// 追加
void cPMDModel::updateSkinning2( void )
{
// スキニング用行列の更新
for( unsigned short i = 0 ; i < m_unNumBones ; i++ )
{
m_pBoneArray[i].updateSkinningMat2();
}
// 頂点スキニング
Matrix matTemp;
for( unsigned long i = 0 ; i < m_ulNumVertices ; i++ )
{
if( m_pOrgSkinInfoArray[i].fWeight == 0.0f )
{
Vector3Transform( &m_pvec3PositionArray[i], &m_pvec3OrgPositionArray[i], m_pBoneArray[m_pOrgSkinInfoArray[i].unBoneNo[1]].m_matSkinning );
Vector3Rotate( &m_pvec3NormalArray[i], &m_pvec3OrgNormalArray[i], m_pBoneArray[m_pOrgSkinInfoArray[i].unBoneNo[1]].m_matSkinning );
}
else if( m_pOrgSkinInfoArray[i].fWeight >= 0.9999f )
{
Vector3Transform( &m_pvec3PositionArray[i], &m_pvec3OrgPositionArray[i], m_pBoneArray[m_pOrgSkinInfoArray[i].unBoneNo[0]].m_matSkinning );
Vector3Rotate( &m_pvec3NormalArray[i], &m_pvec3OrgNormalArray[i], m_pBoneArray[m_pOrgSkinInfoArray[i].unBoneNo[0]].m_matSkinning );
}
else
{
MatrixLerp( matTemp, m_pBoneArray[m_pOrgSkinInfoArray[i].unBoneNo[0]].m_matSkinning,
m_pBoneArray[m_pOrgSkinInfoArray[i].unBoneNo[1]].m_matSkinning, m_pOrgSkinInfoArray[i].fWeight );
Vector3Transform( &m_pvec3PositionArray[i], &m_pvec3OrgPositionArray[i], matTemp );
Vector3Rotate( &m_pvec3NormalArray[i], &m_pvec3OrgNormalArray[i], matTemp );
}
}
}
//==========================
// ボーンを指定座標へ向ける
//==========================
void cPMDBone::lookAt( const Vector3 *pvecTargetPos, float fLimitXD, float fLimitXU, float fLimitY )
{
// どうもおかしいので要調整
Matrix matTemp;
MatrixIdentity( matTemp );
matTemp[3][0] = m_vec3Position.x + m_vec3Offset.x;
matTemp[3][1] = m_vec3Position.y + m_vec3Offset.y;
matTemp[3][2] = m_vec3Position.z + m_vec3Offset.z;
if( m_pParentBone )
{
Matrix matInvTemp;
MatrixInverse( matInvTemp, m_pParentBone->m_matLocal );
matInvTemp[3][0] = m_pParentBone->m_matLocal[3][0];
matInvTemp[3][1] = m_pParentBone->m_matLocal[3][1];
matInvTemp[3][2] = -m_pParentBone->m_matLocal[3][2];
MatrixMultiply( matTemp, matTemp, matInvTemp );
}
MatrixInverse( matTemp, matTemp );
Vector3 vec3LocalTgtPosZY;
Vector3 vec3LocalTgtPosXZ;
Vector3Transform( &vec3LocalTgtPosZY, pvecTargetPos, matTemp );
vec3LocalTgtPosXZ = vec3LocalTgtPosZY;
vec3LocalTgtPosXZ.y = 0.0f;
Vector3Normalize( &vec3LocalTgtPosXZ, &vec3LocalTgtPosXZ );
vec3LocalTgtPosZY.x = 0.0f;
Vector3Normalize( &vec3LocalTgtPosZY, &vec3LocalTgtPosZY );
Vector3 vec3Angle = { 0.0f, 0.0f, 0.0f };
vec3Angle.x = asinf( vec3LocalTgtPosZY.y );
if( vec3LocalTgtPosXZ.x < 0.0f ) vec3Angle.y = acosf( vec3LocalTgtPosXZ.z );
else vec3Angle.y = -acosf( vec3LocalTgtPosXZ.z );
if( vec3Angle.x < RAD(fLimitXD) ) vec3Angle.x = RAD(fLimitXD);
if( RAD(fLimitXU) < vec3Angle.x ) vec3Angle.x = RAD(fLimitXU);
if( vec3Angle.y < RAD(-fLimitY) ) vec3Angle.y = RAD(-fLimitY);
if( RAD(fLimitY) < vec3Angle.y ) vec3Angle.y = RAD( fLimitY);
Vector4 vec4RotTemp;
QuaternionCreateEuler( &vec4RotTemp, &vec3Angle );
QuaternionSlerp( &m_vec4LookRotation, &m_vec4LookRotation, &vec4RotTemp, 0.5f ); // 0.3f ); // 視線の動きを高速化
m_vec4Rotation = m_vec4LookRotation;
}
//====================
// カメラの位置の取得
//====================
void cARTK::getCameraPos( Vector3 *pvec3CamPos )
{
double dInvPattTransMat[3][4];
arUtilMatInv( m_dPattTransMat, dInvPattTransMat );
pvec3CamPos->x = (float)dInvPattTransMat[0][3];
pvec3CamPos->y = (float)dInvPattTransMat[1][3];
pvec3CamPos->z = (float)dInvPattTransMat[2][3];
