~nbriere/GrafreeD.git - Noware Git Repository

..	..	@@ -26,6 +26,544 @@
26	26	public class Mocap extends Object3D
27	27	{
28	28	static final long serialVersionUID = 7437391692559853707L;
	29	+
	30	+ void Fade()
	31	+ {
	32	+ if (currentbones == null \|\| CameraPane.fullreset)
	33	+ return;
	34	+
	35	+ cVector temp = new cVector();
	36	+
	37	+ int numframes = bvh.animation.getNumFrames();
	38	+
	39	+ int b;
	40	+ float[] data;
	41	+ Quat4d quatstart = new Quat4d();
	42	+ Quat4d quatend = new Quat4d();
	43	+ Quat4d quat = new Quat4d();
	44	+ Matrix4d mat4d = new Matrix4d();
	45	+ double[][] rot = new double[4][4];
	46	+ for (b=numbones; --b>=0;) // HIP ROTATION: 0;)
	47	+ {
	48	+ // int hipindex = get(0)._index;
	49	+
	50	+// assert(get(0).get(0)._isHip);
	51	+
	52	+ // if (b == hipindex)
	53	+ // continue;
	54	+
	55	+ data = bvh.animation.getBoneData(b);
	56	+
	57	+ int dof = 3; // data.length/numframes;
	58	+
	59	+ if (b == 0)
	60	+ {
	61	+ dof = 6;
	62	+ }
	63	+ // assert(dof == 3);
	64	+
	65	+ int boneframe3 = (b-1)*3; // dof;
	66	+
	67	+ // System.err.println("Bone #" + b + ": dof = " + dof);
	68	+ int fadein = 45; // 120;
	69	+
	70	+ // if (b == hipindex)
	71	+ // fadein *= 5;
	72	+
	73	+ if (fadein > numframes)
	74	+ fadein = 0; // numframes;
	75	+
	76	+ for (int fi=fadein; --fi>=0;)
	77	+ //for (int f=numframes; --f>=0;)
	78	+ {
	79	+ int f = fi + GetFirstFrame();
	80	+
	81	+ int f3 = f*dof;
	82	+
	83	+ float k = fi;
	84	+
	85	+ k /= fadein - 1;
	86	+
	87	+ if (Float.isNaN(k))
	88	+ k = 1; // 0/0
	89	+
	90	+ k = (float) (-Math.cos(k*Math.PI));
	91	+ k += 1;
	92	+ k /= 2;
	93	+
	94	+ int start = 3;
	95	+ int end = 0;
	96	+
	97	+ if (dof == 6)
	98	+ {
	99	+ start = 6;
	100	+ end = 3;
	101	+ }
	102	+
	103	+ if (b == 0)
	104	+ {
	105	+ for (int i=start; --i>=end;)
	106	+ {
	107	+ //data[f3 + i] += pos[i] - data[frame3 + i];
	108	+// data[f3 + i] = kdata[f3+i] + (1-k)
	109	+// currentbones[boneframe3 + i-end];
	110	+// data[f3 + i] = (float)CurveAngle(data[f3+i], currenthip[i], 1-k);
	111	+ }
	112	+
	113	+ // TODO: translation
	114	+
	115	+// _t1.setIdentity();
	116	+// _t2.setIdentity();
	117	+// _t2.rotZ(currentbones[boneframe3 + start-1-end]);
	118	+// _t1.mul(_t2);
	119	+// _t2.setIdentity();
	120	+// if (b == 0)
	121	+// {
	122	+// _t2.rotY(currentbones[boneframe3 + start-2-end]);
	123	+// _t1.mul(_t2);
	124	+// _t2.setIdentity();
	125	+// _t2.rotX(currentbones[boneframe3 + start-3-end]);
	126	+// }
	127	+// else
	128	+// {
	129	+// _t2.rotX(currentbones[boneframe3 + start-2-end]);
	130	+// _t1.mul(_t2);
	131	+// _t2.setIdentity();
	132	+// _t2.rotY(currentbones[boneframe3 + start-3-end]);
	133	+// }
	134	+// _t1.mul(_t2);
	135	+// _t2.setIdentity();
	136	+//
	137	+// _t1.get(mat4d);
	138	+//
	139	+// mat4d.get(quatstart);
	140	+//
	141	+// _t1.setIdentity();
	142	+// _t2.setIdentity();
	143	+// _t2.rotZ(data[f3 + start-1]);
	144	+// _t1.mul(_t2);
	145	+// _t2.setIdentity();
	146	+// if (b == 0)
	147	+// {
	148	+// _t2.rotY(data[f3 + start-2]);
	149	+// _t1.mul(_t2);
	150	+// _t2.setIdentity();
	151	+// _t2.rotX(data[f3 + start-3]);
	152	+// }
	153	+// else
	154	+// {
	155	+// _t2.rotX(data[f3 + start-2]);
	156	+// _t1.mul(_t2);
	157	+// _t2.setIdentity();
	158	+// _t2.rotY(data[f3 + start-3]);
	159	+// }
	160	+//
	161	+// _t1.mul(_t2);
	162	+// _t2.setIdentity();
	163	+//
	164	+// _t1.get(mat4d);
	165	+//
	166	+// mat4d.get(quatend);
	167	+//
	168	+// double dot = quatstart.x*quatend.x +
	169	+// quatstart.y*quatend.y +
	170	+// quatstart.z*quatend.z +
	171	+// quatstart.w*quatend.w
	172	+// ;
	173	+//
	174	+// if (dot < 0)
	175	+// {
	176	+// quatend.x *= -1;
	177	+// quatend.y *= -1;
	178	+// quatend.z *= -1;
	179	+// quatend.w *= -1;
	180	+// }
	181	+//
	182	+// // k = 1-k;
	183	+//
	184	+// quat.x = (1-k)quatstart.x + kquatend.x;
	185	+// quat.y = (1-k)quatstart.y + kquatend.y;
	186	+// quat.z = (1-k)quatstart.z + kquatend.z;
	187	+// quat.w = (1-k)quatstart.w + kquatend.w;
	188	+//
	189	+// quat.normalize();
	190	+//
	191	+// mat4d.set(quat);
	192	+//
	193	+// cJ3D.SetTransform(rot, mat4d);
	194	+//
	195	+// matrixToEulerXYZ(rot, temp);
	196	+//
	197	+// data[f3 + start-1] = -(float)temp.z;
	198	+//
	199	+// if (b == 0)
	200	+// {
	201	+// data[f3 + start-2] = -(float)temp.y;
	202	+// data[f3 + start-3] = -(float)temp.x;
	203	+// }
	204	+// else
	205	+// {
	206	+// data[f3 + start-2] = -(float)temp.x;
	207	+// data[f3 + start-3] = -(float)temp.y;
	208	+// }
	209	+ }
	210	+ else
	211	+ {
	212	+ for (int i=start; --i>=end;)
	213	+ {
	214	+ //data[f3 + i] += pos[i] - data[frame3 + i];
	215	+// data[f3 + i] = kdata[f3+i] + (1-k)
	216	+// currentbones[boneframe3 + i-end];
	217	+ data[f3 + i] = (float)CurveAngle(data[f3+i], currentbones[boneframe3 + i/-end/], 1-k);
	218	+ }
	219	+ }
	220	+ }
	221	+ }
	222	+ }
	223	+
	224	+ // Updates the toParent matrix to keep the same position and orientation
	225	+ // before resetting the mocap data.
