public Armature GetRestArmature()
{
var armature = new Armature();
var necessary = Enumerable.Repeat(false, bones.Count).ToArray();
foreach (var ikChain in ikChains)
{
foreach (var index in ikChain.AffectedBoneIndices)
{
necessary[index] = true;
}
necessary[ikChain.EndEffectorIndex] = true;
}
foreach (var vertex in vertices)
{
necessary[vertex.Bone0Number] = true;
necessary[vertex.Bone1Number] = true;
}
for (int boneIndex = 0; boneIndex < bones.Count; boneIndex++)
{
var bone = bones[boneIndex];
if (necessary[boneIndex] ||
(new int[] {
Bone.BONE_ROTATE,
Bone.BONE_ROTATE_TRANSLATE,
Bone.BONE_IK_ROTATION_INFLUENCED,
Bone.BONE_IK_TARGET,
Bone.BONE_ROTATION_INFLUENCED
}.Contains(bone.BoneType)))
{
var current = boneIndex;
while (current >= 0)
{
necessary[current] = true;
current = bones[current].ParentIndex;
}
}
}
for (int boneIndex = 0; boneIndex < bones.Count; boneIndex++)
{
var bone = bones[boneIndex];
if (necessary[boneIndex])
{
Vector3D position;
if (bone.ParentIndex >= 0)
{
var parent = bones[bone.ParentIndex];
position = bone.Position - parent.Position;
position = new Vector3D(position.X, position.Y, -position.Z);
}
else
{
position = new Vector3D(bone.Position.X, bone.Position.Y, -bone.Position.Z);
}
var joint = new Joint(bone.Name, position, Quaternion.Identity);
armature.AppendJoint(joint);
}
}
for (int boneIndex = 0; boneIndex < bones.Count; boneIndex++)
{
var bone = bones[boneIndex];
Joint joint;
try
{
joint = armature.GetJoint(bone.Name);
}
catch (ValueException)
{
continue;
}
if (bone.ParentIndex >= 0)
{
armature.SetParent(joint.Name, bones[bone.ParentIndex].Name);
}
}
return(armature);
}
private Tuple <IKArmature, string, string> GetIkChainIkArmature(int ik_chain_index)
{
var ik_chain = ikChains[ik_chain_index];
var rest_armature = new Armature();
var joint_indices = ik_chain.AffectedBoneIndices.ToList();
joint_indices.Add(ik_chain.EndEffectorIndex);
foreach (var joint_index in joint_indices)
{
rest_armature.AppendJoint(new Joint(bones[joint_index].Name));
}
string root_name = null;
foreach (var joint_index in joint_indices)
{
var bone = bones[joint_index];
if (joint_indices.Contains(bone.ParentIndex))
{
var child_name = bones[joint_index].Name;
var parent_index = bones[joint_index].ParentIndex;
var parent_name = bones[parent_index].Name;
rest_armature.SetParent(child_name, parent_name);
var joint = rest_armature.GetJoint(child_name);
var m = Matrix3D.Identity;
m.Scale(new Vector3D(1, 1, -1));
var position = m.Transform(bones[joint_index].Position - bones[parent_index].Position);
joint.Position = position;
}
else
{
root_name = bone.Name;
}
}
var ik_bone_name = bones[ik_chain.IkBoneIndex].Name;
var ik_armature = new IKArmature(rest_armature);
var end_effector_name = bones[ik_chain.EndEffectorIndex].Name;
ik_armature.MakeEndEffector(end_effector_name);
foreach (var joint_index in ik_chain.AffectedBoneIndices)
{
var bone = bones[joint_index];
var ik_joint = ik_armature.MakeIkJoint(bone.Name);
ik_armature.AddIkJointToEndEffector(bone.Name, end_effector_name);
ik_joint.DisableParameter(IKJointParameters.XTranslate);
ik_joint.DisableParameter(IKJointParameters.YTranslate);
ik_joint.DisableParameter(IKJointParameters.ZTranslate);
}
if (new[] { "leg_ik.R", "leg_ik.L" }.Contains(ik_bone_name))
{
IKJoint knee_joint;
IKJoint leg_joint;
if (ik_bone_name == "leg_ik.R")
{
knee_joint = ik_armature.GetIkJoint("knee.R");
leg_joint = ik_armature.GetIkJoint("leg.R");
}
else
{
leg_joint = ik_armature.GetIkJoint("leg.L");
knee_joint = ik_armature.GetIkJoint("knee.L");
}
knee_joint.DisableParameter(IKJointParameters.YRotate);
knee_joint.DisableParameter(IKJointParameters.ZRotate);
knee_joint.SetLimit(IKJointParameters.XRotate, 0, 180);
leg_joint.DisableParameter(IKJointParameters.YRotate);
leg_joint.DisableParameter(IKJointParameters.ZRotate);
}
return(Tuple.Create(ik_armature, root_name, end_effector_name));
}
