static void AddImpulse(void)
{
static Vector4 vPosition(0.0f, 0.0f, 0.0f, 0.0f);
//Vector4 vDiff = vPosition - g_vPosition;
Vector4 vDiff = g_vPosition - vPosition;
Vector4 vLength = vDiff.Length();
if ( vLength[0]<2.0f )
return;
Vector4 vDir = vDiff / vLength;
Vector4 vVec0(vDir[1],-vDir[0], 0.0f, 0.0f);
Vector4 vVec1(vDir[0], vDir[1], 0.0f, 0.0f);
vPosition = g_vPosition;
Vector4 vVec0_old = g_orient_matrix[0];
Vector4 vVec1_old = g_orient_matrix[1];
Vector4 vVec0_new = VectorLerp(vVec0_old, vVec0, 0.2f);
Vector4 vVec1_new = VectorLerp(vVec1_old, vVec1, 0.2f);
vVec0_new.Normalize();
vVec1_new.Normalize();
Vector4 vVec2_new = Vector3CrossProduct(vVec0_new, vVec1_new);
g_orient_matrix.Identity();
g_orient_matrix[0] = vVec0_new;
g_orient_matrix[1] = vVec1_new;
g_orient_matrix[2] = vVec2_new;
LPDIRECT3DDEVICE9 device = GutGetGraphicsDeviceDX9();
device->SetRenderTarget(0, g_pSurfaces[TEX_HEIGHT1]);
device->SetDepthStencilSurface(NULL);
Matrix4x4 view_matrix = g_Control.GetViewMatrix();
Matrix4x4 world_matrix;
world_matrix.Scale_Replace(g_fRippleSize, g_fRippleSize, 1.0f);
world_matrix[3] = g_vPosition;
Matrix4x4 wvp_matrix = g_orient_matrix * world_matrix * view_matrix * g_proj_matrix;
D3DXHANDLE shader = g_pWaterEffect->GetTechniqueByName("AddImpulse");
D3DXHANDLE wvp_matrix_var = g_pWaterEffect->GetParameterByName(NULL, "wvp_matrix");
D3DXHANDLE force_var = g_pWaterEffect->GetParameterByName(NULL, "fForce");
g_pWaterEffect->SetTechnique(shader);
g_pWaterEffect->SetMatrix(wvp_matrix_var, (D3DXMATRIX *)&wvp_matrix);
g_pWaterEffect->SetFloat(force_var, 0.05f);
g_pWaterEffect->Begin(NULL, 0);
g_pWaterEffect->BeginPass(0);
g_Model_DX9.Render(0);
g_pWaterEffect->EndPass();
g_pWaterEffect->End();
vPosition = g_vPosition;
}
void Vector3Test()
{
printf("3ÔªÏòÁ¿²âÊÔ\n");
S3D::Vector3 v1(1.0f,1.0f,1.0f);
S3D::Vector3 v2(2.0f,2.0f,2.0f);
S3D::Vector3Normalize(&v1);
S3D::print(&v1);PRINT_LINE;
S3D::Vector3 v3=v1+v2;
S3D::print(&v3);PRINT_LINE;
S3D::Vector3 vResult;
v2=S3D::Vector3(1.0f,2.0f,3.0f);
printf("%f\n",S3D::Vector3DotProduct(&v1,&v2));
Vector3CrossProduct(&vResult,&v1,&v2);
S3D::print(&vResult);PRINT_LINE;
printf("%f\n",S3D::Vector3DotProduct(&vResult,&v2));
printf("%f\n",S3D::Vector3DotProduct(&vResult,&v1));
PRINT_START;
PRINT(proj & prep);
S3D::Vector3Proj(&vResult,&v1,&v2);
S3D::print(&vResult);PRINT_LINE;
S3D::Vector3 vPerp;
S3D::Vector3Perp(&vPerp,&v1,&v2);
S3D::print(&vPerp);PRINT_LINE;
printf("%f\n",S3D::Vector3DotProduct(&vResult,&vPerp));
printf("length:proj perp v1\n %f %f %f wanted valuie %f\n",S3D::Vector3Length(&vResult),
S3D::Vector3Length(&vPerp),S3D::Vector3Length(&v1),sqrtf(powf(S3D::Vector3Length(&vResult),2)+powf(S3D::Vector3Length(&vPerp),2)));
{
S3D::Vector3 v1(1.0f,2.0f,3.0f);
S3D::Vector3 v2(-1.0f,1.0f,1.0f);
S3D::Vector3 v3(4.0f,5.0f,6.0f);
S3D::Vector3 vProj;
S3D::Vector3Proj(&vProj,&v2,&v1);
S3D::print(&vProj);PRINT_LINE;
Vector3Orthongonlize(&v1,&v2,&v3);
S3D::print(&v1);PRINT_LINE;
S3D::print(&v2);PRINT_LINE;
S3D::print(&v3);PRINT_LINE;
printf("%f\n",S3D::Vector3DotProduct(&v1,&v2));
printf("%f\n",S3D::Vector3DotProduct(&v2,&v3));
float f1=S3D::Vector3DotProduct(&v1,&v2);
float f2=S3D::Vector3DotProduct(&v2,&v3);
printf("%f %f ",f1,f2);
float f3=0.00000001f;
float* pf1=&f1;
float* pf2=&f2;
// Sleep(f1*f2);
}
};
void GetUserInput(void)
{
// `讀取滑鼠`
