private void parseIKList(BinaryReader br)
{
// the number of Vertexes
short num = br.ReadInt16();
Log.Debug("PMD", "IK: " + num.ToString());
if (num > 0)
{
IK = new IK[num];
for (int i = 0; i < num; i++)
{
IK ik = new IK();
ik.ik_bone_index = br.ReadInt16();
ik.ik_target_bone_index = br.ReadInt16();
ik.ik_chain_length = br.ReadByte();
ik.iterations = br.ReadInt16();
ik.control_weight = br.ReadSingle();
ik.ik_child_bone_index = new short[ik.ik_chain_length];
for (int j = 0; j < ik.ik_chain_length; j++)
{
ik.ik_child_bone_index[j] = br.ReadInt16();
}
IK[i] = ik;
}
}
else
{
IK = null;
}
}
public void Load(string filename)
{
using (var fs = File.OpenRead(filename))
using (var bs = new BinaryReader(fs))
{
// header
string s = bs.ReadString();
Log.Debug("RMC", "MAGIC: " + s);
// VertNormUv
Log.Debug("RMC", "VertNormUv");
VertNormUv = ReadFloats(bs);
// Index
Log.Debug("RMC", "Index");
Index = ReadShorts(bs);
// Bone
Log.Debug("RMC", "Bone");
Bones = new Bone[bs.ReadUInt32()];
Log.Debug("RMC", "count : " + Bones.Length.ToString());
for (int i = 0; i < Bones.Length; i++)
{
Bones[i] = new Bone();
Bones[i].name = bs.ReadString();
Bones[i].parent = bs.ReadInt16();
Bones[i].tail = bs.ReadInt16();
Bones[i].type = bs.ReadByte();
Bones[i].ik = bs.ReadInt16();
Bones[i].head_pos = ReadFloats(bs, 3);
Bones[i].is_leg = bs.ReadBoolean();
}
// IKs
Log.Debug("RMC", "IK");
IKs = new IK[bs.ReadUInt32()];
Log.Debug("RMC", "count : " + IKs.Length.ToString());
for (int i = 0; i < IKs.Length; i++)
{
IKs[i] = new IK();
IKs[i].ik_bone_index = bs.ReadInt32();
IKs[i].ik_target_bone_index = bs.ReadInt32();
IKs[i].ik_chain_length = bs.ReadByte();
IKs[i].iterations = bs.ReadInt32();
IKs[i].control_weight = bs.ReadSingle();
IKs[i].ik_child_bone_index = new short[bs.ReadUInt32()];
for (int j = 0; j < IKs[i].ik_child_bone_index.Length; j++)
{
IKs[i].ik_child_bone_index[j] = bs.ReadInt16();
}
}
// Materials
Log.Debug("RMC", "Material");
Materials = new FMaterial[bs.ReadUInt32()];
Log.Debug("RMC", "count : " + Materials.Length.ToString());
for (int i = 0; i < Materials.Length; i++)
{
Materials[i] = new FMaterial();
Materials[i].diffuse_color = ReadFloats(bs, 4);
Materials[i].power = bs.ReadSingle();
Materials[i].specular_color = ReadFloats(bs, 3);
Materials[i].emmisive_color = ReadFloats(bs, 3);
Materials[i].toon_index = bs.ReadByte();
Materials[i].edge_flag = bs.ReadByte();
Materials[i].face_vert_count = bs.ReadInt32();
if (bs.ReadBoolean())
{
Materials[i].texture = bs.ReadString();
Log.Debug("RMC", "load texture in material ... " + Materials[i].texture);
var sf = bs.ReadByte();
if (sf == 1)
{
Materials[i].sph = bs.ReadString();
Materials[i].spa = null;
Log.Debug("RMC", "load sphere(sph) in material ... " + Materials[i].sph);
}
else if (sf == 2)
{
Materials[i].sph = null;
Materials[i].spa = bs.ReadString();
Log.Debug("RMC", "load sphere(spa) in material ... " + Materials[i].spa);
}
}
Materials[i].face_vert_offset = bs.ReadInt32();
Materials[i].bone_num = bs.ReadInt32();
Log.Debug("RMC", "Bone num: " + Materials[i].bone_num.ToString());
