/// <summary>
/// モーションの基本姿勢を basePose ベースに再計算する
///
/// basePose は Humanoid.CopyNodes が必用 !
/// </summary>
public Animation RebaseAnimation(Humanoid basePose)
{
var map = NodeMap.ToDictionary(kv => kv.Key, kv => new List <Quaternion>());
var hipsPositions = new List <Vector3>();
foreach (var(seconds, keyframes) in KeyFramesGroupBySeconds())
{
// モーション適用
SetTime(seconds);
Root.CalcWorldMatrix();
foreach (var keyframe in keyframes)
{
if (!keyframe.Node.HumanoidBone.HasValue ||
keyframe.Node.HumanoidBone.Value == HumanoidBones.unknown)
{
continue;
}
// ローカル回転を算出する
var t = basePose[keyframe.Node].Rotation;
var w = keyframe.Node.Rotation;
var w_from_t = w * Quaternion.Inverse(t);
// parent
var key = keyframe.Node.HumanoidBone.Value;
var curve = map[keyframe.Node];
if (key != HumanoidBones.hips)
{
if (basePose[key].Parent == null)
{
throw new Exception();
}
var parent_t = basePose[key].Parent.Rotation;
var parent_w = keyframe.Node.Parent.Rotation;
var parent_w_from_t = parent_w * Quaternion.Inverse(parent_t);
var r = Quaternion.Inverse(parent_w_from_t) * w_from_t;
curve.Add(r);
}
else
{
// hips
curve.Add(w_from_t);
hipsPositions.Add(keyframe.Node.Translation);
}
}
}
var dst = new Animation(Name + ".tpose");
foreach (var kv in map)
{
if (!kv.Value.Any())
{
continue;
}
var bone = kv.Key.HumanoidBone.Value;
var inCurve = NodeMap[kv.Key].Curves[AnimationPathType.Rotation].In;
if (inCurve.Count != kv.Value.Count)
{
throw new Exception();
}
var nodeAnimation = new NodeAnimation();
nodeAnimation.Curves.Add(AnimationPathType.Rotation, new CurveSampler
{
In = inCurve,
Out = BufferAccessor.Create(kv.Value.ToArray()),
});
if (bone == HumanoidBones.hips)
{
nodeAnimation.Curves.Add(AnimationPathType.Translation, new CurveSampler
{
In = inCurve,
Out = BufferAccessor.Create(hipsPositions.ToArray()),
});
}
dst.AddCurve(kv.Key, nodeAnimation);
}
return(dst);
}
static Animation LoadAnimation(string name, Bvh.Bvh bvh, Model model, float scalingFactor)
{
var animation = new Animation(name);
Dictionary <string, BvhNodeCurves> pathMap = new Dictionary <string, BvhNodeCurves>();
for (int i = 0; i < bvh.Channels.Length; ++i)
{
var channel = bvh.Channels[i];
if (!bvh.TryGetPathWithPropertyFromChannel(channel, out Bvh.Bvh.PathWithProperty prop))
{
throw new Exception();
}
if (!pathMap.TryGetValue(prop.Path, out BvhNodeCurves curves))
{
curves = new BvhNodeCurves();
pathMap.Add(prop.Path, curves);
}
curves.Set(prop.Property, channel);
}
// setup time
var timeBytes = new byte[Marshal.SizeOf(typeof(float)) * bvh.FrameCount];
var timeSpan = SpanLike.Wrap <Single>(new ArraySegment <byte>(timeBytes));
var now = 0.0;
for (int i = 0; i < timeSpan.Length; ++i, now += bvh.FrameTime.TotalSeconds)
{
timeSpan[i] = (float)now;
}
var times = new BufferAccessor(new ArraySegment <byte>(timeBytes), AccessorValueType.FLOAT, AccessorVectorType.SCALAR, bvh.FrameCount);
foreach (var(key, nodeCurve) in pathMap)
{
var node = Model.GetNode(model.Root, key);
var bvhNode = GetNode(bvh.Root, key);
var curve = new NodeAnimation();
if (nodeCurve.LocalPositionX != null)
{
var values = new byte[Marshal.SizeOf(typeof(Vector3))
* nodeCurve.LocalPositionX.Keys.Length];
var span = SpanLike.Wrap <Vector3>(new ArraySegment <byte>(values));
for (int i = 0; i < nodeCurve.LocalPositionX.Keys.Length; ++i)
{
span[i] = new Vector3
{
X = nodeCurve.LocalPositionX.Keys[i] * scalingFactor,
Y = nodeCurve.LocalPositionY.Keys[i] * scalingFactor,
Z = nodeCurve.LocalPositionZ.Keys[i] * scalingFactor,
};
}
var sampler = new CurveSampler
{
In = times,
Out = new BufferAccessor(new ArraySegment <byte>(values),
AccessorValueType.FLOAT, AccessorVectorType.VEC3, span.Length)
};
curve.Curves.Add(AnimationPathType.Translation, sampler);
}
if (nodeCurve.EulerX != null)
{
var values = new byte[Marshal.SizeOf(typeof(Quaternion))
* nodeCurve.EulerX.Keys.Length];
var span = SpanLike.Wrap <Quaternion>(new ArraySegment <byte>(values));
Func <Quaternion, BvhNodeCurves, int, Quaternion> getRot = (q, c, i) => q;
foreach (var ch in bvhNode.Channels)
{
var tmp = getRot;
switch (ch)
{
case Channel.Xrotation:
getRot = (_, c, i) =>
{
return(tmp(_, c, i) *
Quaternion.CreateFromAxisAngle(Vector3.UnitX, ToRad(c.EulerX.Keys[i])));
};
break;
case Channel.Yrotation:
getRot = (_, c, i) =>
{
return(tmp(_, c, i) *
Quaternion.CreateFromAxisAngle(Vector3.UnitY, ToRad(c.EulerY.Keys[i])));
};
break;
case Channel.Zrotation:
getRot = (_, c, i) =>
{
return(tmp(_, c, i) *
Quaternion.CreateFromAxisAngle(Vector3.UnitZ, ToRad(c.EulerZ.Keys[i])));
};
break;
default:
// throw new NotImplementedException();
break;
}
}
for (int i = 0; i < nodeCurve.EulerX.Keys.Length; ++i)
{
span[i] = getRot(Quaternion.Identity, nodeCurve, i);
}
var sampler = new CurveSampler
{
In = times,
Out = new BufferAccessor(new ArraySegment <byte>(values),
AccessorValueType.FLOAT, AccessorVectorType.VEC4, span.Length)
};
curve.Curves.Add(AnimationPathType.Rotation, sampler);
}
animation.AddCurve(node, curve);
}
return(animation);
}