GutMouseInfo mouse;
GutReadMouse(&mouse);
// `讀取鍵盤`
char keyboard_state[256];
GutReadKeyboard(keyboard_state);
// `取得畫完前一個畫面到現在所經歷的時間`
float time_diff = g_Timer.Stop();
g_Timer.Restart();
float moving_speed = 2.0f * time_diff;
float rotation_speed = 1.0 * time_diff;
// `極座標系統`
static float theta = -MATH_PI * 0.5f;
static float phi = 0.0f;
// `如果按下滑鼠左鍵, 就旋轉鏡頭.`
if ( mouse.button[0] )
{
theta += mouse.x * rotation_speed;
phi -= mouse.y * rotation_speed;
}
float sin_phi, cos_phi;
float sin_theta, cos_theta;
FastMath::SinCos(phi, sin_phi, cos_phi);
FastMath::SinCos(theta, sin_theta, cos_theta);
// `計算鏡頭的面向`
Vector4 camera_facing;
camera_facing[0] = cos_phi * cos_theta;
camera_facing[1] = sin_phi;
camera_facing[2] = cos_phi * sin_theta;
// `計算鏡頭正上方的軸向`
Vector4 camera_up;
FastMath::SinCos(phi + MATH_PI*0.5f, sin_phi, cos_phi);
camera_up[0] = cos_phi * cos_theta;
camera_up[1] = sin_phi;
camera_up[2] = cos_phi * sin_theta;
// `取得鏡面右方的方向`
Vector4 camera_right = Vector3CrossProduct(camera_facing, camera_up);
// `按下W或方向鍵向上`
if ( keyboard_state[GUTKEY_W] || keyboard_state[GUTKEY_UP] )
{
g_eye += camera_facing * moving_speed;
}
// `按下S或方向鍵向下`
if ( keyboard_state[GUTKEY_S] || keyboard_state[GUTKEY_DOWN] )
{
g_eye -= camera_facing * moving_speed;
}
// `按下A或方向鍵向左`
if ( keyboard_state[GUTKEY_A] || keyboard_state[GUTKEY_LEFT] )
{
g_eye -= camera_right * moving_speed;
}
// `按下D或方向鍵向右`
if ( keyboard_state[GUTKEY_D] || keyboard_state[GUTKEY_RIGHT] )
{
g_eye += camera_right * moving_speed;
}
// `計算出鏡頭對準的點, 產生鏡頭轉換矩陣時會用到.`
g_lookat = g_eye + camera_facing;
// `因為是對2個軸轉動, 需要更新鏡頭朝上的軸.`
g_up = camera_up;
}
void GetUserControl_FPSCamera(Vector4 &vEye, Vector4 &vUp, Vector4 &vLookAt, float time_advance)
{
// 讀取滑鼠
GutMouseInfo mouse;
GutReadMouse(&mouse);
// 讀取鍵盤
char keyboard_state[256];
GutReadKeyboard(keyboard_state);
float moving_speed = 2.0f * time_advance;
float rotation_speed = 1.0f * time_advance;
// 極座標系統
static float theta = -MATH_PI * 0.5f;
static float phi = 0.0f;
// 如果按下滑鼠左鍵，就旋轉鏡頭
if ( mouse.button[0] )
{
theta += mouse.x * rotation_speed;
phi -= mouse.y * rotation_speed;
}
float sin_phi, cos_phi;
float sin_theta, cos_theta;
FastMath::SinCos(phi, sin_phi, cos_phi);
FastMath::SinCos(theta, sin_theta, cos_theta);
// 計算鏡頭的面向
Vector4 camera_facing;
camera_facing[0] = cos_phi * cos_theta;
camera_facing[1] = sin_phi;
camera_facing[2] = cos_phi * sin_theta;
// 計算鏡頭正上方的軸向
Vector4 camera_up;
FastMath::SinCos(phi + MATH_PI*0.5f, sin_phi, cos_phi);
camera_up[0] = cos_phi * cos_theta;
camera_up[1] = sin_phi;
camera_up[2] = cos_phi * sin_theta;
// 取得鏡面右方的方向
Vector4 camera_right = Vector3CrossProduct(camera_up, camera_facing);
// 按下W或方向鍵向上
if ( keyboard_state[GUTKEY_W] || keyboard_state[GUTKEY_UP] )
{
vEye += camera_facing * moving_speed;
}
// 按下S或方向鍵向下
if ( keyboard_state[GUTKEY_S] || keyboard_state[GUTKEY_DOWN] )
{
vEye -= camera_facing * moving_speed;
}
// 按下A或方向鍵向左
if ( keyboard_state[GUTKEY_A] || keyboard_state[GUTKEY_LEFT] )
{
vEye += camera_right * moving_speed;
}
// 按下D或方向鍵向右
if ( keyboard_state[GUTKEY_D] || keyboard_state[GUTKEY_RIGHT] )
{
vEye -= camera_right * moving_speed;
}
// 計算出鏡頭對準的點, 產生鏡頭轉換矩陣時會用到.
vLookAt = vEye + camera_facing;
// 因為是對2個軸轉動, 需要更新鏡頭朝上的軸
vUp = camera_up;
vEye[3] = vUp[3] = vLookAt[3] = 1.0f;
}
//======
// 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();
}
}
}
}
