/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="rigids">剛体情報</param>
/// <param name="joints">関節情報</param>
/// <param name="model">モデル情報</param>
public PhysicsManager(MMDRigid[] rigids, MMDJoint[] joints, MMDModel model)
{
List<RigidBody> rbodies = new List<RigidBody>();
List<Generic6DofSpringConstraint> dofjoints = new List<Generic6DofSpringConstraint>();
motionState = new List<MMDMotionState>();
List<short> groups = new List<short>();
List<short> masks = new List<short>();
//剛体の作成
for (int i = 0; i < rigids.Length; i++)
{
MMDMotionState mstate;
short group;
rbodies.Add(CreateRigidBody(rigids[i], model, out group, out mstate));
motionState.Add(mstate);
groups.Add(group);
masks.Add((short)rigids[i].GroupTarget);
}
//ジョイント(拘束)の作成
for (int i = 0; i < joints.Length; i++)
{
RigidBody phisic0 = rbodies[(int)joints[i].RigidBodyA];
RigidBody phisic1 = rbodies[(int)joints[i].RigidBodyB];
dofjoints.Add(CreateJoint(phisic0, phisic1, joints[i], model));
}
Rigids = new ReadOnlyCollection<RigidBody>(rbodies);
this.groups = groups.ToArray();
this.masks = masks.ToArray();
Joints = new ReadOnlyCollection<Generic6DofSpringConstraint>(dofjoints);
bSetup = true;
//イベントをフック
PhysicsThreadManager.Instanse.Synchronize += new Action(Update);
PhysicsThreadManager.Instanse.DropFrame += new Action<int>(DropFrame);
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="modelParts">モデルパーツ</param>
/// <param name="boneManager">ボーンマネージャ</param>
/// <param name="faceManager">表情マネージャ</param>
/// <param name="attachedMotion">付属モーション</param>
/// <param name="rigids">剛体</param>
/// <param name="joints">ジョイント</param>
public MMDXModel(List<IMMDModelPart> modelParts, MMDBoneManager boneManager, IMMDFaceManager faceManager, Dictionary<string, MMDMotion> attachedMotion, MMDRigid[] rigids, MMDJoint[] joints)
: base(modelParts, boneManager, faceManager, attachedMotion, rigids, joints)
{
#if XBOX
//ボーンマネージャ・表情マネージャを変換しておく
this.boneManager = (MMDXBoxBoneManager)boneManager;
this.faceManager = (MMDXBoxFaceManager)faceManager;
//グラフィックデバイスの抜き出し
if (modelParts.Count > 0)
{
GraphicsDevice graphics = ((MMDModelPart)modelParts[0]).GraphicsDevice;
//頂点バッファの作成
skinVertexBuffer = new WritableVertexBuffer(graphics, this.boneManager.SKinTransformXBox.Length * 4, typeof(VertexSkinning));
this.faceManager.SetUp(graphics);
}
#endif
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="vertex">頂点データ</param>
/// <param name="modelParts">モデルパーツ</param>
/// <param name="boneManager">ボーンマネージャ</param>
/// <param name="faceManager">表情マネージャ</param>
/// <param name="attachedMotion">付随モーション</param>
/// <param name="rigids">剛体情報</param>
/// <param name="joints">関節情報</param>
public SlimMMDModel(MMDVertexNmTx[] vertex, List<IMMDModelPart> modelParts, MMDBoneManager boneManager, MMDFaceManager faceManager, Dictionary<string, MMDMotion> attachedMotion, MMDRigid[] rigids, MMDJoint[] joints)
: base(modelParts, boneManager, faceManager, attachedMotion, rigids, joints)
{
m_vertex = vertex;
//データのコピー
verticesSource = new VertexPNmTx[m_vertex.LongLength];
for (long i = 0; i < m_vertex.LongLength; ++i)
{
verticesSource[i].Position = m_vertex[i].Position;
verticesSource[i].Normal = m_vertex[i].Normal;
verticesSource[i].Texture = m_vertex[i].TextureCoordinate;
}
InitGraphicsResource();
SlimMMDXCore.Instance.LostDevice += OnLostDevice;
SlimMMDXCore.Instance.ResetDevice += OnResetDevice;
