internal IKArmature GetIkArmature()
{
var restArmature = GetRestArmature();
var ikArmature = new IKArmature(restArmature);
var getCorrespondingRestJoint = new Func <int, Joint>((jointIndex) =>
{
var bone = bones[jointIndex];
var restJoint = restArmature.GetJoint(bone.Name);
return(restJoint);
});
var ikJointIndexSet = new HashSet <int>();
foreach (var ikChain in ikChains)
{
var endEffectorJoint = getCorrespondingRestJoint(ikChain.EndEffectorIndex);
var endEffector = ikArmature.MakeEndEffector(endEffectorJoint.Index);
foreach (var ikBoneIndex in ikChain.AffectedBoneIndices)
{
var ikRestJoint = getCorrespondingRestJoint(ikBoneIndex);
var ikJointIndex = ikRestJoint.Index;
endEffector.AppendIkJointIndex(ikRestJoint.Index);
var joint = restArmature.GetJoint(ikRestJoint.Index);
var jointName = joint.Name;
ikJointIndexSet.Add(ikJointIndex);
}
}
foreach (var ikJointIndex in ikJointIndexSet)
{
ikArmature.MakeIkJoint(ikJointIndex);
}
return(ikArmature);
}
private Tuple <IKArmature, string, string> GetIkChainIkArmature(int ik_chain_index)
{
var ik_chain = ikChains[ik_chain_index];
var rest_armature = new Armature();
var joint_indices = ik_chain.AffectedBoneIndices.ToList();
joint_indices.Add(ik_chain.EndEffectorIndex);
foreach (var joint_index in joint_indices)
{
rest_armature.AppendJoint(new Joint(bones[joint_index].Name));
}
string root_name = null;
foreach (var joint_index in joint_indices)
{
var bone = bones[joint_index];
if (joint_indices.Contains(bone.ParentIndex))
{
var child_name = bones[joint_index].Name;
var parent_index = bones[joint_index].ParentIndex;
var parent_name = bones[parent_index].Name;
rest_armature.SetParent(child_name, parent_name);
var joint = rest_armature.GetJoint(child_name);
var m = Matrix3D.Identity;
m.Scale(new Vector3D(1, 1, -1));
var position = m.Transform(bones[joint_index].Position - bones[parent_index].Position);
joint.Position = position;
}
else
{
root_name = bone.Name;
}
}
var ik_bone_name = bones[ik_chain.IkBoneIndex].Name;
var ik_armature = new IKArmature(rest_armature);
var end_effector_name = bones[ik_chain.EndEffectorIndex].Name;
ik_armature.MakeEndEffector(end_effector_name);
foreach (var joint_index in ik_chain.AffectedBoneIndices)
{
var bone = bones[joint_index];
var ik_joint = ik_armature.MakeIkJoint(bone.Name);
ik_armature.AddIkJointToEndEffector(bone.Name, end_effector_name);
ik_joint.DisableParameter(IKJointParameters.XTranslate);
ik_joint.DisableParameter(IKJointParameters.YTranslate);
ik_joint.DisableParameter(IKJointParameters.ZTranslate);
}
if (new[] { "leg_ik.R", "leg_ik.L" }.Contains(ik_bone_name))
{
IKJoint knee_joint;
IKJoint leg_joint;
if (ik_bone_name == "leg_ik.R")
{
knee_joint = ik_armature.GetIkJoint("knee.R");
leg_joint = ik_armature.GetIkJoint("leg.R");
}
else
{
leg_joint = ik_armature.GetIkJoint("leg.L");
knee_joint = ik_armature.GetIkJoint("knee.L");
}
knee_joint.DisableParameter(IKJointParameters.YRotate);
knee_joint.DisableParameter(IKJointParameters.ZRotate);
knee_joint.SetLimit(IKJointParameters.XRotate, 0, 180);
leg_joint.DisableParameter(IKJointParameters.YRotate);
leg_joint.DisableParameter(IKJointParameters.ZRotate);
}
return(Tuple.Create(ik_armature, root_name, end_effector_name));
}