private void MoveTheBodyDown(MyCharacterBone[] characterBones)
{
if (m_offsetFiltering.Count == m_offsetFilteringSampleCount)
{
m_offsetFiltering[m_offsetFilteringCursor++] = m_characterDirDownOffset;
if (m_offsetFilteringCursor == m_offsetFilteringSampleCount)
{
m_offsetFilteringCursor = 0;
}
}
else
{
m_offsetFiltering.Add(m_characterDirDownOffset);
}
float filteredOffsetValue = float.MinValue;
foreach (float offset in m_offsetFiltering)
{
filteredOffsetValue = Math.Max(filteredOffsetValue, offset);
}
m_filteredOffsetValue = filteredOffsetValue;
if (m_offsetFilteringCursor >= m_offsetFilteringSampleCount)
{
m_offsetFilteringCursor = 0;
}
if (filteredOffsetValue * filteredOffsetValue > MyMathConstants.EPSILON)
{
MyCharacterBone bone = characterBones[0];
while (bone.Parent != null)
{
bone = bone.Parent;
}
var rootBoneTranslation = bone.Translation;
m_rootBoneVerticalOffset = filteredOffsetValue * m_currentFeetIkInfluence;
rootBoneTranslation.Y += m_rootBoneVerticalOffset;
bone.Translation = rootBoneTranslation;
bone.ComputeAbsoluteTransform(); // move the skeleton down
}
}
// ------------------------------------------------------------------------------------
public static bool SolveIkCcd(MyCharacterBone[] characterBones, int boneIndex, int chainLength, ref Vector3D finalPosition)
{
Vector3 desiredEnd = finalPosition;
Vector3 curEnd;
int tries = 0;
int maxTries = 50;
float stopDistanceSq = 0.005f * 0.005f;
MyCharacterBone endBone = characterBones[boneIndex];
MyCharacterBone currentBone = endBone;
int[] boneIndices = m_boneIndicesPreallocated;
// ---- preparation ----
for (int i = 0; i < chainLength; i++)
{
if (currentBone == null)
{
chainLength = i;
break;
}
boneIndices[i] = currentBone.Index;
currentBone = currentBone.Parent;
}
{
curEnd = endBone.AbsoluteTransform.Translation;
float initialDistSqInv = 1 / (float)Vector3D.DistanceSquared(curEnd, desiredEnd);
do
{
for (int i = 0; i < chainLength; i++)
{
var bone = characterBones[boneIndices[i]];
// first recalculate current final transformation
endBone.ComputeAbsoluteTransform();
// compute the position of the root
Matrix currentMatrix = bone.AbsoluteTransform;
Vector3 rootPos = currentMatrix.Translation;
//Vector3 lastEnd = curEnd;
curEnd = endBone.AbsoluteTransform.Translation;
// this is our current end of the final bone
// get the difference from desired and and current final position
double distanceSq = Vector3D.DistanceSquared(curEnd, desiredEnd);
//{
// Color c = Color.FromNonPremultiplied(new Vector4(4 * (float) (distanceSq),
// 1 - 4 * (float) (distanceSq), 0, 1));
// VRageRender.MyRenderProxy.DebugDrawLine3D(
// Vector3D.Transform(lastEnd, worldMatrix),
// Vector3D.Transform(curEnd, worldMatrix), c, c, false);
//}
// see if i'm already close enough
if (distanceSq > stopDistanceSq)
{
// create the vector to the current effector posm this is the difference vector
Vector3 curVector = curEnd - rootPos;
// create the desired effector position vector
Vector3 targetVector = desiredEnd - rootPos;
// normalize the vectors (expensive, requires a sqrt)
// MZ: we don't need to do that
// curVector.Normalize();
// targetVector.Normalize();
double curVectorLenSq = curVector.LengthSquared();
double targetVectorLenSq = targetVector.LengthSquared();
// the dot product gives me the cosine of the desired angle
// cosAngle = curVector.Dot(targetVector);
double dotCurTarget = curVector.Dot(targetVector);
// if the dot product returns 1.0, i don't need to rotate as it is 0 degrees
// MZ: yes, but when does this happen to be exactly 1???
