/// Clamp the roll angle to a range of +/-limit.
inline Euler &limitRoll(const Radian &limit) {
limitAngle(mRoll, limit);
return *this;
}
/// Clamp the yaw angle to a range of +/-limit.
inline Euler &limitYaw(const Radian &limit) {
limitAngle(mYaw, limit);
return *this;
}
/// Clamp the pitch angle to a range of +/-limit.
inline Euler &limitPitch(const Radian &limit) {
limitAngle(mPitch, limit);
return *this;
}
//======
// 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();
}
}
}
}
