int CalSkeleton::getBoneLinesStatic(float *pLines)
{
int nrLines;
nrLines = 0;
rde::vector<CalBone *>::iterator iteratorBone;
for(iteratorBone = m_vectorBone.begin(); iteratorBone != m_vectorBone.end(); ++iteratorBone)
{
int parentId;
parentId = (*iteratorBone)->getCoreBone()->getParentId();
if(parentId != -1)
{
CalBone *pParent;
pParent = m_vectorBone[parentId];
const CalVector& translation = (*iteratorBone)->getCoreBone()->getTranslationAbsolute();
const CalVector& translationParent = pParent->getCoreBone()->getTranslationAbsolute();
*pLines++ = translationParent[0];
*pLines++ = translationParent[1];
*pLines++ = translationParent[2];
*pLines++ = translation[0];
*pLines++ = translation[1];
*pLines++ = translation[2];
nrLines++;
}
}
return nrLines;
}
void
CalMixer::applyBoneAdjustments()
{
CalSkeleton * pSkeleton = m_pModel->getSkeleton();
std::vector<CalBone *>& vectorBone = pSkeleton->getVectorBone();
unsigned int i;
for( i = 0; i < m_numBoneAdjustments; i++ ) {
CalMixerBoneAdjustmentAndBoneId * ba = & m_boneAdjustmentAndBoneIdArray[ i ];
CalBone * bo = vectorBone[ ba->boneId_ ];
CalCoreBone * cbo = bo->getCoreBone();
if( ba->boneAdjustment_.flags_ & CalMixerBoneAdjustmentFlagMeshScale ) {
bo->setMeshScaleAbsolute( ba->boneAdjustment_.meshScaleAbsolute_ );
}
if( ba->boneAdjustment_.flags_ & CalMixerBoneAdjustmentFlagPosRot ) {
const CalVector & localPos = cbo->getTranslation();
CalVector adjustedLocalPos = localPos;
CalQuaternion adjustedLocalOri = ba->boneAdjustment_.localOri_;
static float const scale = 1.0f;
float rampValue = ba->boneAdjustment_.rampValue_;
static bool const replace = true;
static float const unrampedWeight = 1.0f;
bo->blendState( unrampedWeight,
adjustedLocalPos,
adjustedLocalOri,
scale, replace, rampValue );
}
}
}
void IKCharacter::pullWorldPositions( int root_id, int leaf_id )
{
CalVector root_pos;
if ( auto_root_follow )
{
// get root pos
int skel_root_id = skeleton->getCoreSkeleton()->getVectorRootCoreBoneId()[0];
root_pos = skeleton->getBone(skel_root_id)->getTranslationAbsolute();
}
// work from the leaves down to the root
deque<int> queue;
if ( leaf_id == -1 )
queue.insert( queue.begin(), leaf_bones.begin(), leaf_bones.end() );
else
queue.push_back( leaf_id );
while ( !queue.empty() )
{
int id = queue.front();
queue.pop_front();
CalBone* bone = skeleton->getBone(id);
world_positions[id] = bone->getTranslationAbsolute() - root_pos;
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 && id != root_id )
queue.push_back( parent_id );
}
}
const std::list<int>& BoneBridgeCAL3D::GetListChildBoneID() const
{
CalBone* calBone = (CalBone*)GetCalBone();
CalCoreBone* coreBone = calBone->getCoreBone();
std::list<int>& listChildID = coreBone->getListChildId();
return listChildID;
}
void IKCharacter::pullWorldPositions( int root_id, int leaf_id )
{
deque<int> queue;
if ( leaf_id == -1 )
queue.insert( queue.begin(), leaf_bones.begin(), leaf_bones.end() );
else
queue.push_back( leaf_id );
// work backwards up the tree
while ( !queue.empty() )
{
int id = queue.front();
queue.pop_front();
CalBone* bone = skeleton->getBone(id);
world_positions[id] = bone->getTranslationAbsolute();
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 && id != root_id )
queue.push_back( parent_id );
}
}
void IKCharacter::draw( int bone_id, float scale, bool additional_drawing )
{
CalBone* bone = skeleton->getBone( bone_id );
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 )
