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@@ -52,7 +52,7 @@ class Joint extends Object {
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if( lastFrame != skin.lastFrame) {
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lastFrame = skin.lastFrame;
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- absPos.load(skin.currentAbsPose[index]);
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+ absPos.load(skin.jointsData[index].currentAbsPose);
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}
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}
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@@ -67,18 +67,199 @@ class Joint extends Object {
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}
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}
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+@:access(h3d.scene.Skin)
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+class JointData {
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+ public var currentRelPose : h3d.Matrix;
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+ public var currentAbsPose : h3d.Matrix;
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+ public var additivePose : h3d.Matrix;
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+
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+ public function new() {
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+ this.currentAbsPose = h3d.Matrix.I();
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+ }
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+
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+ public function sync(skin: h3d.scene.Skin, j: h3d.anim.Skin.Joint) {
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+ if ( j.follow != null ) return;
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+ var m = currentAbsPose;
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+ var r = currentRelPose;
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+ var bid = j.bindIndex;
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+ if( r == null )
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+ r = j.defMat
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+ else if( j.retargetAnim && skin.enableRetargeting ) {
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+ h3d.scene.Skin.TMP_MAT.load(r);
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+ r = h3d.scene.Skin.TMP_MAT;
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+ r._41 = j.defMat._41;
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+ r._42 = j.defMat._42;
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+ r._43 = j.defMat._43;
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+ }
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+ if( j.parent == null )
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+ m.multiply3x4inline(r, skin.absPos);
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+ else
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+ m.multiply3x4inline(r, skin.jointsData[j.parent.index].currentAbsPose);
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+ if( additivePose != null )
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+ m.multiply3x4inline(additivePose, m);
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+ if( bid >= 0 )
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+ skin.currentPalette[bid].multiply3x4inline(j.transPos, m);
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+ }
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+}
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+
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+@:access(h3d.scene.Skin)
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+class DynamicJointData extends JointData {
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+ public var absPos : h3d.Matrix;
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+ public var speed : h3d.Vector;
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+
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+ static var newWorldPos = new Vector(0, 0, 0);
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+ static var expectedPos = new Vector(0, 0, 0);
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+
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+ var f = -1;
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+ var initialState : DynamicJointData;
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+
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+ public function new() {
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+ super();
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+ this.speed = new Vector(0, 0, 0);
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+ }
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+
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+ public function load(data : DynamicJointData) {
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+ if (data.currentRelPose != null) {
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+ if (currentRelPose == null)
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+ currentRelPose = new Matrix();
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+ currentRelPose.load(data.currentRelPose);
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+ }
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+ if (data.currentAbsPose != null) {
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+ if (currentAbsPose == null)
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+ currentAbsPose = new Matrix();
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+ currentAbsPose.load(data.currentAbsPose);
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+ }
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+ if (data.additivePose != null) {
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+ if (additivePose == null)
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+ additivePose = new h3d.Matrix();
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+ additivePose.load(data.additivePose);
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+ }
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+ if (data.absPos != null) {
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+ if (absPos == null)
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+ absPos = new h3d.Matrix();
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+ absPos.load(data.absPos);
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+ }
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+ speed.load(data.speed);
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+ }
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+
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+ public override function sync(skin: h3d.scene.Skin, j: h3d.anim.Skin.Joint) {
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+ super.sync(skin, j);
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+
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+ // Ensure we compute dynamic joints data once per frame
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+ if (f != hxd.Timer.frameCount) {
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+ f = hxd.Timer.frameCount;
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+ if (initialState == null)
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+ initialState = new DynamicJointData();
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+ initialState.load(this);
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+ }
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+ else {
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+ this.load(initialState);
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+ }
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+
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+ // Compute position of the current joint
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+ computeDyn(skin, j);
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+
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+ // Orient parent to make him lookat his children
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+ computeRotationDyn(skin, j.parent);
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+ }
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+
