eToOpenTK();
}
tk.Vector3 cur_trans = channel.PositionKeys[st.OriginKeyframe].Value.eToOpenTK();
tk.Vector3 result_trans = cur_trans + tk.Vector3.Multiply(target_trans - cur_trans, (float)st.KfBlend);
// combine rotation and translation
tk.Matrix4 result = tk.Matrix4.CreateFromQuaternion(result_roto);
result.Row3.Xyz = result_trans;
bone_nd.LocTrans = result.eToAssimp();
}
}
public static Assimp.Quaternion convertQuaternion(OpenTK.Quaternion localQuat)
{
Assimp.Quaternion q = new Assimp.Quaternion();
q.X = localQuat.X;
q.Y = localQuat.Y;
q.Z = localQuat.Z;
q.W = localQuat.W;
return(q);
}
private OpenTK.Quaternion TKQuaternion(Assimp.Quaternion rot)
{
OpenTK.Quaternion quat = new OpenTK.Quaternion();
quat.X = rot.X;
quat.Y = rot.Y;
quat.Z = rot.Z;
quat.W = rot.W;
return quat;
}
public static Matrix4 ConvertGLTFTRSToOpenTKMatrix(float[] scale, float[] rotation, float[] translation)
{
OpenTK.Quaternion r = new OpenTK.Quaternion(rotation[0], rotation[1], rotation[2], rotation[3]);
Matrix4 rotationMatrix = Matrix4.CreateFromQuaternion(r);
Matrix4 scaleMatrix = Matrix4.CreateScale(scale[0], scale[1], scale[2]);
Matrix4 translationMatrix = Matrix4.CreateTranslation(translation[0], translation[1], translation[2]);
return(scaleMatrix * rotationMatrix * translationMatrix);
}
public static OpenTK.Quaternion TKQuaternion(Assimp.Quaternion rot)
{
OpenTK.Quaternion quat = new OpenTK.Quaternion();
quat.X = rot.X;
quat.Y = rot.Y;
quat.Z = rot.Z;
quat.W = rot.W;
return(quat);
}
private DataStructures.Geometric.Quaternion ToGeometric(OpenTK.Quaternion q)
{
DataStructures.Geometric.Quaternion ret;
ret = new DataStructures.Geometric.Quaternion((decimal)q.X, (decimal)q.Y,
(decimal)q.Z, (decimal)q.W);
return(ret);
}
public void TestGetMatrix()
{
TK.Quaternion tkQ = TK.Quaternion.FromAxisAngle(new TK.Vector3(.25f, .5f, 0.0f), TK.MathHelper.PiOver2);
Quaternion q = new Quaternion(tkQ.W, tkQ.X, tkQ.Y, tkQ.Z);
TK.Matrix4 tkM = TK.Matrix4.CreateFromAxisAngle(new TK.Vector3(.25f, .5f, 0.0f), TK.MathHelper.PiOver2);
Matrix4x4 m = q.GetMatrix();
TestHelper.AssertEquals(tkM, m, "Testing GetMatrix");
}
public void TestConjugate()
{
TK.Quaternion tkQ = TK.Quaternion.FromAxisAngle(TK.Vector3.UnitY, TK.MathHelper.PiOver2);
Quaternion q = new Quaternion(tkQ.W, tkQ.X, tkQ.Y, tkQ.Z);
tkQ.Conjugate();
q.Conjugate();
TestHelper.AssertEquals(tkQ.X, tkQ.Y, tkQ.Z, tkQ.W, q, "Testing conjugate");
}
internal RenderModelMarkerBlockBase(BinaryReader binaryReader)
{
this.regionIndex = binaryReader.ReadByte();
this.permutationIndex = binaryReader.ReadByte();
this.nodeIndex = binaryReader.ReadByte();
this.invalidName_ = binaryReader.ReadBytes(1);
this.translation = binaryReader.ReadVector3();
this.rotation = binaryReader.ReadQuaternion();
this.scale = binaryReader.ReadSingle();
}
public void TestNormalize()
{
TK.Quaternion tkQ = TK.Quaternion.FromAxisAngle(new TK.Vector3(.25f, .5f, 0.0f), TK.MathHelper.PiOver2);
Quaternion q = new Quaternion(tkQ.W, tkQ.X, tkQ.Y, tkQ.Z);
tkQ.Normalize();
q.Normalize();
TestHelper.AssertEquals(tkQ.X, tkQ.Y, tkQ.Z, tkQ.W, q, "Testing normalize");
}
internal StructureBspEnvironmentObjectBlockBase(BinaryReader binaryReader)
{
this.name = binaryReader.ReadString32();
this.rotation = binaryReader.ReadQuaternion();
this.translation = binaryReader.ReadVector3();
