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519 行
23 KiB
519 行
23 KiB
using System;
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using System.Linq;
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using System.Collections;
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using System.Collections.Generic;
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using UniGLTF.Utils;
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using UnityEngine;
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/// <summary>
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/// * 胴体: hips, spine, chest, upperChest, neck, head => 6
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/// * 腕: shoulder, upperArm, lowerArm, hand => 4 x 2
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/// * 脚: upperLeg, lowerLeg, foot, toes => 4 x 2
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/// = 22
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/// * 指: proximal, inetermediate, distal => 3 x 5 x 2 = 30
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/// </summary>
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namespace VrmLib
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{
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public struct HumanoidHead
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{
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// required
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public Node Head;
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public Node Jaw;
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public Node LeftEye;
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public Node RightEye;
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public bool HasRequiredBones => Head != null;
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};
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public struct HumanoidArm
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{
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public Node Shoulder;
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// required
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public Node Upper;
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// required
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public Node Lower;
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// required
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public Node Hand;
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public bool HasRequiredBones => Upper != null && Lower != null && Hand != null;
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public Vector3 Direction
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{
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get
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{
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if (Shoulder != null)
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{
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return Vector3.Normalize(Hand.Translation - Shoulder.Translation);
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}
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else
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{
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return Vector3.Normalize(Hand.Translation - Upper.Translation);
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}
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}
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}
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public void DirectTo(Vector3 dir)
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{
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if (Shoulder != null)
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{
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Shoulder.RotateFromTo(Upper.Translation - Shoulder.Translation, dir);
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}
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Upper.RotateFromTo(Lower.Translation - Upper.Translation, dir);
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Lower.RotateFromTo(Hand.Translation - Lower.Translation, dir);
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}
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};
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public struct HumanoidLeg
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{
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public Node Upper;
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public Node Lower;
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public Node Foot;
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public Node Toe;
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};
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struct HumanoidFinger
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{
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public Node Proximal;
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public Node Intermediate;
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public Node Distal;
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}
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struct HumanoidThumb
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{
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public Node Metacarpal;
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public Node Proximal;
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public Node Distal;
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}
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struct HumanoidFingers
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{
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public HumanoidThumb Thumb;
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public HumanoidFinger Index;
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public HumanoidFinger Middle;
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public HumanoidFinger Ring;
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public HumanoidFinger Little;
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};
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/// <summary>
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/// ヒューマノイドの姿勢を制御する
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/// </summary>
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public class Humanoid : IDictionary<HumanoidBones, Node>
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{
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public Node Hips;
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public Node Spine;
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public Node Chest;
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public Node UpperChest;
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public Node Neck;
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HumanoidHead Head;
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HumanoidArm LeftArm;
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HumanoidFingers LeftFingers;
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HumanoidArm RightArm;
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HumanoidFingers RightFingers;
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HumanoidLeg LeftLeg;
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HumanoidLeg RightLeg;
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public bool HasRequiredBones
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{
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get
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{
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if (Hips == null) return false;