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+ function computeDyn(skin: h3d.scene.Skin, j: h3d.anim.Skin.Joint) {
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+ var j : DynamicJoint = cast j;
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+ var jData : DynamicJointData = Std.downcast(skin.jointsData[j.index], DynamicJointData);
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+ jData.speed?.load(Std.downcast(skin.jointsData[j.index], DynamicJointData).speed);
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+ jData.absPos?.load(Std.downcast(skin.jointsData[j.index], DynamicJointData).absPos);
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+ var absPos = absPos == null ? jData.currentAbsPose : absPos;
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+ var relPos = jData.currentRelPose == null ? j.defMat : jData.currentRelPose;
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+ var newWorldPos = absPos.getPosition();
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+ var expectedPos = absPos.getPosition();
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+
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+ // Resistance (force resistance)
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+ var globalForce = j.globalForce;
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+ speed += globalForce * (1.0 - j.resistance);
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+
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+ // Damping (inertia attenuation)
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+ jData.speed *= 1.0 - j.damping;
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+ if (jData.speed.lengthSq() > DynamicJoint.SLEEP_THRESHOLD)
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+ newWorldPos += jData.speed * hxd.Timer.dt;
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+
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+ // Stiffness (shape keeper)
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+ expectedPos = relPos.multiplied(skin.jointsData[j.parent.index].currentAbsPose).getPosition();
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+ newWorldPos.lerp(newWorldPos, expectedPos, j.stiffness);
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+
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+ // Slackness (length keeper)
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+ var dirToParent = (newWorldPos - skin.jointsData[j.parent.index].currentAbsPose.getPosition()).normalized();
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+ var lengthToParent = relPos.getPosition().length();
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+ expectedPos = skin.jointsData[j.parent.index].currentAbsPose.getPosition() + dirToParent * lengthToParent;
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+ newWorldPos.lerp(expectedPos, newWorldPos, j.slackness);
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+
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+ // Apply computed position to joint
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+ jData.speed = (jData.speed + (newWorldPos - absPos.getPosition()) * (1.0 / hxd.Timer.dt)) * 0.5;
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+ jData.currentAbsPose.setPosition(newWorldPos);
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+ jData.absPos = jData.currentAbsPose.clone();
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+ jData.currentRelPose = relPos.clone();
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+
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+ if( j.bindIndex >= 0 )
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+ skin.currentPalette[j.bindIndex].multiply3x4inline(j.transPos, jData.currentAbsPose);
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+
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+ if (jData.speed.length() != 0.)
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+ skin.forceJointsUpdateOnFrame = hxd.Timer.frameCount + 1;
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+ }
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+
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+ function computeRotationDyn(skin: h3d.scene.Skin, j: h3d.anim.Skin.Joint) {
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+ if ( j.follow != null || j.subs.length != 1 ) return;
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+
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+ var child = Std.downcast(j.subs[0], DynamicJoint);
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+ if (child == null) return;
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+
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+ var jData = skin.jointsData[j.index];
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+ var jDynData = Std.downcast(skin.jointsData[j.index], DynamicJointData);
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+ Skin.TMP_MAT.load(jData.currentAbsPose);
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+ var dynJoint = Std.downcast(j, DynamicJoint);
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+ if (dynJoint != null)
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+ Skin.TMP_MAT.load(jDynData.absPos);
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+
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+ var q = new Quat();
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+ var offset = Std.downcast(skin.jointsData[child.index], DynamicJointData).absPos.getPosition() - Skin.TMP_MAT.getPosition();
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+ offset.transform3x3(jData.currentAbsPose.getInverse());
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+ q.initMoveTo(Std.downcast(skin.jointsData[child.index], DynamicJointData).currentRelPose.getPosition().normalized(), offset.normalized());
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+
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+ jData.currentAbsPose.multiply(q.toMatrix(), jData.currentAbsPose);
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+
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+ if (j.subs != null) {
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+ for (s in j.subs)
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+ recomputeAbsPos(skin, cast s);
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+ }
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+
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+ if( j.bindIndex >= 0 )
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+ skin.currentPalette[j.bindIndex].multiply3x4inline(j.transPos, jData.currentAbsPose);
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+
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+ if (dynJoint != null)
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+ jData.currentAbsPose.load(jDynData.absPos);
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+ }
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+
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+ function recomputeAbsPos(skin: h3d.scene.Skin, dynJoint : DynamicJoint) {
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+ var r = skin.jointsData[dynJoint.index].currentRelPose;
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+ skin.jointsData[dynJoint.index].currentAbsPose.multiply3x4inline(r != null ? r : dynJoint.defMat, skin.jointsData[dynJoint.parent.index].currentAbsPose);
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+ if (dynJoint.subs == null)
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+ return;
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+
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+ for (s in dynJoint.subs)
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+ recomputeAbsPos(skin, cast s);
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+ }
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+}
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+
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class Skin extends MultiMaterial {
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var skinData : h3d.anim.Skin;
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- var currentRelPose : Array<h3d.Matrix>;
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- var currentAbsPose : Array<h3d.Matrix>;
