void CFVec4::SetXY( CFVec2Arg fv2Source )
{
const XMVECTOR& v2V = *reinterpret_cast<const XMVECTOR*>( &fv2Source );
XMVECTOR& v4V = *reinterpret_cast<XMVECTOR*>(this);
v4V = XMVectorSetX( v4V, XMVectorGetX( v2V ) );
v4V = XMVectorSetY( v4V, XMVectorGetY( v2V ) );
}
void CFVec4::SetXYZ( CFVec3Arg fv3Source )
{
const XMVECTOR& v3V = *reinterpret_cast<const XMVECTOR*>( &fv3Source );
XMVECTOR& v4V = *reinterpret_cast<XMVECTOR*>(this);
v4V = XMVectorSetX( v4V, XMVectorGetX( v3V ) );
v4V = XMVectorSetY( v4V, XMVectorGetY( v3V ) );
v4V = XMVectorSetZ( v4V, XMVectorGetZ( v3V ) );
}
//-------------------------------------------
// とりあえずIK
void BoneModel::VMDIkAnimation()
{
//XMStoreFloat4()
//XMLoadFloat4()
if (mBone.empty())return;
if (mMotion.empty())return;
DWORD mBoneNum = mBone.size();
DWORD mIkNum = mIk.size();
// IK計算
for (DWORD i = 0; i < mIkNum; i++){
//{
// int i = 0;
Ik& ik = mIk[i];
UINT tg_idx = ik.target_bone_index;
UINT ik_idx = ik.bone_index;
for (UINT ite = 0; ite<ik.iterations; ++ite){
for (UINT chn = 0; chn<ik.chain_length; ++chn){
UINT link_idx = ik.child_bone_index[chn];//
if (link_idx >= mBoneNum)continue;
Bone& link_bone = mBone[link_idx];
//UINT link_pidx = link_bone.mIkBoneIdx;
UINT link_pidx = link_bone.mHierarchy.mIdxParent;
//if (link_bone.mIkBoneIdx != 0){
// continue;
//}
if (link_pidx >= mBoneNum)continue;
Bone& link_parent = mBone[link_pidx];
Bone& tg_bone = mBone[tg_idx];
(void)tg_bone;
Bone& ik_bone = mBone[ik_idx];
(void)ik_bone;
XMVECTOR target_wpos = mBone[tg_idx].mMtxPose.r[3];
XMVECTOR ik_wpos = mBone[ik_idx].mMtxPose.r[3];
XMVECTOR lp_wpos = link_parent.mMtxPose.r[3];
//Linkボーンのローカル空間に変換
XMVECTOR Determinant;
XMMATRIX inv_mtx = XMMatrixInverse(&Determinant, link_bone.mMtxPose);
XMVECTOR tg_pos = XMVector4Transform(target_wpos, inv_mtx);
XMVECTOR ik_pos = XMVector4Transform(ik_wpos, inv_mtx);
XMVECTOR lp_pos = XMVector4Transform(lp_wpos, inv_mtx);
// 回転軸と角度
XMVECTOR rot_axis = XMVectorSet(1, 0, 0, 0);
float ang = 0.0f;
bool same_dir = false;
if (!RotDir(tg_pos, ik_pos, ik.control_weight, &rot_axis, &ang)){
same_dir = true;
}
if (!same_dir){
//tg_dirをik_dirに一致させるための回転
XMVECTOR rot = XMQuaternionRotationAxis(rot_axis, ang);
XMVECTOR lrot = FloatToVector(link_bone.mRot);
XMVECTOR bone_rot_before = lrot;
link_bone.mRot = VectorToFloat(XMQuaternionMultiply(rot, lrot));
float dist_tg = XMVectorGetX(XMVector3Length(tg_pos));