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if (Spine == null) return false;
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if (!Head.HasRequiredBones) return false;
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if (!LeftArm.HasRequiredBones) return false;
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if (!RightArm.HasRequiredBones) return false;
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// TODO
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return true;
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}
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}
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ICollection<HumanoidBones> IDictionary<HumanoidBones, Node>.Keys => throw new System.NotImplementedException();
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ICollection<Node> IDictionary<HumanoidBones, Node>.Values => throw new System.NotImplementedException();
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int ICollection<KeyValuePair<HumanoidBones, Node>>.Count => this.Select(_ => _).Count();
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bool ICollection<KeyValuePair<HumanoidBones, Node>>.IsReadOnly => throw new System.NotImplementedException();
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Node IDictionary<HumanoidBones, Node>.this[HumanoidBones key] { get => throw new System.NotImplementedException(); set => throw new System.NotImplementedException(); }
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public Humanoid()
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{
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}
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public Humanoid(Node root)
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{
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Assign(root);
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}
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public void Assign(Node root)
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{
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foreach (var node in root.Traverse())
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{
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if (node.HumanoidBone.HasValue)
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{
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Add(node.HumanoidBone.Value, node);
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}
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}
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}
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void CopyTraverse(Node src, Node dst)
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{
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dst.HumanoidBone = src.HumanoidBone;
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dst.LocalScaling = src.LocalScaling;
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dst.LocalRotation = src.LocalRotation;
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dst.LocalTranslation = src.LocalTranslation;
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foreach (var child in src.Children)
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{
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var dstChild = new Node(child.Name /*+ ".copy"*/);
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dst.Add(dstChild);
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CopyTraverse(child, dstChild);
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}
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}
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public Humanoid CopyNodes()
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{
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// ヒエラルキーのコピーを作成する
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var hips = new Node(Hips.Name /*+ ".copy"*/);
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CopyTraverse(Hips, hips);
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var humanoid = new Humanoid(hips);
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return humanoid;
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}
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// Y軸180度回転
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public (bool, string) Y180()
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{
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var sb = new System.Text.StringBuilder();
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Hips.LocalRotation = Quaternion.Euler(0, MathFWrap.PI, 0);
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Hips.CalcWorldMatrix();
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return (true, sb.ToString());
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}
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/// <summary>
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/// 上半身のTPose
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/// </summary>
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public (bool, string) MakeTPose()
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{
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var sb = new System.Text.StringBuilder();
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bool modified = false;
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// hipsのforward を -Z に向ける
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// hipsのforward は (left.leg - right.leg) cross (0, 1, 0)
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var left = Vector3.Normalize(LeftLeg.Upper.Translation - RightLeg.Upper.Translation);
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var forward = Vector3.Cross(left, Vector3.up);
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if (Vector3.Dot(forward, -Vector3.forward) < 1.0f - 0.1f)
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{
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Hips.RotateFromTo(forward, -Vector3.forward);
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modified = true;
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}
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if (Vector3.Dot(LeftArm.Direction, -Vector3.right) < 1.0f - 0.1f)
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{
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LeftArm.DirectTo(-Vector3.right);
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sb.Append("(fix left arm)");
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modified = true;
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}
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if (Vector3.Dot(RightArm.Direction, Vector3.right) < 1.0f - 0.1f)
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{
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RightArm.DirectTo(Vector3.right);
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sb.Append("(fix right arm)");
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modified = true;
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}
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Hips.CalcWorldMatrix();
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return (modified, sb.ToString());
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}
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public void RetargetTo(Humanoid srcTPose, Humanoid dst)
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{
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foreach (var kv in this)
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{
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var tposeNode = srcTPose[kv.Key];
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if (dst.TryGetValue(kv.Key, out Node node))
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{
