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@ -1,24 +1,12 @@ |
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package com.jme3.scene.plugins.blender.constraints; |
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import java.util.ArrayList; |
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import java.util.List; |
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import java.util.logging.Logger; |
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import com.jme3.animation.Bone; |
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import com.jme3.animation.BoneAnimation; |
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import com.jme3.animation.Skeleton; |
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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.Node; |
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import com.jme3.animation.Animation; |
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import com.jme3.scene.plugins.blender.BlenderContext; |
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import com.jme3.scene.plugins.blender.BlenderContext.LoadedFeatureDataType; |
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import com.jme3.scene.plugins.blender.animations.CalculationBone; |
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import com.jme3.scene.plugins.blender.animations.Ipo; |
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import com.jme3.scene.plugins.blender.exceptions.BlenderFileException; |
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import com.jme3.scene.plugins.blender.file.Structure; |
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import com.jme3.scene.plugins.blender.objects.ObjectHelper; |
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/** |
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* This class represents 'Inverse kinematics' constraint type in blender. |
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@ -49,28 +37,28 @@ import com.jme3.scene.plugins.blender.objects.ObjectHelper; |
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} |
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@Override |
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public void affectAnimation(Skeleton skeleton, BoneAnimation boneAnimation) { |
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try { |
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public void affectAnimation(Animation animation, int targetIndex) { |
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// try {
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// IK solver is only attached to bones
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Bone ownerBone = (Bone) blenderContext.getLoadedFeature(boneOMA, LoadedFeatureDataType.LOADED_FEATURE); |
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// get the target point
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Object targetObject = this.getTarget(LoadedFeatureDataType.LOADED_FEATURE); |
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Vector3f pt = null;// Point Target
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if (targetObject instanceof Bone) { |
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pt = ((Bone) targetObject).getModelSpacePosition(); |
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} else if (targetObject instanceof Node) { |
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pt = ((Node) targetObject).getWorldTranslation(); |
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} else if (targetObject instanceof Skeleton) { |
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Structure armatureNodeStructure = (Structure) this.getTarget(LoadedFeatureDataType.LOADED_STRUCTURE); |
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ObjectHelper objectHelper = blenderContext.getHelper(ObjectHelper.class); |
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Transform transform = objectHelper.getTransformation(armatureNodeStructure, blenderContext); |
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pt = transform.getTranslation(); |
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} else { |
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throw new IllegalStateException( |
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"Unknown target object type! Should be Node, Bone or Skeleton and there is: " |
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+ targetObject.getClass().getName()); |
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} |
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// Bone ownerBone = (Bone) blenderContext.getLoadedFeature(boneOMA, LoadedFeatureDataType.LOADED_FEATURE);
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//
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// // get the target point
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// Object targetObject = this.getTarget(LoadedFeatureDataType.LOADED_FEATURE);
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// Vector3f pt = null;// Point Target
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// if (targetObject instanceof Bone) {
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// pt = ((Bone) targetObject).getModelSpacePosition();
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// } else if (targetObject instanceof Node) {
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// pt = ((Node) targetObject).getWorldTranslation();
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// } else if (targetObject instanceof Skeleton) {
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// Structure armatureNodeStructure = (Structure) this.getTarget(LoadedFeatureDataType.LOADED_STRUCTURE);
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// ObjectHelper objectHelper = blenderContext.getHelper(ObjectHelper.class);
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// Transform transform = objectHelper.getTransformation(armatureNodeStructure, blenderContext);
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// pt = transform.getTranslation();
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// } else {
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// throw new IllegalStateException(
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// "Unknown target object type! Should be Node, Bone or Skeleton and there is: "
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// + targetObject.getClass().getName());
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// }
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//fetching the owner's bone track
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// BoneTrack ownerBoneTrack = null;
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@ -82,43 +70,43 @@ import com.jme3.scene.plugins.blender.objects.ObjectHelper; |
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// }
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// }
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// int ownerBoneFramesCount = ownerBoneTrack==null ? 0 : ownerBoneTrack.getTimes().length;
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// preparing data
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int maxIterations = ((Number) data.getFieldValue("iterations")).intValue(); |
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CalculationBone[] bones = this.getBonesToCalculate(ownerBone, skeleton, boneAnimation); |
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//
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// // preparing data
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// int maxIterations = ((Number) data.getFieldValue("iterations")).intValue();
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// CalculationBone[] bones = this.getBonesToCalculate(ownerBone, skeleton, boneAnimation);
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// for (int i = 0; i < bones.length; ++i) {
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// System.out.println(Arrays.toString(bones[i].track.getTranslations()));
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// System.out.println(Arrays.toString(bones[i].track.getRotations()));
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// System.out.println("===============================");
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// }
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Quaternion rotation = new Quaternion(); |
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//all tracks should have the same amount of frames
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int framesCount = bones[0].getBoneFramesCount(); |
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assert framesCount >=1; |
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for (int frame = 0; frame < framesCount; ++frame) { |
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float error = IK_SOLVER_ERROR; |
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int iteration = 0; |
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while (error >= IK_SOLVER_ERROR && iteration <= maxIterations) { |
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// rotating the bones
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for (int i = 0; i < bones.length - 1; ++i) { |
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Vector3f pe = bones[i].getEndPoint(); |
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Vector3f pc = bones[i + 1].getWorldTranslation().clone(); |
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Vector3f peSUBpc = pe.subtract(pc).normalizeLocal(); |
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Vector3f ptSUBpc = pt.subtract(pc).normalizeLocal(); |
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float theta = FastMath.acos(peSUBpc.dot(ptSUBpc)); |