	226	+ void SetGlobalTransform()
	227	+ {
	228	+ //SetCurrentBones(frame);
	229	+
	230	+ cVector temp = new cVector();
	231	+ cVector pos = new cVector();
	232	+ cVector poship = new cVector();
	233	+
	234	+ double angleY = 0;
	235	+ double angleYhip = 0;
	236	+
	237	+ Object3D hip = get(0);
	238	+
	239	+ if (hip.get(0).toParent == null)
	240	+ {
	241	+ hip.get(0).toParent = LA.newMatrix();
	242	+ hip.get(0).fromParent = LA.newMatrix();
	243	+ }
	244	+
	245	+ LA.matConcat(toParent, hip.get(0).toParent, matrix);
	246	+ poship.x = matrix[3][0];
	247	+ poship.y = matrix[3][1];
	248	+ poship.z = matrix[3][2];
	249	+
	250	+ temp.x = 1;
	251	+ temp.y = 0;
	252	+ temp.z = 0;
	253	+
	254	+ LA.xformDir(temp, matrix, temp);
	255	+
	256	+ angleYhip = Math.atan2(-temp.z, temp.x);
	257	+
	258	+ LA.matIdentity(toParent);
	259	+ LA.matYRotate(toParent, angleYhip);
	260	+ LA.matTranslate(toParent, poship.x, poship.y, poship.z);
	261	+
	262	+// LA.matConcat(toParent, hip.get(0).toParent, toParent);
	263	+
	264	+ CameraPane.debugpoint.toParent[3][0] = poship.x;
	265	+ CameraPane.debugpoint.toParent[3][1] = poship.y;
	266	+ CameraPane.debugpoint.toParent[3][2] = poship.z;
	267	+
	268	+ LA.matInvert(toParent, fromParent);
	269	+
	270	+ LA.matIdentity(hip.get(0).toParent);
	271	+ LA.matIdentity(hip.get(0).fromParent);
	272	+
	273	+// if (true)
	274	+// return;
	275	+
	276	+ // Updates hip.get(0).toParent
	277	+ setPose(hip, GetFirstFrame(), bvh.animation.getBoneData(hip._index));
	278	+
	279	+ // A = toParent; B = hip.get(0).toParent
	280	+ // A'*B = A
	281	+ // A' = A * B-1
	282	+
	283	+ poship.x = hip.get(0).toParent[3][0];
	284	+ poship.y = hip.get(0).toParent[3][1];
	285	+ poship.z = hip.get(0).toParent[3][2];
	286	+
	287	+ temp.x = 1;
	288	+ temp.y = 0;
	289	+ temp.z = 0;
	290	+
	291	+ LA.xformDir(temp, hip.get(0).toParent, temp);
	292	+
	293	+ angleYhip = Math.atan2(-temp.z, temp.x);
	294	+
	295	+ LA.matIdentity(matrix);
	296	+ LA.matYRotate(matrix, angleYhip);
	297	+ LA.matTranslate(matrix, poship.x, poship.y, poship.z);
	298	+
	299	+ //LA.matInvert(hip.get(0).toParent, matrix);
	300	+ LA.matInvert(matrix, matrix);
	301	+
	302	+ //LA.matIdentity(matrix);
	303	+ //LA.matTranslate(matrix, -poship.x, -poship.y, -poship.z);
	304	+
	305	+ LA.matConcat(toParent, matrix, toParent);
	306	+
	307	+
	308	+ LA.matConcat(toParent, hip.get(0).toParent, matrix);
	309	+ pos.x = hip.get(0).toParent[3][0];
	310	+ pos.y = hip.get(0).toParent[3][1];
	311	+ pos.z = hip.get(0).toParent[3][2];
	312	+ LA.xformPos(new cVector(), hip.get(0).toParent, pos);
	313	+ LA.xformPos(pos, toParent, pos);
	314	+
	315	+// temp.x = 1;
	316	+// temp.y = 0;
	317	+// temp.z = 0;
	318	+//
	319	+// LA.xformDir(temp, toParent, temp);
	320	+//
	321	+// angleY = Math.atan2(-temp.z, temp.x);
	322	+//
	323	+// LA.matIdentity(toParent);
	324	+// LA.matYRotate(toParent, angleY - angleYhip);
	325	+// LA.matTranslate(toParent, pos.x - poship.x, pos.y - poship.y, pos.z - poship.z);
	326	+
	327	+ CameraPane.debugpoint2.toParent[3][0] = pos.x;
	328	+ CameraPane.debugpoint2.toParent[3][1] = pos.y;
	329	+ CameraPane.debugpoint2.toParent[3][2] = pos.z;
	330	+
	331	+ CameraPane.debugpoint3.toParent[3][0] = poship.x;
	332	+ CameraPane.debugpoint3.toParent[3][1] = poship.y;
	333	+ CameraPane.debugpoint3.toParent[3][2] = poship.z;
	334	+
	335	+ poship.x = toParent[3][0];
	336	+ poship.y = toParent[3][1];
	337	+ poship.z = toParent[3][2];
	338	+
	339	+ CameraPane.debugpoint4.toParent[3][0] = poship.x;
	340	+ CameraPane.debugpoint4.toParent[3][1] = poship.y;
	341	+ CameraPane.debugpoint4.toParent[3][2] = poship.z;
	342	+
	343	+ LA.matInvert(toParent, fromParent);
	344	+ }
	345	+
	346	+ void LoadData()
	347	+ {
	348	+ float[] thedata = bvh.animation.getBoneData(0);
	349	+
	350	+// thedata[0] = 0;
	351	+// thedata[1] = 0;
	352	+// thedata[2] = 0;
	353	+// thedata[3] = 0;
	354	+// thedata[4] = 0;
	355	+// thedata[5] = 0;
	356	+
	357	+ if (true)
	358	+ return;
	359	+
	360	+ for (int b=numbones; --b>=0;)
	361	+ //int b = 0;
	362	+ {
	363	+ thedata = bvh.animation.getBoneData(b);
	364	+
	365	+ int numframes = bvh.animation.getNumFrames();
	366	+
	367	+ int dof = 6; // thedata.length/numframes;
	368	+
	369	+ if (b > 0)
	370	+ dof = 3;
	371	+
	372	+ if (dof != thedata.length/numframes)
	373	+ {
	374	+ System.err.println("Bone #" + b + ": dof = " + dof + " ---> " + (thedata.length/numframes));
	375	+ dof = thedata.length/numframes;
	376	+ }
	377	+
	378	+ //for (int f=numframes; --f>=offset;)
	379	+ int firstframe = GetFirstFrame();
	380	+ for (int f=0; f<numframes-firstframe; f++)
	381	+ {
	382	+ int f3 = f*dof;
	383	+
	384	+ //for (int i=3/dof/; --i>=0;)
	385	+ for (int i=dof; --i>=0;)
	386	+ {
	387	+ //thedata[f3 + i] += thedata[i] - thedata[offset*dof + i];
	388	+ thedata[f3 + i] = thedata[f3 + firstframe*dof + i];
