public Md5JointValue GetBaseJointValue(int joint, Md5Frame baseframe, Md5Frame thisframe)
{
Md5JointValue v;
int parentjoint = anim.Hierarchy[joint].ParentIndex;
if (parentjoint < 0)
{
v = baseframe.Values[joint];
}
else
{
if (parentjoint >= joint)
{
throw new Exception("");
}
Md5JointValue parent = thisframe.Values[parentjoint];
//Vector3 p = Matrix4Extensions.FromQuaternion(parent.Orientation) * baseframe.Values[joint].Position;
Vector3 p = Vector3.Transform(baseframe.Values[joint].Position, parent.Orientation);
p += parent.Position;
Quaternion q = baseframe.Values[joint].Orientation * parent.Orientation;
q.Normalize();
v.Orientation = q;
v.Position = p;
}
return(v);
}
/*
* public float[] GetJointValues(float[] values, int joint)
* {
* float[] r = new float[6];
* int i = 0;
* int c = 1;
* for (int k = 0; k < 6; ++k)
* {
* //if ((Hierarchy[joint].Components & c) != 0)
* if (false)
* {
* //component is animated
* r[k] = values[anim.Hierarchy[joint].FrameIndex + i];
* i++;
* }
* else
* {
* //not animated, get from baseframe
* //r[k] = values[joint*6+k];
* }
* c *= 2;
* }
* return r;
* }
*/
public Md5JointValue GetJointValue(float[] values, int joint, Md5Frame thisframe, Md5Frame baseframe)
{
Md5JointValue v = baseframe.Values[joint];
int i = anim.Hierarchy[joint].FrameIndex;
int c = anim.Hierarchy[joint].Components;
if (Flip)
{
if ((c & Md5JointAnim.Tx) != 0)
{
v.Position.X = values[i++];
}
if ((c & Md5JointAnim.Ty) != 0)
{
v.Position.Z = values[i++];
}
if ((c & Md5JointAnim.Tz) != 0)
{
v.Position.Y = values[i++];
}
if ((c & Md5JointAnim.Qx) != 0)
{
v.Orientation.X = values[i++];
}
if ((c & Md5JointAnim.Qy) != 0)
{
v.Orientation.Z = values[i++];
}
if ((c & Md5JointAnim.Qz) != 0)
{
v.Orientation.Y = values[i++];
}
}
else
{
if ((c & Md5JointAnim.Tx) != 0)
{
v.Position.X = values[i++];
}
if ((c & Md5JointAnim.Ty) != 0)
{
v.Position.Y = values[i++];
}
if ((c & Md5JointAnim.Tz) != 0)
{
v.Position.Z = values[i++];
}
if ((c & Md5JointAnim.Qx) != 0)
{
v.Orientation.X = values[i++];
}
if ((c & Md5JointAnim.Qy) != 0)
{
v.Orientation.Y = values[i++];
}
if ((c & Md5JointAnim.Qz) != 0)
{
v.Orientation.Z = values[i++];
}
}
float term = 1.0f - ((v.Orientation.X * v.Orientation.X) + (v.Orientation.Y * v.Orientation.Y) + (v.Orientation.Z * v.Orientation.Z));
if (term < 0.0f)
{
v.Orientation.W = 0.0f;
}
else
{
v.Orientation.W = (float)Math.Sqrt(term);
}
//v.Orientation.W = (float)Math.Sqrt(1.0f - );
int parentjoint = anim.Hierarchy[joint].ParentIndex;
if (parentjoint < 0)
{
}
else
{
if (parentjoint >= joint)
{
throw new Exception("");
}
Md5JointValue parent = thisframe.Values[parentjoint];
//Vector3 p = Matrix4Extensions.FromQuaternion(parent.Orientation) * v.Position;
Vector3 p = Vector3.Transform(v.Position, parent.Orientation);
p += parent.Position;
Quaternion q = v.Orientation * parent.Orientation;
q.Normalize();
v.Orientation = q;
v.Position = p;
}
return(v);
}
Md5Frame LoadFrame(bool baseframe)
{
string[] line;
int i = 0;
float[] values;
if (baseframe)
{
values = new float[anim.NumJoints * 6];
}
else
{
values = new float[anim.NumAnimatedComponents];
}
while ((line = ReadLineTokens()) != null && line[0] != "}")
{
foreach (string s in line)
{
values[i++] = float.Parse(s);
}
}
if (i != values.Length)
{
throw new Exception("");
}
Md5Frame frame = new Md5Frame();
Md5Frame baseframe1 = new Md5Frame();
frame.Values = new Md5JointValue[anim.NumJoints];
baseframe1.Values = new Md5JointValue[anim.NumJoints];
if (baseframe)
{
for (i = 0; i < anim.NumJoints; ++i)
{
frame.Values[i] = GetBaseFrameJointValue(i, values);
}
for (i = 0; i < anim.NumJoints; ++i)
{
baseframe1.Values[i] = GetBaseFrameJointValue(i, values);
}
for (i = 0; i < anim.NumJoints; ++i)
{
frame.Values[i] = GetBaseJointValue(i, frame, frame);
}
}
else
{
for (i = 0; i < anim.NumJoints; ++i)
{
frame.Values[i] = GetJointValue(values, i, frame, anim.BaseFrame);
