C++ FBoneContainer::GetParentBoneIndex方法代码示例

void FAnimationRuntime::ConvertPoseToMeshSpace(const TArray<FTransform> & LocalTransforms, TArray<FTransform> & MeshSpaceTransforms, const FBoneContainer& RequiredBones)
{
	const int32 NumBones = RequiredBones.GetNumBones();

	// right now all this does is to convert to SpaceBases
	check( NumBones == LocalTransforms.Num() );
	check( NumBones == MeshSpaceTransforms.Num() );

	const FTransform* LocalTransformsData = LocalTransforms.GetData(); 
	FTransform* SpaceBasesData = MeshSpaceTransforms.GetData();
	const TArray<FBoneIndexType> & RequiredBoneIndexArray = RequiredBones.GetBoneIndicesArray();

	// First bone is always root bone, and it doesn't have a parent.
	{
		check( RequiredBoneIndexArray[0] == 0 );
		MeshSpaceTransforms[0] = LocalTransforms[0];
	}

	const int32 NumRequiredBones = RequiredBoneIndexArray.Num();
	for(int32 i=1; i<NumRequiredBones; i++)
	{
		const int32 BoneIndex = RequiredBoneIndexArray[i];
		FPlatformMisc::Prefetch(SpaceBasesData + BoneIndex);

		// For all bones below the root, final component-space transform is relative transform * component-space transform of parent.
		const int32 ParentIndex = RequiredBones.GetParentBoneIndex(BoneIndex);
		FPlatformMisc::Prefetch(SpaceBasesData + ParentIndex);

		FTransform::Multiply(SpaceBasesData + BoneIndex, LocalTransformsData + BoneIndex, SpaceBasesData + ParentIndex);

		checkSlow( MeshSpaceTransforms[BoneIndex].IsRotationNormalized() );
		checkSlow( !MeshSpaceTransforms[BoneIndex].ContainsNaN() );
	}
}

void FAnimNode_RotationMultiplier::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, const FBoneContainer & RequiredBones, FA2CSPose& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	if ( Multiplier != 0.f )
	{
		// Reference bone
		const TArray<FTransform> & LocalRefPose = RequiredBones.GetRefPoseArray();
		const FQuat RefQuat = LocalRefPose[TargetBone.BoneIndex].GetRotation();
		FQuat NewQuat;
		MultiplyQuatBasedOnSourceIndex(LocalRefPose, MeshBases, RotationAxisToRefer, SourceBone.BoneIndex, Multiplier, RefQuat, NewQuat);

		FTransform NewLocalTransform = MeshBases.GetLocalSpaceTransform(TargetBone.BoneIndex);
		NewLocalTransform.SetRotation(NewQuat);

		const int32 ParentIndex = RequiredBones.GetParentBoneIndex(TargetBone.BoneIndex);
		if( ParentIndex != INDEX_NONE )
		{
			const FTransform ParentTM = MeshBases.GetComponentSpaceTransform(ParentIndex);
			FTransform NewTransform = NewLocalTransform * ParentTM;
			OutBoneTransforms.Add( FBoneTransform(TargetBone.BoneIndex, NewTransform) );
		}
		else
		{
			OutBoneTransforms.Add( FBoneTransform(TargetBone.BoneIndex, NewLocalTransform) );
		}
	}
}

void FAnimNode_TwoBoneIK::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, const FBoneContainer & RequiredBones, FA2CSPose& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	// Get indices of the lower and upper limb bones and check validity.
	bool bInvalidLimb = false;

	const int32 EndBoneIndex = IKBone.BoneIndex;
	const int32 LowerLimbIndex = RequiredBones.GetParentBoneIndex(EndBoneIndex);
	if (LowerLimbIndex == INDEX_NONE)
	{
		bInvalidLimb = true;
	}

	const int32 UpperLimbIndex = RequiredBones.GetParentBoneIndex(LowerLimbIndex);
	if (UpperLimbIndex == INDEX_NONE)
	{
		bInvalidLimb = true;
	}

	const bool bInBoneSpace = (EffectorLocationSpace == BCS_ParentBoneSpace) || (EffectorLocationSpace == BCS_BoneSpace);
	const int32 EffectorSpaceBoneIndex = bInBoneSpace ? RequiredBones.GetPoseBoneIndexForBoneName(EffectorSpaceBoneName) : INDEX_NONE;

	if (bInBoneSpace && ((EffectorSpaceBoneIndex == INDEX_NONE) || !RequiredBones.Contains(EffectorSpaceBoneIndex)))
	{
		bInvalidLimb = true;
	}