	389	+ }
	390	+ }
	391	+ }
	392	+ }
	393	+
	394	+ void ResetZero()
	395	+ {
	396	+ for (int b=numbones; --b>=0;)
	397	+ {
	398	+ float[] thedata = bvh.animation.getBoneData(b);
	399	+
	400	+ int numframes = bvh.animation.getNumFrames();
	401	+
	402	+ int dof = 6;
	403	+
	404	+ if (b > 0)
	405	+ dof = 3;
	406	+
	407	+ for (int i=dof; --i>=0;)
	408	+ {
	409	+ thedata[i] = 0;
	410	+ }
	411	+ }
	412	+ }
	413	+
	414	+ void SetCurrentBones(int frame)
	415	+ {
	416	+ if (frame == 0)
	417	+ {
	418	+ //frame = 1;
	419	+ }
	420	+
	421	+ if (currentbones == null)
	422	+ {
	423	+ currentbones = new double[(numbones-1)*3];
	424	+ currenthip = new double[6];
	425	+ }
	426	+
	427	+ for (int b=numbones; --b>=1;) // HIP ROTATION: 0;)
	428	+ //int b = 0;
	429	+ {
	430	+ float[] data = bvh.animation.getBoneData(b);
	431	+
	432	+ // int numframes = bvh.animation.getNumFrames();
	433	+
	434	+ int dof = 6; // data.length/numframes;
	435	+
	436	+ if (b > 0)
	437	+ dof = 3;
	438	+
	439	+ //assert(dof == 3);
	440	+
	441	+ // System.err.println("Bone #" + b + ": dof = " + dof);
	442	+ int theframe = // 1; // baseframe;
	443	+ frame;
	444	+
	445	+ int frame3 = theframe*dof;
	446	+ int bone3 = (b-1)*dof;
	447	+
	448	+ int start = 3;
	449	+ int end = 0;
	450	+
	451	+ if (dof == 6)
	452	+ {
	453	+ start = 6;
	454	+ //end = 3;
	455	+ }
	456	+
	457	+ for (int i=start; --i>=end;)
	458	+ {
	459	+ currentbones[bone3 + i/-end/] = data[frame3 + i];
	460	+ }
	461	+ }
	462	+
	463	+ float[] data = bvh.animation.getBoneData(0);
	464	+
	465	+ int dof = 6;
	466	+
	467	+ int theframe = frame;
	468	+
	469	+ int frame3 = theframe*dof;
	470	+
	471	+ int start = 6;
	472	+ int end = 0;
	473	+
	474	+ for (int i=start; --i>=end;)
	475	+ {
	476	+ currenthip[i] = data[frame3 + i];
	477	+ }
	478	+ }
	479	+
	480	+ void SetHipOrientation()
	481	+ {
	482	+ Object3D hip = get(0);
	483	+
	484	+ LA.matConcat(toParent, hip.get(0).toParent, matrix);
	485	+
	486	+ cVector centroid = new cVector();
	487	+ centroid.x = matrix[3][0];
	488	+ centroid.y = matrix[3][1];
	489	+ centroid.z = matrix[3][2];
	490	+ this.getCentroid(centroid, true);
	491	+
	492	+ cVector goal = GetGoal(centroid);
	493	+ if (goal != null)
	494	+ {
	495	+ System.err.println("GOAL change (" + this + "): " + goal + " (was " + goalx + ", " + goalz + ")");
	496	+
	497	+ goalx = goal.x;
	498	+ goalz = goal.z;
	499	+ targetx = targetz = 0;
	500	+ }
	501	+
	502	+ if (goalx == 0 && goalz == 0)
	503	+ {
	504	+ // No target
	505	+ if (ScriptNode.speaker != null)
	506	+ {
	507	+ Object3D sourcenode = GetFileRoot();
	508	+ Object3D speakernode = ScriptNode.speaker.GetFileRoot();
	509	+
	510	+ //System.err.println("speaker is " + speakernode + "; last was " + ScriptNode.lastspeaker);
	511	+
	512	+ Object3D speaker = ScriptNode.speaker;
	513	+
	514	+ if (speakernode == sourcenode)
	515	+ {
	516	+ if (ScriptNode.lastspeaker != null)
	517	+ {
	518	+ speakernode = ScriptNode.lastspeaker.GetFileRoot();
	519	+ speaker = ScriptNode.lastspeaker;
	520	+ }
	521	+ else
	522	+ return;
	523	+ }
	524	+
	525	+ cVector dst = new cVector();
	526	+
	527	+ boolean success = speakernode.getCentroid(dst); // , true);
	528	+
	529	+ if (!success)
	530	+ new Exception().printStackTrace();
	531	+
	532	+ //speakernode.parent.TransformToWorld(dst);
	533	+ //sourcenode.parent.TransformToLocal(dst);
	534	+ this.parent.TransformToLocal(dst);
	535	+
	536	+ goalx = dst.x;
	537	+ goalz = dst.z;
	538	+ }
	539	+ else
	540	+ return;
	541	+ }
	542	+
	543	+ cVector temp = new cVector();
	544	+
	545	+ temp.x = 1;
	546	+ temp.y = 0;
	547	+ temp.z = 0;
	548	+
	549	+ LA.xformDir(temp, matrix, temp);
	550	+
	551	+ double angleYhip = Math.atan2(-temp.z, temp.x);
	552	+
	553	+ double angleYtarget = Math.atan2(goalx - centroid.x, goalz - centroid.z);
	554	+
	555	+ LA.matIdentity(matrix);
	556	+ LA.matTranslate(matrix, -centroid.x, -centroid.y, -centroid.z);
	557	+ double angle = CurveAngle(0, angleYtarget - angleYhip, 1); // 0.1f);
	558	+ LA.matYRotate(matrix, angle);
	559	+ LA.matTranslate(matrix, centroid.x, centroid.y, centroid.z);
	560	+
	561	+ LA.matConcat(matrix, toParent, toParent);
	562	+
	563	+ LA.matInvert(toParent, fromParent);
	564	+
	565	+ CheckForAction(centroid);
	566	+ }
29	567
30	568	void WriteTo(java.io.Writer writer) throws Exception
31	569	{
..	..	@@ -102,8 +640,8 @@
102	640	double targetx;
103	641	double targetz;
104	642
105		- double goalx;
106		- double goalz;
	643	+ double goalx = -20;
	644	+ double goalz = -10;
107	645
108	646	boolean followpath;
109	647
..	..	@@ -460,6 +998,8 @@
460	998	testvect.set(from);
461	999	testvect.sub(fromto.from);
462	1000
	1001	+ testvect.y = 0; // PATCH
	1002	+
463	1003	int factor = 1;
464	1004
465	1005	//if (CameraPane.FAST)
..	..	@@ -501,6 +1041,8 @@
501	1041
502	1042	testvect.set(from);
503	1043	testvect.sub(fromto.from);
