public void undoPrecedingTransform(SSSkeletalJointLocation parentLoc)
{
var parOrientInverse = parentLoc.orientation.Inverted ();
orientation = Quaternion.Multiply (parOrientInverse, orientation);
orientation.Normalize ();
position = Vector3.Transform (position - parentLoc.position, parOrientInverse);
}
public void applyPrecedingTransform(SSSkeletalJointLocation parentLoc)
{
position = parentLoc.position
+ Vector3.Transform (position, parentLoc.orientation);
orientation = Quaternion.Multiply (parentLoc.orientation, orientation);
orientation.Normalize ();
}
public void applyPrecedingTransform(SSSkeletalJointLocation parentLoc)
{
position = parentLoc.position
+ Vector3.Transform(position, parentLoc.orientation);
orientation = Quaternion.Multiply(parentLoc.orientation, orientation);
orientation.Normalize();
}
public void undoPrecedingTransform(SSSkeletalJointLocation parentLoc)
{
var parOrientInverse = parentLoc.orientation.Inverted();
orientation = Quaternion.Multiply(parOrientInverse, orientation);
orientation.Normalize();
position = Vector3.Transform(position - parentLoc.position, parOrientInverse);
}
public SSSkeletalAnimation(int frameRate,
SSSkeletalJoint[] jointInfo,
SSSkeletalJointLocation[][] frames,
SSAABB[] bounds = null)
{
_hierarchy = jointInfo;
_frames = frames;
_bounds = bounds;
_frameRate = frameRate;
}
public static SSSkeletalJointLocation interpolate(
SSSkeletalJointLocation left,
SSSkeletalJointLocation right,
float blend)
{
SSSkeletalJointLocation ret;
ret.position = Vector3.Lerp(left.position, right.position, blend);
ret.orientation = Quaternion.Slerp (left.orientation, right.orientation, blend);
return ret;
}
private SSSkeletalAnimationMD5 readAnimation()
{
Match[] matches;
// header
seekEntry ("MD5Version", "10");
seekEntry ("commandline", SSMD5Parser._quotedStrRegex);
matches = seekEntry ("numFrames", SSMD5Parser._uintRegex);
var numFrames = Convert.ToInt32 (matches [1].Value);
matches = seekEntry ("numJoints", SSMD5Parser._uintRegex);
var numJoints = Convert.ToInt32 (matches [1].Value);
matches = seekEntry ("frameRate", SSMD5Parser._uintRegex);
var frameRate = Convert.ToInt32 (matches [1].Value);
matches = seekEntry ("numAnimatedComponents", SSMD5Parser._uintRegex);
int numAnimatedComponents = Convert.ToInt32 (matches [1].Value);
var floatComponents = new float[numAnimatedComponents];
// hierarchy
seekEntry ("hierarchy", "{");
var hierarchy = new SSSkeletalJoint[numJoints];
var flags = new byte[numJoints];
for (int j = 0; j < numJoints; ++j) {
hierarchy [j] = readHierarchyEntry (out flags [j]);
}
seekEntry ("}");
// bounds
seekEntry ("bounds", "{");
var bounds = new SSAABB[numFrames];
for (int f = 0; f < numFrames; ++f) {
bounds [f] = readBounds ();
}
seekEntry ("}");
// base frame
seekEntry ("baseframe", "{");
for (int j = 0; j < numJoints; ++j) {
hierarchy[j].bindPoseLocation = readBaseFrame ();
}
seekEntry ("}");
// frames
var frames = new SSSkeletalJointLocation[numFrames][];
for (int f = 0; f < numFrames; ++f) {
matches = seekEntry ("frame", SSMD5Parser._uintRegex, "{");
int frameIdx = Convert.ToInt32 (matches [1].Value);
frames [frameIdx] = readFrameJoints (flags, hierarchy, floatComponents);
seekEntry ("}");
}
return new SSSkeletalAnimationMD5 (frameRate, hierarchy, frames, bounds);
}
public static SSSkeletalJointLocation interpolate(
SSSkeletalJointLocation left,
SSSkeletalJointLocation right,
float blend)
{
SSSkeletalJointLocation ret;
ret.position = Vector3.Lerp(left.position, right.position, blend);
ret.orientation = Quaternion.Slerp(left.orientation, right.orientation, blend);
return(ret);
}
private SSSkeletalJointLocation[] readFrameJoints(byte[] jointFlags,