{
// current
CalBone* parent = skeleton->getBone( parent_id );
glBegin( GL_LINES );
CalVector v = parent->getTranslationAbsolute();
v*=scale;
CalVector c = v;
glVertex3f( v.x, v.y, v.z );
v = bone->getTranslationAbsolute();
v*=scale;
c += v;
c /= 2.0f;
glVertex3f( v.x, v.y, v.z );
glEnd();
// world
glPushAttrib( GL_CURRENT_BIT );
glColor3f( 0.1f, 0.8f, 0.1f );
glBegin( GL_LINES );
v = world_positions[parent_id];
v*=scale;
glVertex3f( v.x, v.y, v.z );
v = world_positions[bone_id];
v*=scale;
glVertex3f( v.x, v.y, v.z );
glEnd();
glPopAttrib();
if ( additional_drawing )
{
glPushAttrib( GL_CURRENT_BIT );
glBegin( GL_LINES );
// core
glColor3f( (parent_id==debug_bone)?1.0f:0.3f, 0.3f, 0.5f );
v = parent->getCoreBone()->getTranslationAbsolute();
v*=scale;
glVertex3f( v.x, v.y, v.z );
v = bone->getCoreBone()->getTranslationAbsolute();
v*=scale;
glVertex3f( v.x, v.y, v.z );
glEnd();
// draw rotation
glPushMatrix();
CalVector root = bone->getCoreBone()->getTranslationAbsolute();
glTranslatef( root.x, root.y, root.z );
CalVector rot;
rot.set( 0, 0.1f*scale, 0 );
rot *= bone->getCoreBone()->getRotationAbsolute();
ofEnableAlphaBlending();
glColor4f( 0.2f, 0.2f, 0.8f, 0.2f );
glBegin( GL_TRIANGLES );
//glVertex3f( 0,0,0 );
glVertex3f( rot.x, rot.y, rot.z );
rot *= debug_cached_rotations[bone_id];
glVertex3f( rot.x, rot.y, rot.z );
glEnd();
glColor4f( 0.2f, 0.2f, 0.8f, 0.8f );
rot.set( 0, 0.1f*scale, 0 );
rot *= bone->getCoreBone()->getRotationAbsolute();
glBegin( GL_LINES );
glVertex3f( 0,0,0 );
glVertex3f( rot.x, rot.y, rot.z );
rot *= debug_cached_rotations[bone_id];
glVertex3f( 0,0,0 );
glVertex3f( rot.x, rot.y, rot.z );
glEnd();
ofDisableAlphaBlending();
glPopMatrix();
CalVector u( 0, 0.1f*scale, 0);
u *= bone->getRotationAbsolute();
CalVector r( 0.1f*scale, 0, 0 );
r *= bone->getRotationAbsolute();
CalVector f( 0, 0, 0.1f*scale );
f *= bone->getRotationAbsolute();
// right blue
glPushMatrix();
root = bone->getTranslationAbsolute();
glTranslatef( root.x, root.y, root.z );
glBegin( GL_LINES );
glColor3f( 0, 0, 1 );
glVertex3f( 0,0,0 );
glVertex3f( r.x, r.y, r.z );
// up red
glColor3f( 1, 0, 0 );
glVertex3f( 0,0,0 );
glVertex3f( u.x, u.y, u.z );
// forward green
glColor3f( 0, 1, 0 );
glVertex3f( 0,0,0 );
glVertex3f( f.x, f.y, f.z );
glEnd();
glPopMatrix();
// right blue
glPushMatrix();
root = world_positions[bone_id];
glTranslatef( root.x, root.y, root.z );
glBegin( GL_LINES );
glColor3f( 0, 0, 1 );
glVertex3f( 0,0,0 );
glVertex3f( r.x, r.y, r.z );
// up red
glColor3f( 1, 0, 0 );
glVertex3f( 0,0,0 );
glVertex3f( u.x, u.y, u.z );
// forward green
glColor3f( 0, 1, 0 );
glVertex3f( 0,0,0 );
glVertex3f( f.x, f.y, f.z );
glEnd();
glPopMatrix();
glPopAttrib();
}
}
list<int> children = bone->getCoreBone()->getListChildId();
for ( list<int>::iterator it = children.begin();
it != children.end();
++it )
{
draw( *it, scale, additional_drawing );
}
}
void IKCharacter::solve( int iterations, int root_id, int leaf_id )
{
while ( iterations>0 )
{
// start at leaf nodes
deque<int> queue;
// push leaf bones to target positions
for ( int i=0; i<leaf_bones.size(); i++ )
{
// if we have a leaf id to use, skip all other leaves
if ( leaf_id != -1 && leaf_id != leaf_bones[i] )
continue;
// if we have a target for this one
if ( leaf_targets.find(leaf_bones[i]) != leaf_targets.end() )
{
// set it
world_positions[leaf_bones[i]] = leaf_targets[leaf_bones[i]].second;
}
