public MeshDrawerRigged(Mesh mesh, BoneController skelet, List <Morph> mor = null) : base(mesh, null, mor)
{
skeleton = skelet;
UniformBufferManager ubm = UniformBufferManager.GetInstance;
uniformBufferSkeleton = (UniformBufferSkeleton)ubm.GetBuffer("skeleton");
}
public MorphSkeleton(string name, string nameEng, int count, BoneController bc)
{
Name = name;
NameEng = nameEng;
boneController = bc;
bones = new Tuple <int, Vector3, Quaternion> [count];
}
void Instalize(AnimationFrame start)
{
foreach (var pair in boneReference)
{
Vector4 rot = start.BonePoritions[pair.Value].Rotation;
Vector3 pos = start.BonePoritions[pair.Value].Position;
Matrix4 localInv = Matrix4.Identity;
Quaternion rotation = Quaternion.Identity;
if (_animation.GetRotationType == Animation.RotationType.Quaternion)
{
rotation = new Quaternion(rot.Xyz, rot.W);
}
else
{
rotation = Quaternion.FromAxisAngle(Vector3.UnitZ, rot.Z) * Quaternion.FromAxisAngle(Vector3.UnitY, rot.Y) * Quaternion.FromAxisAngle(Vector3.UnitX, rot.X);
}
if (_animation.TransType == Animation.TransformType.LocalRelative)
{
BoneController.GetBone(pair.Key).SetTransform(rotation, pos);
}
else if (_animation.TransType == Animation.TransformType.LocalAbsolute)
{
BoneController.GetBone(pair.Key).InitialLocalTransform = Matrix4.CreateFromQuaternion(rotation) * Matrix4.CreateTranslation(pos);
}
}
}
public MeshDrawerRigged(Mesh mesh, Material[] mats, BoneController skelet, List <Morph> mor = null) : base(mesh, mats, mor)
{
skeleton = skelet;
UniformBufferManager ubm = UniformBufferManager.GetInstance;
uniformBufferSkeleton = (UniformBufferSkeleton)ubm.GetBuffer("skeleton");
modelSkinner = new ModelSkinning(mesh);
}
void ReadBones()
{
reader.BaseStream.Position = 0x34;
int boneOffset = (int)reader.BaseStream.Position + reader.ReadInt32();
reader.BaseStream.Position = boneOffset + 0x8;
int boneCount = reader.ReadInt32();
int[] boneOffsets = new int[boneCount];
for (int i = 0; i < boneCount; i++)
{
boneOffsets[i] = (int)reader.BaseStream.Position + reader.ReadInt32();
}
bones = new Bone[boneCount];
string[] parents = new string[boneCount];
for (int i = 0; i < boneCount; i++)
{
reader.BaseStream.Position = boneOffsets[i];
int magicNumber = reader.ReadInt32();
reader.BaseStream.Position = boneOffsets[i] + 4;
int nameOffset = (int)reader.BaseStream.Position + reader.ReadInt32();
reader.BaseStream.Position = nameOffset;
string boneName = reader.readString();
reader.BaseStream.Position = boneOffsets[i] + 8;
Matrix4 boneMatrix = new Matrix4(
reader.readVector4(),
reader.readVector4(),
reader.readVector4(),
reader.readVector4()
);
reader.BaseStream.Position = boneOffsets[i] + 0x38;
Vector3 bonePosition = reader.readVector3();
reader.BaseStream.Position = boneOffsets[i] + 0x48;
int boneParentOffset = (int)reader.BaseStream.Position + reader.ReadInt32();
reader.BaseStream.Position = boneParentOffset;
parents[i] = reader.readString();
Bone bone = new Bone(boneName, boneMatrix, -1);
bone.Index = i;
bone.Position = bonePosition;
bones[i] = bone;
if (magicNumber < 0x5000)
{
continue;
}
}
for (int i = 0; i < boneCount; i++)
{
bones[i].ParentIndex = Array.FindIndex(bones, (element) => element.Name == parents[i]);
}
boneControll = new BoneController(bones, true);
}
public PhysicsManager(RigidContainer[] rigits, JointContainer[] jcons, BoneController bons)
{
//setup world physics
bones = bons;
//instalize delegates
prePhysics = (m) => { };
postPhysics = (m) => { };
Rigits = rigits;
Jcons = jcons;
//CreateGeneric6DofSpringConstraint();
Type = typeof(PhysicsManager);
}
void ReadBones(Reader reader)
{
int bonesCount = reader.ReadInt32();
var bones = new Bone[bonesCount];
int maxLevel = 0;
for (int i = 0; i < bonesCount; i++)
{
string name = reader.readString();
string nameEng = reader.readString();
Vector3 Position = reader.readVector3() * multipler;
int parentIndex = 0;
if (header.GetBoneIndexSize == 2)
{
parentIndex = unchecked ((short)reader.readVal(header.GetBoneIndexSize));
}
else
{
parentIndex = reader.readVal(header.GetBoneIndexSize);
}
int Level = reader.ReadInt32();
byte[] flags = reader.ReadBytes(2);
Bone bone = new Bone(name, nameEng, Position, parentIndex, flags);
bone.Level = Level;
if (bone.tail)
{
reader.readVal(header.GetBoneIndexSize);
}
else
{
reader.readVector3();
}
if (bone.InheritRotation || bone.InheritTranslation)
{
bone.ParentInheritIndex = reader.readVal(header.GetBoneIndexSize);