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// var t = tposeNode.LocalRotation;
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// var t = Quaternion.identity;
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// node.LocalRotationWithoutUpdate = Quaternion.Inverse(t) * kv.Value.LocalRotation;
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// node.LocalRotationWithoutUpdate = kv.Value.LocalRotation * Quaternion.Inverse(t);
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var t = tposeNode.Rotation;
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// node.Rotation = Quaternion.Inverse(t) * kv.Value.Rotation;
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node.Rotation = kv.Value.Rotation * Quaternion.Inverse(t);
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// node.LocalRotationWithoutUpdate = kv.Value.LocalRotation * Quaternion.Inverse(t);
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}
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else
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{
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Console.WriteLine($"{kv.Key} not found");
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}
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}
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dst.Hips.CalcWorldMatrix();
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}
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#region interface
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public void Add(KeyValuePair<HumanoidBones, Node> item)
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{
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Add(item.Key, item.Value);
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}
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public void Add(HumanoidBones key, Node node)
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{
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if (key == HumanoidBones.unknown)
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{
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throw new ArgumentException();
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}
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node.HumanoidBone = key;
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switch (node.HumanoidBone.Value)
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{
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case HumanoidBones.hips: Hips = node; break;
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case HumanoidBones.spine: Spine = node; break;
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case HumanoidBones.chest: Chest = node; break;
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case HumanoidBones.upperChest: UpperChest = node; break;
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case HumanoidBones.neck: Neck = node; break;
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case HumanoidBones.head: Head.Head = node; break;
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case HumanoidBones.jaw: Head.Jaw = node; break;
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case HumanoidBones.leftEye: Head.LeftEye = node; break;
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case HumanoidBones.rightEye: Head.RightEye = node; break;
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case HumanoidBones.leftShoulder: LeftArm.Shoulder = node; break;
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case HumanoidBones.leftUpperArm: LeftArm.Upper = node; break;
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case HumanoidBones.leftLowerArm: LeftArm.Lower = node; break;
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case HumanoidBones.leftHand: LeftArm.Hand = node; break;
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case HumanoidBones.rightShoulder: RightArm.Shoulder = node; break;
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case HumanoidBones.rightUpperArm: RightArm.Upper = node; break;
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case HumanoidBones.rightLowerArm: RightArm.Lower = node; break;
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case HumanoidBones.rightHand: RightArm.Hand = node; break;
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case HumanoidBones.leftUpperLeg: LeftLeg.Upper = node; break;
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case HumanoidBones.leftLowerLeg: LeftLeg.Lower = node; break;
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case HumanoidBones.leftFoot: LeftLeg.Foot = node; break;
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case HumanoidBones.leftToes: LeftLeg.Toe = node; break;
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case HumanoidBones.rightUpperLeg: RightLeg.Upper = node; break;
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case HumanoidBones.rightLowerLeg: RightLeg.Lower = node; break;
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case HumanoidBones.rightFoot: RightLeg.Foot = node; break;
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case HumanoidBones.rightToes: RightLeg.Toe = node; break;
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case HumanoidBones.leftThumbMetacarpal: LeftFingers.Thumb.Metacarpal = node; break;
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case HumanoidBones.leftThumbProximal: LeftFingers.Thumb.Proximal = node; break;
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case HumanoidBones.leftThumbDistal: LeftFingers.Thumb.Distal = node; break;
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case HumanoidBones.leftIndexProximal: LeftFingers.Index.Proximal = node; break;
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case HumanoidBones.leftIndexIntermediate: LeftFingers.Index.Intermediate = node; break;
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case HumanoidBones.leftIndexDistal: LeftFingers.Index.Distal = node; break;
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case HumanoidBones.leftMiddleProximal: LeftFingers.Middle.Proximal = node; break;
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case HumanoidBones.leftMiddleIntermediate: LeftFingers.Middle.Intermediate = node; break;
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case HumanoidBones.leftMiddleDistal: LeftFingers.Middle.Distal = node; break;
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case HumanoidBones.leftRingProximal: LeftFingers.Ring.Proximal = node; break;
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case HumanoidBones.leftRingIntermediate: LeftFingers.Ring.Intermediate = node; break;
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case HumanoidBones.leftRingDistal: LeftFingers.Ring.Distal = node; break;
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case HumanoidBones.leftLittleProximal: LeftFingers.Little.Proximal = node; break;
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case HumanoidBones.leftLittleIntermediate: LeftFingers.Little.Intermediate = node; break;
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case HumanoidBones.leftLittleDistal: LeftFingers.Little.Distal = node; break;
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case HumanoidBones.rightThumbMetacarpal: RightFingers.Thumb.Metacarpal = node; break;
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case HumanoidBones.rightThumbProximal: RightFingers.Thumb.Proximal = node; break;
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case HumanoidBones.rightThumbDistal: RightFingers.Thumb.Distal = node; break;
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case HumanoidBones.rightIndexProximal: RightFingers.Index.Proximal = node; break;
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case HumanoidBones.rightIndexIntermediate: RightFingers.Index.Intermediate = node; break;