SSSkeletalJoint[] jointInfos,
float[] floatComponents)
{
seekFloats(floatComponents);
var thisFrameLocations = new SSSkeletalJointLocation[jointInfos.Length];
int compIdx = 0;
for (int j = 0; j < jointInfos.Length; ++j)
{
byte flags = jointFlags[j];
SSSkeletalJoint jointInfo = jointInfos [j];
SSSkeletalJointLocation loc = jointInfo.bindPoseLocation;
if ((flags & (byte)LocationFlags.Tx) != 0)
{
loc.position.X = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Ty) != 0)
{
loc.position.Y = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Tz) != 0)
{
loc.position.Z = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Qx) != 0)
{
loc.orientation.X = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Qy) != 0)
{
loc.orientation.Y = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Qz) != 0)
{
loc.orientation.Z = floatComponents [compIdx++];
}
loc.computeQuatW();
#if false
if (jointInfo.ParentIndex >= 0) // has a parent
{
SSSkeletalJointLocation parentLoc = thisFrameLocations [jointInfo.ParentIndex];
loc.Position = parentLoc.Position
+ Vector3.Transform(loc.Position, parentLoc.Orientation);
loc.Orientation = Quaternion.Multiply(parentLoc.Orientation,
loc.Orientation);
loc.Orientation.Normalize();
}
#endif
thisFrameLocations[j] = loc;
}
return(thisFrameLocations);
}
public override SSSkeletalJointLocation computeJointLocation(SSSkeletalJointRuntime joint)
{
if (_neutralViewDirty)
{
Quaternion precedingBindPoseOrient = Quaternion.Identity;
for (var j = joint.parent; j != null; j = j.parent)
{
precedingBindPoseOrient = Quaternion.Multiply(
joint.baseInfo.bindPoseLocation.orientation, precedingBindPoseOrient);
}
Quaternion precedingInverted = precedingBindPoseOrient.Inverted();
_neutralViewDirectionLocal = Vector3.Transform(_neutralViewDirectionBindPose, precedingInverted)
.Normalized();
_neutralViewUpLocal = Vector3.Transform(_neutralViewUpBindPose, precedingInverted)
.Normalized();
_neutralViewYLocal = Vector3.Transform(
Vector3.Cross(_neutralViewDirectionBindPose, _neutralViewUpBindPose), precedingInverted)
.Normalized();
_neutralViewDirty = false;
}
SSSkeletalJointLocation ret = new SSSkeletalJointLocation();
ret.position = jointPositionLocal;
if (targetObject != null)
{
Vector3 targetPosInMesh
= Vector3.Transform(targetObject.Pos, _hostObject.worldMat.Inverted());
Vector3 targetPosInLocal = targetPosInMesh;
if (joint.parent != null)
{
targetPosInLocal = joint.parent.currentLocation.undoTransformTo(targetPosInLocal);
}
Vector3 targetDirLocal = targetPosInLocal - jointPositionLocal;
Vector3 nvDir = new Vector3();
nvDir.X = Vector3.Dot(targetDirLocal, _neutralViewDirectionLocal);
nvDir.Y = Vector3.Dot(targetDirLocal, _neutralViewYLocal);
nvDir.Z = Vector3.Dot(targetDirLocal, _neutralViewUpLocal);
float theta = -(float)Math.Atan2(nvDir.Y, nvDir.X);
float phi = (float)Math.Atan2(nvDir.Z, nvDir.Xy.LengthFast);
Quaternion neededRotation = Quaternion.FromAxisAngle(_neutralViewUpLocal, theta)
* Quaternion.FromAxisAngle(_neutralViewYLocal, phi);
ret.orientation = neutralViewOrientationLocal * neededRotation;
}
else
{
ret.orientation = neutralViewOrientationLocal;
}
return(ret);
}
/// <summary>
/// Retrieves a joint location for a particular timestamp; in joint-local coordinates
/// </summary>
public SSSkeletalJointLocation computeJointFrame(int jointIdx, float t)
{
int leftFrameIdx = (int)(t / frameDuration);
SSSkeletalJointLocation leftJointFrame = _frames [leftFrameIdx] [jointIdx];
float remainder = t - ((float)leftFrameIdx * frameDuration);
if (remainder == 0)
{
return(leftJointFrame);
}
else
{
SSSkeletalJointLocation rightJointFrame = _frames [leftFrameIdx + 1] [jointIdx];
return(SSSkeletalJointLocation.interpolate(