	// If we walked past the root, this controlled is invalid, so return no affected bones.
	if( bInvalidLimb )
	{
		return;
	}

	// Get Local Space transforms for our bones. We do this first in case they already are local.
	// As right after we get them in component space. (And that does the auto conversion).
	// We might save one transform by doing local first...
	const FTransform EndBoneLocalTransform = MeshBases.GetLocalSpaceTransform(IKBone.BoneIndex);

	// Now get those in component space...
	FTransform UpperLimbCSTransform = MeshBases.GetComponentSpaceTransform(UpperLimbIndex);
	FTransform LowerLimbCSTransform = MeshBases.GetComponentSpaceTransform(LowerLimbIndex);
	FTransform EndBoneCSTransform = MeshBases.GetComponentSpaceTransform(IKBone.BoneIndex);

	// Get current position of root of limb.
	// All position are in Component space.
	const FVector RootPos = UpperLimbCSTransform.GetTranslation();
	const FVector InitialJointPos = LowerLimbCSTransform.GetTranslation();
	const FVector InitialEndPos = EndBoneCSTransform.GetTranslation();

	// Transform EffectorLocation from EffectorLocationSpace to ComponentSpace.
	FTransform EffectorTransform(EffectorLocation);
	FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, EffectorTransform, EffectorSpaceBoneIndex, EffectorLocationSpace);

	// This is our reach goal.
	FVector DesiredPos = EffectorTransform.GetTranslation();
	FVector DesiredDelta = DesiredPos - RootPos;
	float DesiredLength = DesiredDelta.Size();

	// Check to handle case where DesiredPos is the same as RootPos.
	FVector	DesiredDir;
	if (DesiredLength < (float)KINDA_SMALL_NUMBER)
	{
		DesiredLength = (float)KINDA_SMALL_NUMBER;
		DesiredDir = FVector(1,0,0);
	}
	else
	{
		DesiredDir = DesiredDelta / DesiredLength;
	}

	// Get joint target (used for defining plane that joint should be in).
	FTransform JointTargetTransform(JointTargetLocation);
	const int32 JointTargetSpaceBoneIndex = (JointTargetLocationSpace == BCS_ParentBoneSpace || JointTargetLocationSpace == BCS_BoneSpace) ? RequiredBones.GetPoseBoneIndexForBoneName(JointTargetSpaceBoneName) : INDEX_NONE;
	FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, JointTargetTransform, JointTargetSpaceBoneIndex, JointTargetLocationSpace);

	FVector	JointTargetPos = JointTargetTransform.GetTranslation();
	FVector JointTargetDelta = JointTargetPos - RootPos;
	float JointTargetLength = JointTargetDelta.Size();

	// Same check as above, to cover case when JointTarget position is the same as RootPos.
	FVector JointPlaneNormal, JointBendDir;
	if (JointTargetLength < (float)KINDA_SMALL_NUMBER)
	{
		JointBendDir = FVector(0,1,0);
		JointPlaneNormal = FVector(0,0,1);
	}
	else
	{
		JointPlaneNormal = DesiredDir ^ JointTargetDelta;

		// If we are trying to point the limb in the same direction that we are supposed to displace the joint in, 
		// we have to just pick 2 random vector perp to DesiredDir and each other.
		if (JointPlaneNormal.Size() < (float)KINDA_SMALL_NUMBER)
		{
			DesiredDir.FindBestAxisVectors(JointPlaneNormal, JointBendDir);
		}
		else
		{
			JointPlaneNormal.Normalize();
//.........这里部分代码省略.........

void FAnimNode_Trail::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, const FBoneContainer& RequiredBones, FA2CSPose& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);

	if( ChainLength < 2 )
	{
		return;
	}

	// The incoming BoneIndex is the 'end' of the spline chain. We need to find the 'start' by walking SplineLength bones up hierarchy.
	// Fail if we walk past the root bone.

	int32 WalkBoneIndex = TrailBone.BoneIndex;

	TArray<int32> ChainBoneIndices;
	ChainBoneIndices.AddZeroed(ChainLength);

	ChainBoneIndices[ChainLength - 1] = WalkBoneIndex;

	for (int32 i = 1; i < ChainLength; i++)
	{
		// returns to avoid a crash
		// @TODO : shows an error message why failed
		if (WalkBoneIndex == 0)
		{
			return;
		}