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case HumanoidBones.rightIndexDistal: RightFingers.Index.Distal = node; break;
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case HumanoidBones.rightMiddleProximal: RightFingers.Middle.Proximal = node; break;
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case HumanoidBones.rightMiddleIntermediate: RightFingers.Middle.Intermediate = node; break;
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case HumanoidBones.rightMiddleDistal: RightFingers.Middle.Distal = node; break;
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case HumanoidBones.rightRingProximal: RightFingers.Ring.Proximal = node; break;
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case HumanoidBones.rightRingIntermediate: RightFingers.Ring.Intermediate = node; break;
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case HumanoidBones.rightRingDistal: RightFingers.Ring.Distal = node; break;
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case HumanoidBones.rightLittleProximal: RightFingers.Little.Proximal = node; break;
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case HumanoidBones.rightLittleIntermediate: RightFingers.Little.Intermediate = node; break;
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case HumanoidBones.rightLittleDistal: RightFingers.Little.Distal = node; break;
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default: throw new NotImplementedException();
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}
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}
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public bool ContainsKey(HumanoidBones key)
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{
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return TryGetValue(key, out Node _);
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}
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public bool Remove(HumanoidBones key)
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{
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if (!ContainsKey(key))
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{
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return false;
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}
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Add(key, null);
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return true;
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}
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public Node this[HumanoidBones key]
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{
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get
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{
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if (TryGetValue(key, out Node node))
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{
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return node;
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}
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else
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{
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throw new KeyNotFoundException();
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}
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}
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}
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public Node this[Node node]
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{
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get
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{
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if (node.HumanoidBone.HasValue && node.HumanoidBone.Value != HumanoidBones.unknown)
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{
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return this[node.HumanoidBone.Value];
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}
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else
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{
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// とりあえず
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return Hips.Traverse().First(x => x.Name == node.Name);
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}
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}
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}
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public bool TryGetValue(HumanoidBones key, out Node value)
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{
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switch (key)
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{
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case HumanoidBones.hips: value = Hips; return true;
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case HumanoidBones.spine: value = Spine; return true;
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case HumanoidBones.chest: value = Chest; return true;
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case HumanoidBones.upperChest: value = UpperChest; return true;
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case HumanoidBones.neck: value = Neck; return true;
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case HumanoidBones.head: value = Head.Head; return true;
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case HumanoidBones.jaw: value = Head.Jaw; return true;
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case HumanoidBones.leftEye: value = Head.LeftEye; return true;
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case HumanoidBones.rightEye: value = Head.RightEye; return true;
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case HumanoidBones.leftShoulder: value = LeftArm.Shoulder; return true;
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case HumanoidBones.leftUpperArm: value = LeftArm.Upper; return true;
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case HumanoidBones.leftLowerArm: value = LeftArm.Lower; return true;
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case HumanoidBones.leftHand: value = LeftArm.Hand; return true;
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case HumanoidBones.rightShoulder: value = RightArm.Shoulder; return true;
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case HumanoidBones.rightUpperArm: value = RightArm.Upper; return true;
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case HumanoidBones.rightLowerArm: value = RightArm.Lower; return true;
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case HumanoidBones.rightHand: value = RightArm.Hand; return true;
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case HumanoidBones.leftUpperLeg: value = LeftLeg.Upper; return true;
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case HumanoidBones.leftLowerLeg: value = LeftLeg.Lower; return true;
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case HumanoidBones.leftFoot: value = LeftLeg.Foot; return true;
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case HumanoidBones.leftToes: value = LeftLeg.Toe; return true;
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case HumanoidBones.rightUpperLeg: value = RightLeg.Upper; return true;
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case HumanoidBones.rightLowerLeg: value = RightLeg.Lower; return true;
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case HumanoidBones.rightFoot: value = RightLeg.Foot; return true;
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case HumanoidBones.rightToes: value = RightLeg.Toe; return true;
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case HumanoidBones.leftThumbMetacarpal: value = LeftFingers.Thumb.Metacarpal; return true;
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case HumanoidBones.leftThumbProximal: value = LeftFingers.Thumb.Proximal; return true;