leftJointFrame, rightJointFrame, remainder / frameDuration));
}
}
public SSSkeletalJointLocation computeJointFrame(int jointIdx)
{
if (_currAnimation != null)
{
var loc = _currAnimation.computeJointFrame(jointIdx, _currT);
if (_prevAnimation == null)
{
//GL.Color3 (1f, 0f, 0f);
return(loc);
}
else
{
var prevTime = Math.Min(_prevT, _prevAnimation.totalDuration);
var prevLoc = _prevAnimation.computeJointFrame(jointIdx, prevTime);
#if PREV_PREV_FADE
if (_prevPrevAnimation != null)
{
var prevPrevLoc = _prevPrevAnimation.ComputeJointFrame(jointIdx, _prevPrevT);
var prevFade = _prevT / _prevTransitionTime;
prevLoc = SSSkeletalJointLocation.Interpolate(prevPrevLoc, prevLoc, prevFade);
}
#endif
var fadeInRatio = _currT / _transitionTime;
GL.Color3(fadeInRatio, 1f - fadeInRatio, 0);
return(SSSkeletalJointLocation.interpolate(prevLoc, loc, fadeInRatio));
}
}
else if (_prevAnimation != null)
{
//GL.Color3 (0f, 1f, 0f);
return(_prevAnimation.computeJointFrame(jointIdx, _prevT));
}
else
{
var errMsg = "Attempting to compute a joint frame location from an inactive channel.";
System.Console.WriteLine(errMsg);
throw new Exception(errMsg);
}
}
private SSSkeletalJointLocation _computeJointLocWithControllers(
SSSkeletalJointRuntime joint, List <SSSkeletalChannelController> controllers, int controllerIdx)
{
var channel = controllers [controllerIdx];
if (channel.isActive(joint))
{
var channelLoc = channel.computeJointLocation(joint);
if (joint.parent != null)
{
channelLoc.applyPrecedingTransform(joint.parent.currentLocation);
}
if (!channel.interChannelFade ||
channel.interChannelFadeIndentisy() >= 1f ||
controllerIdx == 0)
{
return(channelLoc);
}
else
{
var fallbackLoc
= _computeJointLocWithControllers(joint, controllers, controllerIdx - 1);
return(SSSkeletalJointLocation.interpolate(
fallbackLoc, channelLoc, channel.interChannelFadeIndentisy()));
}
}
else
{
if (controllerIdx > 0)
{
return(_computeJointLocWithControllers(joint, controllers, controllerIdx - 1));
}
else
{
throw new Exception("fell through without an active skeletal channel controller");
}
}
}
private SSSkeletalJointLocation[] readFrameJoints(byte[] jointFlags,
SSSkeletalJoint[] jointInfos,
float[] floatComponents)
{
seekFloats (floatComponents);
var thisFrameLocations = new SSSkeletalJointLocation[jointInfos.Length];
int compIdx = 0;
for (int j = 0; j < jointInfos.Length; ++j) {
byte flags = jointFlags[j];
SSSkeletalJoint jointInfo = jointInfos [j];
SSSkeletalJointLocation loc = jointInfo.bindPoseLocation;
if ((flags & (byte)LocationFlags.Tx) != 0) {
loc.position.X = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Ty) != 0) {
loc.position.Y = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Tz) != 0) {
loc.position.Z = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Qx) != 0) {
loc.orientation.X = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Qy) != 0) {
loc.orientation.Y = floatComponents [compIdx++];
}
if ((flags & (byte)LocationFlags.Qz) != 0) {
loc.orientation.Z = floatComponents [compIdx++];
}
loc.computeQuatW ();
#if false
if (jointInfo.ParentIndex >= 0) { // has a parent
SSSkeletalJointLocation parentLoc = thisFrameLocations [jointInfo.ParentIndex];
loc.Position = parentLoc.Position
+ Vector3.Transform (loc.Position, parentLoc.Orientation);
loc.Orientation = Quaternion.Multiply (parentLoc.Orientation,
loc.Orientation);
loc.Orientation.Normalize ();
}
#endif
thisFrameLocations[j] = loc;
}
return thisFrameLocations;
}
private SSSkeletalAnimationMD5 readAnimation()
{
Match[] matches;
// header
seekEntry("MD5Version", "10");
seekEntry("commandline", SSMD5Parser._quotedStrRegex);
matches = seekEntry("numFrames", SSMD5Parser._uintRegex);