	1044	+
	1045	+ testvect.y = 0; // PATCH
504	1046
505	1047	int factor = 1;
506	1048
..	..	@@ -705,7 +1247,7 @@
705	1247	// skip first node: translation
706	1248	// Object3D b = input.get(0);
707	1249
708		- setPose(input, f, data.getBoneData(input._index), false); //, null);
	1250	+ setPose(input, f, data.getBoneData(input._index)); //, false); //, null);
709	1251	}
710	1252
711	1253	//mocap.figure.Bone[] children = b.getChildren();
..	..	@@ -921,7 +1463,7 @@
921	1463	//groundz += sourcenode.parent.toParent[3][2] - posz;
922	1464	}
923	1465
924		- boolean footcontact = CameraPane.FOOTCONTACT; // false;
	1466	+ boolean footcontact = false; // CameraPane.FOOTCONTACT; // false;
925	1467
926	1468	if (footcontact && ground != -123456)
927	1469	{
..	..	@@ -1220,6 +1762,7 @@
1220	1762	src.x = 0;
1221	1763	src.y = 0;
1222	1764	src.z = 0;
	1765	+ LA.xformPos(src, get(0).get(0).toParent, src);
1223	1766	LA.xformPos(src, get(0).toParent, src);
1224	1767	LA.xformPos(src, toParent, src);
1225	1768	// LA.xformPos(src, rotsourcenode.toParent, src);
..	..	@@ -1563,6 +2106,7 @@
1563	2106	toParent = LA.newMatrix();
1564	2107	fromParent = LA.newMatrix();
1565	2108	}
	2109	+
1566	2110	LA.matConcat(toParent, rotsourcenode.toParent, toParent);
1567	2111	LA.matInvert(toParent, fromParent);
1568	2112
..	..	@@ -1698,7 +2242,7 @@
1698	2242	}
1699	2243
1700	2244	if (!smoothed)
1701		- for (int i=4; --i>=0;)
	2245	+ for (int i=0; --i>=0;)
1702	2246	SmoothAnimData(); // much reduces shakiness
1703	2247
1704	2248	smoothed = true;
..	..	@@ -1780,12 +2324,28 @@
1780	2324	if (!live) // aout 2013
1781	2325	return;
1782	2326
1783		- cVector centroid = new cVector();
1784		- cVector floor = new cVector();
1785		-
1786		- Object3D sourcenode = GetFileRoot();
	2327	+ //bvh.skeleton.setPose(f, bvh.animation.getBoneData(bvh.skeleton.getIndex()), null);
	2328	+ try
	2329	+ {
	2330	+ SetPose(GetSkeleton(), bvh.animation, f);
	2331	+ SetCurrentBones(frame);
	2332	+ }
	2333	+ catch (Exception e)
	2334	+ {
	2335	+ e.printStackTrace();
	2336	+ }
1787	2337
1788		- boolean success; // = sourcenode.getCentroid(centroid);
	2338	+ SetHipOrientation();
	2339	+
	2340	+ if (true)
	2341	+ return;
	2342	+
	2343	+ cVector centroid = new cVector();
	2344	+ cVector floor = new cVector();
	2345	+
	2346	+ Object3D sourcenode = GetFileRoot();
	2347	+
	2348	+ boolean success; // = sourcenode.getCentroid(centroid);
1789	2349	// if (!success)
1790	2350	// {
1791	2351	// //assert(success);
..	..	@@ -1793,16 +2353,6 @@
1793	2353	// System.out.println("No centroid for " + sourcenode);
1794	2354	// }
1795	2355
1796		- //bvh.skeleton.setPose(f, bvh.animation.getBoneData(bvh.skeleton.getIndex()), null);
1797		- try
1798		- {
1799		- SetPose(GetSkeleton(), bvh.animation, f);
1800		- }
1801		- catch (Exception e)
1802		- {
1803		- e.printStackTrace();
1804		- }
1805		-
1806	2356	if (sourcenode.parent == null && sourcenode.fileparent == null)
1807	2357	{
1808	2358	// No GFD
..	..	@@ -2050,7 +2600,7 @@
2050	2600	* @param frame
2051	2601	* Frame number
2052	2602	*/
2053		- public void setPose(Object3D bone, int frame, float[] data, boolean fade) //, Point3d offsetTrans)
	2603	+ public void setPose(Object3D bone, int frame, float[] data) //, boolean fade) //, Point3d offsetTrans)
2054	2604	{
2055	2605	if (!live) // aout 2013
2056	2606	return;
..	..	@@ -2058,6 +2608,33 @@
2058	2608	cVector temp = new cVector();
2059	2609	cVector temp0 = new cVector();
2060	2610	double pos[] = new double[3];
	2611	+ double angleY = 0;
	2612	+ double sinY = 0;
	2613	+ double cosY = 0;
	2614	+
	2615	+ if (false) // bone._isRoot && firsttimeafterload && frame > 0)
	2616	+ {
	2617	+ bone.get(0).GlobalTransformInv();
	2618	+
	2619	+ temp.x = bone.get(0).globalTransform[3][0];
	2620	+ temp.y = bone.get(0).globalTransform[3][1];
	2621	+ temp.z = bone.get(0).globalTransform[3][2];
	2622	+
	2623	+ pos[0] = temp.x;
	2624	+ pos[1] = temp.y;
	2625	+ pos[2] = temp.z;
	2626	+
	2627	+ temp.x = 1;
	2628	+ temp.y = 0;
	2629	+ temp.z = 0;
	2630	+
	2631	+ LA.xformDir(temp, bone.get(0).globalTransform, temp);
	2632	+
	2633	+ sinY = temp.z;
	2634	+ cosY = temp.x;
	2635	+
	2636	+ angleY = Math.atan2(-sinY, cosY);
	2637	+ }
2061	2638
2062	2639	// Object3D obj = get(0);
2063	2640	// Object3D gp = this.parent;
..	..	@@ -2188,14 +2765,14 @@
2188	2765	//if (bone._rotationEnabled)
2189	2766	if (//frame > 0 &&
2190	2767	!bone.skipmocap &&
2191		- !bone.name.contains("head") &&
	2768	+ !bone.name.contains("head") // &&
2192	2769	// !bone.name.contains("rFoot") &&
2193	2770	// !bone.name.contains("lFoot") &&
2194		- !bone.name.contains("Pinky") &&
2195		- !bone.name.contains("Ring") &&
2196		- !bone.name.contains("Mid") &&
2197		- !bone.name.contains("Index") &&
2198		- !bone.name.contains("Thumb")
	2771	+// !bone.name.contains("Pinky") &&
