~nbriere/GrafreeD.git - Noware Git Repository

..	..	@@ -26,6 +26,574 @@
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.debugpointG.toParent[3][0] = poship.x;
	265	+ CameraPane.debugpointG.toParent[3][1] = poship.y;
	266	+ CameraPane.debugpointG.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.debugpointP.toParent[3][0] = pos.x;
	328	+ CameraPane.debugpointP.toParent[3][1] = pos.y;
	329	+ CameraPane.debugpointP.toParent[3][2] = pos.z;
	330	+
	331	+ CameraPane.debugpointC.toParent[3][0] = poship.x;
	332	+ CameraPane.debugpointC.toParent[3][1] = poship.y;
	333	+ CameraPane.debugpointC.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.debugpointR.toParent[3][0] = poship.x;
	340	+ CameraPane.debugpointR.toParent[3][1] = poship.y;
	341	+ CameraPane.debugpointR.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	+ static cVector centroid = new cVector();
	481	+ static cVector mocaporigin = new cVector();
	482	+
	483	+ void SetHipOrientation()
	484	+ {
	485	+ Object3D hip = get(0);
	486	+
	487	+ if (toParent == null)
	488	+ {
	489	+ toParent = LA.newMatrix();
	490	+ fromParent = LA.newMatrix();
	491	+ }
	492	+
	493	+ LA.matConcat(toParent, hip.get(0).toParent, matrix);
	494	+
	495	+ mocaporigin.x = matrix[3][0];
	496	+ mocaporigin.y = matrix[3][1];
	497	+ mocaporigin.z = matrix[3][2];
	498	+
	499	+ centroid.x = matrix[3][0];
	500	+ centroid.y = matrix[3][1];
	501	+ centroid.z = matrix[3][2];
	502	+// this.getCentroid(centroid, true);
	503	+
	504	+ CameraPane.debugpointG.name = "";
	505	+ CameraPane.debugpointG.toParent[3][0] = mocaporigin.x;
	506	+ CameraPane.debugpointG.toParent[3][1] = mocaporigin.y;
	507	+ CameraPane.debugpointG.toParent[3][2] = mocaporigin.z;
	508	+
	509	+ CameraPane.debugpointP.name = "";
	510	+ CameraPane.debugpointP.toParent[3][0] = centroid.x;
	511	+ CameraPane.debugpointP.toParent[3][1] = centroid.y;
	512	+ CameraPane.debugpointP.toParent[3][2] = centroid.z;
	513	+
	514	+ cVector goal = GetGoal(centroid);
	515	+ if (goal != null)
	516	+ {
	517	+ System.err.println("GOAL change (" + this + "): " + goal + " (was " + goalposx + ", " + goalposz + ")");
	518	+
	519	+ goalposx = goal.x;
	520	+ goalposz = goal.z;
	521	+ targetdirx = targetdirz = 0;
	522	+ }
	523	+
	524	+ if (goalposx == 0 && goalposz == 0)
	525	+ {
	526	+ // No target
	527	+ if (ScriptNode.speaker != null)
	528	+ {
	529	+ Object3D sourcenode = GetFileRoot();
	530	+ Object3D speakernode = ScriptNode.speaker.GetFileRoot();
	531	+
	532	+ //System.err.println("speaker is " + speakernode + "; last was " + ScriptNode.lastspeaker);
	533	+
	534	+ Object3D speaker = ScriptNode.speaker;
	535	+
	536	+ if (speakernode == sourcenode)
	537	+ {
	538	+ if (ScriptNode.lastspeaker != null)
	539	+ {
	540	+ speakernode = ScriptNode.lastspeaker.GetFileRoot();
	541	+ speaker = ScriptNode.lastspeaker;
	542	+ }
	543	+ else
	544	+ return;
	545	+ }
	546	+
	547	+ cVector dst = new cVector();
	548	+
	549	+ boolean success = speakernode.getCentroid(dst); // , true);
	550	+
	551	+ if (!success)
	552	+ new Exception().printStackTrace();
	553	+
	554	+ //speakernode.parent.TransformToWorld(dst);
	555	+ //sourcenode.parent.TransformToLocal(dst);
	556	+ this.parent.TransformToLocal(dst);
	557	+
	558	+ goalposx = dst.x;
	559	+ goalposz = dst.z;
	560	+ }
	561	+ else
	562	+ return;
	563	+ }
	564	+
	565	+ cVector temp = new cVector();
	566	+
	567	+ temp.x = 1;
	568	+ temp.y = 0;
	569	+ temp.z = 0;
	570	+
	571	+ LA.xformDir(temp, matrix, temp);
	572	+
	573	+ double angleYhip = Math.atan2(-temp.z, temp.x);
	574	+
	575	+ double angleYtarget = Math.atan2(goalposx - centroid.x, goalposz - centroid.z);
	576	+
	577	+ LA.matIdentity(matrix);
	578	+ LA.matTranslate(matrix, -centroid.x, -centroid.y, -centroid.z);
	579	+ double angle = CurveAngle(0, angleYtarget - angleYhip, 0.1f);
	580	+ LA.matYRotate(matrix, angle);
