//-------------------------------------------
// 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();
}
int main()
{
// Initialization
//--------------------------------------------------------------------------------------
const int screenWidth = 800;
const int screenHeight = 450;
SetConfigFlags(FLAG_MSAA_4X_HINT);
InitWindow(screenWidth, screenHeight, "raylib [shaders] example - basic lighting");
// Camera initialization
Camera camera = {{ 8.0f, 8.0f, 8.0f }, { 0.0f, 3.0f, 0.0f }, { 0.0f, 1.0f, 0.0f }};
// Model initialization
Vector3 position = { 0.0f, 0.0f, 0.0f };
Model model = LoadModel("resources/model/dwarf.obj");
Shader shader = LoadShader("resources/shaders/phong.vs", "resources/shaders/phong.fs");
SetModelShader(&model, shader);
// Shader locations initialization
int lIntensityLoc = GetShaderLocation(shader, "light_intensity");
int lAmbientLoc = GetShaderLocation(shader, "light_ambientColor");
int lDiffuseLoc = GetShaderLocation(shader, "light_diffuseColor");
int lSpecularLoc = GetShaderLocation(shader, "light_specularColor");
int lSpecIntensityLoc = GetShaderLocation(shader, "light_specIntensity");
int mAmbientLoc = GetShaderLocation(shader, "mat_ambientColor");
int mSpecularLoc = GetShaderLocation(shader, "mat_specularColor");
int mGlossLoc = GetShaderLocation(shader, "mat_glossiness");
// Camera and light vectors shader locations
int cameraLoc = GetShaderLocation(shader, "cameraPos");
int lightLoc = GetShaderLocation(shader, "lightPos");
// Model and View matrix locations (required for lighting)
int modelLoc = GetShaderLocation(shader, "modelMatrix");
//int viewLoc = GetShaderLocation(shader, "viewMatrix"); // Not used
// Light and material definitions
Light light;
Material matBlinn;
// Light initialization
light.position = (Vector3){ 4.0f, 2.0f, 0.0f };
light.direction = (Vector3){ 5.0f, 1.0f, 1.0f };
light.intensity = 1.0f;
light.diffuse = WHITE;
light.ambient = (Color){ 150, 75, 0, 255 };
light.specular = WHITE;
light.specIntensity = 1.0f;
// Material initialization
matBlinn.colDiffuse = WHITE;
matBlinn.colAmbient = (Color){ 50, 50, 50, 255 };
matBlinn.colSpecular = WHITE;
matBlinn.glossiness = 50.0f;
// Setup camera
SetCameraMode(CAMERA_FREE); // Set camera mode
SetCameraPosition(camera.position); // Set internal camera position to match our camera position
SetCameraTarget(camera.target); // Set internal camera target to match our camera target
SetTargetFPS(60);
//--------------------------------------------------------------------------------------
// Main game loop
while (!WindowShouldClose()) // Detect window close button or ESC key
{
// Update
//----------------------------------------------------------------------------------
UpdateCamera(&camera); // Update camera position
// NOTE: Model transform can be set in model.transform or directly with params at draw... WATCH OUT!
SetShaderValueMatrix(shader, modelLoc, model.transform); // Send model matrix to shader
//SetShaderValueMatrix(shader, viewLoc, GetCameraMatrix(camera)); // Not used
// Glossiness input control
if(IsKeyDown(KEY_UP)) matBlinn.glossiness += SHININESS_SPEED;
else if(IsKeyDown(KEY_DOWN))
{
matBlinn.glossiness -= SHININESS_SPEED;
if( matBlinn.glossiness < 0) matBlinn.glossiness = 0.0f;
}
// Light X movement
if (IsKeyDown(KEY_D)) light.position.x += LIGHT_SPEED;
else if(IsKeyDown(KEY_A)) light.position.x -= LIGHT_SPEED;
// Light Y movement
if (IsKeyDown(KEY_LEFT_SHIFT)) light.position.y += LIGHT_SPEED;
else if (IsKeyDown(KEY_LEFT_CONTROL)) light.position.y -= LIGHT_SPEED;
// Light Z movement
if (IsKeyDown(KEY_S)) light.position.z += LIGHT_SPEED;
else if (IsKeyDown(KEY_W)) light.position.z -= LIGHT_SPEED;
// Send light values to shader
SetShaderValue(shader, lIntensityLoc, &light.intensity, 1);
SetShaderValue(shader, lAmbientLoc, ColorToFloat(light.ambient), 3);
SetShaderValue(shader, lDiffuseLoc, ColorToFloat(light.diffuse), 3);
SetShaderValue(shader, lSpecularLoc, ColorToFloat(light.specular), 3);
SetShaderValue(shader, lSpecIntensityLoc, &light.specIntensity, 1);
// Send material values to shader
SetShaderValue(shader, mAmbientLoc, ColorToFloat(matBlinn.colAmbient), 3);
SetShaderValue(shader, mSpecularLoc, ColorToFloat(matBlinn.colSpecular), 3);
SetShaderValue(shader, mGlossLoc, &matBlinn.glossiness, 1);
// Send camera and light transform values to shader
SetShaderValue(shader, cameraLoc, VectorToFloat(camera.position), 3);
SetShaderValue(shader, lightLoc, VectorToFloat(light.position), 3);
//----------------------------------------------------------------------------------
// Draw
//----------------------------------------------------------------------------------
BeginDrawing();
ClearBackground(RAYWHITE);
Begin3dMode(camera);
DrawModel(model, position, 4.0f, matBlinn.colDiffuse);
DrawSphere(light.position, 0.5f, GOLD);
DrawGrid(20, 1.0f);
End3dMode();
DrawFPS(10, 10); // Draw FPS
EndDrawing();
//----------------------------------------------------------------------------------
}
// De-Initialization
//--------------------------------------------------------------------------------------
UnloadShader(shader);
UnloadModel(model);
CloseWindow(); // Close window and OpenGL context
//--------------------------------------------------------------------------------------
return 0;
}