	2772	+// !bone.name.contains("Ring") &&
	2773	+// !bone.name.contains("Mid") &&
	2774	+// !bone.name.contains("Index") &&
	2775	+// !bone.name.contains("Thumb")
2199	2776	)
2200	2777	{
2201	2778	//_rotTG.setTransform(_t1);
..	..	@@ -2228,15 +2805,17 @@
2228	2805	// CROWD
2229	2806	//cJ3D.GetTranslation(bone, _trans0);
2230	2807	//_trans.add(_trans0);
2231		- _transTF.setIdentity();
	2808	+ //_transTF.setIdentity();
	2809	+ _transTF.set(_t1);
2232	2810	_transTF.setTranslation(_trans);
2233	2811	// System.err.println("Translate: " + _transTF);
2234	2812	//_transTG.setTransform(_transTF);
2235		- cJ3D.ResetTransform(bone, _transTF, true); // translation node
	2813	+ cJ3D.ResetTransform(bone.get(0), _transTF, true); // translation node
	2814	+ //cJ3D.ResetTransform(bone, _transTF, true); // translation node
2236	2815	}
2237	2816	}
2238	2817
2239		- if (bone._isRoot && firsttimeafterload && frame > 0)
	2818	+ if (false) // bone._isRoot && firsttimeafterload && frame > 0)
2240	2819	{
2241	2820	assert(bone == get(0));
2242	2821
..	..	@@ -2252,17 +2831,17 @@
2252	2831	// LA.matConcat(originmatrixinv, tempmatrixinv, fromParent); // ABC * (B'*C')^-1
2253	2832	//
2254	2833
2255		- Invariants();
2256		- bone.Invariants();
2257		- bone.get(0).Invariants();
2258		- // if (origin == null)
2259		- // origin = null;
2260		- origin.Invariants();
2261		- origin0.Invariants();
	2834	+ Invariants();
	2835	+ bone.Invariants();
	2836	+ bone.get(0).Invariants();
	2837	+ // if (origin == null)
	2838	+ // origin = null;
	2839	+ origin.Invariants();
	2840	+ origin0.Invariants();
2262	2841
2263		-
2264		- LA.matConcat(bone.get(0).fromParent, bone.fromParent, tempmatrix); // B' * C'
2265		- LA.matConcat(origin.toParent, tempmatrix, toParent);
	2842	+
	2843	+//?? LA.matConcat(bone.get(0).fromParent, bone.fromParent, tempmatrix); // B' * C'
	2844	+//?? LA.matConcat(origin.toParent, tempmatrix, toParent);
2266	2845
2267	2846	// matrixToEulerXYZ(toParent, temp);
2268	2847	// matrixToEulerXYZ(bone.get(0).toParent, temp);
..	..	@@ -2296,7 +2875,7 @@
2296	2875	//
2297	2876	// mat4d.get(quat);
2298	2877
2299		- if (true) // hip correction
	2878	+ if (false) // hip correction
2300	2879	{
2301	2880	_t2.setIdentity();
2302	2881
..	..	@@ -2337,13 +2916,13 @@
2337	2916	//????? LA.matConcat(bone.get(0).toParent, bone.toParent, tempmatrix); // B' * C'
2338	2917	// LA.matConcat(origin.fromParent, tempmatrix, fromParent);
2339	2918
2340		- LA.matInvert(toParent, fromParent);
	2919	+//?? LA.matInvert(toParent, fromParent);
2341	2920
2342		- Invariants();
2343		- bone.Invariants();
2344		- bone.get(0).Invariants();
2345		- origin.Invariants();
2346		- origin0.Invariants();
	2921	+ Invariants();
	2922	+ bone.Invariants();
	2923	+ bone.get(0).Invariants();
	2924	+ origin.Invariants();
	2925	+ origin0.Invariants();
2347	2926
2348	2927	// LA.matInvert(fromParent, tempmatrix);
2349	2928	//
..	..	@@ -2364,33 +2943,39 @@
2364	2943	// temp.x = data[0];
2365	2944	// temp.y = data[1];
2366	2945	// temp.z = data[2];
2367		- LA.xformPos(temp, origin0.toParent, temp0);
	2946	+ LA.xformPos(temp, origin0.toParent, temp0); // NU
2368	2947
2369		-// bone.GlobalTransformInv();
2370		-
2371		- temp0.x = bone.globalTransform[3][0];
2372		- temp0.y = bone.globalTransform[3][1];
2373		- temp0.z = bone.globalTransform[3][2];
2374		-
	2948	+// bone.get(0).GlobalTransformInv();
	2949	+//
	2950	+// temp0.x = bone.get(0).globalTransform[3][0];
	2951	+// temp0.y = bone.get(0).globalTransform[3][1];
	2952	+// temp0.z = bone.get(0).globalTransform[3][2];
	2953	+//
2375	2954	// MEGA TEST // june 2014: necessary for precision? otherwise comment works
2376		-fromParent[3][0] = 0;
2377		-fromParent[3][1] = 0;
2378		-fromParent[3][2] = 0;
2379		-LA.matInvert(fromParent, toParent);
	2955	+//fromParent[3][0] = 0;
	2956	+//fromParent[3][1] = 0;
	2957	+//fromParent[3][2] = 0;
	2958	+//LA.matInvert(fromParent, toParent);
2380	2959
2381		- LA.xformPos(temp0, fromParent, temp);
	2960	+ LA.xformPos(temp0, fromParent, temp); // NU
2382	2961	//LA.xformPos(temp, bone.fromParent, temp);
2383	2962	// float[] data;
2384	2963
2385		- pos[0] = temp.x;
2386		- pos[1] = temp.y;
2387		- pos[2] = temp.z;
	2964	+// pos[0] = temp.x;
	2965	+// pos[1] = temp.y;
	2966	+// pos[2] = temp.z;
	2967	+//
	2968	+// temp.x = 1;
	2969	+// temp.y = 0;
	2970	+// temp.z = 0;
	2971	+//
	2972	+// LA.xformDir(temp, bone.get(0).globalTransform, temp);
2388	2973
2389	2974	// CameraPane.selectedpoint.toParent[3][0] = temp0.x;
2390	2975	// CameraPane.selectedpoint.toParent[3][1] = temp0.y;
2391	2976	// CameraPane.selectedpoint.toParent[3][2] = temp0.z;
2392	2977
2393		- int numframes = bvh.animation.getNumFrames();
	2978	+ int numframes = bvh.animation.getNumFrames();
2394	2979
2395	2980	int b = 0;
2396	2981	{
..	..	@@ -2398,12 +2983,12 @@
2398	2983