		// Get parent bone.
		WalkBoneIndex = RequiredBones.GetParentBoneIndex(WalkBoneIndex);

		//Insert indices at the start of array, so that parents are before children in the array.
		int32 TransformIndex = ChainLength - (i + 1);
		ChainBoneIndices[TransformIndex] = WalkBoneIndex;
	}

	OutBoneTransforms.AddZeroed(ChainLength);

	// If we have >0 this frame, but didn't last time, record positions of all the bones.
	// Also do this if number has changed or array is zero.
	bool bHasValidStrength = (Alpha > 0.f);
	if(TrailBoneLocations.Num() != ChainLength || (bHasValidStrength && !bHadValidStrength))
	{
		TrailBoneLocations.Empty();
		TrailBoneLocations.AddZeroed(ChainLength);

		for(int32 i=0; i<ChainBoneIndices.Num(); i++)
		{
			int32 ChildIndex = ChainBoneIndices[i];
			FTransform ChainTransform = MeshBases.GetComponentSpaceTransform(ChildIndex);
			TrailBoneLocations[i] = ChainTransform.GetTranslation();
		}
		OldLocalToWorld = SkelComp->GetTransformMatrix();
	}
	bHadValidStrength = bHasValidStrength;

	// transform between last frame and now.
	FMatrix OldToNewTM = OldLocalToWorld * SkelComp->GetTransformMatrix().InverseFast();

	// Add fake velocity if present to all but root bone
	if(!FakeVelocity.IsZero())
	{
		FVector FakeMovement = -FakeVelocity * ThisTimstep;

		if (bActorSpaceFakeVel && SkelComp->GetOwner())
		{
			const FTransform BoneToWorld(SkelComp->GetOwner()->GetActorRotation(), SkelComp->GetOwner()->GetActorLocation());
			FakeMovement = BoneToWorld.TransformVector(FakeMovement);
		}

		FakeMovement = SkelComp->GetTransformMatrix().InverseTransformVector(FakeMovement);
		// Then add to each bone
		for(int32 i=1; i<TrailBoneLocations.Num(); i++)
		{
			TrailBoneLocations[i] += FakeMovement;
		}
	}

	// Root bone of trail is not modified.
	int32 RootIndex = ChainBoneIndices[0]; 
	FTransform ChainTransform = MeshBases.GetComponentSpaceTransform(RootIndex);
	OutBoneTransforms[0] = FBoneTransform(RootIndex, ChainTransform);
	TrailBoneLocations[0] = ChainTransform.GetTranslation();

	// Starting one below head of chain, move bones.
	for(int32 i=1; i<ChainBoneIndices.Num(); i++)
	{
		// Parent bone position in component space.
		int32 ParentIndex = ChainBoneIndices[i-1];
		FVector ParentPos = TrailBoneLocations[i-1];
		FVector ParentAnimPos = MeshBases.GetComponentSpaceTransform(ParentIndex).GetTranslation();

		// Child bone position in component space.
		int32 ChildIndex = ChainBoneIndices[i];
		FVector ChildPos = OldToNewTM.TransformPosition(TrailBoneLocations[i]); // move from 'last frames component' frame to 'this frames component' frame
		FVector ChildAnimPos = MeshBases.GetComponentSpaceTransform(ChildIndex).GetTranslation();

		// Desired parent->child offset.
		FVector TargetDelta = (ChildAnimPos - ParentAnimPos);

//.........这里部分代码省略.........

void FAnimNode_Fabrik::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, const FBoneContainer& RequiredBones, FA2CSPose& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{
	// IsValidToEvaluate validated our inputs, we don't need to check pre-requisites again.
	int32 const RootIndex = RootBone.BoneIndex;

	// Update EffectorLocation if it is based off a bone position
	FTransform CSEffectorTransform = FTransform(EffectorTransform);
	FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, CSEffectorTransform, EffectorTransformBone.BoneIndex, EffectorTransformSpace);
	FVector const CSEffectorLocation = CSEffectorTransform.GetLocation();

