//here we go, thats the method called by vvvv each frame //all data handling should be in here public void Evaluate(int SpreadMax) { //if any of the inputs has changed //recompute the outputs bool recalculate = false; if (FJointNameInput.PinIsChanged) { jointNames = new List <string>(); string jointName; for (int i = 0; i < FJointNameInput.SliceCount; i++) { FJointNameInput.GetString(i, out jointName); jointNames.Add(jointName); } recalculate = true; } if (FSkeletonInput.PinIsChanged || recalculate) { if (FSkeletonInput.IsConnected) { object currInterface; FSkeletonInput.GetUpstreamInterface(out currInterface); s = (Skeleton)currInterface; if (inputSkeleton == null || !s.Uid.Equals(inputSkeleton.Uid)) { inputSkeleton = (Skeleton)s.DeepCopy(); } else { foreach (KeyValuePair <string, IJoint> pair in s.JointTable) { if (!jointNames.Exists(delegate(string name) { return(name == pair.Key); })) { inputSkeleton.JointTable[pair.Key].BaseTransform = pair.Value.BaseTransform; inputSkeleton.JointTable[pair.Key].AnimationTransform = pair.Value.AnimationTransform; } inputSkeleton.JointTable[pair.Key].Constraints = pair.Value.Constraints; } } } else { inputSkeleton = null; } } if (FSkeletonInput.PinIsChanged || FAnimationTransformInput.PinIsChanged || FBaseTransformInput.PinIsChanged || FParentNameInput.PinIsChanged || FConstraintsInput.PinIsChanged || recalculate) { if (inputSkeleton != null) { IJoint currJoint; for (int i = 0; i < jointNames.Count; i++) { currJoint = inputSkeleton.JointTable[jointNames[i]]; Matrix4x4 currAnimationT; Matrix4x4 currBaseT; string currParentName; if (currJoint != null) { if (FAnimationTransformInput.IsConnected) { FAnimationTransformInput.GetMatrix(i, out currAnimationT); currJoint.AnimationTransform = currAnimationT; } else { currJoint.AnimationTransform = s.JointTable[currJoint.Name].AnimationTransform; } if (FBaseTransformInput.IsConnected) { FBaseTransformInput.GetMatrix(i, out currBaseT); currJoint.BaseTransform = currBaseT; } else { currJoint.BaseTransform = s.JointTable[currJoint.Name].BaseTransform; } /*if (FRotationInput.IsConnected) * { * currRotation = new Vector3D(0); * FRotationInput.GetValue3D(i, out currRotation.x, out currRotation.y, out currRotation.z); * //currJoint.Rotation = currRotation; * * } */ /*if (FConstraintsInput.IsConnected) * { * currConstraints = new List<Vector2D>(); * Vector2D currConstraint; * for (int j=0; j<3; j++) * { * currConstraint = new Vector2D(0); * FConstraintsInput.GetValue2D(i*3, out currConstraint.x, out currConstraint.y); * currConstraints.Add(currConstraint); * } * currJoint.Constraints = currConstraints; * } */ FParentNameInput.GetString(i, out currParentName); if (currParentName != null && (FParentNameInput.SliceCount > 1 || !string.IsNullOrEmpty(currParentName))) { IJoint parent = inputSkeleton.JointTable[currParentName]; if (parent != null) { currJoint.Parent = parent; } } } } } FSkeletonOutput.MarkPinAsChanged(); } FSkeletonOutput.SetInterface(inputSkeleton); }
//here we go, thats the method called by vvvv each frame //all data handling should be in here public void Evaluate(int SpreadMax) { //if any of the inputs has changed //recompute the outputs bool recalculate = false; bool chainRangeChanged = false; bool recalculateOrientation = false; if (FChainStart.PinIsChanged) { FChainStart.GetString(0, out chainStart); recalculate = true; chainRangeChanged = true; } if (FChainEnd.PinIsChanged) { FChainEnd.GetString(0, out chainEnd); recalculate = true; chainRangeChanged = true; } object currInterface; if (FPoseInput.PinIsChanged || chainRangeChanged) { if (FPoseInput.IsConnected) { FPoseInput.GetUpstreamInterface(out currInterface); Skeleton s = (Skeleton)currInterface; if (outputSkeleton == null || !s.Uid.Equals(outputSkeleton.Uid)) { outputSkeleton = (Skeleton)((Skeleton)currInterface).DeepCopy(); outputSkeleton.BuildJointTable(); workingSkeleton = (Skeleton)outputSkeleton.DeepCopy(); workingSkeleton.BuildJointTable(); chainRangeChanged = true; } else { foreach (KeyValuePair <string, IJoint> pair in s.JointTable) { if (!jointChain.Exists(delegate(IJoint j) { return(j.Name == pair.Key); })) { outputSkeleton.JointTable[pair.Key].BaseTransform = pair.Value.BaseTransform; outputSkeleton.JointTable[pair.Key].AnimationTransform = pair.Value.AnimationTransform; workingSkeleton.JointTable[pair.Key].BaseTransform = pair.Value.BaseTransform; workingSkeleton.JointTable[pair.Key].AnimationTransform = pair.Value.AnimationTransform; } outputSkeleton.JointTable[pair.Key].Constraints = pair.Value.Constraints; workingSkeleton.JointTable[pair.Key].Constraints = pair.Value.Constraints; } } workingSkeleton.CalculateCombinedTransforms(); recalculate = true; } else { outputSkeleton = null; } } if (FVelocityInput.PinIsChanged) { double x; FVelocityInput.GetValue(0, out x); iterationsPerFrame = (int)(x * 10); } if (iterationsPerFrame > 0) { if (FTargetInput.PinIsChanged) { targetPosW = new Vector3D(); FTargetInput.GetValue3D(0, out targetPosW.x, out targetPosW.y, out targetPosW.z); recalculate = true; } if (FEpsilonInput.PinIsChanged) { FEpsilonInput.GetValue(0, out epsilon); recalculate = true; } if (FPoleTargetInput.PinIsChanged || FEnablePoleTargetInput.PinIsChanged) { double x; FEnablePoleTargetInput.GetValue(0, out x); enablePoleTarget = x > 0.0; poleTargetW = new Vector3D(); FPoleTargetInput.GetValue3D(0, out poleTargetW.x, out poleTargetW.y, out poleTargetW.z); recalculateOrientation = true; } if (chainRangeChanged && outputSkeleton != null) { initRotations(); } double delta = VMath.Dist(endPosW, targetPosW); if ((delta > epsilon || recalculate) && outputSkeleton != null && !string.IsNullOrEmpty(chainStart) && !string.IsNullOrEmpty(chainEnd)) { List <Vector2D> constraints = new List <Vector2D>(); for (int i = 0; i < iterationsPerFrame; i++) { for (int j = 0; j < 3; j++) { IJoint currJoint = workingSkeleton.JointTable[chainEnd]; endPosW = currJoint.CombinedTransform * new Vector3D(0); while (currJoint.Name != chainStart) { currJoint = currJoint.Parent; Vector3D rotationAxis = new Vector3D(0, 0, 0); rotationAxis[j] = 1; double torque = calculateTorque(currJoint, rotationAxis); Vector3D rot = rotations[currJoint.Name]; if ((rot[j] + torque) < currJoint.Constraints[j].x * 2 * Math.PI || (rot[j] + torque) > currJoint.Constraints[j].y * 2 * Math.PI) { torque = 0; } Matrix4x4 newTransform = VMath.Rotate(torque * rotationAxis.x, torque * rotationAxis.y, torque * rotationAxis.z) * currJoint.AnimationTransform; Vector3D testVec = newTransform * new Vector3D(0); if (!Double.IsInfinity(testVec.x) && !Double.IsNaN(testVec.x)) // an evil bug fix, to avoid n.def. values in animation transform matrix. the actual reason, why this would happen has not been found yet. { rot[j] += torque; rotations[currJoint.Name] = rot; currJoint.AnimationTransform = newTransform; outputSkeleton.JointTable[currJoint.Name].AnimationTransform = currJoint.AnimationTransform; } } } try { Matrix4x4 pre; if (workingSkeleton.JointTable[chainStart].Parent != null) { pre = workingSkeleton.JointTable[chainStart].Parent.CombinedTransform; } else { pre = VMath.IdentityMatrix; } ((JointInfo)workingSkeleton.JointTable[chainStart]).CalculateCombinedTransforms(pre); } catch (Exception) { workingSkeleton.CalculateCombinedTransforms(); } } FPoseOutput.MarkPinAsChanged(); } if ((recalculate || recalculateOrientation) && enablePoleTarget && outputSkeleton != null && !string.IsNullOrEmpty(chainStart) && !string.IsNullOrEmpty(chainEnd)) { endPosW = workingSkeleton.JointTable[chainEnd].CombinedTransform * new Vector3D(0); Vector3D poleTargetLocal = VMath.Inverse(workingSkeleton.JointTable[chainStart].CombinedTransform) * poleTargetW; Vector3D t = VMath.Inverse(workingSkeleton.JointTable[chainStart].CombinedTransform) * endPosW; // endpoint in local coords Vector3D a = VMath.Inverse(workingSkeleton.JointTable[chainStart].CombinedTransform) * (workingSkeleton.JointTable[chainStart].Children[0].CombinedTransform * new Vector3D(0)); // next child in local coords Vector3D x = t * ((a.x * t.x + a.y * t.y + a.z * t.z) / Math.Pow(VMath.Dist(new Vector3D(0), t), 2)); Vector3D y = t * ((poleTargetLocal.x * t.x + poleTargetLocal.y * t.y + poleTargetLocal.z * t.z) / Math.Pow(VMath.Dist(new Vector3D(0), t), 2)); Vector3D c = poleTargetLocal - y; Vector3D b = a - x; double angle = vectorAngle(b, c); Vector3D n = new Vector3D(); n.x = c.y * b.z - c.z * b.y; n.y = c.z * b.x - c.x * b.z; n.z = c.x * b.y - c.y * b.x; n = n / VMath.Dist(new Vector3D(0), n); FDebugOutput.SetValue(0, angle); chainRotation = RotateAroundAxis(angle, n); FPoseOutput.MarkPinAsChanged(); } if (!enablePoleTarget) { chainRotation = VMath.IdentityMatrix; } outputSkeleton.JointTable[chainStart].AnimationTransform = chainRotation * outputSkeleton.JointTable[chainStart].AnimationTransform; } FPoseOutput.SetInterface(outputSkeleton); }