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      1 package com.jme3.scene.plugins.blender.constraints;
      2 
      3 import com.jme3.animation.Animation;
      4 import com.jme3.animation.Skeleton;
      5 import com.jme3.scene.plugins.blender.BlenderContext;
      6 import com.jme3.scene.plugins.blender.animations.CalculationBone;
      7 import com.jme3.scene.plugins.blender.animations.Ipo;
      8 import com.jme3.scene.plugins.blender.exceptions.BlenderFileException;
      9 import com.jme3.scene.plugins.blender.file.Structure;
     10 import java.util.logging.Logger;
     11 
     12 /**
     13  * This class represents 'Inverse kinematics' constraint type in blender.
     14  * @author Marcin Roguski (Kaelthas)
     15  */
     16 /*package*/ class ConstraintInverseKinematics extends Constraint {
     17 	private static final Logger LOGGER = Logger.getLogger(ConstraintInverseKinematics.class.getName());
     18 	private static final float IK_SOLVER_ERROR = 0.5f;
     19 
     20 	/**
     21 	 * This constructor creates the constraint instance.
     22 	 *
     23 	 * @param constraintStructure
     24 	 *            the constraint's structure (bConstraint clss in blender 2.49).
     25 	 * @param ownerOMA
     26 	 *            the old memory address of the constraint owner
     27 	 * @param influenceIpo
     28 	 *            the ipo curve of the influence factor
     29 	 * @param blenderContext
     30 	 *            the blender context
     31 	 * @throws BlenderFileException
     32 	 *             this exception is thrown when the blender file is somehow
     33 	 *             corrupted
     34 	 */
     35 	public ConstraintInverseKinematics(Structure constraintStructure,
     36 			Long ownerOMA, Ipo influenceIpo, BlenderContext blenderContext) throws BlenderFileException {
     37 		super(constraintStructure, ownerOMA, influenceIpo, blenderContext);
     38 	}
     39 
     40 	@Override
     41 	protected void bakeConstraint() {
     42 //		try {
     43 			// IK solver is only attached to bones
     44 //			Bone ownerBone = (Bone) blenderContext.getLoadedFeature(ownerOMA, LoadedFeatureDataType.LOADED_FEATURE);
     45 //			AnimData animData = blenderContext.getAnimData(ownerOMA);
     46 //			if(animData == null) {
     47 				//TODO: to nie moxe byx null, utworzyx dane bez ruchu, w zalexnoxci czy target six rusza
     48 //			}
     49 
     50 			//prepare a list of all parents of this bone
     51 //			CalculationBone[] bones = this.getBonesToCalculate(skeleton, boneAnimation);
     52 
     53 			// get the target point
     54 //			Object targetObject = this.getTarget(LoadedFeatureDataType.LOADED_FEATURE);
     55 //			Vector3f pt = null;// Point Target
     56 //			if (targetObject instanceof Bone) {
     57 //				pt = ((Bone) targetObject).getModelSpacePosition();
     58 //			} else if (targetObject instanceof Spatial) {
     59 //				pt = ((Spatial) targetObject).getWorldTranslation();
     60 //			} else if (targetObject instanceof Skeleton) {
     61 //				Structure armatureNodeStructure = (Structure) this.getTarget(LoadedFeatureDataType.LOADED_STRUCTURE);
     62 //				ObjectHelper objectHelper = blenderContext.getHelper(ObjectHelper.class);
     63 //				Transform transform = objectHelper.getTransformation(armatureNodeStructure, blenderContext);
     64 //				pt = transform.getTranslation();
     65 //			} else {
     66 //				throw new IllegalStateException(
     67 //						"Unknown target object type! Should be Node, Bone or Skeleton and there is: "
     68 //						+ targetObject.getClass().getName());
     69 //			}
     70 
     71 			//fetching the owner's bone track
     72 //			BoneTrack ownerBoneTrack = null;
     73 //			int boneIndex = skeleton.getBoneIndex(ownerBone);
     74 //			for (int i = 0; i < boneAnimation.getTracks().length; ++i) {
     75 //				if (boneAnimation.getTracks()[i].getTargetBoneIndex() == boneIndex) {
     76 //					ownerBoneTrack = boneAnimation.getTracks()[i];
     77 //					break;
     78 //				}
     79 //			}
     80 //			int ownerBoneFramesCount = ownerBoneTrack==null ? 0 : ownerBoneTrack.getTimes().length;
