private void OrganizeBone(Bone bone)
{
if (bone.ParentBone != null)
{
float angleParent = GetAngle(new PointF(1, 0), bone.ParentBone.PositionEnd);
float angleBone = bone.Angle;
if (bone.ParentBone.ParentBone != null)
angleBone += angleParent - (float)Math.PI;
bone.PositionEnd = new PointF(
(float)Math.Cos(angleBone) * (float)bone.Length,
(float)Math.Sin(angleBone) * (float)bone.Length);
bone.AbsolutePositionEnd = new PointF(bone.ParentBone.AbsolutePositionEnd.X + bone.PositionEnd.X, bone.ParentBone.AbsolutePositionEnd.Y + bone.PositionEnd.Y);
}
if (bone.ChildBone != null)
OrganizeBone(bone.ChildBone);
}
private void CreateSkeleton()
{
rnd = new Random();
ListSkeleton = new List<Skeleton>();
for (int j = 0; j < nbSkeleton; j++)
{
Skeleton skeleton = new Skeleton();
skeleton.Index = j;
ListSkeleton.Add(skeleton);
Bone prevBone = null;
for (int i = 0; i <= maxBones; i++)
{
Bone bone = new Bone();
bone.ParentBone = prevBone;
//bone.PositionEnd = new PointF(rnd.Next(-length, length), rnd.Next(-length, length));
bone.PositionEnd = new PointF(0, length);
bone.Level = i;
bone.Skeleton = skeleton;
if (prevBone != null)
{
prevBone.ChildBone = bone;
bone.AbsolutePositionEnd = new PointF(bone.ParentBone.AbsolutePositionEnd.X + bone.PositionEnd.X,
bone.ParentBone.AbsolutePositionEnd.Y + bone.PositionEnd.Y);
bone.Length = Distance(bone.AbsolutePositionEnd, bone.ParentBone.AbsolutePositionEnd);
if (bone.ParentBone.ParentBone != null)
{
bone.Angle = GetAngle(GetVector(bone.ParentBone.ParentBone.AbsolutePositionEnd, bone.ParentBone.AbsolutePositionEnd), GetVector(bone.AbsolutePositionEnd, bone.ParentBone.AbsolutePositionEnd));
}
else
{
bone.Angle = GetAngle(new PointF(1, 0), GetVector(bone.AbsolutePositionEnd, bone.ParentBone.AbsolutePositionEnd));
}
float constraintAngle = (float)Math.PI / 6f;
bone.AngleConstraintMin = Math.Abs(bone.Angle - constraintAngle * ((float)i / (float)maxBones));
bone.AngleConstraintMax = Math.Abs(bone.Angle + constraintAngle * ((float)i / (float)maxBones));
}
else
{
//bone.PositionEnd = new PointF((int)((float)pic.Width / 2f + 200f * (float)Math.Cos(6.28f / (float)nbSkeleton * (float)j)), (int)((float)pic.Height / 2f + 200f * (float)Math.Sin(6.28f / (float)nbSkeleton * (float)j)));
bone.PositionEnd = new PointF(0, this.Height / nbSkeleton * j);
bone.AbsolutePositionEnd = bone.PositionEnd;
}
prevBone = bone;
if (i == 0)
skeleton.RootBone = bone;
if (i == maxBones)
skeleton.LeafBone = bone;
}
}
}
private void DrawBone(Bone bone)
{
if (bone.ChildBone != null)
{
int sizeBone = maxBones + 15 - bone.Level;
//int n = (int)(255f-150f * ((float)bone.Level / (float)maxBones));
int n = (int)(255f - 150f * ((float)bone.Level / (float)maxBones));
//Brush brush = new SolidBrush(Color.FromArgb(255, n, n, 50 + 180 * bone.Skeleton.Index / nbSkeleton));
Brush brush = new SolidBrush(Color.FromArgb(255, n, n, n));
gBmp.FillEllipse(brush, bone.AbsolutePositionEnd.X, bone.AbsolutePositionEnd.Y, sizeBone, sizeBone);
DrawBone(bone.ChildBone);
}
}
private void CalcBone(Bone bone, PointF PointF)
{
if (bone.ParentBone != null)
{
PointF vecBone = GetVector(bone.AbsolutePositionEnd, bone.ParentBone.AbsolutePositionEnd);
PointF vecPointF = GetVector(PointF, bone.ParentBone.AbsolutePositionEnd);
float angleBone = GetAngle(new PointF(1, 0), vecBone);
float anglePointF = GetAngle(new PointF(1, 0), vecPointF);
float prevAngle = bone.Angle;
if (angleBone > anglePointF)
{
angleBone = anglePointF + (1f - delta) * (angleBone - anglePointF);
}
else
{
angleBone = angleBone + delta * (anglePointF - angleBone);
}
bone.PositionEnd = new PointF(
(float)Math.Cos(angleBone) * (float)bone.Length,
(float)Math.Sin(angleBone) * (float)bone.Length);
bone.AbsolutePositionEnd = new PointF(bone.ParentBone.AbsolutePositionEnd.X + bone.PositionEnd.X,
bone.ParentBone.AbsolutePositionEnd.Y + bone.PositionEnd.Y);
if (bone.ParentBone.ParentBone != null)
bone.Angle = -GetAngle(GetVector(bone.AbsolutePositionEnd, bone.ParentBone.AbsolutePositionEnd), GetVector(bone.ParentBone.ParentBone.AbsolutePositionEnd, bone.ParentBone.AbsolutePositionEnd));
else
bone.Angle = angleBone;
//--- Contrainte par les angles de torsion
if (Math.Abs(bone.Angle) < bone.AngleConstraintMin || Math.Abs(bone.Angle) > bone.AngleConstraintMax)
bone.Angle = prevAngle;
//---
CalcBone(bone.ParentBone, PointF);
}
}