void Player::UpdateAcceleration(float fElapsedTime)
{
XMVECTOR vGamePadRightThumb = g_XMZero;
XMVECTOR vGamePadLeftThumb = g_XMZero;
XMVECTOR vMouseDelta = g_XMZero;
XMVECTOR vKeyboardDirection = XMVectorSet(m_vKeyboardDirection.x, 0.f, m_vKeyboardDirection.z, 0.f);
if (m_bUseGamepad)
{
vGamePadRightThumb = XMVectorSet(m_vGamePadRightThumb.x, -m_vGamePadRightThumb.z, 0, 0);
vGamePadRightThumb *= XMVectorAbs(vGamePadRightThumb);
vGamePadLeftThumb = XMVectorSet(m_vGamePadLeftThumb.x, 0, m_vGamePadLeftThumb.z, 0);
}
if (m_bUseMouse)
{
vMouseDelta = m_vMouseDelta;
}
XMVECTOR vRotVelocity = vMouseDelta * m_fRotationScaler + vGamePadRightThumb * 0.01f;
XMVECTOR vAccel = XMVector3Normalize(vKeyboardDirection + vGamePadLeftThumb) * m_fMoveScaler;
vAccel = XMVector4Transform(vAccel, GetWorld());
m_vRotVelocity = vRotVelocity;
mAcceleration += vAccel * fElapsedTime;
}
void Graphics::exe_cam_curr_pos(uint32_t const _i_zad) {
XMVECTOR _v = XMVectorSet(cam.v.x, 0.0f, cam.v.z, 0.0f);
XMVECTOR _dl_v = XMVector3LengthEst(_v);
if(XMVectorGetX(_dl_v) != 0.0f) {
_v = XMVector3Rotate(_v, XMLoadFloat4(&cam.quat));
_v = XMVectorSetY(_v, 0.0f);
XMVECTOR _v_modul = XMVectorAbs(_v);
_v = _v / (XMVectorGetX(_v_modul) + XMVectorGetZ(_v_modul)) * _dl_v;
}
_v = XMVectorSetY(_v, cam.v.y);
XMStoreFloat3(&cam.pos, XMLoadFloat3(&cam.pos) + _v);
task.erase(_i_zad);
}
//-------------------------------------------
// 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();
}
//-----------------------------------------------------------------------------
// Compute the intersection of a ray (Origin, Direction) with an axis aligned
// box using the slabs method.
//-----------------------------------------------------------------------------
BOOL GLibIntersectRayAxisAlignedBox( FXMVECTOR Origin, FXMVECTOR Direction, const XNA::AxisAlignedBox* pVolume, FLOAT* pDist )
{
XMASSERT( pVolume );
XMASSERT( pDist );
//XMASSERT( XMVector3IsUnit( Direction ) );
static const XMVECTOR Epsilon =
{
1e-20f, 1e-20f, 1e-20f, 1e-20f
};
static const XMVECTOR FltMin =
{
-FLT_MAX, -FLT_MAX, -FLT_MAX, -FLT_MAX
};
static const XMVECTOR FltMax =
{
FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX
};
// Load the box.
XMVECTOR Center = XMLoadFloat3( &pVolume->Center );
XMVECTOR Extents = XMLoadFloat3( &pVolume->Extents );
// Adjust ray origin to be relative to center of the box.
XMVECTOR TOrigin = Center - Origin;
// Compute the dot product againt each axis of the box.
// Since the axii are (1,0,0), (0,1,0), (0,0,1) no computation is necessary.
XMVECTOR AxisDotOrigin = TOrigin;
XMVECTOR AxisDotDirection = Direction;
// if (fabs(AxisDotDirection) <= Epsilon) the ray is nearly parallel to the slab.
XMVECTOR IsParallel = XMVectorLessOrEqual( XMVectorAbs( AxisDotDirection ), Epsilon );
// Test against all three axii simultaneously.
XMVECTOR InverseAxisDotDirection = XMVectorReciprocal( AxisDotDirection );
XMVECTOR t1 = ( AxisDotOrigin - Extents ) * InverseAxisDotDirection;
XMVECTOR t2 = ( AxisDotOrigin + Extents ) * InverseAxisDotDirection;
// Compute the max of min(t1,t2) and the min of max(t1,t2) ensuring we don't
// use the results from any directions parallel to the slab.
XMVECTOR t_min = XMVectorSelect( XMVectorMin( t1, t2 ), FltMin, IsParallel );
XMVECTOR t_max = XMVectorSelect( XMVectorMax( t1, t2 ), FltMax, IsParallel );
// t_min.x = maximum( t_min.x, t_min.y, t_min.z );
// t_max.x = minimum( t_max.x, t_max.y, t_max.z );
t_min = XMVectorMax( t_min, XMVectorSplatY( t_min ) ); // x = max(x,y)
t_min = XMVectorMax( t_min, XMVectorSplatZ( t_min ) ); // x = max(max(x,y),z)
t_max = XMVectorMin( t_max, XMVectorSplatY( t_max ) ); // x = min(x,y)
t_max = XMVectorMin( t_max, XMVectorSplatZ( t_max ) ); // x = min(min(x,y),z)
// if ( t_min > t_max ) return FALSE;
XMVECTOR NoIntersection = XMVectorGreater( XMVectorSplatX( t_min ), XMVectorSplatX( t_max ) );
// if ( t_max < 0.0f ) return FALSE;
NoIntersection = XMVectorOrInt( NoIntersection, XMVectorLess( XMVectorSplatX( t_max ), XMVectorZero() ) );
// if (IsParallel && (-Extents > AxisDotOrigin || Extents < AxisDotOrigin)) return FALSE;
XMVECTOR ParallelOverlap = XMVectorInBounds( AxisDotOrigin, Extents );
NoIntersection = XMVectorOrInt( NoIntersection, XMVectorAndCInt( IsParallel, ParallelOverlap ) );
if(!GLibXMVector3AnyTrue( NoIntersection ) )
{
// Store the x-component to *pDist
XMStoreFloat( pDist, t_min );
return TRUE;
}
return FALSE;
}