var numFrames = Convert.ToInt32(matches [1].Value);
matches = seekEntry("numJoints", SSMD5Parser._uintRegex);
var numJoints = Convert.ToInt32(matches [1].Value);
matches = seekEntry("frameRate", SSMD5Parser._uintRegex);
var frameRate = Convert.ToInt32(matches [1].Value);
matches = seekEntry("numAnimatedComponents", SSMD5Parser._uintRegex);
int numAnimatedComponents = Convert.ToInt32(matches [1].Value);
var floatComponents = new float[numAnimatedComponents];
// hierarchy
seekEntry("hierarchy", "{");
var hierarchy = new SSSkeletalJoint[numJoints];
var flags = new byte[numJoints];
for (int j = 0; j < numJoints; ++j)
{
hierarchy [j] = readHierarchyEntry(out flags [j]);
}
seekEntry("}");
// bounds
seekEntry("bounds", "{");
var bounds = new SSAABB[numFrames];
for (int f = 0; f < numFrames; ++f)
{
bounds [f] = readBounds();
}
seekEntry("}");
// base frame
seekEntry("baseframe", "{");
for (int j = 0; j < numJoints; ++j)
{
hierarchy[j].bindPoseLocation = readBaseFrame();
}
seekEntry("}");
// frames
var frames = new SSSkeletalJointLocation[numFrames][];
for (int f = 0; f < numFrames; ++f)
{
matches = seekEntry("frame", SSMD5Parser._uintRegex, "{");
int frameIdx = Convert.ToInt32(matches [1].Value);
frames [frameIdx] = readFrameJoints(flags, hierarchy, floatComponents);
seekEntry("}");
}
return(new SSSkeletalAnimationMD5(frameRate, hierarchy, frames, bounds));
}
public SSSkeletalJointRuntime(SSSkeletalJoint baseInfo)
{
_baseInfo = baseInfo;
currentLocation = _baseInfo.bindPoseLocation;
}
public SSSkeletalJointRuntime(SSSkeletalJoint baseInfo)
{
_baseInfo = baseInfo;
currentLocation = _baseInfo.bindPoseLocation;
}
public SSSkeletalAnimationMD5(int frameRate,
SSSkeletalJoint[] jointInfo,
SSSkeletalJointLocation[][] frames,
SSAABB[] bounds)
: base(frameRate, jointInfo, frames, bounds)
{
}
public override SSSkeletalJointLocation computeJointLocation(SSSkeletalJointRuntime joint)
{
if (_neutralViewDirty) {
Quaternion precedingBindPoseOrient = Quaternion.Identity;
for (var j = joint.parent; j != null; j = j.parent) {
precedingBindPoseOrient = Quaternion.Multiply (
joint.baseInfo.bindPoseLocation.orientation, precedingBindPoseOrient);
}
Quaternion precedingInverted = precedingBindPoseOrient.Inverted ();
_neutralViewDirectionLocal = Vector3.Transform (_neutralViewDirectionBindPose, precedingInverted)
.Normalized();
_neutralViewUpLocal = Vector3.Transform (_neutralViewUpBindPose, precedingInverted)
.Normalized();
_neutralViewYLocal = Vector3.Transform (
Vector3.Cross (_neutralViewDirectionBindPose, _neutralViewUpBindPose), precedingInverted)
.Normalized();
_neutralViewDirty = false;
}
SSSkeletalJointLocation ret = new SSSkeletalJointLocation ();
ret.position = jointPositionLocal;
if (targetObject != null) {
Vector3 targetPosInMesh
= Vector3.Transform (targetObject.Pos, _hostObject.worldMat.Inverted());
Vector3 targetPosInLocal = targetPosInMesh;
if (joint.parent != null) {
targetPosInLocal = joint.parent.currentLocation.undoTransformTo (targetPosInLocal);
}
Vector3 targetDirLocal = targetPosInLocal - jointPositionLocal;
Vector3 nvDir = new Vector3();
nvDir.X = Vector3.Dot (targetDirLocal, _neutralViewDirectionLocal);
nvDir.Y = Vector3.Dot (targetDirLocal, _neutralViewYLocal);
nvDir.Z = Vector3.Dot (targetDirLocal, _neutralViewUpLocal);
float theta = -(float)Math.Atan2 (nvDir.Y, nvDir.X);
float phi = (float)Math.Atan2 (nvDir.Z, nvDir.Xy.LengthFast);
Quaternion neededRotation = Quaternion.FromAxisAngle (_neutralViewUpLocal, theta)
* Quaternion.FromAxisAngle (_neutralViewYLocal, phi);
ret.orientation = neutralViewOrientationLocal * neededRotation;
} else {
ret.orientation = neutralViewOrientationLocal;
}
return ret;
}