Materials[i].weight = bs.ReadBytes(VertNormUv.Length / 8 * 3);
Materials[i].bone_inv_map = new int[48]; // ad-hock
for (int j = 0; j < Materials[i].bone_inv_map.Length; j++)
{
Materials[i].bone_inv_map[j] = bs.ReadInt32();
}
}
// ToonNames
Log.Debug("RMC", "ToonNames");
ToonNames = new string[11];
for (int i = 0; i < 11; i++)
{
ToonNames[i] = bs.ReadString();
Log.Debug("RMC", ToonNames[i]);
}
}
}
private void parseIKList(BinaryReader br)
{
// the number of Vertexes
short num = br.ReadInt16();
Log.Debug("PMD", "IK: " + num.ToString());
if (num > 0) {
IK = new IK[num];
for (int i = 0; i < num; i++) {
IK ik = new IK();
ik.ik_bone_index = br.ReadInt16();
ik.ik_target_bone_index = br.ReadInt16();
ik.ik_chain_length = br.ReadByte();
ik.iterations = br.ReadInt16();
ik.control_weight = br.ReadSingle();
ik.ik_child_bone_index = new short[ik.ik_chain_length];
for (int j = 0; j < ik.ik_chain_length; j++) {
ik.ik_child_bone_index[j] = br.ReadInt16();
}
IK[i] = ik;
}
} else {
IK = null;
}
}
public void Load(string filename)
{
using(var fs = File.OpenRead(filename))
using(var bs = new BinaryReader(fs))
{
// header
string s = bs.ReadString();
Log.Debug("RMC", "MAGIC: " + s);
// VertNormUv
Log.Debug("RMC", "VertNormUv");
VertNormUv = ReadFloats(bs);
// Index
Log.Debug("RMC", "Index");
Index = ReadShorts(bs);
// Bone
Log.Debug("RMC", "Bone");
Bones = new Bone[bs.ReadUInt32()];
Log.Debug("RMC", "count : " + Bones.Length.ToString());
for (int i = 0; i < Bones.Length; i++)
{
Bones[i] = new Bone();
Bones[i].name = bs.ReadString();
Bones[i].parent = bs.ReadInt16();
Bones[i].tail = bs.ReadInt16();
Bones[i].type = bs.ReadByte();
Bones[i].ik = bs.ReadInt16();
Bones[i].head_pos = ReadFloats(bs, 3);
Bones[i].is_leg = bs.ReadBoolean();
}
// IKs
Log.Debug("RMC", "IK");
IKs = new IK[bs.ReadUInt32()];
Log.Debug("RMC", "count : " + IKs.Length.ToString());
for (int i = 0; i < IKs.Length; i++)
{
IKs[i] = new IK();
IKs[i].ik_bone_index = bs.ReadInt32();
IKs[i].ik_target_bone_index = bs.ReadInt32();
IKs[i].ik_chain_length = bs.ReadByte();
IKs[i].iterations = bs.ReadInt32();
IKs[i].control_weight = bs.ReadSingle();
IKs[i].ik_child_bone_index = new short[bs.ReadUInt32()];
for (int j = 0; j < IKs[i].ik_child_bone_index.Length; j++)
{
IKs[i].ik_child_bone_index[j] = bs.ReadInt16();
}
}
// Materials
Log.Debug("RMC", "Material");
Materials = new FMaterial[bs.ReadUInt32()];
Log.Debug("RMC", "count : " + Materials.Length.ToString());
for (int i = 0; i < Materials.Length; i++)
{
Materials[i] = new FMaterial();
Materials[i].diffuse_color = ReadFloats(bs, 4);
Materials[i].power = bs.ReadSingle();
Materials[i].specular_color = ReadFloats(bs, 3);
Materials[i].emmisive_color = ReadFloats(bs, 3);
Materials[i].toon_index = bs.ReadByte();
Materials[i].edge_flag = bs.ReadByte();
Materials[i].face_vert_count = bs.ReadInt32();
if (bs.ReadBoolean())
{
Materials[i].texture = bs.ReadString();
Log.Debug("RMC", "load texture in material ... " + Materials[i].texture);
var sf = bs.ReadByte();
if (sf == 1)
{
Materials[i].sph = bs.ReadString();
