예제 #1
0
        private void ApplyIK(Model model)
        {
            //追加: 加速度センサONの場合に回転不変性取るよう改善
            var boneHip    = QumarionModel.Bones[StandardPSBones.Hips];
            var initPosHip = boneHip.InitialWorldMatrix.Translate;
            var posHip     = boneHip.WorldMatrix.Translate;
            //NOTE:
            var rotHipInverse = MatrixRotationDif.CreateDifFrom(
                boneHip.WorldMatrix.Rotate,
                boneHip.InitialWorldMatrix.Rotate
                ).Transpose();


            foreach (var t in _targetIKBones)
            {
                var src  = QumarionModel.Bones[QumaBone2MMDBone.GetQumaBone(t)];
                var dest = MMDStandardBones.GetBone(model, t);
                if (dest == null)
                {
                    continue;
                }

                //1: Tポーズでの Hip -> t のベクトル取得(これは直立)
                var initPosWorld = src.InitialWorldMatrix.Translate;
                var initPos      = new Vector3f(
                    initPosWorld.X - initPosHip.X,
                    initPosWorld.Y - initPosHip.Y,
                    initPosWorld.Z - initPosHip.Z
                    );
                //2: 現在の Hip -> t のベクトルを回転除去しつつ取得

                var posWorld = src.WorldMatrix.Translate;
                var pos      = new Vector3f(
                    posWorld.X - posHip.X,
                    posWorld.Y - posHip.Y,
                    posWorld.Z - posHip.Z
                    );
                //ここ大事: posのベクトルは体の回転込みの値なので逆回転して相殺
                pos = MatrixUtil.Multiply(rotHipInverse, pos);

                //NOTE: MMMではZ軸が後ろ向き正だがQumarionだと前向き正
                var dif = new Vector3(
                    pos.X - initPos.X,
                    pos.Y - initPos.Y,
                    -pos.Z + initPos.Z
                    );

                var motion = dest.CurrentLocalMotion;
                motion.Move             = dif * LegIKScaleFactor;
                dest.CurrentLocalMotion = motion;
            }
        }
예제 #2
0
        private void ApplyFK(Model model)
        {
            var childBonesQumarion = _rootBone.ChildBones;

            foreach (var mmdBone in _targetBones)
            {
                var src = childBonesQumarion.FirstOrDefault(
                    bone => bone.IsValidBone && bone.MMDBone == mmdBone
                    );
                var dest = MMDStandardBones.GetBone(model, mmdBone);

                if (src == null || dest == null)
                {
                    continue;
                }

                if (_armRollPair.Keys.Contains(mmdBone))
                {
                    var rollBone = MMDStandardBones.GetBone(model, _armRollPair[mmdBone]);

                    //追加ロジック: 回転をもとのボーンと「捩」ボーンに分割する
                    Quaternion roll, nonRoll;
                    QuaternionDecomposition.DecompositeStandardEuler(src.Rotation, out roll, out nonRoll);

                    nonRoll = GetRotation(nonRoll, mmdBone);
                    roll    = GetRotation(roll, mmdBone);

                    //本体側
                    var motion = dest.CurrentLocalMotion;
                    motion.Rotation         = nonRoll;
                    dest.CurrentLocalMotion = motion;

                    //追加: 対応する「捩」ボーン
                    var rollMotion = rollBone.CurrentLocalMotion;
                    rollMotion.Rotation         = roll;
                    rollBone.CurrentLocalMotion = rollMotion;
                }
                else
                {
                    //普通のボーン

                    //Qumarion側の正規化回転をMMDモデルのローカル回転に直す
                    var rotation = GetRotation(src.Rotation, mmdBone);

                    var motion = dest.CurrentLocalMotion;
                    motion.Rotation         = rotation;
                    dest.CurrentLocalMotion = motion;
                }
            }
        }
예제 #3
0
        //モデルを接地させる(接地の定義は実装を見よ。)
        private void BoundCenterToGround(Model model)
        {
            //追加: 加速度センサONの場合に回転不変性取るよう改善
            var boneHip    = QumarionModel.Bones[StandardPSBones.Hips];
            var initPosHip = boneHip.InitialWorldMatrix.Translate;
            var posHip     = boneHip.WorldMatrix.Translate;
            //NOTE:
            var rotHipInverse = MatrixRotationDif.CreateDifFrom(
                boneHip.WorldMatrix.Rotate,
                boneHip.InitialWorldMatrix.Rotate
                ).Transpose();


            var heights = new List <float>();

            foreach (var t in _groundingIKBones)
            {
                var src  = QumarionModel.Bones[QumaBone2MMDBone.GetQumaBone(t)];
                var dest = MMDStandardBones.GetBone(model, t);
                if (dest == null)
                {
                    continue;
                }

                //1: Tポーズでの Hip -> t のベクトル取得(これは直立)
                var initPosWorld = src.InitialWorldMatrix.Translate;
                var initPos      = new Vector3f(
                    initPosWorld.X - initPosHip.X,
                    initPosWorld.Y - initPosHip.Y,
                    initPosWorld.Z - initPosHip.Z
                    );
                //2: 現在の Hip -> t のベクトルを回転除去しつつ取得

                var posWorld = src.WorldMatrix.Translate;
                var pos      = new Vector3f(
                    posWorld.X - posHip.X,
                    posWorld.Y - posHip.Y,
                    posWorld.Z - posHip.Z
                    );
                //ここ大事: posのベクトルは体の回転込みの値なので逆回転して相殺
                pos = MatrixUtil.Multiply(rotHipInverse, pos);

                //NOTE: MMMではZ軸が後ろ向き正だがQumarionだと前向き正
                var dif = new Vector3(
                    pos.X - initPos.X,
                    pos.Y - initPos.Y,
                    -pos.Z + initPos.Z
                    );

                heights.Add(dif.Y * LegIKScaleFactor);
            }
            if (heights.Count == 0)
            {
                return;
            }

            //移動差分のうちもっとも低い値を取る
            float lowestPosDif = heights.Min();
            var   centerBone   = MMDStandardBones.GetBone(model, MMDStandardBone.Center);

            if (centerBone == null)
            {
                return;
            }

            var motion = centerBone.CurrentLocalMotion;

            //CAUTION: X, Zを勝手に書き換えないように!
            motion.Move = new Vector3(motion.Move.X, -lowestPosDif, motion.Move.Z);

            centerBone.CurrentLocalMotion = motion;
        }