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+ var jointsData : Array<JointData>; // Runtime data
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+
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var currentPalette : Array<h3d.Matrix>;
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var splitPalette : Array<Array<h3d.Matrix>>;
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+ var forceJointsUpdateOnFrame : Int = -1;
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var jointsUpdated : Bool;
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var paletteChanged : Bool;
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var skinShader : h3d.shader.SkinBase;
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var jointsGraphics : Graphics;
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- var additivePose : Array<h3d.Matrix>;
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public var showJoints : Bool;
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public var enableRetargeting : Bool = true;
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@@ -94,7 +275,11 @@ class Skin extends MultiMaterial {
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var s = o == null ? new Skin(null,materials.copy()) : cast o;
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super.clone(s);
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s.setSkinData(skinData);
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- s.currentRelPose = currentRelPose.copy(); // copy current pose
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+
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+ s.jointsData = [];
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+ for (jData in jointsData)
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+ s.jointsData.push(Reflect.copy(jData));
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+
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return s;
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}
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@@ -132,7 +317,7 @@ class Skin extends MultiMaterial {
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var b = new h3d.col.Bounds();
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for( j in skinData.allJoints ) {
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if( j.bindIndex < 0 ) continue;
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- var r = currentAbsPose[j.index];
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+ var r = jointsData[j.index].currentAbsPose;
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b.addSpherePos(r.tx, r.ty, r.tz, 0);
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}
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return b;
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@@ -178,18 +363,17 @@ class Skin extends MultiMaterial {
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var j = skinData.namedJoints.get(name);
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if( j == null ) return null;
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if( additive )
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- return additivePose == null ? null : additivePose[j.index];
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- return currentRelPose[j.index] ?? j.defMat;
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+ return jointsData[j.index].additivePose;
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+ return jointsData[j.index].currentRelPose ?? j.defMat;
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}
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public function setJointRelPosition( name : String, pos : h3d.Matrix, additive = false ) {
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var j = skinData.namedJoints.get(name);
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if( j == null ) return;
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if( additive ) {
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- if( additivePose == null ) additivePose = [];
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- additivePose[j.index] = pos;
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+ jointsData[j.index].additivePose = pos;
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} else
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- currentRelPose[j.index] = pos;
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+ jointsData[j.index].currentRelPose = pos;
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jointsUpdated = true;
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}
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@@ -228,12 +412,12 @@ class Skin extends MultiMaterial {
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if( skinData.splitJoints != null ) m.mainPass.dynamicParameters = true;
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}
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}
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- currentRelPose = [];
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- currentAbsPose = [];
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+
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+ jointsData = [];
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currentPalette = [];
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paletteChanged = true;
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for( j in skinData.allJoints )
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- currentAbsPose.push(h3d.Matrix.I());
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+ jointsData[j.index] = j.makeRuntimeData();
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for( i in 0...skinData.boundJoints.length )
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currentPalette.push(h3d.Matrix.I());
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if( skinData.splitJoints != null ) {
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@@ -248,136 +432,25 @@ class Skin extends MultiMaterial {
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if( !ctx.visibleFlag && !alwaysSyncAnimation )
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return;
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syncJoints();
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- syncDynamicJoints();
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}
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static var TMP_MAT = new h3d.Matrix();
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@:noDebug
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function syncJoints() {
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- if( !jointsUpdated ) return;
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- var tmpMat = TMP_MAT;
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- for( j in skinData.allJoints ) {
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- if ( j.follow != null ) continue;
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- var id = j.index;
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- var m = currentAbsPose[id];
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- var r = currentRelPose[id];
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- var bid = j.bindIndex;
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- if( r == null )
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- r = j.defMat
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- else if( j.retargetAnim && enableRetargeting ) {
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- tmpMat.load(r);
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- r = tmpMat;
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- r._41 = j.defMat._41;
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- r._42 = j.defMat._42;
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- r._43 = j.defMat._43;
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- }
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- var dyn = Std.downcast(j, DynamicJoint);
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- if (dyn != null && dyn.relPos == null)
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- dyn.relPos = r;
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- if( j.parent == null )
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- m.multiply3x4inline(r, absPos);