float dist_ik = XMVectorGetX(XMVector3Length(ik_pos));
(void)dist_ik;
float dist_lp = XMVectorGetX(XMVector3Length(lp_pos));
(void)dist_lp;
float dist_pltg = XMVectorGetX(XMVector3Length(lp_pos - tg_pos));
float dist_plik = XMVectorGetX(XMVector3Length(lp_pos - ik_pos));
float dot_tgik = XMVectorGetX(XMVector3Dot(XMVector3Normalize(tg_pos), XMVector3Normalize(ik_pos)));
(void)dot_tgik;
// 回転制限
if (/*link.bLimit*/ 1){
XMVECTOR rotmax, rotmin;
//114.5916 = 2
float a = 2;// XM_PI / 180.0f * 57.25f;
rotmax = XMVectorSet(a, a, a, 0);//link.vMax;
rotmin = XMVectorSet(-a, -a, -a, 0);//link.vMin;
//名前に"ひざ"があったら回転制限
if (std::string::npos != link_bone.mStrName.find("ひざ")){
rotmax = XMVectorSet(-XM_PI / 180.0f*0.5f, 0, 0, 0);
rotmin = XMVectorSet(-XM_PI, 0, 0, 0);
}
struct IkLink{
XMFLOAT4 mMax;
XMFLOAT4 mMin;
};
IkLink link = { VectorToFloat(rotmax), VectorToFloat(rotmin) };
//Bone& link = link_bone;
link_bone.mRot = VectorToFloat(LimitAngle(FloatToVector(link_bone.mRot), rotmin, rotmax));
XMVECTOR angxyz = GetAngle(rot);
//膝を曲げるための仮処理 かなりてきとう
if (XMVectorGetX(angxyz) >= 0 &&
//0.9f < dot_tgik &&
//dist_tg > dist_ik &&
dist_pltg > dist_plik &&
link.mMax.x < 0 && link.mMax.y == link.mMin.y && link.mMax.z == link.mMin.z){
//親リンクの回転接平面（できるだけこの平面に近づけたほうがよりIK目標に近づける）
XMVECTOR lp_nor = XMVector3Normalize(-lp_pos);//平面の法線
//lp_norとの内積が0になる位置を目標にする
//２つあるので回転制限後の|内積|が小さいほう
XMVECTOR tng = XMVector3Cross(XMVectorSet(1, 0, 0, 0), lp_nor);
//+tngと-tngの２つ
XMVECTOR rot_axis0, rot_axis1;
float ang0 = 0, ang1 = 0;
// 回転軸をXに限定
rot_axis1 = rot_axis0 = XMVectorSet(1, 0, 0, 0);
XMVECTOR tdir = XMVector3Normalize(XMVectorSetX(tg_pos, 0));
tng = XMVector3Normalize(XMVectorSetX(tng, 0));
RotDir(tdir, tng, ik.control_weight, &rot_axis0, &ang0);
RotDir(tdir, -tng, ik.control_weight, &rot_axis1, &ang1);
if (XMVectorGetX(rot_axis0) < 0.0f)ang0 = -ang0;
if (XMVectorGetX(rot_axis1) < 0.0f)ang1 = -ang1;
//これは絶対違う ぴくぴく対策
float coef = (dist_pltg - dist_plik) / dist_tg;
if (coef > 1)coef = 1;
ang0 *= coef;
ang1 *= coef;
//ang0,1は現在の位置からの相対角度
// 回転制限を考慮した相対角度に
float angx_b = XMVectorGetX(GetAngle(bone_rot_before));
float angx_a0 = angx_b + ang0;
float angx_a1 = angx_b + ang1;
if (angx_a0 < link.mMin.x) angx_a0 = link.mMin.x;
if (angx_a0 > link.mMax.x) angx_a0 = link.mMax.x;
if (angx_a1 < link.mMin.x) angx_a1 = link.mMin.x;
if (angx_a1 > link.mMax.x) angx_a1 = link.mMax.x;
ang0 = angx_a0 - angx_b;
