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Bugfix: fixed error in Inverse Kinematics constraint (animations with

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these constraint should look better now, although not yet perfect ;).
This commit is contained in:
jmekaelthas 2015-11-29 19:34:03 +01:00
parent 6b262e56c8
commit 153cb27d78
1 changed files with 16 additions and 7 deletions
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23
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/definitions/ConstraintDefinitionIK.java
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@ -174,7 +174,7 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
private static class BonesChain extends ArrayList<BoneContext> {
private static final long serialVersionUID = -1850524345643600718L;
private List<Matrix> bonesMatrices = new ArrayList<Matrix>();
private List<Matrix> localBonesMatrices = new ArrayList<Matrix>();
public BonesChain(Bone bone, boolean useTail, int bonesAffected, Collection<Long> alteredOmas, BlenderContext blenderContext) {
if (bone != null) {
@ -187,12 +187,21 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
this.add(boneContext);
alteredOmas.add(boneContext.getBoneOma());
Space space = this.size() < bonesAffected ? Space.CONSTRAINT_SPACE_LOCAL : Space.CONSTRAINT_SPACE_WORLD;
Transform transform = constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), boneContext.getBone().getName(), space);
bonesMatrices.add(new DTransform(transform).toMatrix());
Transform transform = constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), boneContext.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD);
localBonesMatrices.add(new DTransform(transform).toMatrix());
bone = bone.getParent();
}
if(localBonesMatrices.size() > 0) {
// making the matrices describe the local transformation
Matrix parentWorldMatrix = localBonesMatrices.get(localBonesMatrices.size() - 1);
for(int i=localBonesMatrices.size() - 2;i>=0;--i) {
SimpleMatrix m = parentWorldMatrix.invert().mult(localBonesMatrices.get(i));
parentWorldMatrix = localBonesMatrices.get(i);
localBonesMatrices.set(i, new Matrix(m));
}
}
}
}
@ -211,16 +220,16 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
SimpleMatrix m = parentWorldMatrix.invert().mult(boneMatrix);
boneMatrix = new Matrix(m);
}
bonesMatrices.set(index, boneMatrix);
localBonesMatrices.set(index, boneMatrix);
}
public Matrix getWorldMatrix(int index) {
if (index == this.size() - 1) {
return new Matrix(bonesMatrices.get(this.size() - 1));
return new Matrix(localBonesMatrices.get(this.size() - 1));
}
SimpleMatrix result = this.getWorldMatrix(index + 1);
result = result.mult(bonesMatrices.get(index));
result = result.mult(localBonesMatrices.get(index));
return new Matrix(result);
}
}