/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="name">名前</param>
/// <param name="bindPose">バインドポーズ</param>
/// <param name="inverseBindPose">逆バインドポーズ</param>
/// <param name="skeletonHierarchy">親ボーン番号</param>
public MMDBone(string name, SQTTransform bindPose, Matrix inverseBindPose, int skeletonHierarchy)
{
Name = name;
BindPose = bindPose;
InverseBindPose = inverseBindPose;
SkeletonHierarchy = skeletonHierarchy;
LocalTransform = bindPose;
GlobalTransform = Matrix.Identity;
}
public static MMDBoneManager BuildBoneManager(MikuMikuDance.Model.Ver1.MMDModel1 model)
{
List <MMDBone> bones;
List <MMDIK> iks;
bones = new List <MMDBone>();
iks = new List <MMDIK>();
Matrix[] absPoses = new Matrix[model.Bones.LongLength];
//各ボーンの絶対座標を計算
for (long i = 0; i < model.Bones.LongLength; ++i)
{
Matrix.CreateTranslation((decimal)model.Bones[i].BoneHeadPos[0],
(decimal)model.Bones[i].BoneHeadPos[1],
(decimal)model.Bones[i].BoneHeadPos[2],
out absPoses[i]);
}
for (long i = 0; i < model.Bones.LongLength; ++i)
{
Matrix localMatrix;
if (model.Bones[i].ParentBoneIndex != 0xffff)
{
Matrix parentInv;
Matrix.Invert(ref absPoses[model.Bones[i].ParentBoneIndex], out parentInv);
Matrix.Multiply(ref parentInv, ref absPoses[i], out localMatrix);
}
else
{
localMatrix = absPoses[i];
}
SQTTransform bindPose = SQTTransform.FromMatrix(localMatrix);
Matrix inverseBindPose;
Matrix.Invert(ref absPoses[i], out inverseBindPose);
bones.Add(new MMDBone(model.Bones[i].BoneName, bindPose, inverseBindPose, model.Bones[i].ParentBoneIndex));
}
for (long i = 0; i < model.IKs.LongLength; ++i)
{
List <int> ikChildBones = new List <int>();
foreach (var ikc in model.IKs[i].IKChildBoneIndex)
{
ikChildBones.Add(ikc);
}
iks.Add(new MMDIK(model.IKs[i].IKBoneIndex, model.IKs[i].IKTargetBoneIndex, model.IKs[i].Iterations, model.IKs[i].AngleLimit, ikChildBones));
}
//ボーンインデックス→ボーンオブジェクト化
IKSetup(iks, bones);
return(new MMDBoneManager(bones, iks));
}
public bool Update()
{
resultPoses.Clear();
bool result = motionTrack.Update();
foreach (KeyValuePair <string, SQTTransform> subpose in motionTrack.SubPoses)
{
resultPoses[subpose.Key] = subpose.Value;
SQTTransform bindPose, sub = subpose.Value, local;
if (BindPoses.TryGetValue(subpose.Key, out bindPose))
{
SQTTransform.Multiply(ref sub, ref bindPose, out local);
boneManager[subpose.Key].LocalTransform = local;
}
}
return(result);
}
/// <summary>
/// 補完
/// </summary>
/// <param name="frame1">フレーム1</param>
/// <param name="frame2">フレーム2</param>
/// <param name="Progress">進行度合い</param>
/// <param name="result">補完結果</param>
public static void Lerp(MMDBoneKeyFrame frame1, MMDBoneKeyFrame frame2, decimal Progress, out SQTTransform result)
{
decimal ProgX, ProgY, ProgZ, ProgR;
ProgX = (decimal)frame2.Curve[0].Evaluate((float)Progress);
ProgY = (decimal)frame2.Curve[1].Evaluate((float)Progress);
ProgZ = (decimal)frame2.Curve[2].Evaluate((float)Progress);
ProgR = (decimal)frame2.Curve[3].Evaluate((float)Progress);
decimal x, y, z;
Quaternion q;
Vector3 scales;
x = MathHelper.Lerp(frame1.Location.X, frame2.Location.X, ProgX);
y = MathHelper.Lerp(frame1.Location.Y, frame2.Location.Y, ProgY);
z = MathHelper.Lerp(frame1.Location.Z, frame2.Location.Z, ProgZ);
Quaternion.Slerp(ref frame1.Quatanion, ref frame2.Quatanion, ProgR, out q);
//MMDはスケールのアニメーションを含まないので、スケールのベジェ曲線計算は行わない
Vector3.Lerp(ref frame1.Scales, ref frame2.Scales, Progress, out scales);
Vector3 t = new Vector3(x, y, z);
SQTTransform.Create(ref scales, ref q, ref t, out result);
}
/// <summary>
/// このフレームのSQTトランスフォームを取得
/// </summary>
/// <param name="result">SQLトランスフォーム</param>
public void GetSQTTransform(out SQTTransform result)
{
SQTTransform.Create(ref Scales, ref Quatanion, ref Location, out result);
}
