void Skeleton::update( const float &time, bool updateAnim)
{
if( updateAnim )
{
// update all bones local values (rotation fcurves)
int c = 0;
for(int i=0; i<m_bones.size(); ++i )
{
//float rx = getBone(i)->localEulerRotation.x;
//float ry = getBone(i)->localEulerRotation.y;
//float rz = getBone(i)->localEulerRotation.z;
//if( ((FCurve*)m_localEulerRotationAnims.m_data[c])->m_numKeys > 0 )
// rx = math::degToRad(((FCurve*)m_localEulerRotationAnims.m_data[c])->eval(time));
//if( ((FCurve*)m_localEulerRotationAnims.m_data[c+1])->m_numKeys > 0 )
// ry = math::degToRad(((FCurve*)m_localEulerRotationAnims.m_data[c+1])->eval(time));
//if( ((FCurve*)m_localEulerRotationAnims.m_data[c+2])->m_numKeys > 0 )
// rz = math::degToRad(((FCurve*)m_localEulerRotationAnims.m_data[c+2])->eval(time));
getBone(i)->localEulerRotation = math::Vec3f( math::degToRad(((FCurve*)m_localEulerRotationAnims.m_data[c])->eval(time)), math::degToRad(((FCurve *)m_localEulerRotationAnims.m_data[c+1])->eval(time)), math::degToRad(((FCurve*)m_localEulerRotationAnims.m_data[c+2])->eval(time)) );
//getBone(i)->localEulerRotation = math::Vec3f( rx, ry, rz );
c+=3;
}
}
// update global transforms (depends on hierarchy)
//updateBone(time, m_root, math::Matrix44f::Identity(), 0.0f);
updateBone(time, m_root, math::Matrix44f::ScaleMatrix(0.1f,0.1f,0.1f), 0.0f);
// update uniform which goes via geometry into the shader
for( int j=0; j<m_bones.size(); ++j )
m_boneMatricesUniform->setElement( j, &getBone(j)->vertexTransform );
}
void SGModel::updateSkeleton()
{
if (isActionRunning())
{
int64_t current = DateTime::currentMSecsSinceEpoch();
int64_t time = current - mStartTime;
T3D_LOG_INFO("time : %lld", time);
updateBone(time, mModel->getSkeletonData());
mSkeleton->updateVertices();
}
}
void Skeleton::updateBone( const float &time, Bone *bone, const math::Matrix44f &parentTransform, float parentLength )
{
// do global transform by concatenating local with parent transform
// TODO: decide order of rotation! X/Y/Z or Z/Y/X
bone->globalTransform = math::Matrix44f::RotationMatrixX(bone->localEulerRotation.x)*math::Matrix44f::RotationMatrixY(bone->localEulerRotation.y)*math::Matrix44f::RotationMatrixZ(bone->localEulerRotation.z)*math::Matrix44f::TranslationMatrix(0.0f, parentLength, 0.0f)*parentTransform; // works
// the matrix which will be used to transform vertices
bone->vertexTransform = bone->bindPoseInv*math::Matrix44f::RotationMatrixX(bone->localEulerRotation.x)*math::Matrix44f::RotationMatrixY(bone->localEulerRotation.y)*math::Matrix44f::RotationMatrixZ(bone->localEulerRotation.z)*math::Matrix44f::TranslationMatrix(0.0f, parentLength, 0.0f)*parentTransform;
//bone->vertexTransform = math::Matrix44f::RotationMatrixZ(bone->localEulerRotation.z)*math::Matrix44f::RotationMatrixY(bone->localEulerRotation.y)*bone->bindPoseInv*math::Matrix44f::RotationMatrixX(bone->localEulerRotation.x)*math::Matrix44f::TranslationMatrix(0.0f, parentLength, 0.0f)*parentTransform;
// now update all childbones
for( int i=0; i<bone->childBones.size();++i )
updateBone( time, (Bone *)bone->childBones.m_data[i], bone->globalTransform, bone->length);
}
/* PMDModel::setPhysicsControl switch bone control by physics simulation */
void PMDModel::setPhysicsControl(bool flag)
{
unsigned long i;
unsigned short j;
if(flag == m_enableSimulation)
return;
m_enableSimulation = flag;
/* when true, align all rigid bodies to corresponding bone by setting Kinematics flag */
/* when false, all rigid bodies will have their own motion states according to the model definition */
for (i = 0; i < m_numRigidBody; i++)
m_rigidBodyList[i].setKinematic(!flag);
if (flag == false) {
/* save the current bone transform with no physics as a start transform for later resuming */