// if (cosAngle < 1.0)
if (dotCurTarget < 0 || dotCurTarget * dotCurTarget < curVectorLenSq * targetVectorLenSq * (1 - MyMathConstants.EPSILON))
{
// use the cross product to check which way to rotate
//var rotationAxis = curVector.Cross(targetVector);
//rotationAxis.Normalize();
//turnAngle = System.Math.Acos(cosAngle); // get the angle
// get the matrix needed to rotate to the desired position
//Matrix rotation = Matrix.CreateFromAxisAngle((Vector3) rotationAxis,
// (float) turnAngle * gain);
// get the absolute matrix rotation ie - rotation including all the bones before
Matrix rotation;
float weight = 1 / (initialDistSqInv * (float)distanceSq + 1);
Vector3 weightedTarget = Vector3.Lerp(curVector, targetVector, weight);
Matrix.CreateRotationFromTwoVectors(ref curVector, ref weightedTarget, out rotation);
Matrix absoluteTransform = Matrix.Normalize(currentMatrix).GetOrientation() * rotation;
// MZ: faster
// compute just the local matrix for the bone - need to multiply with inversion ot its parent matrix and original bind transform
Matrix parentMatrix = Matrix.Identity;
if (bone.Parent != null)
{
parentMatrix = bone.Parent.AbsoluteTransform;
}
parentMatrix = Matrix.Normalize(parentMatrix); // may have different scale
Matrix localTransform = Matrix.Multiply(absoluteTransform,
Matrix.Invert(bone.BindTransform * parentMatrix));
// now change the current matrix rotation
bone.Rotation = Quaternion.CreateFromRotationMatrix(localTransform);
// and recompute the transformation
bone.ComputeAbsoluteTransform();
}
}
}
// quit if i am close enough or been running long enough
} while (tries++ < maxTries &&
Vector3D.DistanceSquared(curEnd, desiredEnd) > stopDistanceSq);
}
return(Vector3D.DistanceSquared(curEnd, desiredEnd) <= stopDistanceSq);
}
// ------------------------------------------------------------------------------------
/// <summary>
/// Solve IK for chain of two bones + change rotation of end bone.
/// </summary>
/// <param name="characterBones">bone storage</param>
/// <param name="ikChain">description of bone chain</param>
/// <param name="finalPosition">desired position of end bone</param>
/// <param name="finalNormal">desired normal of end bone - would be projected on plane first bone-second bone-third bone</param>
/// <param name="fromBindPose">solve this starting from the bind pose</param>
/// <returns>true on success</returns>
public static bool SolveIkTwoBones(MyCharacterBone[] characterBones, MyAnimationIkChainExt ikChain, ref Vector3 finalPosition, ref Vector3 finalNormal, bool fromBindPose)
{
int boneIndex = ikChain.BoneIndex;
float finalMinRot = MathHelper.ToRadians(ikChain.MinEndPointRotation);
float finalMaxRot = MathHelper.ToRadians(ikChain.MaxEndPointRotation);
Vector3 lastPoleVector = ikChain.LastPoleVector;
int chainLength = ikChain.ChainLength;
bool alignBoneWithTerrain = ikChain.AlignBoneWithTerrain;
MyCharacterBone thirdBone = characterBones[boneIndex];
if (thirdBone == null)
{
return(false);
}
MyCharacterBone secondBone = thirdBone.Parent;
for (int i = 2; i < chainLength; i++)
{
secondBone = secondBone.Parent;
}
if (secondBone == null)
{
return(false);
}
MyCharacterBone firstBone = secondBone.Parent;
if (firstBone == null)
{
return(false);
}
if (fromBindPose)
{
firstBone.SetCompleteBindTransform();
secondBone.SetCompleteBindTransform();
thirdBone.SetCompleteBindTransform();
firstBone.ComputeAbsoluteTransform(true);
}
Matrix thirdBoneTransformBackup = thirdBone.AbsoluteTransform;
//Vector3 firstBoneTransformRightDir = firstBone.AbsoluteTransform.Right;
Vector3 firstBoneOrigin = firstBone.AbsoluteTransform.Translation;
Vector3 secondBoneOrigin = secondBone.AbsoluteTransform.Translation;
Vector3 thirdBoneOrigin = thirdBone.AbsoluteTransform.Translation;
// Vector3D finalPosition comes from parameter
Vector3 secondMinusFirst = secondBoneOrigin - firstBoneOrigin;
Vector3 finalMinusFirst = finalPosition - firstBoneOrigin;
//Vector3 finalMinusSecond = finalPosition - secondBoneOrigin;
Vector3 poleVectorNormalized;
Vector3 thirdMinusFirst = thirdBoneOrigin - firstBoneOrigin;
Vector3.Cross(ref secondMinusFirst, ref thirdMinusFirst, out poleVectorNormalized);
// project to 2D (only vectors)
poleVectorNormalized.Normalize();
poleVectorNormalized = Vector3.Normalize(Vector3.Lerp(poleVectorNormalized, lastPoleVector, m_poleVectorChangeSmoothness));
Vector3 planeDirY = Vector3.Normalize(finalMinusFirst); // finalMinusFirst? thirdMinusFirst?
