public bool Initialize(BoneTransform[] arr, int id)
{
if (!arr[id].IsIK)
return false;
IK = arr[id];
BoneIK iK = IK.Bone.IKData;
IKLinksBones = new BoneTransform[iK.Links.Length];
_fixAxis = new bool[iK.Links.Length];
IKLinks = new IKLink[iK.Links.Length];
ContainLimit = false;
for (int i = 0; i < iK.Links.Length; i++)
{
if (arr.Length > iK.Links[i].Bone && arr.Length >= 0)
{
IKLinks[i] = iK.Links[i];
IKLinksBones[i] = arr[iK.Links[i].Bone];
IKLinksBones[i].IsIKLink = true;
if (IKLinks[i].IsLimit)
{
ContainLimit = true;
IKLinks[i].NormalizeAngle();
IKLinks[i].NormalizeEulerAxis();
if (IKLinks[i].FixAxis == IKLink.FixAxisType.Fix)
_fixAxis[i] = true;
}
}
}
LimitOnce = iK.AngleLimit;
LoopCount = Math.Min(iK.LoopCount, 256);
if (arr.Length > iK.Target && iK.Target >=0)
{
Target = arr[iK.Target];
IK.IsIK = true;
IsEnable = true;
return true;
}
Target = null;
return false;
}
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);
}
void ReadBones(Reader reader)
{
int bonesCount = reader.ReadUInt16();
bones = new Bone[bonesCount];
var boneTypes = new BoneType[bonesCount];
var temp = new int[bonesCount, 2];
int maxLevel = 0;
for (int i = 0; i < bonesCount; i++)
{
string name = reader.readStringLength(20);
int parent = reader.ReadInt16();
int to = reader.ReadInt16();
boneTypes[i] = (BoneType)reader.ReadByte();
int ikNum = reader.ReadInt16();
var position = reader.readVector3() * multipler;
Bone bone = new Bone(name, "", position, parent, new byte[16]);
bone.tail = true;
temp[i, 0] = to;
temp[i, 1] = ikNum;
bones[i] = bone;
}
int ikCount = reader.ReadUInt16();
for (int i = 0; i < ikCount; i++)
{
int bone = reader.ReadUInt16();
BoneIK boneIK = new BoneIK();
boneIK.Target = reader.ReadUInt16();
int linkCount = reader.ReadByte();
boneIK.LoopCount = reader.ReadUInt16();
boneIK.AngleLimit = reader.ReadSingle();
boneIK.Links = new IKLink[linkCount];
for (int n = 0; n < linkCount; n++)
{
boneIK.Links[n] = new IKLink();
boneIK.Links[n].Bone = reader.ReadUInt16();
//was hardcoded in original
if (bones[boneIK.Links[n].Bone].Name == "左ひざ" || bones[boneIK.Links[n].Bone].Name == "右ひざ")
{
boneIK.Links[n].IsLimit = true;
boneIK.Links[n].LimitMin = new Vector3(-(float)Math.PI, 0, 0);
boneIK.Links[n].LimitMax = new Vector3(-(float)Math.PI / 180 * 5, 0, 0);
}
}
bones[bone].IKData = boneIK;
bones[bone].IK = true;
bones[bone].Translatable = true;
bones[bone].Level = 1;
}
for (int i = 0; i < bonesCount; i++)
{
bones[i].Rotatable = true;
bones[i].IsVisible = true;
bones[i].Enabled = true;
switch (boneTypes[i])
{
case BoneType.RotateMove:
bones[i].Translatable = true;
break;
case BoneType.IK:
bones[i].IK = true;
break;
case BoneType.RotateEffect:
bones[i].InheritRotation = true;
bones[i].ParentInfluence = 1f;
bones[i].Level = 2;
bones[0].ParentInheritIndex = temp[i, 1];
break;
case BoneType.IKTo:
bones[i].IsVisible = false;
break;
case BoneType.Unvisible:
bones[i].IsVisible = false;
break;
case BoneType.Twist:
bones[i].FixedAxis = true;
break;
case BoneType.RotateRatio:
bones[i].InheritRotation = true;
bones[i].tail = false;
bones[i].IsVisible = false;
bones[0].ParentInheritIndex = temp[i, 0];
bones[0].ParentInfluence = (float)temp[i, 1] * 0.01f;
break;
}
if (maxLevel < bones[i].Level)
{
maxLevel = bones[i].Level;
}
}
//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);
//Console.WriteLine("{0} {1}", i, bone.Position - bones[bone.ParentIndex].Position);
}
}
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++;
}
}
}
}