2399	2984	int dof = 6; /// data.length/numframes;
2400	2985
2401		- // july 2014
2402		- if (dof != data.length/numframes)
2403		- {
2404		- System.err.println("Bone #" + b + ": dof = " + dof + " ---> " + (data.length/numframes));
2405		- dof = data.length/numframes;
2406		- }
	2986	+ // july 2014
	2987	+ if (dof != data.length/numframes)
	2988	+ {
	2989	+ System.err.println("Bone #" + b + ": dof = " + dof + " ---> " + (data.length/numframes));
	2990	+ dof = data.length/numframes;
	2991	+ }
2407	2992
2408	2993
2409	2994	int theframe = 0; // baseframe;
..	..	@@ -2455,17 +3040,26 @@
2455	3040	// }
2456	3041	// }
2457	3042
2458		- data[f3 + i] += pos[i] - data[frame3 + i];
	3043	+ data[f3 + i] += /pos[i]/ - data[frame3 + i];
2459	3044
2460	3045	// if (f < 3)
2461	3046	// {
2462	3047	// System.out.print(data[f3 + i] + " ");
2463	3048	// }
2464	3049	}
2465		-// if (f < 3)
2466		-// {
2467		-// System.out.println();
2468		-// }
	3050	+
	3051	+ double t1 = data[f3 + 0];
	3052	+ double t2 = data[f3 + 2];
	3053	+
	3054	+ data[f3 + 0] = (float)(cosYt1 - sinYt2);
	3055	+ data[f3 + 2] = (float)(sinYt1 + cosYt2);
	3056	+
	3057	+ for (int i=3/dof/; --i>=0;)
	3058	+ {
	3059	+ data[f3 + i] += pos[i];
	3060	+ }
	3061	+
	3062	+ data[f3 + 4] += angleY - data[frame3 + 4];
2469	3063	}
2470	3064	}
2471	3065
..	..	@@ -2479,186 +3073,17 @@
2479	3073	// temp.y = data[1];
2480	3074	// temp.z = data[2];
2481	3075
2482		- if (fade && currentbones != null && !CameraPane.fullreset)
2483		- {
2484		- Quat4d quatstart = new Quat4d();
2485		- Quat4d quatend = new Quat4d();
2486		- Quat4d quat = new Quat4d();
2487		- Matrix4d mat4d = new Matrix4d();
2488		- double[][] rot = new double[4][4];
2489		-
2490		- for (b=numbones; --b>=1;) // HIP ROTATION: 0;)
2491		- {
2492		- int hipindex = get(0)._index;
2493		-
2494		-// assert(get(0).get(0)._isHip);
2495		-
2496		- // if (b == hipindex)
2497		- // continue;
2498		-
2499		- data = bvh.animation.getBoneData(b);
2500		-
2501		- int dof = 3; // data.length/numframes;
2502		-
2503		- // assert(dof == 3);
2504		-
2505		- int boneframe3 = b*3; // dof;
2506		-
2507		- // System.err.println("Bone #" + b + ": dof = " + dof);
2508		- int fadein = 45; // 120;
2509		-
2510		- // if (b == hipindex)
2511		- // fadein *= 5;
2512		-
2513		- if (fadein > numframes)
2514		- fadein = 0; // numframes;
2515		-
2516		- for (int fi=fadein; --fi>=0;)
2517		- //for (int f=numframes; --f>=0;)
2518		- {
2519		- int f = fi + GetFirstFrame();
2520		-
2521		- int f3 = f*dof;
2522		-
2523		- float k = fi;
2524		-
2525		- k /= fadein - 1;
2526		-
2527		- if (Float.isNaN(k))
2528		- k = 1; // 0/0
2529		-
2530		- k = (float) (-Math.cos(k*Math.PI));
2531		- k += 1;
2532		- k /= 2;
2533		-
2534		- int start = 3;
2535		- int end = 0;
2536		-
2537		- if (dof == 6)
2538		- {
2539		- start = 6;
2540		- end = 3;
2541		- }
2542		-
2543		- if (b == 0)
2544		- {
2545		- _t1.setIdentity();
2546		- _t2.setIdentity();
2547		- _t2.rotZ(currentbones[boneframe3 + start-1-end]);
2548		- _t1.mul(_t2);
2549		- _t2.setIdentity();
2550		- if (b == 0)
2551		- {
2552		- _t2.rotY(currentbones[boneframe3 + start-2-end]);
2553		- _t1.mul(_t2);
2554		- _t2.setIdentity();
2555		- _t2.rotX(currentbones[boneframe3 + start-3-end]);
2556		- }
2557		- else
2558		- {
2559		- _t2.rotX(currentbones[boneframe3 + start-2-end]);
2560		- _t1.mul(_t2);
2561		- _t2.setIdentity();
2562		- _t2.rotY(currentbones[boneframe3 + start-3-end]);
2563		- }
2564		- _t1.mul(_t2);
2565		- _t2.setIdentity();
2566		-
2567		- _t1.get(mat4d);
2568		-
2569		- mat4d.get(quatstart);
2570		-
2571		- _t1.setIdentity();
2572		- _t2.setIdentity();
2573		- _t2.rotZ(data[f3 + start-1]);
2574		- _t1.mul(_t2);
2575		- _t2.setIdentity();
2576		- if (b == 0)
2577		- {
2578		- _t2.rotY(data[f3 + start-2]);
2579		- _t1.mul(_t2);
2580		- _t2.setIdentity();
2581		- _t2.rotX(data[f3 + start-3]);
2582		- }
2583		- else
2584		- {
2585		- _t2.rotX(data[f3 + start-2]);
2586		- _t1.mul(_t2);
2587		- _t2.setIdentity();
2588		- _t2.rotY(data[f3 + start-3]);
2589		- }
2590		-
2591		- _t1.mul(_t2);
2592		- _t2.setIdentity();
2593		-
2594		- _t1.get(mat4d);
2595		-
2596		- mat4d.get(quatend);
2597		-
2598		- double dot = quatstart.x*quatend.x +
2599		- quatstart.y*quatend.y +
2600		- quatstart.z*quatend.z +
2601		- quatstart.w*quatend.w
2602		- ;
2603		-
2604		- if (dot < 0)
2605		- {
2606		- quatend.x *= -1;
2607		- quatend.y *= -1;
2608		- quatend.z *= -1;
2609		- quatend.w *= -1;
2610		- }
2611		-
2612		- // k = 1-k;
2613		-
2614		- quat.x = (1-k)quatstart.x + kquatend.x;
2615		- quat.y = (1-k)quatstart.y + kquatend.y;
2616		- quat.z = (1-k)quatstart.z + kquatend.z;
2617		- quat.w = (1-k)quatstart.w + kquatend.w;
2618		-
2619		- quat.normalize();
2620		-
2621		- mat4d.set(quat);
2622		-
2623		- cJ3D.SetTransform(rot, mat4d);
2624		-