Materials[i].spa = null;
Log.Debug("RMC", "load sphere(sph) in material ... " + Materials[i].sph);
} else if (sf == 2)
{
Materials[i].sph = null;
Materials[i].spa = bs.ReadString();
Log.Debug("RMC", "load sphere(spa) in material ... " + Materials[i].spa);
}
}
Materials[i].face_vert_offset = bs.ReadInt32();
Materials[i].bone_num = bs.ReadInt32();
Log.Debug("RMC", "Bone num: " + Materials[i].bone_num.ToString());
Materials[i].weight = bs.ReadBytes(VertNormUv.Length / 8 * 3);
Materials[i].bone_inv_map = new int[48]; // ad-hock
for (int j = 0; j < Materials[i].bone_inv_map.Length; j++)
{
Materials[i].bone_inv_map[j] = bs.ReadInt32();
}
}
// ToonNames
Log.Debug("RMC", "ToonNames");
ToonNames = new string[11];
for (int i = 0; i < 11; i++)
{
ToonNames[i] = bs.ReadString();
Log.Debug("RMC", ToonNames[i]);
}
}
}
private void ccdIK1(IK ik)
{
var effecterVecs = new float[4];
var targetVecs = new float[4];
var targetInvs = new float[4];
var effecterInvs = new float[4];
var axis = new float[3];
var mQuatworks = new double[4];
var mMatworks = new float[16];
var effecter = Surface.RenderBones[ik.ik_bone_index];
var target = Surface.RenderBones[ik.ik_target_bone_index];
getCurrentPosition(effecterVecs, effecter);
for (int i = 0; i < ik.iterations; i++) {
for (int j = 0; j < ik.ik_chain_length; j++) {
var b = Surface.RenderBones[ik.ik_child_bone_index[j]];
clearUpdateFlags(b, target);
getCurrentPosition(targetVecs, target);
if (b.bone.is_leg) {
if (i == 0) {
var ba = Surface.RenderBones[ik.ik_child_bone_index[ik.ik_chain_length - 1]];
getCurrentPosition(targetInvs, b);
getCurrentPosition(effecterInvs, ba);
double eff_len = Matrix.Length(effecterVecs[0] - effecterInvs[0], effecterVecs[1] - effecterInvs[1], effecterVecs[2] - effecterInvs[2]);
double b_len = Matrix.Length(targetInvs[0] - effecterInvs[0], targetInvs[1] - effecterInvs[1], targetInvs[2] - effecterInvs[2]);
double t_len = Matrix.Length(targetVecs[0] - targetInvs[0], targetVecs[1] - targetInvs[1], targetVecs[2] - targetInvs[2]);
double angle1 = Math.Acos((eff_len * eff_len - b_len * b_len - t_len * t_len) / (2 * b_len * t_len));
if (!double.IsNaN(angle1)) {
axis[0] = -1;
axis[1] = axis[2] = 0;
Quaternion.createFromAngleAxis(mQuatworks, angle1, axis);
Quaternion.mul(b.quaternion, b.quaternion, mQuatworks);
Quaternion.toMatrixPreserveTranslate(b.matrix_current, b.quaternion);
}
}
continue;
}
if (Matrix.Length(targetVecs[0] - effecterVecs[0], targetVecs[1] - effecterVecs[1], targetVecs[2] - effecterVecs[2]) < 0.001f) {
// clear all
foreach (var c in Surface.RenderBones) {
c.updated = false;
}
return;
}
float[] current = getCurrentMatrix(b);
Vector.invertM(mMatworks, 0, current, 0);
Matrix.MultiplyMV(effecterInvs, 0, mMatworks, 0, effecterVecs, 0);
Matrix.MultiplyMV(targetInvs, 0, mMatworks, 0, targetVecs, 0);
// calculate rotation angle/axis
Vector.normalize(effecterInvs);
Vector.normalize(targetInvs);
double angle2 = Math.Acos(Vector.dot(effecterInvs, targetInvs));
angle2 *= ik.control_weight;
if (!double.IsNaN(angle2)) {