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Vector3f direction = peSUBpc.cross(ptSUBpc).normalizeLocal(); |
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bones[i].rotate(rotation.fromAngleAxis(theta, direction), frame); |
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} |
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error = pt.subtract(bones[0].getEndPoint()).length(); |
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++iteration; |
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} |
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} |
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for (CalculationBone bone : bones) { |
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bone.applyCalculatedTracks(); |
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} |
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// Quaternion rotation = new Quaternion();
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// //all tracks should have the same amount of frames
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// int framesCount = bones[0].getBoneFramesCount();
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// assert framesCount >=1;
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// for (int frame = 0; frame < framesCount; ++frame) {
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// float error = IK_SOLVER_ERROR;
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// int iteration = 0;
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// while (error >= IK_SOLVER_ERROR && iteration <= maxIterations) {
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// // rotating the bones
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// for (int i = 0; i < bones.length - 1; ++i) {
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// Vector3f pe = bones[i].getEndPoint();
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// Vector3f pc = bones[i + 1].getWorldTranslation().clone();
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//
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// Vector3f peSUBpc = pe.subtract(pc).normalizeLocal();
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// Vector3f ptSUBpc = pt.subtract(pc).normalizeLocal();
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//
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// float theta = FastMath.acos(peSUBpc.dot(ptSUBpc));
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// Vector3f direction = peSUBpc.cross(ptSUBpc).normalizeLocal();
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// bones[i].rotate(rotation.fromAngleAxis(theta, direction), frame);
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// }
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// error = pt.subtract(bones[0].getEndPoint()).length();
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// ++iteration;
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// }
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// }
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//
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// for (CalculationBone bone : bones) {
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// bone.applyCalculatedTracks();
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// }
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// System.out.println("&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&");
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// for (int i = 0; i < bones.length; ++i) {
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@ -126,26 +114,26 @@ import com.jme3.scene.plugins.blender.objects.ObjectHelper; |
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// System.out.println(Arrays.toString(bones[i].track.getRotations()));
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// System.out.println("===============================");
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// }
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} catch(BlenderFileException e) { |
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LOGGER.severe(e.getLocalizedMessage()); |
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} |
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// } catch(BlenderFileException e) {
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// LOGGER.severe(e.getLocalizedMessage());
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// }
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} |
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/** |
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* This method returns bones used for rotation calculations. |
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* @param bone |
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* the bone to which the constraint is applied |
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* @param skeleton |
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* the skeleton owning the bone and its ancestors |
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* @param boneAnimation |
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* the bone animation data that stores the traces for the skeleton's bones |
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* @return a list of bones to imitate the bone's movement during IK solving |
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*/ |
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private CalculationBone[] getBonesToCalculate(Bone bone, Skeleton skeleton, BoneAnimation boneAnimation) { |
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List<CalculationBone> bonesList = new ArrayList<CalculationBone>(); |
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Bone currentBone = bone; |
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do { |
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bonesList.add(new CalculationBone(currentBone, 1)); |
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// /**
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// * This method returns bones used for rotation calculations.
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// * @param bone
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// * the bone to which the constraint is applied
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// * @param skeleton
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// * the skeleton owning the bone and its ancestors
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// * @param boneAnimation
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// * the bone animation data that stores the traces for the skeleton's bones
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// * @return a list of bones to imitate the bone's movement during IK solving
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// */
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// private CalculationBone[] getBonesToCalculate(Bone bone, Skeleton skeleton, Animation boneAnimation) {
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// List<CalculationBone> bonesList = new ArrayList<CalculationBone>();
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// Bone currentBone = bone;
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// do {
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// bonesList.add(new CalculationBone(currentBone, 1));
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// int boneIndex = skeleton.getBoneIndex(currentBone);
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// for (int i = 0; i < boneAnimation.getTracks().length; ++i) {
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// if (boneAnimation.getTracks()[i].getTargetBoneIndex() == boneIndex) {
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@ -153,15 +141,15 @@ import com.jme3.scene.plugins.blender.objects.ObjectHelper; |
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// break;
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// }
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// }
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currentBone = currentBone.getParent(); |
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} while (currentBone != null); |
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//attaching children
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CalculationBone[] result = bonesList.toArray(new CalculationBone[bonesList.size()]); |
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for (int i = result.length - 1; i > 0; --i) { |
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result[i].attachChild(result[i - 1]); |
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} |
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return result; |
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} |
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// currentBone = currentBone.getParent();
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// } while (currentBone != null);
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// //attaching children
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// CalculationBone[] result = bonesList.toArray(new CalculationBone[bonesList.size()]);
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// for (int i = result.length - 1; i > 0; --i) {
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// result[i].attachChild(result[i - 1]);
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// }
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// return result;
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// }
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@Override |
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public ConstraintType getType() { |
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Kae..pl
13 years ago