2625		- matrixToEulerXYZ(rot, temp);
2626		-
2627		- data[f3 + start-1] = -(float)temp.z;
2628		-
2629		- if (b == 0)
2630		- {
2631		- data[f3 + start-2] = -(float)temp.y;
2632		- data[f3 + start-3] = -(float)temp.x;
2633		- }
2634		- else
2635		- {
2636		- data[f3 + start-2] = -(float)temp.x;
2637		- data[f3 + start-3] = -(float)temp.y;
2638		- }
2639		- }
2640		- else
2641		- {
2642		- for (int i=start; --i>=end;)
2643		- {
2644		- //data[f3 + i] += pos[i] - data[frame3 + i];
2645		- // data[f3 + i] = kdata[f3+i] + (1-k)
2646		- // currentbones[boneframe3 + i-end];
2647		- data[f3 + i] = (float)CurveAngle(data[f3+i], currentbones[boneframe3 + i-end], 1-k);
2648		- }
2649		- }
2650		-
2651		- }
2652		- }
2653		-
2654		- }
	3076	+// if (fade && currentbones != null && !CameraPane.fullreset)
	3077	+// {
	3078	+// Fade();
	3079	+// }
2655	3080	}
2656		-
	3081	+
2657	3082	if (false) // doesn't change anything bone._isRoot)
2658	3083	{
2659	3084	// Reset orientation
2660	3085	_t2.setIdentity();
2661		-
	3086	+
2662	3087	double tx = bone.toParent[3][0];
2663	3088	double ty = bone.toParent[3][1];
2664	3089	double tz = bone.toParent[3][2];
..	..	@@ -2667,9 +3092,9 @@
2667	3092	temp.y = 0;
2668	3093	temp.z = 0;
2669	3094	LA.xformDir(temp, bone.toParent, temp);
2670		-
	3095	+
2671	3096	double angle = Math.atan2(-temp.z, temp.x);
2672		-
	3097	+
2673	3098	_t2.rotY(angle);
2674	3099	// _t1.setIdentity();
2675	3100	// _t1.rotX(temp.x);
..	..	@@ -2682,56 +3107,21 @@
2682	3107	// _t1.setIdentity();
2683	3108	// _t1.rotZ(temp.z);
2684	3109	// _t2.mul(_t1);
2685		-
	3110	+
2686	3111	cJ3D.ResetTransform(bone, _t2, false);
2687		-
	3112	+
2688	3113	bone.toParent[3][0] = tx;
2689	3114	bone.toParent[3][1] = ty;
2690	3115	bone.toParent[3][2] = tz;
2691	3116	}
2692	3117	}
2693	3118
2694		- if (currentbones == null)
2695		- currentbones = new double[numbones*3];
2696		-
2697		- for (int b=numbones; --b>=1;) // 0;)
2698		- //int b = 0;
2699		- {
2700		- data = bvh.animation.getBoneData(b);
2701		-
2702		- int numframes = bvh.animation.getNumFrames();
2703		-
2704		- int dof = 6; // data.length/numframes;
2705		-
2706		- if (b > 0)
2707		- dof = 3;
2708		-
2709		- //assert(dof == 3);
2710		-
2711		- // System.err.println("Bone #" + b + ": dof = " + dof);
2712		- int theframe = // 1; // baseframe;
2713		- frame;
2714		-
2715		- int frame3 = theframe*dof;
2716		- int bone3 = b*3; // dof;
2717		-
2718		- int start = 3;
2719		- int end = 0;
2720		-
2721		- if (dof == 6)
2722		- {
2723		- start = 6;
2724		- end = 3;
2725		- }
2726		- for (int i=start; --i>=end;)
2727		- {
2728		- currentbones[bone3 + i-end] = data[frame3 + i];
2729		- }
2730		- }
	3119	+ // SetCurrentBones(frame);
2731	3120	}
2732	3121	}
2733	3122
2734		- static int offset = 1; // 5; // 10; // 5; // 100; // skip initial "T"
	3123	+ // skip initial "T"
	3124	+ static int offset = 1; // 5; // 10; // 5; // 100;
2735	3125
2736	3126	void ReadBVH()
2737	3127	{
..	..	@@ -2760,14 +3150,14 @@
2760	3150
2761	3151	void Reset()
2762	3152	{
2763		- if (fullname != null)
2764		- ReadBVH();
	3153	+// if (fullname != null)
	3154	+// ReadBVH();
2765	3155
2766	3156	Object3D hip = get(0);
2767	3157
2768	3158	// assert(obj.name.equals("hip"));
2769	3159
2770		- Object3D rot = hip.get(0);
	3160	+ //Object3D rot = hip.get(0);
2771	3161
2772	3162	// assert(obj.name == null); // .equals("hip#"));
2773	3163
..	..	@@ -2777,8 +3167,8 @@
2777	3167	hip.fromParent = LA.newMatrix();
2778	3168	}
2779	3169
2780		- hip.toParent[3][0] = hip.toParent[3][1] = hip.toParent[3][2] = 0;
2781		- hip.fromParent[3][0] = hip.fromParent[3][1] = hip.fromParent[3][2] = 0;
	3170	+ //hip.toParent[3][0] = hip.toParent[3][1] = hip.toParent[3][2] = 0;
	3171	+ //hip.fromParent[3][0] = hip.fromParent[3][1] = hip.fromParent[3][2] = 0;
2782	3172
2783	3173	if (toParent == null)
2784	3174	{
..	..	@@ -2790,25 +3180,28 @@
2790	3180	LA.matIdentity(fromParent);
2791	3181	// LA.matIdentity(hip.toParent);
2792	3182	// LA.matIdentity(hip.fromParent);
2793		- if (rot.toParent == null)
2794		- {
2795		- // june 2014
2796		- rot.toParent = LA.newMatrix();
2797		- rot.fromParent = LA.newMatrix();
2798		- }
2799		- LA.matIdentity(rot.toParent);
2800		- LA.matIdentity(rot.fromParent);
	3183	+// if (rot.toParent == null)
	3184	+// {
	3185	+// // june 2014
	3186	+// rot.toParent = LA.newMatrix();
	3187	+// rot.fromParent = LA.newMatrix();
	3188	+// }
	3189	+// LA.matIdentity(rot.toParent);
	3190	+// LA.matIdentity(rot.fromParent);
2801	3191
2802	3192	// july 2014
2803		- goalx = goalz = 0;
	3193	+// goalx = goalz = 0;
2804	3194	targetx = targetz = 0;
2805	3195
2806		- SetPositionDelta(true, true, true, false);
	3196	+ //SetPositionDelta(true, true, true, false);
	3197	+// LoadData();
	3198	+// Rewind();
2807	3199
2808	3200	baseframe = frame = 0; // T pose. No offset.
