private PMDFormat.Joint ReadJoint()
{
PMDFormat.Joint result = new PMDFormat.Joint();
result.joint_name = ConvertByteToString(binary_reader_.ReadBytes(20), "");
result.joint_rigidbody_a = binary_reader_.ReadUInt32();
result.joint_rigidbody_b = binary_reader_.ReadUInt32();
result.joint_pos = ReadSinglesToVector3(binary_reader_);
result.joint_rot = ReadSinglesToVector3(binary_reader_);
result.constrain_pos_1 = ReadSinglesToVector3(binary_reader_);
result.constrain_pos_2 = ReadSinglesToVector3(binary_reader_);
result.constrain_rot_1 = ReadSinglesToVector3(binary_reader_);
result.constrain_rot_2 = ReadSinglesToVector3(binary_reader_);
result.spring_pos = ReadSinglesToVector3(binary_reader_);
result.spring_rot = ReadSinglesToVector3(binary_reader_);
return(result);
}
private static PMXFormat.Joint ConvertJoint(PMDFormat.Joint pmd_joint)
{
PMXFormat.Joint result = new PMXFormat.Joint();
result.name = pmd_joint.joint_name;
result.english_name = "";
result.operation_type = PMXFormat.Joint.OperationType.Spring6DOF;
result.rigidbody_a = pmd_joint.joint_rigidbody_a;
result.rigidbody_b = pmd_joint.joint_rigidbody_b;
result.position = pmd_joint.joint_pos;
result.rotation = pmd_joint.joint_rot;
result.constrain_pos_lower = pmd_joint.constrain_pos_1;
result.constrain_pos_upper = pmd_joint.constrain_pos_2;
result.constrain_rot_lower = pmd_joint.constrain_rot_1;
result.constrain_rot_upper = pmd_joint.constrain_rot_2;
result.spring_position = pmd_joint.spring_pos;
result.spring_rotation = pmd_joint.spring_rot;
return(result);
}
// ばねの設定など
void SetDrive(PMDFormat.Joint joint, ConfigurableJoint conf)
{
JointDrive drive;
// Position
if (joint.spring_pos.x != 0f)
{
drive = new JointDrive();
drive.positionSpring = joint.spring_pos.x * scale_;
conf.xDrive = drive;
}
if (joint.spring_pos.y != 0f)
{
drive = new JointDrive();
drive.positionSpring = joint.spring_pos.y * scale_;
conf.yDrive = drive;
}
if (joint.spring_pos.z != 0f)
{
drive = new JointDrive();
drive.positionSpring = joint.spring_pos.z * scale_;
conf.zDrive = drive;
}
// Angular
if (joint.spring_rot.x != 0f)
{
drive = new JointDrive {
positionSpring = joint.spring_rot.x
};
conf.angularXDrive = drive;
}
if (joint.spring_rot.y == 0f && joint.spring_rot.z == 0f)
{
return;
}
drive = new JointDrive {
positionSpring = (joint.spring_rot.y + joint.spring_rot.z) * 0.5f
};
conf.angularYZDrive = drive;
}
// ばねの設定など
void SetDrive(PMDFormat.Joint joint, ConfigurableJoint conf)
{
JointDrive drive;
// Position
if (joint.spring_pos.x != 0f)
{
drive = new JointDrive();
drive.positionSpring = joint.spring_pos.x * scale_;
conf.xDrive = drive;
}
if (joint.spring_pos.y != 0f)
{
drive = new JointDrive();
drive.positionSpring = joint.spring_pos.y * scale_;
conf.yDrive = drive;
}
if (joint.spring_pos.z != 0f)
{
drive = new JointDrive();
drive.positionSpring = joint.spring_pos.z * scale_;
conf.zDrive = drive;
}
// Angular
if (joint.spring_rot.x != 0f)
{
drive = new JointDrive();
drive.mode = JointDriveMode.PositionAndVelocity;
drive.positionSpring = joint.spring_rot.x;
conf.angularXDrive = drive;
}
if (joint.spring_rot.y != 0f || joint.spring_rot.z != 0f)
{
drive = new JointDrive();
drive.mode = JointDriveMode.PositionAndVelocity;