Vector3 planeDirX = Vector3.Normalize(Vector3.Cross(planeDirY, poleVectorNormalized));
//Vector2 firstBoneOrigin2D = new Vector2(0, 0);
Vector2 secondBoneOrigin2D = new Vector2(planeDirX.Dot(ref secondMinusFirst), planeDirY.Dot(ref secondMinusFirst));
Vector2 thirdBoneOrigin2D = new Vector2(planeDirX.Dot(ref thirdMinusFirst), planeDirY.Dot(ref thirdMinusFirst));
Vector2 finalPosition2D = new Vector2(planeDirX.Dot(ref finalMinusFirst), planeDirY.Dot(ref finalMinusFirst));
Vector2 terrainNormal2D = new Vector2(planeDirX.Dot(ref finalNormal), planeDirY.Dot(ref finalNormal));
float firstBoneLength = (secondBoneOrigin2D /* - 0*/).Length();
float secondBoneLength = (thirdBoneOrigin2D - secondBoneOrigin2D).Length();
float finalDistance = finalPosition2D.Length();
if (firstBoneLength + secondBoneLength <= finalDistance)
{
finalPosition2D = (firstBoneLength + secondBoneLength) * finalPosition2D / finalDistance;
// too far
//return false;
}
// mid-joint -> wanted position in 2D
Vector2 newSecondBoneOrigin2D;
{
newSecondBoneOrigin2D.Y = (finalPosition2D.Y * finalPosition2D.Y - secondBoneLength * secondBoneLength + firstBoneLength * firstBoneLength) / (2.0f * finalPosition2D.Y);
float srqtArg = firstBoneLength * firstBoneLength - newSecondBoneOrigin2D.Y * newSecondBoneOrigin2D.Y;
newSecondBoneOrigin2D.X = (float)Math.Sqrt(srqtArg > 0 ? srqtArg : 0);
}
// project back
Vector3 newSecondBoneOrigin = firstBoneOrigin + planeDirX * newSecondBoneOrigin2D.X + planeDirY * newSecondBoneOrigin2D.Y;
Vector3 newSecondMinusFirst = newSecondBoneOrigin - firstBoneOrigin;
Vector3 newThirdMinusSecond = finalPosition - newSecondBoneOrigin;
Vector3 newTerrainNormal = planeDirX * terrainNormal2D.X + planeDirY * terrainNormal2D.Y;
newTerrainNormal.Normalize();
// set the rotations in the bones
// first bone ---------------------------------
Matrix firstBoneAbsoluteFinal = firstBone.AbsoluteTransform;
Quaternion rotFirstDelta = Quaternion.CreateFromTwoVectors(secondMinusFirst, newSecondMinusFirst);
firstBoneAbsoluteFinal.Right = Vector3.Transform(firstBoneAbsoluteFinal.Right, rotFirstDelta);
firstBoneAbsoluteFinal.Up = Vector3.Transform(firstBoneAbsoluteFinal.Up, rotFirstDelta);
firstBoneAbsoluteFinal.Forward = Vector3.Transform(firstBoneAbsoluteFinal.Forward, rotFirstDelta);
firstBone.SetCompleteTransformFromAbsoluteMatrix(ref firstBoneAbsoluteFinal, true);
firstBone.ComputeAbsoluteTransform();
// second bone ---------------------------------
Matrix secondBoneAbsoluteFinal = secondBone.AbsoluteTransform;
Quaternion rotSecondDelta = Quaternion.CreateFromTwoVectors(thirdBone.AbsoluteTransform.Translation - secondBone.AbsoluteTransform.Translation, newThirdMinusSecond);
secondBoneAbsoluteFinal.Right = Vector3.Transform(secondBoneAbsoluteFinal.Right, rotSecondDelta);
secondBoneAbsoluteFinal.Up = Vector3.Transform(secondBoneAbsoluteFinal.Up, rotSecondDelta);
secondBoneAbsoluteFinal.Forward = Vector3.Transform(secondBoneAbsoluteFinal.Forward, rotSecondDelta);
secondBone.SetCompleteTransformFromAbsoluteMatrix(ref secondBoneAbsoluteFinal, true);
secondBone.ComputeAbsoluteTransform();
//// third bone ----------------------------------