updateBone();
for (j = 0; j < m_numBone; j++)
m_boneList[j].saveTrans();
}
}
void SGModel::updateBone(int64_t time, ObjectPtr skeleton)
{
BonePtr bone = smart_pointer_cast<Bone>(skeleton);
ActionDataPtr actionData = smart_pointer_cast<ActionData>(mCurActionData);
KeyFrameDataPtr kf1, kf2;
// 平移变换数据
Vector3 translation;
auto itrT = actionData->mBonesTranslation.find(bone->getName());
if (itrT != actionData->mBonesTranslation.end())
{
ActionData::KeyFrames &keyframesT = itrT->second;
if (searchKeyframe(keyframesT, time, actionData->mDuration, mCurKeyFrameT, kf1, kf2, mIsLoop))
{
KeyFrameDataTPtr keyframe1 = smart_pointer_cast<KeyFrameDataT>(kf1);
KeyFrameDataTPtr keyframe2 = smart_pointer_cast<KeyFrameDataT>(kf2);
double t = double(time - keyframe1->mTimestamp) / double(keyframe2->mTimestamp - keyframe1->mTimestamp);
Vector3 &base = keyframe1->mTranslation;
translation = (base + (keyframe2->mTranslation - base) * t);
T3D_LOG_INFO("Keyframe #1 T(%f, %f, %f)", keyframe1->mTranslation[0], keyframe1->mTranslation[1], keyframe1->mTranslation[2]);
T3D_LOG_INFO("Keyframe #2 T(%f, %f, %f)", keyframe2->mTranslation[0], keyframe2->mTranslation[1], keyframe2->mTranslation[2]);
T3D_LOG_INFO("Bone : %s [%f], T(%f, %f, %f)", bone->getName().c_str(), t, translation[0], translation[1], translation[2]);
bone->setTranslation(translation);
}
}
// 旋转变换数据
Quaternion orientation;
auto itrR = actionData->mBonesRotation.find(bone->getName());
if (itrR != actionData->mBonesRotation.end())
{
ActionData::KeyFrames &keyframesR = itrR->second;
if (searchKeyframe(keyframesR, time, actionData->mDuration, mCurKeyFrameR, kf1, kf2, mIsLoop))
{
KeyFrameDataRPtr keyframe1 = smart_pointer_cast<KeyFrameDataR>(kf1);
KeyFrameDataRPtr keyframe2 = smart_pointer_cast<KeyFrameDataR>(kf2);
double t = double(time - keyframe1->mTimestamp) / double(keyframe2->mTimestamp - keyframe1->mTimestamp);
orientation.lerp(keyframe1->mOrientation, keyframe2->mOrientation, t/* / 1000*/);
T3D_LOG_INFO("Keyframe #1 R(%f, %f, %f, %f)", keyframe1->mOrientation[0], keyframe1->mOrientation[1], keyframe1->mOrientation[2], keyframe1->mOrientation[3]);
T3D_LOG_INFO("Keyframe #2 R(%f, %f, %f, %f)", keyframe2->mOrientation[0], keyframe2->mOrientation[1], keyframe2->mOrientation[2], keyframe2->mOrientation[3]);
Degree deg;
Vector3 axis;
orientation.toAngleAxis(deg, axis);
T3D_LOG_INFO("Bone : %s [%d], R(%f, %f, %f, %f), deg=%f, Axis(%f, %f, %f)", bone->getName().c_str(), time, orientation[0], orientation[1], orientation[2], orientation[3], deg.valueDegrees(), axis[0], axis[1], axis[2]);
bone->setOrientation(orientation);
}
}
// 缩放变换数据
Vector3 scaling;
auto itrS = actionData->mBonesScaling.find(bone->getName());
if (itrS != actionData->mBonesScaling.end())
{
ActionData::KeyFrames &keyframesS = itrS->second;
if (searchKeyframe(keyframesS, time, actionData->mDuration, mCurKeyFrameS, kf1, kf2, mIsLoop))
{
KeyFrameDataSPtr keyframe1 = smart_pointer_cast<KeyFrameDataS>(kf1);
KeyFrameDataSPtr keyframe2 = smart_pointer_cast<KeyFrameDataS>(kf2);
double t = double(time - keyframe1->mTimestamp) / double(keyframe2->mTimestamp - keyframe1->mTimestamp);
Vector3 &base = keyframe1->mScaling;
scaling = (base * (keyframe2->mScaling - base) * t);
T3D_LOG_INFO("Keyframe #1 S(%f, %f, %f)", keyframe1->mScaling[0], keyframe1->mScaling[1], keyframe1->mScaling[2]);
T3D_LOG_INFO("Keyframe #2 S(%f, %f, %f)", keyframe2->mScaling[0], keyframe2->mScaling[1], keyframe2->mScaling[2]);
T3D_LOG_INFO("Bone : %s [%f], S(%f, %f, %f)", bone->getName().c_str(), t, scaling[0], scaling[1], scaling[2]);
bone->setScaling(scaling);
}
}
bone->updateBone();
auto itr = bone->getChildren().begin();
while (itr != bone->getChildren().end())
{
updateBone(time, *itr);
++itr;
}
}