this.paletteIndex = binaryReader.ReadShortBlockIndex1();
this.invalidName_ = binaryReader.ReadBytes(2);
this.uniqueID = binaryReader.ReadInt32();
this.exportedObjectType = binaryReader.ReadTagClass();
this.scenarioObjectName = binaryReader.ReadString32();
}
public override void ToolSelected(bool preventHistory)
{
_form.Show(Editor.Instance);
Editor.Instance.Focus();
TotalTranslation = Coordinate.Zero;
TotalRotation = new OpenTK.Quaternion(0, 0, 0, 1);
_currentTool = null;
_lastTool = null;
_form.OnShow();
}
// Change standard T-pose to TDA T-pose
private static void FixTdaBonesAndVertices([NotNull, ItemNotNull] IReadOnlyList <PmxBone> bones, [NotNull, ItemNotNull] IReadOnlyList <PmxVertex> vertices)
{
var defRotRight = Quaternion.FromEulerAngles(0, 0, MathHelper.DegreesToRadians(34.5f));
var defRotLeft = Quaternion.FromEulerAngles(0, 0, MathHelper.DegreesToRadians(-34.5f));
var leftArm = bones.SingleOrDefault(b => b.Name == "左腕");
var rightArm = bones.SingleOrDefault(b => b.Name == "右腕");
Debug.Assert(leftArm != null, nameof(leftArm) + " != null");
Debug.Assert(rightArm != null, nameof(rightArm) + " != null");
leftArm.AnimatedRotation = defRotLeft;
rightArm.AnimatedRotation = defRotRight;
foreach (var bone in bones)
{
if (bone.ParentIndex >= 0)
{
bone.Parent = bones[bone.ParentIndex];
}
}
foreach (var bone in bones)
{
bone.SetToVmdPose(true);
}
foreach (var vertex in vertices)
{
var m = Matrix4.Zero;
for (var j = 0; j < 4; ++j)
{
var boneWeight = vertex.BoneWeights[j];
if (!boneWeight.IsValid)
{
continue;
}
m = m + bones[boneWeight.BoneIndex].SkinMatrix * boneWeight.Weight;
}
vertex.Position = Vector3.TransformPosition(vertex.Position, m);
vertex.Normal = Vector3.TransformNormal(vertex.Normal, m);
}
foreach (var bone in bones)
{
bone.InitialPosition = bone.CurrentPosition;
}
}
public void TestRotate()
{
TK.Vector3 tkV1 = new TK.Vector3(0, 5, 10);
Vector3D v1 = new Vector3D(0, 5, 10);
TK.Quaternion tkQ = TK.Quaternion.FromAxisAngle(TK.Vector3.UnitY, TK.MathHelper.PiOver2);
Quaternion q = new Quaternion(tkQ.W, tkQ.X, tkQ.Y, tkQ.Z);
TK.Vector3 tkV2 = TK.Vector3.Transform(tkV1, tkQ);
Vector3D v2 = Quaternion.Rotate(v1, q);
TestHelper.AssertEquals(tkV2.X, tkV2.Y, tkV2.Z, v2, "Testing rotate");
}
public void TestOpMultiply()
{
TK.Quaternion tkQ1 = TK.Quaternion.FromAxisAngle(TK.Vector3.UnitY, TK.MathHelper.PiOver2);
Quaternion q1 = new Quaternion(tkQ1.W, tkQ1.X, tkQ1.Y, tkQ1.Z);
TK.Quaternion tkQ2 = TK.Quaternion.FromAxisAngle(TK.Vector3.UnitY, TK.MathHelper.Pi);
Quaternion q2 = new Quaternion(tkQ2.W, tkQ2.X, tkQ2.Y, tkQ2.Z);
Quaternion q = q1 * q2;
TK.Quaternion tkQ = tkQ1 * tkQ2;
TestHelper.AssertEquals(tkQ.X, tkQ.Y, tkQ.Z, tkQ.W, q, "Testing Op multiply");
}
public void TestSlerp()
{
TK.Quaternion tkQ1 = TK.Quaternion.FromAxisAngle(TK.Vector3.UnitY, TK.MathHelper.PiOver2);
Quaternion q1 = new Quaternion(tkQ1.W, tkQ1.X, tkQ1.Y, tkQ1.Z);
TK.Quaternion tkQ2 = TK.Quaternion.FromAxisAngle(TK.Vector3.UnitY, TK.MathHelper.Pi);
Quaternion q2 = new Quaternion(tkQ2.W, tkQ2.X, tkQ2.Y, tkQ2.Z);
Quaternion q = Quaternion.Slerp(q1, q2, .5f);
TK.Quaternion tkQ = TK.Quaternion.Slerp(tkQ1, tkQ2, .5f);
TestHelper.AssertEquals(tkQ.X, tkQ.Y, tkQ.Z, tkQ.W, q, "Testing slerp");
}
protected void UpdateRotation(object sender, EventArgs e)
{
// Event may fire multiple times per render. Don't do unnecessary updates.