ang1 = angx_a1 - angx_b;
XMVECTOR rot0 = XMQuaternionRotationRollPitchYaw(ang0, 0, 0);
XMVECTOR rot1 = XMQuaternionRotationRollPitchYaw(ang1, 0, 0);
XMVECTOR tdir0 = XMVector3TransformCoord(tdir, XMMatrixRotationQuaternion(rot0));
XMVECTOR tdir1 = XMVector3TransformCoord(tdir, XMMatrixRotationQuaternion(rot1));
float d0 = XMVectorGetX(XMVectorAbs(XMVector3Dot(tdir0, lp_nor)));
float d1 = XMVectorGetX(XMVectorAbs(XMVector3Dot(tdir1, lp_nor)));
if (d0 < d1){
link_bone.mRot = VectorToFloat(XMQuaternionMultiply(rot0, bone_rot_before));
}
else{
link_bone.mRot = VectorToFloat(XMQuaternionMultiply(rot1, bone_rot_before));
}
}
}
}
//ワールド行列更新
link_bone.mMtxPose = SQTMatrix(FloatToVector(link_bone.mScale), FloatToVector(link_bone.mRot), FloatToVector(link_bone.mPos));
if (link_bone.mHierarchy.mIdxParent < mBoneNum){
link_bone.mMtxPose = XMMatrixMultiply(link_bone.mMtxPose, mBone[link_bone.mHierarchy.mIdxParent].mMtxPose);
}
// 子階層のリンク再計算
for (int lidown = chn - 1; lidown >= 0; --lidown){
UINT idx = ik.child_bone_index[lidown];
if (idx >= mBoneNum)continue;
Bone& linkb = mBone[idx];
linkb.mMtxPose = SQTMatrix(FloatToVector(linkb.mScale), FloatToVector(linkb.mRot), FloatToVector(linkb.mPos));
if (linkb.mHierarchy.mIdxParent < mBoneNum){
linkb.mMtxPose = XMMatrixMultiply(linkb.mMtxPose, mBone[linkb.mHierarchy.mIdxParent].mMtxPose);
}
}
mBone[tg_idx].mMtxPose = SQTMatrix(FloatToVector(mBone[tg_idx].mScale), FloatToVector(mBone[tg_idx].mRot), FloatToVector(mBone[tg_idx].mPos));
if (mBone[tg_idx].mHierarchy.mIdxParent < mBoneNum){
mBone[tg_idx].mMtxPose = XMMatrixMultiply(mBone[tg_idx].mMtxPose, mBone[mBone[tg_idx].mHierarchy.mIdxParent].mMtxPose);
}
}
}
//Bone& b = mBone[tg_idx];
//Bone& b2 = mBone[mBone[tg_idx].mHierarchy.mIdxParent];
//Bone& b3 = mBone[b2.mHierarchy.mIdxParent];
//int sa = 1;
//IKの計算結果を子階層に反映
//UpdatePose();
}
UpdatePose();
}
void CFVec4::X( FLOAT32 fVal )
{
XMVECTOR& V4 = *reinterpret_cast<XMVECTOR*>(this);
V4 = XMVectorSetX( V4, fVal );
}
void CFVec4::XAdd( FLOAT32 fVal )
{
XMVECTOR& v4V = *reinterpret_cast<XMVECTOR*>(this);
v4V = XMVectorSetX( v4V, XMVectorGetX( v4V ) + fVal );
}
void Frustum::CreateFrustum(float screenDepth, XMMATRIX viewMatrix, XMMATRIX projMatrix)
{
float zMinimum, r;
XMFLOAT4X4 projMatrixFloat;
XMFLOAT4X4 frustumMatrix;
XMStoreFloat4x4(&projMatrixFloat, projMatrix);
// Calculate the minimum Z distance in the frustum.