2809	3201
2810	3202	// aout 2013 endframe = 0; // june 2013
2811	3203
	3204	+ //ResetZero();
2812	3205	setPose(frame);
2813	3206	}
2814	3207
..	..	@@ -2840,7 +3233,7 @@
2840	3233	baseframe += step;
2841	3234
2842	3235	//frame = baseframe;
2843		- frame += step;
	3236	+ //frame += step;
2844	3237
2845	3238	// if (frame != baseframe)
2846	3239	// {
..	..	@@ -2854,6 +3247,7 @@
2854	3247	if (lastframetest == 0)
2855	3248	lastframetest = bvh.animation.getNumFrames();
2856	3249
	3250	+ // WARNING: RESET DESTROYS EVERYTHING
2857	3251	if (baseframe >= lastframetest) // july 2013 // - GetFirstFrame())
2858	3252	{
2859	3253	System.out.println("MOCAP reset: " + this.GetFileRoot() +
..	..	@@ -2879,7 +3273,10 @@
2879	3273	{
2880	3274	bvh = ((Mocap)support.get(mocapsupport++ % support.Size())).bvh;
2881	3275
2882		- SetPositionDelta(false, true, true, true);
	3276	+ // SetPositionDelta(false, true, true, true);
	3277	+ LoadData();
	3278	+ Rewind();
	3279	+ Fade();
2883	3280	}
2884	3281	catch (Exception e)
2885	3282	{
..	..	@@ -2888,13 +3285,17 @@
2888	3285	}
2889	3286	}
2890	3287	}
	3288	+
	3289	+ frame = GetFirstFrame();
2891	3290	}
	3291	+ else
	3292	+ frame += step;
2892	3293
2893	3294	//SetPositionDelta(false);
2894	3295
2895		- if (frame >= bvh.animation.getNumFrames())
2896		- //baseframe =
2897		- frame = GetFirstFrame(); // 0; // offset; // initial point
	3296	+// if (frame >= bvh.animation.getNumFrames())
	3297	+// //baseframe =
	3298	+// frame = GetFirstFrame(); // 0; // offset; // initial point
2898	3299
2899	3300	//System.err.println("frame = " + frame);
2900	3301	if (lastframe != 0)
..	..	@@ -3192,6 +3593,8 @@
3192	3593	//static
3193	3594	transient
3194	3595	double[] currentbones;
	3596	+ double[] currenthip;
	3597	+
3195	3598	transient boolean inbetween;
3196	3599
3197	3600	void SetPositionDelta(boolean reset, boolean rewind, boolean load, boolean fade)
..	..	@@ -3202,38 +3605,9 @@
3202	3605	//assert(dim == numframes*6);
3203	3606
3204	3607	if (load)
3205		- for (int b=numbones; --b>=0;)
3206		- //int b = 0;
3207		- {
3208		- float[] thedata = bvh.animation.getBoneData(b);
3209		-
3210		- int numframes = bvh.animation.getNumFrames();
3211		-
3212		- int dof = 6; // thedata.length/numframes;
3213		-
3214		- if (b > 0)
3215		- dof = 3;
3216		-
3217		- if (dof != thedata.length/numframes)
3218		- {
3219		- System.err.println("Bone #" + b + ": dof = " + dof + " ---> " + (thedata.length/numframes));
3220		- dof = thedata.length/numframes;
3221		- }
3222		-
3223		- //for (int f=numframes; --f>=offset;)
3224		- int firstframe = GetFirstFrame();
3225		- for (int f=0; f<numframes-firstframe; f++)
3226		- {
3227		- int f3 = f*dof;
3228		-
3229		- //for (int i=3/dof/; --i>=0;)
3230		- for (int i=dof; --i>=0;)
3231		- {
3232		- //thedata[f3 + i] += thedata[i] - thedata[offset*dof + i];
3233		- thedata[f3 + i] = thedata[f3 + firstframe*dof + i];
3234		- }
3235		- }
3236		- }
	3608	+ {
	3609	+ LoadData();
	3610	+ }
3237	3611
3238	3612	// assert(thedata[0] == 0);
3239	3613	// assert(thedata[1] == 0);
..	..	@@ -3243,11 +3617,11 @@
3243	3617	// assert(thedata[7] == 0);
3244	3618	// assert(thedata[8] == 0);
3245	3619
3246		- Object3D obj = get(0);
	3620	+ Object3D hip = get(0);
3247	3621
3248	3622	// assert(obj.name.equals("hip"));
3249	3623
3250		- Object3D rot = obj.get(0);
	3624	+ Object3D rot = hip.get(0);
3251	3625
3252	3626	// if (toParent == null)
3253	3627	// {
..	..	@@ -3259,7 +3633,7 @@
3259	3633	// // assert(obj.name == null); // .equals("hip#"));
3260	3634
3261	3635	Invariants();
3262		- obj.Invariants();
	3636	+ hip.Invariants();
3263	3637	rot.Invariants();
3264	3638
3265	3639	if (origin == null)
..	..	@@ -3280,16 +3654,16 @@
3280	3654	fromParent = LA.newMatrix();
3281	3655	}
3282	3656
3283		- if (obj.toParent == null) // june 2014
	3657	+ if (hip.toParent == null) // june 2014
3284	3658	{
3285		- obj.toParent = LA.newMatrix();
3286		- obj.fromParent = LA.newMatrix();
	3659	+ hip.toParent = LA.newMatrix();
	3660	+ hip.fromParent = LA.newMatrix();
3287	3661	}
3288	3662
3289		- LA.matConcat(toParent, obj.toParent, origin0.toParent); // AB
	3663	+ LA.matConcat(toParent, hip.toParent, origin0.toParent); // AB
3290	3664	Object3D gp = this.parent;
3291	3665	this.parent = null;
3292		- obj.GlobalTransformInv();
	3666	+ hip.GlobalTransformInv();
3293	3667	this.parent = gp;
3294	3668
3295	3669	if (rot.toParent == null)
..	..	@@ -3312,41 +3686,41 @@
3312	3686	LA.matInvert(origin.toParent, origin.fromParent);
3313	3687
3314	3688	Invariants();
3315		- obj.Invariants();
	3689	+ hip.Invariants();
3316	3690	rot.Invariants();
3317	3691	origin.Invariants();
3318	3692	origin0.Invariants();
3319	3693
3320		- firsttimeafterload = true;
	3694	+ firsttimeafterload = false; // true;
3321	3695
3322	3696	if (rewind)
3323	3697	Rewind();
3324	3698
3325		- setPose(obj, frame, bvh.animation.getBoneData(obj._index), fade);
	3699	+ setPose(hip, frame, bvh.animation.getBoneData(hip._index)); //, fade);
3326	3700
3327		- if (true)
3328		- return;
	3701	+ if (true)
	3702	+ return;
3329	3703
3330	3704	double pos[] = new double[6];
3331	3705
3332	3706	if (!reset)
3333	3707	{
3334		- assert(obj.tx == obj.toParent[3][0]);
3335		- assert(obj.ty == obj.toParent[3][1]);
3336		- assert(obj.tz == obj.toParent[3][2]);
	3708	+ assert(hip.tx == hip.toParent[3][0]);
	3709	+ assert(hip.ty == hip.toParent[3][1]);
	3710	+ assert(hip.tz == hip.toParent[3][2]);
3337	3711
3338		- pos[0] = obj.tx; // obj.toParent[3][0];
3339		- pos[1] = obj.ty; // obj.toParent[3][1];
3340		- pos[2] = obj.tz; // obj.toParent[3][2];
3341		- pos[3] = obj.rz;
3342		- pos[4] = obj.ry;
3343		- pos[5] = obj.rx;
	3712	+ pos[0] = hip.tx; // obj.toParent[3][0];
	3713	+ pos[1] = hip.ty; // obj.toParent[3][1];
	3714	+ pos[2] = hip.tz; // obj.toParent[3][2];
	3715	+ pos[3] = hip.rz;
	3716	+ pos[4] = hip.ry;
	3717	+ pos[5] = hip.rx;
3344	3718	}
3345	3719
3346	3720	cVector temp = new cVector();
3347		- temp.x = obj.globalTransform[3][0];
3348		- temp.y = obj.globalTransform[3][1];
3349		- temp.z = obj.globalTransform[3][2];
	3721	+ temp.x = hip.globalTransform[3][0];
	3722	+ temp.y = hip.globalTransform[3][1];
	3723	+ temp.z = hip.globalTransform[3][2];
3350	3724	// LA.xformPos(temp, origin0.toParent, temp);
3351	3725	// System.err.println("POS0 = " + temp.x + ", " + temp.y + ", " + temp.z + ";");
3352	3726
..	..	@@ -3430,7 +3804,7 @@
3430	3804	}
3431	3805
3432	3806	// Rewind();
3433		- setPose(obj, frame, bvh.animation.getBoneData(obj._index), true);
	3807	+ setPose(hip, frame, bvh.animation.getBoneData(hip._index)); // , true);
3434	3808	}
3435	3809
3436	3810	void Rewind()