	// @fixme - we need better to draw widgets and debug information in editor.
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
	if (bEnableDebugDraw)
	{
		// Show end effector position.
		DrawDebugBox(SkelComp->GetWorld(), CSEffectorLocation, FVector(Precision), FColor::Green, true, 0.1f);
		DrawDebugCoordinateSystem(SkelComp->GetWorld(), CSEffectorLocation, CSEffectorTransform.GetRotation().Rotator(), 5.f, true, 0.1f);
	}
#endif

	// Gather all bone indices between root and tip.
	TArray<int32> BoneIndices;
	{
		int32 BoneIndex = TipBone.BoneIndex;
		do 
		{
			BoneIndices.Insert(BoneIndex, 0);
			BoneIndex = RequiredBones.GetParentBoneIndex(BoneIndex);
		} while (BoneIndex != RootIndex);
		BoneIndices.Insert(BoneIndex, 0);
	}

	// Maximum length of skeleton segment at full extension
	float MaximumReach = 0;

	// Gather transforms
	int32 const NumTransforms = BoneIndices.Num();
	OutBoneTransforms.AddUninitialized(NumTransforms);

	// Gather chain links. These are non zero length bones.
	TArray<FABRIKChainLink> Chain;
	Chain.Reserve(NumTransforms);

	// Start with Root Bone
	{
		int32 const & RootBoneIndex = BoneIndices[0];
		FTransform const BoneCSTransform = MeshBases.GetComponentSpaceTransform(RootBoneIndex);
		OutBoneTransforms[0] = FBoneTransform(RootBoneIndex, BoneCSTransform);

		Chain.Add(FABRIKChainLink(BoneCSTransform.GetLocation(), 0.f, RootBoneIndex, 0));
	}

	// Go through remaining transforms
	for (int32 TransformIndex = 1; TransformIndex < NumTransforms; TransformIndex++)
	{
		int32 const & BoneIndex = BoneIndices[TransformIndex];

		FTransform const BoneCSTransform = MeshBases.GetComponentSpaceTransform(BoneIndex);
		FVector const BoneCSPosition = BoneCSTransform.GetLocation();
		OutBoneTransforms[TransformIndex] = FBoneTransform(BoneIndex, BoneCSTransform);

		// Calculate the combined length of this segment of skeleton
		float const BoneLength = FVector::Dist(BoneCSPosition, OutBoneTransforms[TransformIndex-1].Transform.GetLocation());

		if (!FMath::IsNearlyZero(BoneLength))
		{
			Chain.Add(FABRIKChainLink(BoneCSPosition, BoneLength, BoneIndex, TransformIndex));
			MaximumReach += BoneLength;
		}
		else
		{
			// Mark this transform as a zero length child of the last link.
			// It will inherit position and delta rotation from parent link.
			FABRIKChainLink & ParentLink = Chain[Chain.Num()-1];
			ParentLink.ChildZeroLengthTransformIndices.Add(TransformIndex);
		}
	}

	bool bBoneLocationUpdated = false;
	float const RootToTargetDist = FVector::Dist(Chain[0].Position, CSEffectorLocation);
	int32 const NumChainLinks = Chain.Num();

	// FABRIK algorithm - bone translation calculation
	// If the effector is further away than the distance from root to tip, simply move all bones in a line from root to effector location
	if (RootToTargetDist > MaximumReach)
	{
		for (int32 LinkIndex = 1; LinkIndex < NumChainLinks; LinkIndex++)
		{
			FABRIKChainLink const & ParentLink = Chain[LinkIndex - 1];
			FABRIKChainLink & CurrentLink = Chain[LinkIndex];
			CurrentLink.Position = ParentLink.Position + (CSEffectorLocation - ParentLink.Position).GetUnsafeNormal() * CurrentLink.Length;
		}
		bBoneLocationUpdated = true;
	}
	else // Effector is within reach, calculate bone translations to position tip at effector location
	{
		int32 const TipBoneLinkIndex = NumChainLinks - 1;

		// Check distance between tip location and effector location
		float Slop = FVector::Dist(Chain[TipBoneLinkIndex].Position, CSEffectorLocation);
//.........这里部分代码省略.........

void FAnimNode_MMDIK::EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, const FBoneContainer& RequiredBones, FA2CSPose& MeshBases, TArray<FBoneTransform>& OutBoneTransforms)
{

	FVector EffectorLocation(FVector::ZeroVector);
	FVector JointTargetLocation(FVector::ZeroVector);
	TEnumAsByte<enum EBoneControlSpace> EffectorLocationSpace(BCS_BoneSpace);
	TEnumAsByte<enum EBoneControlSpace> JointTargetLocationSpace(BCS_ParentBoneSpace);