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="modelParts">モデルパーツ</param>
/// <param name="boneManager">ボーンマネージャ</param>
/// <param name="faceManager">表情マネージャ</param>
/// <param name="attachedMotion">付随モーション</param>
/// <param name="rigids">剛体情報</param>
/// <param name="joints">関節情報</param>
public MMDModel(List<IMMDModelPart> modelParts, MMDBoneManager boneManager, IMMDFaceManager faceManager, Dictionary<string, MMDMotion> attachedMotion, MMDRigid[] rigids, MMDJoint[] joints)
{
Transform = Matrix.Identity;
this.modelParts = modelParts;
this.boneManager = boneManager;
this.faceManager = faceManager;
this.attachedMotion = attachedMotion;
Culling = true;
boneManager.CalcGlobalTransform();
this.physicsManager = new PhysicsManager(rigids, joints, this);
foreach (var part in modelParts)
part.SetModel(this);
Parts = new ReadOnlyCollection<IMMDModelPart>(modelParts);
animationPlayer = new AnimationPlayer(boneManager, faceManager);
//イベントフック
MMDCore.Instance.OnBoneUpdate += new Action<float>(BoneUpdate);
MMDCore.Instance.OnSkinUpdate += new Action<float>(SkinUpdate);
}
private Generic6DofSpringConstraint CreateJoint(RigidBody body0, RigidBody body1, MMDJoint joint, MMDModel model)
{
Matrix frameInA, frameInB;
btTransform btFrameInA, btFrameInB;
Matrix jointPos =MMDXMath.CreateMatrixFromYawPitchRoll(joint.Rotation[1], joint.Rotation[0], joint.Rotation[2])
* MMDXMath.CreateTranslationMatrix(joint.Position[0], joint.Position[1], joint.Position[2]);
if (body0.MotionState != null)
{
MMDMotionState motionState = (MMDMotionState)body0.MotionState;
frameInA = MMDXMath.ToMatrix(motionState.GraphicsWorldTrans);
}
else
throw new NotImplementedException("来るハズないのだが");
frameInA = jointPos * model.Transform * Matrix.Invert(frameInA);
if (body1.MotionState != null)
{
MMDMotionState motionState = (MMDMotionState)body1.MotionState;
frameInB = MMDXMath.ToMatrix(motionState.GraphicsWorldTrans);
}
else
throw new NotImplementedException("来るハズないのだが");
frameInB = jointPos * model.Transform * Matrix.Invert(frameInB);
//frameInB = jointPos * Matrix.Invert(MMDMath.ConvertToMatrix(body1.GetWorldTransformSmart()));
MMDXMath.TobtTransform(ref frameInA, out btFrameInA);
MMDXMath.TobtTransform(ref frameInB, out btFrameInB);
Generic6DofSpringConstraint mConstPoint = new Generic6DofSpringConstraint(body0, body1, btFrameInA, btFrameInB, true);
//G6Dof設定用変数の準備
mConstPoint.setLinearLowerLimit(new btVector3(joint.ConstrainPosition1));
mConstPoint.setLinearUpperLimit(new btVector3(joint.ConstrainPosition2));
mConstPoint.setAngularLowerLimit(new btVector3(joint.ConstrainRotation1));
mConstPoint.setAngularUpperLimit(new btVector3(joint.ConstrainRotation2));
System.Diagnostics.Debug.WriteLine(joint.Name);
for(int i=0;i<3;i++)
System.Diagnostics.Debug.WriteLine(joint.ConstrainPosition1[i]);
for (int i = 0; i < 3; i++)
System.Diagnostics.Debug.WriteLine(joint.ConstrainPosition2[i]);
for (int i = 0; i < 3; i++)
System.Diagnostics.Debug.WriteLine(joint.ConstrainRotation1[i]);
for (int i = 0; i < 3; i++)
System.Diagnostics.Debug.WriteLine(joint.ConstrainRotation2[i]);
for (int i = 0; i < 3; i++)
{
mConstPoint.setStiffness(i, joint.SpringPosition[i]);
mConstPoint.enableSpring(i, true);
mConstPoint.setStiffness(i + 3, joint.SpringRotation[i]);
mConstPoint.enableSpring(i + 3, true);
}
mConstPoint.calculateTransforms();
mConstPoint.setEquilibriumPoint();
return mConstPoint;
}