}
}
if (baseframe)
{
return(baseframe1);
}
else
{
return(frame);
}
}
Md5Frame LoadFrame(bool baseframe)
{
string[] line;
int i = 0;
float[] values;
if(baseframe)
values = new float[anim.NumJoints*6];
else
values=new float[anim.NumAnimatedComponents];
while ((line = ReadLineTokens()) != null && line[0] != "}")
{
foreach (string s in line)
{
values[i++] = float.Parse(s);
}
}
if (i != values.Length)
throw new Exception("");
Md5Frame frame=new Md5Frame();
Md5Frame baseframe1 = new Md5Frame();
frame.Values = new Md5JointValue[anim.NumJoints];
baseframe1.Values = new Md5JointValue[anim.NumJoints];
if (baseframe)
{
for (i = 0; i < anim.NumJoints; ++i)
{
frame.Values[i] = GetBaseFrameJointValue(i, values);
}
for (i = 0; i < anim.NumJoints; ++i)
{
baseframe1.Values[i] = GetBaseFrameJointValue(i, values);
}
for (i = 0; i < anim.NumJoints; ++i)
{
frame.Values[i] = GetBaseJointValue(i, frame, frame);
}
}
else
{
for (i = 0; i < anim.NumJoints; ++i)
{
frame.Values[i] = GetJointValue(values, i, frame, anim.BaseFrame);
}
}
if (baseframe)
return baseframe1;
else return frame;
}
/*
public float[] GetJointValues(float[] values, int joint)
{
float[] r = new float[6];
int i = 0;
int c = 1;
for (int k = 0; k < 6; ++k)
{
//if ((Hierarchy[joint].Components & c) != 0)
if (false)
{
//component is animated
r[k] = values[anim.Hierarchy[joint].FrameIndex + i];
i++;
}
else
{
//not animated, get from baseframe
//r[k] = values[joint*6+k];
}
c *= 2;
}
return r;
}
*/
public Md5JointValue GetJointValue(float[] values, int joint, Md5Frame thisframe, Md5Frame baseframe)
{
Md5JointValue v = baseframe.Values[joint];
int i = anim.Hierarchy[joint].FrameIndex;
int c = anim.Hierarchy[joint].Components;
if (Flip)
{
if ((c & Md5JointAnim.Tx) != 0) v.Position.X = values[i++];
if ((c & Md5JointAnim.Ty) != 0) v.Position.Z = values[i++];
if ((c & Md5JointAnim.Tz) != 0) v.Position.Y = values[i++];
if ((c & Md5JointAnim.Qx) != 0) v.Orientation.X = values[i++];
if ((c & Md5JointAnim.Qy) != 0) v.Orientation.Z = values[i++];
if ((c & Md5JointAnim.Qz) != 0) v.Orientation.Y = values[i++];
}
else
{
if ((c & Md5JointAnim.Tx) != 0) v.Position.X = values[i++];
if ((c & Md5JointAnim.Ty) != 0) v.Position.Y = values[i++];
if ((c & Md5JointAnim.Tz) != 0) v.Position.Z = values[i++];
if ((c & Md5JointAnim.Qx) != 0) v.Orientation.X = values[i++];
if ((c & Md5JointAnim.Qy) != 0) v.Orientation.Y = values[i++];
if ((c & Md5JointAnim.Qz) != 0) v.Orientation.Z = values[i++];
}
float term = 1.0f - ((v.Orientation.X * v.Orientation.X) + (v.Orientation.Y * v.Orientation.Y) + (v.Orientation.Z * v.Orientation.Z));
if (term < 0.0f)
v.Orientation.W = 0.0f;
else
v.Orientation.W = (float)Math.Sqrt(term);
//v.Orientation.W = (float)Math.Sqrt(1.0f - );
int parentjoint = anim.Hierarchy[joint].ParentIndex;
if (parentjoint < 0)
{
}
else
{
if (parentjoint >= joint)
throw new Exception("");
Md5JointValue parent = thisframe.Values[parentjoint];
//Vector3 p = Matrix4Extensions.FromQuaternion(parent.Orientation) * v.Position;
Vector3 p = Vector3.Transform(v.Position, parent.Orientation);
p += parent.Position;
Quaternion q = v.Orientation * parent.Orientation;
q.Normalize();
v.Orientation = q;
v.Position = p;
}
return v;
}
public Md5JointValue GetBaseJointValue(int joint,Md5Frame baseframe,Md5Frame thisframe)
{
Md5JointValue v;
int parentjoint=anim.Hierarchy[joint].ParentIndex;
if ( parentjoint< 0)
{
v = baseframe.Values[joint];
}
else
{
if (parentjoint >= joint)
throw new Exception("");
Md5JointValue parent = thisframe.Values[parentjoint];
//Vector3 p = Matrix4Extensions.FromQuaternion(parent.Orientation) * baseframe.Values[joint].Position;
Vector3 p = Vector3.Transform(baseframe.Values[joint].Position, parent.Orientation);
p += parent.Position;
Quaternion q = baseframe.Values[joint].Orientation * parent.Orientation;
q.Normalize();
v.Orientation = q;
v.Position = p;
}
return v;
}