TimeSpan nextRenderTime = ((RenderingEventArgs)e).RenderingTime;
if (nextRenderTime != lastRenderTime)
{
lastRenderTime = nextRenderTime;
OpenTK.Quaternion q = rift.PredictedOrientation;
RawRotation = new System.Windows.Media.Media3D.Quaternion(q.X, -q.Y, q.Z, -q.W);
UpdatePositionAndRotation();
}
}
public void Load(Stream fs)
{
//Binary Reader
BinaryReader br = new BinaryReader(fs);
//Lamest way to read a matrix
invBindMatrix.M11 = br.ReadSingle();
invBindMatrix.M12 = br.ReadSingle();
invBindMatrix.M13 = br.ReadSingle();
invBindMatrix.M14 = br.ReadSingle();
invBindMatrix.M21 = br.ReadSingle();
invBindMatrix.M22 = br.ReadSingle();
invBindMatrix.M23 = br.ReadSingle();
invBindMatrix.M24 = br.ReadSingle();
invBindMatrix.M31 = br.ReadSingle();
invBindMatrix.M32 = br.ReadSingle();
invBindMatrix.M33 = br.ReadSingle();
invBindMatrix.M34 = br.ReadSingle();
invBindMatrix.M41 = br.ReadSingle();
invBindMatrix.M42 = br.ReadSingle();
invBindMatrix.M43 = br.ReadSingle();
invBindMatrix.M44 = br.ReadSingle();
//Calculate Binding Matrix
Vector3 BindTranslate, BindScale;
OpenTK.Quaternion BindRotation = new OpenTK.Quaternion();
//Get Translate
BindTranslate.X = br.ReadSingle();
BindTranslate.Y = br.ReadSingle();
BindTranslate.Z = br.ReadSingle();
//Get Quaternion
BindRotation.X = br.ReadSingle();
BindRotation.Y = br.ReadSingle();
BindRotation.Z = br.ReadSingle();
BindRotation.W = br.ReadSingle();
//Get Scale
BindScale.X = br.ReadSingle();
BindScale.Y = br.ReadSingle();
BindScale.Z = br.ReadSingle();
//Generate Matrix
BindMatrix = Matrix4.CreateScale(BindScale) * Matrix4.CreateFromQuaternion(BindRotation) * Matrix4.CreateTranslation(BindTranslate);
//Check Results [Except from Joint 0, the determinant of the multiplication is always 1,
// transforms should be good]
//Console.WriteLine((BindMatrix * invBindMatrix).Determinant);
}
internal ModelNodeBlockBase(BinaryReader binaryReader)
{
this.name = binaryReader.ReadStringID();
this.parentNode = binaryReader.ReadShortBlockIndex1();
this.firstChildNode = binaryReader.ReadShortBlockIndex1();
this.nextSiblingNode = binaryReader.ReadShortBlockIndex1();
this.invalidName_ = binaryReader.ReadBytes(2);
this.defaultTranslation = binaryReader.ReadVector3();
this.defaultRotation = binaryReader.ReadQuaternion();
this.defaultInverseScale = binaryReader.ReadSingle();
this.defaultInverseForward = binaryReader.ReadVector3();
this.defaultInverseLeft = binaryReader.ReadVector3();
this.defaultInverseUp = binaryReader.ReadVector3();
this.defaultInversePosition = binaryReader.ReadVector3();
}
public void LoadRotations(FileStream fs, int count)
{
BinaryReader br = new BinaryReader(fs);
for (int i = 0; i < count; i++)
{
OpenTK.Quaternion q = new OpenTK.Quaternion();
q.X = br.ReadSingle();
q.Y = br.ReadSingle();
q.Z = br.ReadSingle();
q.W = br.ReadSingle();
this.rotations.Add(q);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="RenderableWorldModel"/> class.
/// </summary>
public RenderableWorldModel(WMO inModel, PackageGroup inPackageGroup)
{
this.Model = inModel;
this.ModelPackageGroup = inPackageGroup;
this.ActorTransform = new Transform
(
new Vector3(0.0f, 0.0f, 0.0f),
Quaternion.FromAxisAngle(Vector3.UnitX, MathHelper.Pi),
new Vector3(1.0f, 1.0f, 1.0f)
);
this.IsInitialized = false;
Initialize();
}
internal RenderModelNodeBlockBase(BinaryReader binaryReader)
{
this.name = binaryReader.ReadStringID();
this.parentNode = binaryReader.ReadShortBlockIndex1();
this.firstChildNode = binaryReader.ReadShortBlockIndex1();
this.nextSiblingNode = binaryReader.ReadShortBlockIndex1();
this.importNodeIndex = binaryReader.ReadInt16();
this.defaultTranslation = binaryReader.ReadVector3();
this.defaultRotation = binaryReader.ReadQuaternion();
this.inverseForward = binaryReader.ReadVector3();
this.inverseLeft = binaryReader.ReadVector3();
this.inverseUp = binaryReader.ReadVector3();
this.inversePosition = binaryReader.ReadVector3();
this.inverseScale = binaryReader.ReadSingle();
this.distanceFromParent = binaryReader.ReadSingle();
}
/// <summary>
/// Creates a new quaternion from the specified OpenTK quaternion object.
/// </summary>
/// <param name="q">The OpenTK quaternion object.</param>
internal Quaternion(OTK.Quaternion q)
{
_quaternion = q;
}