zMinimum = -projMatrixFloat._43 / projMatrixFloat._33;
r = screenDepth / (screenDepth - zMinimum);
projMatrixFloat._33 = r;
projMatrixFloat._43 = -r * zMinimum;
XMMATRIX updatedProjMatrix = XMLoadFloat4x4(&projMatrixFloat);
//Create the frustum from the viewMatrix and updated projectionMatrix
XMStoreFloat4x4(&frustumMatrix, XMMatrixMultiply(viewMatrix, updatedProjMatrix)); ;
//Calculate near plane of frustum
XMVectorSetX(this->planes[0], frustumMatrix._14 + frustumMatrix._13);
XMVectorSetY(this->planes[0], frustumMatrix._24 + frustumMatrix._23);
XMVectorSetZ(this->planes[0], frustumMatrix._34 + frustumMatrix._33);
XMVectorSetW(this->planes[0], frustumMatrix._44 + frustumMatrix._43);
this->planes[0] = XMPlaneNormalize(this->planes[0]);
//this->planes[0] = XMVector3Normalize(this->planes[0]);
//Calculate far plane of frustum
XMVectorSetX(this->planes[1], frustumMatrix._14 - frustumMatrix._13);
XMVectorSetY(this->planes[1], frustumMatrix._24 - frustumMatrix._23);
XMVectorSetZ(this->planes[1], frustumMatrix._34 - frustumMatrix._33);
XMVectorSetW(this->planes[1], frustumMatrix._44 - frustumMatrix._43);
this->planes[1] = XMPlaneNormalize(this->planes[1]);
//this->planes[1] = XMVector3Normalize(this->planes[1]);
//Calculate left plane of frustum
XMVectorSetX(this->planes[2], frustumMatrix._14 + frustumMatrix._11);
XMVectorSetY(this->planes[2], frustumMatrix._24 + frustumMatrix._21);
XMVectorSetZ(this->planes[2], frustumMatrix._34 + frustumMatrix._31);
XMVectorSetW(this->planes[2], frustumMatrix._44 + frustumMatrix._41);
this->planes[2] = XMPlaneNormalize(this->planes[2]);
//this->planes[2] = XMVector3Normalize(this->planes[2]);
//Calculate right plane of frustum
XMVectorSetX(this->planes[3], frustumMatrix._14 - frustumMatrix._11);
XMVectorSetY(this->planes[3], frustumMatrix._24 - frustumMatrix._21);
XMVectorSetZ(this->planes[3], frustumMatrix._34 - frustumMatrix._31);
XMVectorSetW(this->planes[3], frustumMatrix._44 - frustumMatrix._41);
this->planes[3] = XMPlaneNormalize(this->planes[3]);
//this->planes[3] = XMVector3Normalize(this->planes[3]);
//Calculate top plane of frustum
XMVectorSetX(this->planes[4], frustumMatrix._14 - frustumMatrix._12);
XMVectorSetY(this->planes[4], frustumMatrix._24 - frustumMatrix._22);
XMVectorSetZ(this->planes[4], frustumMatrix._34 - frustumMatrix._32);
XMVectorSetW(this->planes[4], frustumMatrix._44 - frustumMatrix._42);
this->planes[4] = XMPlaneNormalize(this->planes[4]);
//this->planes[4] = XMVector3Normalize(this->planes[4]);
//Calculate bottom plane of frustum
XMVectorSetX(this->planes[5], frustumMatrix._14 + frustumMatrix._12);
XMVectorSetY(this->planes[5], frustumMatrix._24 + frustumMatrix._22);
XMVectorSetZ(this->planes[5], frustumMatrix._34 + frustumMatrix._32);
XMVectorSetW(this->planes[5], frustumMatrix._44 + frustumMatrix._42);
this->planes[5] = XMPlaneNormalize(this->planes[5]);
//this->planes[5] = XMVector3Normalize(this->planes[5]);
/*for (int i = 0; i < 6; i++) {
float denom = 1.0f / XMVectorGetX(XMVector3Length(this->planes[i]));
XMVectorSetX(this->planes[i], XMVectorGetX(this->planes[i]) * denom);
XMVectorSetY(this->planes[i], XMVectorGetY(this->planes[i]) * denom);
XMVectorSetZ(this->planes[i], XMVectorGetZ(this->planes[i]) * denom);
XMVectorSetW(this->planes[i], XMVectorGetW(this->planes[i]) * denom);
}*/
return;
}