Vector3Transform( pvec3CamPos, pvec3CamPos, m_matRotX );
pvec3CamPos->x *= (float)m_dViewScaleFactor;
pvec3CamPos->y *= (float)m_dViewScaleFactor;
pvec3CamPos->z *= (float)m_dViewScaleFactor;
}
//==============================================
// Baseを原点とした場合のTargetの相対位置を取得
//==============================================
void cARTK::getMarkerPos( Vector3 *pvec3MarkerPos, int iPattIndexBase, int iPattIndexTarget )
{
double dInvBaseTransMat[3][4];
double dTargetTransMat[3][4];
arUtilMatInv( m_sMarkerInfo[iPattIndexBase].dTransMat, dInvBaseTransMat );
arUtilMatMul( dInvBaseTransMat, m_sMarkerInfo[iPattIndexTarget].dTransMat, dTargetTransMat );
pvec3MarkerPos->x = (float)dTargetTransMat[0][3];
pvec3MarkerPos->y = (float)dTargetTransMat[1][3];
pvec3MarkerPos->z = (float)dTargetTransMat[2][3];
Vector3Transform( pvec3MarkerPos, pvec3MarkerPos, m_matRotX );
pvec3MarkerPos->x *= (float)m_dViewScaleFactor;
pvec3MarkerPos->y *= (float)m_dViewScaleFactor;
pvec3MarkerPos->z *= (float)m_dViewScaleFactor;
}
//======
// 更新
//======
void cPMDIK::update( void )
{
Vector3 vec3OrgTargetPos;
vec3OrgTargetPos.x = m_pTargetBone->m_matLocal[3][0];
vec3OrgTargetPos.y = m_pTargetBone->m_matLocal[3][1];
vec3OrgTargetPos.z = m_pTargetBone->m_matLocal[3][2];
Vector3 vec3EffPos;
Vector3 vec3TargetPos;
for( short i = m_cbNumLink - 1 ; i >= 0 ; i-- ){ m_ppBoneList[i]->updateMatrix(); }
m_pEffBone->updateMatrix();
for( unsigned short it = 0 ; it < m_unCount ; it++ )
{
for( unsigned char cbLinkIdx = 0 ; cbLinkIdx < m_cbNumLink ; cbLinkIdx++ )
{
// エフェクタの位置の取得
vec3EffPos.x = m_pEffBone->m_matLocal[3][0];
vec3EffPos.y = m_pEffBone->m_matLocal[3][1];
vec3EffPos.z = m_pEffBone->m_matLocal[3][2];
// ワールド座標系から注目ノードの局所(ローカル)座標系への変換
Matrix matInvBone;
MatrixInverse( matInvBone, m_ppBoneList[cbLinkIdx]->m_matLocal );
// エフェクタ，到達目標のローカル位置
Vector3Transform( &vec3EffPos, &vec3EffPos, matInvBone );
Vector3Transform( &vec3TargetPos, &vec3OrgTargetPos, matInvBone );
// 十分近ければ終了
Vector3 vec3Diff;
Vector3Sub( &vec3Diff, &vec3EffPos, &vec3TargetPos );
if( Vector3DotProduct( &vec3Diff, &vec3Diff ) < 0.0000001f ) return;
// (1) 基準関節→エフェクタ位置への方向ベクトル
Vector3Normalize( &vec3EffPos, &vec3EffPos );
// (2) 基準関節→目標位置への方向ベクトル
Vector3Normalize( &vec3TargetPos, &vec3TargetPos );
// ベクトル (1) を (2) に一致させるための最短回転量（Axis-Angle）
//
// 回転角
float fRotAngle = acosf( Vector3DotProduct( &vec3EffPos, &vec3TargetPos ) );
if( 0.00000001f < fabsf( fRotAngle ) )
{
if( fRotAngle < -m_fFact ) fRotAngle = -m_fFact;
else if( m_fFact < fRotAngle ) fRotAngle = m_fFact;
// 回転軸
Vector3 vec3RotAxis;
Vector3CrossProduct( &vec3RotAxis, &vec3EffPos, &vec3TargetPos );
if( Vector3DotProduct( &vec3RotAxis, &vec3RotAxis ) < 0.0000001f ) continue;
Vector3Normalize( &vec3RotAxis, &vec3RotAxis );
// 関節回転量の補正
Vector4 vec4RotQuat;
QuaternionCreateAxis( &vec4RotQuat, &vec3RotAxis, fRotAngle );
if( m_ppBoneList[cbLinkIdx]->m_bIKLimitAngle ) limitAngle( &vec4RotQuat, &vec4RotQuat );
QuaternionNormalize( &vec4RotQuat, &vec4RotQuat );
QuaternionMultiply( &m_ppBoneList[cbLinkIdx]->m_vec4Rotation, &m_ppBoneList[cbLinkIdx]->m_vec4Rotation, &vec4RotQuat );
QuaternionNormalize( &m_ppBoneList[cbLinkIdx]->m_vec4Rotation, &m_ppBoneList[cbLinkIdx]->m_vec4Rotation );
for( short i = cbLinkIdx ; i >= 0 ; i-- ){ m_ppBoneList[i]->updateMatrix(); }
m_pEffBone->updateMatrix();
}
}
}
}