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- else
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- m.multiply3x4inline(r, currentAbsPose[j.parent.index]);
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- if( additivePose != null ) {
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- var a = additivePose[id];
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- if( a != null ) m.multiply3x4inline(a, m);
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- }
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- if( bid >= 0 )
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- currentPalette[bid].multiply3x4inline(j.transPos, m);
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- }
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+ if( !jointsUpdated && forceJointsUpdateOnFrame != hxd.Timer.frameCount ) return;
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+
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+ for( j in skinData.allJoints )
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+ jointsData[j.index].sync(this, j);
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skinShader.bonesMatrixes = currentPalette;
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jointsUpdated = false;
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prevEnableRetargeting = enableRetargeting;
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}
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- function syncDynamicJoints() {
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- // Update dynamic joints
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- for( j in skinData.allJoints ) {
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- if ( j.follow != null ) continue;
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- var dynJoint = Std.downcast(j, h3d.anim.Skin.DynamicJoint);
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- if (dynJoint == null) continue;
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-
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- var absPos = dynJoint.absPos == null ? currentAbsPose[dynJoint.index] : dynJoint.absPos;
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- var newWorldPos = absPos.getPosition();
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- var expectedPos = absPos.getPosition();
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-
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- // Resistance (force resistance)
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- var globalForce = dynJoint.globalForce;
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- dynJoint.speed += globalForce * (1.0 - dynJoint.resistance);
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-
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- // Damping (inertia attenuation)
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- dynJoint.speed *= 1.0 - dynJoint.damping;
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- if (dynJoint.speed.lengthSq() > DynamicJoint.SLEEP_THRESHOLD)
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- newWorldPos += dynJoint.speed * hxd.Timer.dt;
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-
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- // Stiffness (shape keeper)
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- expectedPos = dynJoint.relPos.multiplied(currentAbsPose[dynJoint.parent.index]).getPosition();
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- newWorldPos.lerp(newWorldPos, expectedPos, dynJoint.stiffness);
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-
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- // Slackness (length keeper)
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- var dirToParent = (newWorldPos - currentAbsPose[j.parent.index].getPosition()).normalized();
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- var lengthToParent = dynJoint.relPos.getPosition().length();
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- expectedPos = currentAbsPose[j.parent.index].getPosition() + dirToParent * lengthToParent;
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- newWorldPos.lerp(expectedPos, newWorldPos, dynJoint.slackness);
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-
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- // Apply computed position to joint
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- dynJoint.speed = (dynJoint.speed + (newWorldPos - absPos.getPosition()) * (1.0 / hxd.Timer.dt)) * 0.5;
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- currentAbsPose[j.index].setPosition(newWorldPos);
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- dynJoint.absPos = currentAbsPose[dynJoint.index].clone();
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- }
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-
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-
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- function recomputeAbsPos(dynJoint : DynamicJoint) {
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- var m = currentAbsPose[dynJoint.index];
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- m.multiply3x4inline(dynJoint.relPos, currentAbsPose[dynJoint.parent.index]);
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-
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- if (dynJoint.subs == null)
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- return;
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-
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- for (s in dynJoint.subs)
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- recomputeAbsPos(cast s);
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- }
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-
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- for( j in skinData.allJoints ) {
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- if ( j.follow != null ) continue;
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- if (j.subs.length == 1) {
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- var child = Std.downcast(j.subs[0], DynamicJoint);
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- if (child == null) continue;
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- var dynJoint = Std.downcast(j, DynamicJoint);
|
|
|
-
|
|
|
- var q = new Quat();
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|
|
- var offset = child.absPos.getPosition() - (dynJoint != null ? dynJoint.absPos.getPosition() : currentAbsPose[j.index].getPosition());
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|
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- offset.transform3x3(currentAbsPose[j.index].getInverse());
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|
|
- q.initMoveTo(child.relPos.getPosition().normalized(), offset.normalized());
|
|
|
-
|
|
|
- currentAbsPose[j.index].multiply(q.toMatrix(), currentAbsPose[j.index]);
|
|
|
-
|
|
|
- if (j.subs != null) {
|
|
|
- for (s in j.subs)
|
|
|
- recomputeAbsPos(cast s);
|
|
|
- }
|
|
|
-
|
|
|
- if( j.bindIndex >= 0 )
|
|
|
- currentPalette[j.bindIndex].multiply3x4inline(j.transPos, currentAbsPose[j.index]);
|
|
|
-
|
|
|
- if (dynJoint != null)
|
|
|
- currentAbsPose[j.index].load(dynJoint.absPos);
|
|
|
- }
|
|
|
- else {
|
|
|
- if( j.bindIndex >= 0 )
|
|
|
- currentPalette[j.bindIndex].multiply3x4inline(j.transPos, currentAbsPose[j.index]);
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- skinShader.bonesMatrixes = currentPalette;
|
|
|
- }
|
|
|
-
|
|
|
override function emit( ctx : RenderContext ) {
|
|
|
calcScreenRatio(ctx);
|
|
|
syncJoints(); // In case sync was not called because of culling (eg fixedPosition)
|
|
|
- syncDynamicJoints();
|
|
|
if( splitPalette == null )
|
|
|
super.emit(ctx);
|
|
|
else {
|
|
|
@@ -401,8 +474,8 @@ class Skin extends MultiMaterial {
|
|
|
var g = jointsGraphics;
|
|
|
g.clear();
|
|
|
for( j in skinData.allJoints ) {
|
|
|
- var m = currentAbsPose[j.index];
|
|
|
- var mp = j.parent == null ? absPos : currentAbsPose[j.parent.index];
|
|
|
+ var m = jointsData[j.index].currentAbsPose;
|
|
|
+ var mp = j.parent == null ? absPos : jointsData[j.parent.index].currentAbsPose;
|
|
|
g.lineStyle(1, j.parent == null ? 0xFF0000FF : 0xFFFFFF00);
|
|
|
g.moveTo(mp._41, mp._42, mp._43);
|
|
|
g.lineTo(m._41, m._42, m._43);
|
lviguier