     81 //
     82 //			// preparing data
     83 //			int maxIterations = ((Number) data.getFieldValue("iterations")).intValue();
     84 //			CalculationBone[] bones = this.getBonesToCalculate(ownerBone, skeleton, boneAnimation);
     85 //			for (int i = 0; i < bones.length; ++i) {
     86 //				System.out.println(Arrays.toString(bones[i].track.getTranslations()));
     87 //				System.out.println(Arrays.toString(bones[i].track.getRotations()));
     88 //				System.out.println("===============================");
     89 //			}
     90 //			Quaternion rotation = new Quaternion();
     91 //			//all tracks should have the same amount of frames
     92 //			int framesCount = bones[0].getBoneFramesCount();
     93 //			assert framesCount >=1;
     94 //			for (int frame = 0; frame < framesCount; ++frame) {
     95 //				float error = IK_SOLVER_ERROR;
     96 //				int iteration = 0;
     97 //				while (error >= IK_SOLVER_ERROR && iteration <= maxIterations) {
     98 //					// rotating the bones
     99 //					for (int i = 0; i < bones.length - 1; ++i) {
    100 //						Vector3f pe = bones[i].getEndPoint();
    101 //						Vector3f pc = bones[i + 1].getWorldTranslation().clone();
    102 //
    103 //						Vector3f peSUBpc = pe.subtract(pc).normalizeLocal();
    104 //						Vector3f ptSUBpc = pt.subtract(pc).normalizeLocal();
    105 //
    106 //						float theta = FastMath.acos(peSUBpc.dot(ptSUBpc));
    107 //						Vector3f direction = peSUBpc.cross(ptSUBpc).normalizeLocal();
    108 //						bones[i].rotate(rotation.fromAngleAxis(theta, direction), frame);
    109 //					}
    110 //					error = pt.subtract(bones[0].getEndPoint()).length();
    111 //					++iteration;
    112 //				}
    113 //			}
    114 //
    115 //			for (CalculationBone bone : bones) {
    116 //				bone.applyCalculatedTracks();
    117 //			}
    118 //
    119 //			System.out.println("&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&");
    120 //			for (int i = 0; i < bones.length; ++i) {
    121 //				System.out.println(Arrays.toString(bones[i].track.getTranslations()));
    122 //				System.out.println(Arrays.toString(bones[i].track.getRotations()));
    123 //				System.out.println("===============================");
    124 //			}
    125 //		} catch(BlenderFileException e) {
    126 //			LOGGER.severe(e.getLocalizedMessage());
    127 //		}
    128 	}
    129 
    130 	/**
    131 	 * This method returns bones used for rotation calculations.
    132 	 * @param bone
    133 	 *        the bone to which the constraint is applied
    134 	 * @param skeleton
    135 	 *        the skeleton owning the bone and its ancestors
    136 	 * @param boneAnimation
    137 	 *        the bone animation data that stores the traces for the skeleton's bones
    138 	 * @return a list of bones to imitate the bone's movement during IK solving
    139 	 */
    140 	private CalculationBone[] getBonesToCalculate(Skeleton skeleton, Animation boneAnimation) {
    141 //		Bone ownerBone = (Bone) blenderContext.getLoadedFeature(ownerOMA, LoadedFeatureDataType.LOADED_FEATURE);
    142 //		List<CalculationBone> bonesList = new ArrayList<CalculationBone>();
    143 //		do {
    144 //			bonesList.add(new CalculationBone(ownerBone, 1));
    145 //			int boneIndex = skeleton.getBoneIndex(ownerBone);
    146 //			for (int i = 0; i < boneAnimation.getTracks().length; ++i) {
    147 //				if (((BoneTrack[])boneAnimation.getTracks())[i].getTargetBoneIndex() == boneIndex) {
    148 //					bonesList.add(new CalculationBone(ownerBone, (BoneTrack)boneAnimation.getTracks()[i]));
    149 //					break;
    150 //				}
    151 //			}
    152 //			ownerBone = ownerBone.getParent();
    153 //		} while (ownerBone != null);
    154 //		//attaching children
    155 //		CalculationBone[] result = bonesList.toArray(new CalculationBone[bonesList.size()]);
    156 //		for (int i = result.length - 1; i > 0; --i) {
    157 //			result[i].attachChild(result[i - 1]);
    158 //		}
    159 //		return result;
    160 		return null;
    161 	}
    162 }
    163