- fixed issues with bones transformation applying and reading in world space - fixed issue with lack of animation track for some bones whose constraints affected the animation Refactoring: - improved (and simplified) bone loading Features: - added basic implementation of the IK constraint (still a lot to be done but works for simplest cases) git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@10845 75d07b2b-3a1a-0410-a2c5-0572b91ccdcaexperimental
Kae..pl
11 years ago
parent
0ab43e0649
commit
0921540124
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package com.jme3.scene.plugins.blender.constraints.definitions; |
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import java.util.ArrayList; |
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import java.util.HashSet; |
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import java.util.List; |
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import com.jme3.animation.Bone; |
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import com.jme3.math.FastMath; |
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import com.jme3.math.Quaternion; |
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import com.jme3.math.Transform; |
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import com.jme3.math.Vector3f; |
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import com.jme3.scene.plugins.blender.BlenderContext; |
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import com.jme3.scene.plugins.blender.animations.BoneContext; |
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import com.jme3.scene.plugins.blender.constraints.ConstraintHelper; |
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import com.jme3.scene.plugins.blender.constraints.ConstraintHelper.Space; |
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import com.jme3.scene.plugins.blender.file.Structure; |
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public class ConstraintDefinitionIK extends ConstraintDefinition { |
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private static final int FLAG_POSITION = 0x20; |
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/** The number of affected bones. Zero means that all parent bones of the current bone should take part in baking. */ |
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private int bonesAffected; |
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private float chainLength; |
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private BoneContext[] bones; |
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private boolean needToCompute = true; |
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public ConstraintDefinitionIK(Structure constraintData, Long ownerOMA, BlenderContext blenderContext) { |
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super(constraintData, ownerOMA, blenderContext); |
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bonesAffected = ((Number) constraintData.getFieldValue("rootbone")).intValue(); |
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if ((flag & FLAG_POSITION) == 0) { |
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needToCompute = false; |
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} |
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if (needToCompute) { |
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alteredOmas = new HashSet<Long>(); |
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} |
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} |
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@Override |
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public void bake(Space ownerSpace, Space targetSpace, Transform targetTransform, float influence) { |
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if (needToCompute) { |
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ConstraintHelper constraintHelper = blenderContext.getHelper(ConstraintHelper.class); |
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BoneContext[] boneContexts = this.getBones(); |
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float b = chainLength; |
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Quaternion boneWorldRotation = new Quaternion(); |
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for (int i = 0; i < boneContexts.length; ++i) { |
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Bone bone = boneContexts[i].getBone(); |
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bone.updateWorldVectors(); |
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Transform boneWorldTransform = constraintHelper.getTransform(boneContexts[i].getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD); |
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Vector3f head = boneWorldTransform.getTranslation(); |
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Vector3f tail = head.add(bone.getModelSpaceRotation().mult(Vector3f.UNIT_Y.mult(boneContexts[i].getLength()))); |
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Vector3f vectorA = tail.subtract(head); |
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float a = vectorA.length(); |
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vectorA.normalizeLocal(); |
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Vector3f vectorC = targetTransform.getTranslation().subtract(head); |
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float c = vectorC.length(); |
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vectorC.normalizeLocal(); |
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b -= a; |
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float theta = 0; |
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if (c >= a + b) { |
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theta = vectorA.angleBetween(vectorC); |
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} else if (c <= FastMath.abs(a - b) && i < boneContexts.length - 1) { |
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theta = vectorA.angleBetween(vectorC) - FastMath.HALF_PI; |
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} else { |
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theta = vectorA.angleBetween(vectorC) - FastMath.acos(-(b * b - a * a - c * c) / (2 * a * c)); |
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} |
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if (theta != 0) { |
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Vector3f vectorR = vectorA.cross(vectorC); |
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boneWorldRotation.fromAngleAxis(theta, vectorR); |
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boneWorldTransform.getRotation().multLocal(boneWorldRotation); |
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constraintHelper.applyTransform(boneContexts[i].getArmatureObjectOMA(), bone.getName(), Space.CONSTRAINT_SPACE_WORLD, boneWorldTransform); |
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} |
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bone.updateWorldVectors(); |
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alteredOmas.add(boneContexts[i].getBoneOma()); |
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} |
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} |
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} |
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@Override |
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public String getConstraintTypeName() { |
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return "Inverse kinematics"; |
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} |
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/** |
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* @return the bone contexts of all bones that will be used in this constraint computations |
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*/ |
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private BoneContext[] getBones() { |
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if (bones == null) { |
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List<BoneContext> bones = new ArrayList<BoneContext>(); |
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Bone bone = (Bone) this.getOwner(); |
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while (bone != null) { |
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BoneContext boneContext = blenderContext.getBoneContext(bone); |
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bones.add(0, boneContext); |
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chainLength += boneContext.getLength(); |
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if (bonesAffected != 0 && bones.size() >= bonesAffected) { |
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break; |
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} |
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bone = bone.getParent(); |
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} |
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this.bones = bones.toArray(new BoneContext[bones.size()]); |
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} |
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return bones; |
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} |
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} |
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