drive.positionSpring = (joint.spring_rot.y + joint.spring_rot.z) * 0.5f;
conf.angularYZDrive = drive;
}
}
private PMDFormat.Joint ReadJoint() {
PMDFormat.Joint result = new PMDFormat.Joint();
result.joint_name = ConvertByteToString(binary_reader_.ReadBytes(20), "");
result.joint_rigidbody_a = binary_reader_.ReadUInt32();
result.joint_rigidbody_b = binary_reader_.ReadUInt32();
result.joint_pos = ReadSinglesToVector3(binary_reader_);
result.joint_rot = ReadSinglesToVector3(binary_reader_);
result.constrain_pos_1 = ReadSinglesToVector3(binary_reader_);
result.constrain_pos_2 = ReadSinglesToVector3(binary_reader_);
result.constrain_rot_1 = ReadSinglesToVector3(binary_reader_);
result.constrain_rot_2 = ReadSinglesToVector3(binary_reader_);
result.spring_pos = ReadSinglesToVector3(binary_reader_);
result.spring_rot = ReadSinglesToVector3(binary_reader_);
return result;
}
// ConfigurableJointの値を設定する
void SetAttributeConfigurableJoint(PMDFormat.Joint joint, ConfigurableJoint conf)
{
SetMotionAngularLock(joint, conf);
SetDrive(joint, conf);
}
// 移動や回転制限
void SetMotionAngularLock(PMDFormat.Joint joint, ConfigurableJoint conf)
{
SoftJointLimit jlim;
// Motionの固定
if (joint.constrain_pos_1.x == 0f && joint.constrain_pos_2.x == 0f)
{
conf.xMotion = ConfigurableJointMotion.Locked;
}
else
{
conf.xMotion = ConfigurableJointMotion.Limited;
}
if (joint.constrain_pos_1.y == 0f && joint.constrain_pos_2.y == 0f)
{
conf.yMotion = ConfigurableJointMotion.Locked;
}
else
{
conf.yMotion = ConfigurableJointMotion.Limited;
}
if (joint.constrain_pos_1.z == 0f && joint.constrain_pos_2.z == 0f)
{
conf.zMotion = ConfigurableJointMotion.Locked;
}
else
{
conf.zMotion = ConfigurableJointMotion.Limited;
}
// 角度の固定
if (joint.constrain_rot_1.x == 0f && joint.constrain_rot_2.x == 0f)
{
conf.angularXMotion = ConfigurableJointMotion.Locked;
}
else
{
conf.angularXMotion = ConfigurableJointMotion.Limited;
float hlim = Mathf.Max(-joint.constrain_rot_1.x, -joint.constrain_rot_2.x); //回転方向が逆なので負数
float llim = Mathf.Min(-joint.constrain_rot_1.x, -joint.constrain_rot_2.x);
SoftJointLimit jhlim = new SoftJointLimit();
jhlim.limit = Mathf.Clamp(hlim * Mathf.Rad2Deg, -180.0f, 180.0f);
conf.highAngularXLimit = jhlim;
SoftJointLimit jllim = new SoftJointLimit();
jllim.limit = Mathf.Clamp(llim * Mathf.Rad2Deg, -180.0f, 180.0f);
conf.lowAngularXLimit = jllim;
}
if (joint.constrain_rot_1.y == 0f && joint.constrain_rot_2.y == 0f)
{
conf.angularYMotion = ConfigurableJointMotion.Locked;
}
else
{
// 値がマイナスだとエラーが出るので注意
conf.angularYMotion = ConfigurableJointMotion.Limited;
float lim = Mathf.Min(Mathf.Abs(joint.constrain_rot_1.y), Mathf.Abs(joint.constrain_rot_2.y)); //絶対値の小さい方
jlim = new SoftJointLimit();
jlim.limit = lim * Mathf.Clamp(Mathf.Rad2Deg, 0.0f, 180.0f);
conf.angularYLimit = jlim;
}
if (joint.constrain_rot_1.z == 0f && joint.constrain_rot_2.z == 0f)
{
conf.angularZMotion = ConfigurableJointMotion.Locked;
}
else
{
conf.angularZMotion = ConfigurableJointMotion.Limited;
float lim = Mathf.Min(Mathf.Abs(-joint.constrain_rot_1.z), Mathf.Abs(-joint.constrain_rot_2.z)); //絶対値の小さい方//回転方向が逆なので負数
jlim = new SoftJointLimit();
jlim.limit = Mathf.Clamp(lim * Mathf.Rad2Deg, 0.0f, 180.0f);
conf.angularZLimit = jlim;
}
}