Vector.cross(axis, targetInvs, effecterInvs);
Vector.normalize(axis);
if (!double.IsNaN(axis[0]) && !double.IsNaN(axis[1]) && !double.IsNaN(axis[2])) {
Quaternion.createFromAngleAxis(mQuatworks, angle2, axis);
Quaternion.mul(b.quaternion, b.quaternion, mQuatworks);
Quaternion.toMatrixPreserveTranslate(b.matrix_current, b.quaternion);
}
}
}
}
// clear all
foreach (var b in Surface.RenderBones) {
b.updated = false;
}
}
private void ccdIK1(IK ik)
{
var effecterVecs = new float[4];
var targetVecs = new float[4];
var targetInvs = new float[4];
var effecterInvs = new float[4];
var axis = new float[3];
var mQuatworks = new double[4];
var mMatworks = new float[16];
var effecter = Surface.RenderBones[ik.ik_bone_index];
var target = Surface.RenderBones[ik.ik_target_bone_index];
getCurrentPosition(effecterVecs, effecter);
for (int i = 0; i < ik.iterations; i++)
{
for (int j = 0; j < ik.ik_chain_length; j++)
{
var b = Surface.RenderBones[ik.ik_child_bone_index[j]];
clearUpdateFlags(b, target);
getCurrentPosition(targetVecs, target);
if (b.bone.is_leg)
{
if (i == 0)
{
var ba = Surface.RenderBones[ik.ik_child_bone_index[ik.ik_chain_length - 1]];
getCurrentPosition(targetInvs, b);
getCurrentPosition(effecterInvs, ba);
double eff_len = Matrix.Length(effecterVecs[0] - effecterInvs[0], effecterVecs[1] - effecterInvs[1], effecterVecs[2] - effecterInvs[2]);
double b_len = Matrix.Length(targetInvs[0] - effecterInvs[0], targetInvs[1] - effecterInvs[1], targetInvs[2] - effecterInvs[2]);
double t_len = Matrix.Length(targetVecs[0] - targetInvs[0], targetVecs[1] - targetInvs[1], targetVecs[2] - targetInvs[2]);
double angle1 = Math.Acos((eff_len * eff_len - b_len * b_len - t_len * t_len) / (2 * b_len * t_len));
if (!double.IsNaN(angle1))
{
axis[0] = -1;
axis[1] = axis[2] = 0;
Quaternion.createFromAngleAxis(mQuatworks, angle1, axis);
Quaternion.mul(b.quaternion, b.quaternion, mQuatworks);
Quaternion.toMatrixPreserveTranslate(b.matrix_current, b.quaternion);
}
}
continue;
}
if (Matrix.Length(targetVecs[0] - effecterVecs[0], targetVecs[1] - effecterVecs[1], targetVecs[2] - effecterVecs[2]) < 0.001f)
{
// clear all
foreach (var c in Surface.RenderBones)
{
c.updated = false;
}
return;
}
float[] current = getCurrentMatrix(b);
Vector.invertM(mMatworks, 0, current, 0);
Matrix.MultiplyMV(effecterInvs, 0, mMatworks, 0, effecterVecs, 0);
Matrix.MultiplyMV(targetInvs, 0, mMatworks, 0, targetVecs, 0);
// calculate rotation angle/axis
Vector.normalize(effecterInvs);
Vector.normalize(targetInvs);
double angle2 = Math.Acos(Vector.dot(effecterInvs, targetInvs));
angle2 *= ik.control_weight;
if (!double.IsNaN(angle2))
{
Vector.cross(axis, targetInvs, effecterInvs);
Vector.normalize(axis);
if (!double.IsNaN(axis[0]) && !double.IsNaN(axis[1]) && !double.IsNaN(axis[2]))
{
Quaternion.createFromAngleAxis(mQuatworks, angle2, axis);
Quaternion.mul(b.quaternion, b.quaternion, mQuatworks);
Quaternion.toMatrixPreserveTranslate(b.matrix_current, b.quaternion);
}
}
}
}
// clear all
foreach (var b in Surface.RenderBones)
{
b.updated = false;
}
}
