public void SolveIK(PmdIK ik)
{
Vector3 target = ik.target.GetWorldPosition();
for (int i = 0; i < ik.niteration; i++)
{
bool solved = true;
foreach (PmdNode node in ik.chain_nodes)
{
solved &= SolveIK(ik.effector, node, target);
}
if (solved)
{
break;
}
}
}
public void Load(Stream source_stream)
{
BinaryReader reader = new BinaryReader(source_stream, System.Text.Encoding.Default);
byte[] magic = reader.ReadBytes(3);
if (magic[0] != (byte)'P' || magic[1] != (byte)'m' || magic[2] != (byte)'d')
{
throw new Exception("File is not Pmd");
}
float version = reader.ReadSingle();
Debug.WriteLine("version:" + version);
string model_name = reader.ReadCString(20);
Debug.WriteLine("model_name:" + model_name);
string comment = reader.ReadCString(256);
Debug.WriteLine("comment:" + comment);
int vertex_count = reader.ReadInt32();
Debug.WriteLine("vertex_count:" + vertex_count);
vertices = new Vertex[vertex_count];
for (int i = 0; i < vertex_count; i++)
{
vertices[i] = new Vertex();
vertices[i].Read(reader);
}
int face_vertex_count = reader.ReadInt32();
Debug.WriteLine("face_vertex_count:" + face_vertex_count);
indices = new ushort[face_vertex_count];
for (int i = 0; i < face_vertex_count; i++)
{
indices[i] = reader.ReadUInt16();
}
int face_count = face_vertex_count / 3;
Debug.WriteLine("face_count:" + face_count);
int material_count = reader.ReadInt32();
Debug.WriteLine("material_count:" + material_count);
materials = new PmdMaterial[material_count];
for (int i = 0; i < material_count; i++)
{
materials[i] = new PmdMaterial(i);
materials[i].Read(reader);
}
int face_vertex_start = 0;
for (int i = 0; i < material_count; i++)
{
face_vertex_start = materials[i].InjectFaceVertexStart(face_vertex_start);
}
ushort node_count = reader.ReadUInt16();
Debug.WriteLine("node_count:" + node_count);
nodes = new PmdNode[node_count];
for (ushort i = 0; i < node_count; i++)
{
nodes[i] = new PmdNode(i);
nodes[i].Read(reader);
}
for (ushort i = 0; i < node_count; i++)
{
nodes[i].ComputeOffsetMatrix();
}
GenerateNodemapAndTree();
bone_matrices = new Matrix[node_count];
ushort ik_count = reader.ReadUInt16();
Debug.WriteLine("ik_count:" + ik_count);
iks = new PmdIK[ik_count];
for (ushort i = 0; i < ik_count; i++)
{
iks[i] = new PmdIK();
iks[i].Read(reader);
}
UpdateNodeIKs();
ushort skin_count = reader.ReadUInt16();
Debug.WriteLine("skin_count:" + skin_count);
skins = new PmdSkin[skin_count];
for (ushort i = 0; i < skin_count; i++)
{
skins[i] = new PmdSkin();
skins[i].Read(reader);
}
for (ushort i = 1; i < skin_count; i++)
{
skins[i].Absolutize(skins[0]);
}
}