int parent_id = skeleton->getCoreSkeleton()->getCoreBone( leaf_bones[i] )->getParentId();
if ( parent_id != -1 )
queue.push_back( parent_id );
}
// queue to handle branching
deque< int > branch_queue;
while ( !queue.empty() || !branch_queue.empty() )
{
// if main queue is empty then we are ready to deal with branches
if ( queue.empty() )
{
queue.push_back( branch_queue.front() );
branch_queue.pop_front();
continue;
}
int next_id = queue.front();
queue.pop_front();
// bail out if we should
if ( root_id != -1 && next_id == root_id )
continue;
CalBone* bone = skeleton->getBone( next_id );
list<int>& children = bone->getCoreBone()->getListChildId();
// is this a branch?
if ( children.size()>1 )
{
// still other children to process -- push to branch queue
if ( !queue.empty() )
{
branch_queue.push_back( next_id );
continue;
}
// otherwise, process branch here
// if we're here, then all the children of this branch have been processed already
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 )
{
//printf("averaging %lu positions for %s wc %f: ", children.size(), bone->getCoreBone()->getName().c_str(), getWeightCentre( next_id ) );
// fetch all child positions
vector<CalVector> results;
results.insert( results.begin(), children.size(), world_positions[next_id] );
int count=0;
for ( list<int>::iterator it = children.begin(); it != children.end(); ++it,++count )
{
// child_pos
CalVector& b_c = world_positions[*it];
// current pos
CalVector& b_p = results[count];
// now, the bone is the wrong length. correct its length to fulfil size constraint.
CalVector delta = b_c - b_p;
float length = delta.length();
length = max( 0.00001f, length );
// pointing from parent to child
CalVector direction = delta/length;
CalCoreBone* child_bone = skeleton->getCoreSkeleton()->getCoreBone( *it );
CalVector rest_delta = bone->getCoreBone()->getTranslationAbsolute() - child_bone->getTranslationAbsolute();
float desired_length = rest_delta.length();
float delta_length = desired_length - length;
// balance according to weight_centre
float weight_centre = getWeightCentre(next_id);
// move
b_c += weight_centre * delta_length * direction;
b_p -= (1.0f-weight_centre) * delta_length * direction;
//printf("%s %f (%f %f %f), ", child_bone->getName().c_str(), delta_length, b_p.x, b_p.y, b_p.z );
}
//printf("\n");
// now average
CalVector average;
for ( int i=0; i<results.size(); i++ )
{
average += results[i];
}
average /= results.size();
// store
world_positions[next_id] = average;
// add parent
queue.push_back( parent_id );
}
}
else
{
// children.size() is exactly 1
assert( children.size()==1 );
int child_id = children.front();
// child_pos
CalVector& b_c = world_positions[child_id];
// current pos
CalVector& b_p = world_positions[next_id];
// now, the bone is the wrong length. correct its length to fulfil size constraint.
float desired_length = getBoneLength(next_id);
CalVector delta = b_c - b_p;
float length = delta.length();
length = max( 0.00001f, length );
length = min( desired_length*1.5f, length );
// pointing from parent to child
CalVector direction = delta/length;
float delta_length = desired_length - length;
// balance according to weight_centre
float weight_centre = getWeightCentre(next_id);
// move
b_c += weight_centre * delta_length * direction;
b_p -= (1.0f-weight_centre) * delta_length * direction;
// add parent
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 )
queue.push_back( parent_id );
}
}
iterations--;
}
}