bone.ParentInfluence = reader.ReadSingle();
}
bone.Parent2Local = Matrix4.Identity;
//probably cant be both true
if (bone.FixedAxis)
{
Vector3 X = reader.readVector3();
Vector3 Z = Vector3.Cross(X, new Vector3(0f, 1f, 0f));
Vector3 Y = Vector3.Cross(Z, X);
Matrix3 local = new Matrix3(X, Y, Z);
local.Normalize();
bone.Parent2Local = new Matrix4(local);
}
if (bone.LocalCoordinate)
{
Vector3 X = reader.readVector3();
Vector3 Z = reader.readVector3();
Vector3 Y = Vector3.Cross(Z, X);
Matrix3 local = new Matrix3(X, Y, Z);
local.Normalize();
bone.Parent2Local = new Matrix4(local);
}
if (bone.ExternalPdeform)
{
reader.ReadInt32();
}
if (bone.IK)
{
BoneIK ikBone = new BoneIK();
ikBone.Target = reader.readVal(header.GetBoneIndexSize);
ikBone.LoopCount = reader.ReadInt32();
ikBone.AngleLimit = reader.ReadSingle();
int count = reader.ReadInt32();
IKLink[] links = new IKLink[count];
for (int n = 0; n < count; n++)
{
IKLink link = new IKLink();
link.Bone = reader.readVal(header.GetBoneIndexSize);
if (reader.ReadByte() == 1)
{
link.IsLimit = true;
link.LimitMin = -reader.readVector3();
link.LimitMax = -reader.readVector3();
}
links[n] = link;
}
ikBone.Links = links;
bone.IKData = ikBone;
}
if (maxLevel < bone.Level)
{
maxLevel = bone.Level;
}
bones[i] = bone;
}
var reverce = Matrix4.CreateScale(new Vector3(1, 1, -1));
//convert position from model to parent bone
for (int i = bones.Length - 1; i > -1; i--)
{
Bone bone = bones[i];
if (bone.ParentIndex >= 0 && bone.ParentIndex < bones.Length)
{
bone.Parent2Local = Matrix4.CreateTranslation(bone.Position - bones[bone.ParentIndex].Position);
}
//Convert left to right coordinates
bone.Parent2Local = reverce * bone.Parent2Local * reverce;
}
boneOrder = new int[bones.Length];
int m = 0;
for (int n = 0; n <= maxLevel; n++)
{
for (int i = 0; i < bones.Length; i++)
{
if (bones[i].Level == n)
{
boneOrder[m] = i;
m++;
}
}
}
boneController = new BoneController(bones, boneOrder);
}
public void SyncBone2Body(OpenTK.Mathematics.Matrix4 world)
{
var mat = (BoneController.GetBone(BoneID).TransformMatrix *world).Convert();
Body.MotionState.WorldTransform = startTransform * mat;
}
internal void Update(float delta)
{
animController?.Update();
if (!_isPlaing)
{
return;
}
_isEnded = false;
_time += delta;
_time = (_time >= _length + _frameLength) ? _time % _length : _time;
int prevFrame = (int)(_time / _frameLength);
int curFrame = (prevFrame == _animation.frames.Length - 1) ? 0 : prevFrame + 1;
float frameDelta = _time / _frameLength;
frameDelta = frameDelta - (int)frameDelta;
AnimationFrame frame1 = _animation.frames[prevFrame], frame2 = _animation.frames[curFrame];
foreach (var pair in boneReference)
{
Quaternion rotation = Quaternion.Identity;
Vector3 pos = frame1.BonePoritions[pair.Value].Position + (frame2.BonePoritions[pair.Value].Position - frame1.BonePoritions[pair.Value].Position) * frameDelta;
if (_animation.GetRotationType == Animation.RotationType.Quaternion)
{
Quaternion prevQuat = new Quaternion(frame1.BonePoritions[pair.Value].Rotation.Xyz, frame1.BonePoritions[pair.Value].Rotation.W);
Quaternion nextQuat = new Quaternion(frame2.BonePoritions[pair.Value].Rotation.Xyz, frame2.BonePoritions[pair.Value].Rotation.W);
rotation = Quaternion.Slerp(prevQuat, nextQuat, frameDelta);
}
else
{
var deltaRot = frame2.BonePoritions[pair.Value].Rotation - frame1.BonePoritions[pair.Value].Rotation;
CycleDeltaCheck(ref deltaRot.X);
CycleDeltaCheck(ref deltaRot.Y);
CycleDeltaCheck(ref deltaRot.Z);
Vector4 rot = frame1.BonePoritions[pair.Value].Rotation + deltaRot * frameDelta;
rotation = Quaternion.FromAxisAngle(Vector3.UnitZ, rot.Z) * Quaternion.FromAxisAngle(Vector3.UnitY, rot.Y) * Quaternion.FromAxisAngle(Vector3.UnitX, rot.X);
}
//skip masked out bone
if (!BoneController.GetBone(pair.Key).FollowAnimation)
{
continue;
}
if (_animation.TransType == Animation.TransformType.LocalRelative)
{
BoneController.GetBone(pair.Key).SetTransform(rotation, pos);
}
else if (_animation.TransType == Animation.TransformType.LocalAbsolute)
{
BoneController.GetBone(pair.Key).InitialLocalTransform = Matrix4.CreateFromQuaternion(rotation) * Matrix4.CreateTranslation(pos);
}
}
if (curFrame == _animation.frames.Length - 1)
{
if (!IsRepeat)
{
//Pause();
_isPlaing = false;
_isEnded = true;
}
}
}
public Animator(BoneController bc) : base(typeof(Animator))
{
BoneController = bc;
}