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case HumanoidBones.leftThumbDistal: value = LeftFingers.Thumb.Distal; return true;
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case HumanoidBones.leftIndexProximal: value = LeftFingers.Index.Proximal; return true;
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case HumanoidBones.leftIndexIntermediate: value = LeftFingers.Index.Intermediate; return true;
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case HumanoidBones.leftIndexDistal: value = LeftFingers.Index.Distal; return true;
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case HumanoidBones.leftMiddleProximal: value = LeftFingers.Middle.Proximal; return true;
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case HumanoidBones.leftMiddleIntermediate: value = LeftFingers.Middle.Intermediate; return true;
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case HumanoidBones.leftMiddleDistal: value = LeftFingers.Middle.Distal; return true;
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case HumanoidBones.leftRingProximal: value = LeftFingers.Ring.Proximal; return true;
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case HumanoidBones.leftRingIntermediate: value = LeftFingers.Ring.Intermediate; return true;
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case HumanoidBones.leftRingDistal: value = LeftFingers.Ring.Distal; return true;
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case HumanoidBones.leftLittleProximal: value = LeftFingers.Little.Proximal; return true;
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case HumanoidBones.leftLittleIntermediate: value = LeftFingers.Little.Intermediate; return true;
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case HumanoidBones.leftLittleDistal: value = LeftFingers.Little.Distal; return true;
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case HumanoidBones.rightThumbProximal: value = LeftFingers.Thumb.Proximal; return true;
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case HumanoidBones.rightThumbMetacarpal: value = LeftFingers.Thumb.Metacarpal; return true;
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case HumanoidBones.rightThumbDistal: value = LeftFingers.Thumb.Distal; return true;
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case HumanoidBones.rightIndexProximal: value = LeftFingers.Index.Proximal; return true;
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case HumanoidBones.rightIndexIntermediate: value = LeftFingers.Index.Intermediate; return true;
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case HumanoidBones.rightIndexDistal: value = LeftFingers.Index.Distal; return true;
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case HumanoidBones.rightMiddleProximal: value = LeftFingers.Middle.Proximal; return true;
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case HumanoidBones.rightMiddleIntermediate: value = LeftFingers.Middle.Intermediate; return true;
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case HumanoidBones.rightMiddleDistal: value = LeftFingers.Middle.Distal; return true;
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case HumanoidBones.rightRingProximal: value = LeftFingers.Ring.Proximal; return true;
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case HumanoidBones.rightRingIntermediate: value = LeftFingers.Ring.Intermediate; return true;
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case HumanoidBones.rightRingDistal: value = LeftFingers.Ring.Distal; return true;
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case HumanoidBones.rightLittleProximal: value = LeftFingers.Little.Proximal; return true;
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case HumanoidBones.rightLittleIntermediate: value = LeftFingers.Little.Intermediate; return true;
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case HumanoidBones.rightLittleDistal: value = LeftFingers.Little.Distal; return true;
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}
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value = null;
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return false;
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}
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public void Clear()
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{
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foreach (HumanoidBones key in CachedEnum.GetValues<HumanoidBones>())
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{
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Add(key, null);
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}
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}
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|
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public IEnumerator<KeyValuePair<HumanoidBones, Node>> GetEnumerator()
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|
{
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if (Hips != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.hips, Hips);
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if (Spine != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.spine, Spine);
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if (Chest != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.chest, Chest);
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|
if (UpperChest != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.upperChest, UpperChest);
|
|
if (Neck != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.neck, Neck);
|
|
if (Head.Head != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.head, Head.Head);
|
|
|
|
if (LeftArm.Shoulder != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.leftShoulder, LeftArm.Shoulder);
|
|
if (LeftArm.Upper != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.leftUpperArm, LeftArm.Upper);
|
|
if (LeftArm.Lower != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.leftLowerArm, LeftArm.Lower);
|
|
if (LeftArm.Hand != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.leftHand, LeftArm.Hand);
|
|
|
|
if (RightArm.Shoulder != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.rightShoulder, RightArm.Shoulder);
|
|
if (RightArm.Upper != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.rightUpperArm, RightArm.Upper);
|
|
if (RightArm.Lower != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.rightLowerArm, RightArm.Lower);
|
|
if (RightArm.Hand != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.rightHand, RightArm.Hand);
|
|
|
|
if (LeftLeg.Upper != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.leftUpperLeg, LeftLeg.Upper);
|
|
if (LeftLeg.Lower != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.leftLowerLeg, LeftLeg.Lower);
|
|
if (LeftLeg.Foot != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.leftFoot, LeftLeg.Foot);
|
|
|
|
if (RightLeg.Upper != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.rightUpperLeg, RightLeg.Upper);
|
|
if (RightLeg.Lower != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.rightLowerLeg, RightLeg.Lower);
|
|
if (RightLeg.Foot != null) yield return new KeyValuePair<HumanoidBones, Node>(HumanoidBones.rightFoot, RightLeg.Foot);
|
|
}
|
|
|
|
IEnumerator IEnumerable.GetEnumerator()
|
|
{
|
|
return GetEnumerator();
|
|
}
|
|
|
|
#region NotImplement
|
|
bool ICollection<KeyValuePair<HumanoidBones, Node>>.Contains(KeyValuePair<HumanoidBones, Node> item)
|
|
{
|
|
throw new System.NotImplementedException();
|
|
}
|
|
|
|
void ICollection<KeyValuePair<HumanoidBones, Node>>.CopyTo(KeyValuePair<HumanoidBones, Node>[] array, int arrayIndex)
|
|
{
|
|
throw new System.NotImplementedException();
|
|
}
|
|
|
|
bool ICollection<KeyValuePair<HumanoidBones, Node>>.Remove(KeyValuePair<HumanoidBones, Node> item)
|
|
{
|
|
throw new System.NotImplementedException();
|
|
}
|
|
#endregion
|
|
|
|
#endregion
|
|
}
|
|
}
|