void IKTree::reset(int frame)
{
MT_Quaternion q;
BVHNode *n;
for (int i=0; i<numBones; i++) {
bone[i].pos = origin;
bone[i].lRot = identity;
bone[i].gRot = identity;
n = bone[i].node;
Rotation rot=n->frameData(frame).rotation();
Position pos=n->frameData(frame).position();
for (int k=0; k<n->numChannels; k++) { // rotate each axis in order
q = identity;
switch (n->channelType[k]) {
case BVH_XROT:
q.setRotation(xAxis, rot.x * M_PI / 180);
break;
case BVH_YROT:
q.setRotation(yAxis, rot.y * M_PI / 180);
break;
case BVH_ZROT:
q.setRotation(zAxis, rot.z * M_PI / 180);
break;
case BVH_XPOS: bone[i].pos[0] = pos.x; break;
case BVH_YPOS: bone[i].pos[1] = pos.y; break;
case BVH_ZPOS: bone[i].pos[2] = pos.z; break;
}
bone[i].lRot = q * bone[i].lRot;
}
/*
for (int k=0; k<3; k++) { // rotate each axis in order
rad = n->frame[frame][k] * M_PI / 180;
q = identity;
switch (n->channelType[k]) {
case BVH_XROT: q.setRotation(xAxis, rad); break;
case BVH_YROT: q.setRotation(yAxis, rad); break;
case BVH_ZROT: q.setRotation(zAxis, rad); break;
case BVH_XPOS: bone[i].pos[0] = n->frame[frame][k]; break;
case BVH_YPOS: bone[i].pos[1] = n->frame[frame][k]; break;
case BVH_ZPOS: bone[i].pos[2] = n->frame[frame][k]; break;
}
bone[i].lRot = q * bone[i].lRot;
}
*/
}
updateBones(0);
}
void IKTree::solve(int frame)
{
double x, y, z;
reset(frame);
IKEffectorList effList;
for (int i=0; i<20; i++) {
effList.num = 0;
solveJoint(frame, 0, effList);
}
for (int i=0; i<numBones-1; i++) {
BVHNode *n = bone[i].node;
Rotation rot=n->frameData(frame).rotation();
toEuler(bone[i].lRot, n->channelOrder, x, y, z);
for (int j=0; j<n->numChannels; j++) { // rotate each axis in order
switch (n->channelType[j]) {
case BVH_XROT: n->ikRot.x = x - rot.x; break;
case BVH_YROT: n->ikRot.y = y - rot.y; break;
case BVH_ZROT: n->ikRot.z = z - rot.z; break;
default: break;
}
}
/*
for (int j=0; j<3; j++) { // rotate each axis in order
switch (n->channelType[j]) {
case BVH_XROT: n->ikRot[j] = x - n->frame[frame][j]; break;
case BVH_YROT: n->ikRot[j] = y - n->frame[frame][j]; break;
case BVH_ZROT: n->ikRot[j] = z - n->frame[frame][j]; break;
default: break;
}
} */
}
display = 1;
updateBones(0);
display = 0;
}
void Blender::EvaluateRelativeLimbWeights(QList<TimelineTrail*>* trails, int trailsCount) //TODO: into below method?
{
int minPosIndex = 999999999;
int maxPosIndex = -1;
TrailItem** currentItems = new TrailItem*[trailsCount];
//Find first and last occupied time-line position. And initialize currentItems with first non-shadows
for(int i=0; i<trailsCount; i++)
{
TrailItem* firstItem = trails->at(i)->firstItem();
if(firstItem==NULL)
{
currentItems[i] = NULL;
continue;
}
//Shadow items don't matter much because the nearest/furthest item is always non-shadow
if(firstItem->beginIndex() < minPosIndex)
minPosIndex = firstItem->beginIndex();
TrailItem* lastItem = trails->at(i)->lastItem();
if(lastItem->endIndex() > maxPosIndex)
maxPosIndex = trails->at(i)->lastItem()->endIndex();
while(firstItem->isShadow())
firstItem = firstItem->nextItem();
currentItems[i] = firstItem;
}
if(maxPosIndex == -1) //Time-line is empty
return;
int curPosIndex = minPosIndex;
//Position pseudo-node is not included, but it's OK as it can't be highlighted
QStringList boneNames = BVH::getValidNodeNames();
while(curPosIndex<=maxPosIndex)
{
foreach(QString bName, boneNames)
{
int sumWeight = 0;
int weightsUsed = 0;
bool emptyPosition = true;
//Temporary helper structure. Value is array of 2 integers: frame index inside
//respective animation and its frame weight
QMap<BVHNode*, QVector<int> >* usedData = new QMap<BVHNode*, QVector<int> >();
for(int i=0; i<trailsCount; i++)
{
TrailItem* item = currentItems[i];
if(item == NULL) //No more items on i-th trail
continue;
if(item->beginIndex() > curPosIndex) //We're before first item of this trail
continue;
if(item->endIndex() < curPosIndex) //Move to next item
{
currentItems[i] = item->nextItem();
item = currentItems[i];
}
if(item == NULL || item->isShadow()) //Still here?
continue;
else
emptyPosition = false;
if(item->beginIndex() <= curPosIndex && item->endIndex() >= curPosIndex)
{
int frameIndex = curPosIndex - item->beginIndex();
int frameWeight = item->getWeight(frameIndex);
if(!item->getAnimation()->bones()->contains(bName))
Announcer::Exception(NULL, "Exception: can't evaluate relative weight for limb " +bName);
// BVHNode* limb = item->getAnimation()->bones()->value(bName); NOT WORKING. REALLY NEED TO KNOW WHY
//desperate DEBUG
BVHNode* limb = item->getAnimation()->getNodeByName(bName);
QVector<int> tempData;
tempData << frameIndex << frameWeight;
usedData->insert(limb, tempData);
sumWeight += frameWeight * limb->frameData(frameIndex).weight();
weightsUsed++;
}
// else Announcer::Exception(NULL, "Lame programmer exception :("); //DEBUG
}
if(emptyPosition) //There were no valid item at this position
break; //so jump to the next one
QMapIterator<BVHNode*, QVector<int> > iter(*usedData);
while(iter.hasNext())
{
iter.next();
BVHNode* bone = iter.key();
QVector<int> tempData = iter.value();
int frame = tempData[0];
int frameW = tempData[1];
if(sumWeight==0) //Little trick if weight of current limb was 0 on all trails
bone->setKeyFrameRelWeight(frame, 1.0 / (double)weightsUsed);
else
{
int limbW = bone->frameData(frame).weight();
double relWei = (double)(frameW*limbW) / (double)sumWeight;
bone->setKeyFrameRelWeight(frame, relWei);
}
}
delete usedData;
}
curPosIndex++;
}