if (ikChain.EndBoneTransform.HasValue)
{
MatrixD localTransformRelated = ikChain.EndBoneTransform.Value * MatrixD.Invert((MatrixD)thirdBone.BindTransform * thirdBone.Parent.AbsoluteTransform);
thirdBone.Rotation = Quaternion.CreateFromRotationMatrix(Matrix.Normalize((Matrix)localTransformRelated.GetOrientation()));
thirdBone.Translation = (Vector3)localTransformRelated.Translation;
thirdBone.ComputeAbsoluteTransform();
}
else if (alignBoneWithTerrain)
{
Matrix footRotation;
Vector3 finalRotPoleVec;
Vector3.Cross(ref newTerrainNormal, ref Vector3.Up, out finalRotPoleVec);
float deltaAngle = MyUtils.GetAngleBetweenVectors(newTerrainNormal, Vector3.Up);
if (finalRotPoleVec.Dot(poleVectorNormalized) > 0)
{
deltaAngle = -deltaAngle;
}
deltaAngle = MathHelper.Clamp(deltaAngle, finalMinRot, finalMaxRot);
Matrix.CreateFromAxisAngle(ref poleVectorNormalized, deltaAngle, out footRotation);
ikChain.LastAligningRotationMatrix = Matrix.Lerp(ikChain.LastAligningRotationMatrix, footRotation, ikChain.AligningSmoothness);
Matrix thirdBoneAbsoluteFinal = thirdBoneTransformBackup.GetOrientation() * ikChain.LastAligningRotationMatrix;
thirdBoneAbsoluteFinal.Translation = thirdBone.AbsoluteTransform.Translation;
thirdBone.SetCompleteTransformFromAbsoluteMatrix(ref thirdBoneAbsoluteFinal, true);
thirdBone.ComputeAbsoluteTransform();
}
// Debugging of the solver.
if (m_showDebugDrawings)
{
MyRenderProxy.DebugDrawLine3D(Vector3D.Transform(firstBoneOrigin, ref DebugTransform), Vector3D.Transform(secondBoneOrigin, ref DebugTransform),
Color.Yellow, Color.Red, false);
MyRenderProxy.DebugDrawLine3D(Vector3D.Transform(secondBoneOrigin, ref DebugTransform), Vector3D.Transform(thirdBoneOrigin, ref DebugTransform),
Color.Yellow, Color.Red, false);
MyRenderProxy.DebugDrawSphere(Vector3D.Transform(finalPosition, ref DebugTransform), 0.05f, Color.Cyan, 1.0f, false);
MyRenderProxy.DebugDrawLine3D(Vector3D.Transform(secondBoneOrigin, ref DebugTransform), Vector3D.Transform(secondBoneOrigin + poleVectorNormalized, ref DebugTransform),
Color.PaleGreen, Color.PaleGreen, false);
MyRenderProxy.DebugDrawLine3D(Vector3D.Transform(firstBoneOrigin, ref DebugTransform), Vector3D.Transform(firstBoneOrigin + planeDirX, ref DebugTransform),
Color.White, Color.White, false);
MyRenderProxy.DebugDrawLine3D(Vector3D.Transform(firstBoneOrigin, ref DebugTransform), Vector3D.Transform(firstBoneOrigin + planeDirY, ref DebugTransform),
Color.White, Color.White, false);
MyRenderProxy.DebugDrawSphere(Vector3D.Transform(newSecondBoneOrigin, ref DebugTransform), 0.05f, Color.Green, 1.0f, false);
MyRenderProxy.DebugDrawAxis(firstBone.AbsoluteTransform * DebugTransform, 0.5f, false);
MyRenderProxy.DebugDrawLine3D(Vector3D.Transform(finalPosition, ref DebugTransform), Vector3D.Transform(finalPosition + newTerrainNormal, ref DebugTransform),
Color.Black, Color.LightBlue, false);
MyRenderProxy.DebugDrawArrow3D(Vector3D.Transform(secondBoneOrigin, ref DebugTransform), Vector3D.Transform(newSecondBoneOrigin, ref DebugTransform),
Color.Green, Color.White, false);
}
ikChain.LastPoleVector = poleVectorNormalized;
return(true);
}