	FTransform UpperLimbCSTransform;
	FTransform LowerLimbCSTransform;
	FTransform EndBoneCSTransform;
	FTransform JointTargetTransform;
	const float BlendWeight = FMath::Clamp<float>(1.0f, 0.f, 1.f);

	check(OutBoneTransforms.Num() == 0);

	const FStringAssetReference& AssetRef = MMDExtendAssetRef.ToStringReference();

	UMMDExtendAsset* MMDExtendAssetPtr = MMDExtendAssetRef.Get();

	if (MMDExtendAssetPtr == nullptr)
	{
		UE_LOG(LogAnimation, Warning, TEXT("FAnimNode_MMDIK::EvaluateBoneTransforms: MMExtendPtr is nullptr!"));
		return;
	}

	for (int32 indexIK = 0; indexIK < MMDExtendAssetPtr->IkInfoList.Num(); indexIK++)
	{
		JointTargetLocationSpace = BCS_ParentBoneSpace;

		// Get indices of the lower and upper limb bones and check validity.
		bool bInvalidLimb = false;

		// IKBoneIndex
		const FName EffectorSpaceBoneName = MMDExtendAssetPtr->IkInfoList[indexIK].IKBoneName;
		const int32 EffectorSpaceBoneIndex = MMDExtendAssetPtr->IkInfoList[indexIK].IKBoneIndex;

		const FName EndBoneName = MMDExtendAssetPtr->IkInfoList[indexIK].TargetBoneName;
		const int32 EndBoneIndex = MMDExtendAssetPtr->IkInfoList[indexIK].TargetBoneIndex;

		if (EffectorSpaceBoneName.IsEqual(TEXT("左つま先ＩＫ")) || EffectorSpaceBoneName.IsEqual(TEXT("右つま先ＩＫ")))
		{
			JointTargetLocationSpace = BCS_BoneSpace;
		}

		const int32 LowerLimbIndex = RequiredBones.GetParentBoneIndex(EndBoneIndex);
		if (LowerLimbIndex == INDEX_NONE)
		{
			bInvalidLimb = true;
		}

		int32 UpperLimbIndex = INDEX_NONE;

		if (!bInvalidLimb)
		{
			UpperLimbIndex = RequiredBones.GetParentBoneIndex(LowerLimbIndex);
			if (UpperLimbIndex == INDEX_NONE)
			{
				bInvalidLimb = true;
			}

		}

		if (!bInvalidLimb)
		{
			int32 JointTargetSpaceBoneIndex = INDEX_NONE;

			if (MMDExtendAssetPtr->IkInfoList[indexIK].ikLinkList.Num() > 0)
			{
				JointTargetSpaceBoneIndex = MMDExtendAssetPtr->IkInfoList[indexIK].ikLinkList[0].BoneIndex;
			}

			UpperLimbCSTransform = MeshBases.GetComponentSpaceTransform(UpperLimbIndex);
			LowerLimbCSTransform = MeshBases.GetComponentSpaceTransform(LowerLimbIndex);

			EndBoneCSTransform = MeshBases.GetComponentSpaceTransform(EndBoneIndex);

			FTransform JointTargetTransform(JointTargetLocation);
			FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, JointTargetTransform, JointTargetSpaceBoneIndex, JointTargetLocationSpace);

			const FVector RootPos = UpperLimbCSTransform.GetTranslation();
			const FVector InitialJointPos = LowerLimbCSTransform.GetTranslation();
			const FVector InitialEndPos = EndBoneCSTransform.GetTranslation();

			FTransform EffectorTransform(EffectorLocation);
			FAnimationRuntime::ConvertBoneSpaceTransformToCS(SkelComp, MeshBases, EffectorTransform, EffectorSpaceBoneIndex, EffectorLocationSpace);

			FVector DesiredPos = EffectorTransform.GetTranslation();
			FVector DesiredDelta = DesiredPos - RootPos;
			float DesiredLength = DesiredDelta.Size();

			// Check to handle case where DesiredPos is the same as RootPos.
			FVector	DesiredDir;
			if (DesiredLength < (float)KINDA_SMALL_NUMBER)
			{
				DesiredLength = (float)KINDA_SMALL_NUMBER;
				DesiredDir = FVector(1, 0, 0);
			}
			else
			{
//.........这里部分代码省略.........