	581	+ LA.matTranslate(matrix, centroid.x, centroid.y, centroid.z);
	582	+
	583	+ LA.matConcat(matrix, toParent, toParent);
	584	+
	585	+ LA.matInvert(toParent, fromParent);
	586	+
	587	+ LA.matConcat(toParent, hip.get(0).toParent, matrix);
	588	+
	589	+ centroid.x = matrix[3][0];
	590	+ centroid.y = matrix[3][1];
	591	+ centroid.z = matrix[3][2];
	592	+
	593	+ double dist = LA.distance(centroid, mocaporigin);
	594	+
	595	+ CheckForAction(centroid);
	596	+ }
29	597
30	598	void WriteTo(java.io.Writer writer) throws Exception
31	599	{
..	..	@@ -76,6 +644,24 @@
76	644	// transient // aout 2013
77	645	Object3D skeleton;
78	646
	647	+ void ExtractBigData(Object3D o)
	648	+ {
	649	+ super.ExtractBigData(o);
	650	+
	651	+ o.bvh = this.bvh;
	652	+ o.skeleton = this.skeleton;
	653	+ this.bvh = null;
	654	+ this.skeleton = null;
	655	+ }
	656	+
	657	+ void RestoreBigData(Object3D o)
	658	+ {
	659	+ super.RestoreBigData(o);
	660	+
	661	+ this.bvh = o.bvh;
	662	+ this.skeleton = o.skeleton;
	663	+ }
	664	+
79	665	boolean smoothed;
80	666
81	667	//boolean touched;
..	..	@@ -99,11 +685,11 @@
99	685	double pinx;
100	686	double pinz;
101	687
102		- double targetx;
103		- double targetz;
	688	+ double targetdirx;
	689	+ double targetdirz;
104	690
105		- double goalx;
106		- double goalz;
	691	+ double goalposx = 0; // -20;
	692	+ double goalposz = 0; // -10;
107	693
108	694	boolean followpath;
109	695
..	..	@@ -174,7 +760,7 @@
174	760	scriptactions.clear();
175	761	}
176	762
177		- static double EPSACTION = 0.1; // 0.075; // 0.1;
	763	+ static double EPSACTION = 0.1; // 0.075; // 0.1;Came
178	764
179	765	void AddFromTo(cVector from, cVector to)
180	766	{
..	..	@@ -359,7 +945,7 @@
359	945	// //GetFileRoot();
360	946
361	947	// sept 2014: //
362		- GrafreeD.RENDERME = 3; // patch for Merge objects
	948	+ Grafreed.RENDERME = 3; // patch for Merge objects
363	949	float[] thedata = bvh.animation.getBoneData(0);
364	950
365	951	os.x = (float) (path.get(i).toParent[3][0]); // - thedata[frame*6]);
..	..	@@ -460,6 +1046,8 @@
460	1046	testvect.set(from);
461	1047	testvect.sub(fromto.from);
462	1048
	1049	+ testvect.y = 0; // PATCH
	1050	+
463	1051	int factor = 1;
464	1052
465	1053	//if (CameraPane.FAST)
..	..	@@ -501,6 +1089,8 @@
501	1089
502	1090	testvect.set(from);
503	1091	testvect.sub(fromto.from);
	1092	+
	1093	+ testvect.y = 0; // PATCH
504	1094
505	1095	int factor = 1;
506	1096
..	..	@@ -705,7 +1295,7 @@
705	1295	// skip first node: translation
706	1296	// Object3D b = input.get(0);
707	1297
708		- setPose(input, f, data.getBoneData(input._index), false); //, null);
	1298	+ setPose(input, f, data.getBoneData(input._index)); //, false); //, null);
709	1299	}
710	1300
711	1301	//mocap.figure.Bone[] children = b.getChildren();
..	..	@@ -736,6 +1326,7 @@
736	1326
737	1327	void SetPosition(Object3D sourcenode, cVector floor, long floorid, cVector centroid)
738	1328	{
	1329	+ assert(false);
739	1330	//assert(CameraPane.drawMode == CameraPane.SHADOW);
740	1331
741	1332	Object3D transformnode = new Object3D();
..	..	@@ -921,7 +1512,7 @@
921	1512	//groundz += sourcenode.parent.toParent[3][2] - posz;
922	1513	}
923	1514
924		- boolean footcontact = CameraPane.FOOTCONTACT; // false;
	1515	+ boolean footcontact = false; // CameraPane.FOOTCONTACT; // false;
925	1516
926	1517	if (footcontact && ground != -123456)
927	1518	{
..	..	@@ -939,9 +1530,9 @@
939	1530	groundid = floorid;
940	1531
941	1532	// green
942		- CameraPane.debugpoint.toParent[3][0] = groundx;
943		- CameraPane.debugpoint.toParent[3][1] = floor.y;
944		- CameraPane.debugpoint.toParent[3][2] = groundz;
	1533	+ CameraPane.debugpointG.toParent[3][0] = groundx;
	1534	+ CameraPane.debugpointG.toParent[3][1] = floor.y;
	1535	+ CameraPane.debugpointG.toParent[3][2] = groundz;
945	1536
946	1537	if (true) // slow && stepout && onein)
947	1538	{
..	..	@@ -952,7 +1543,7 @@
952	1543	// mywave = currentwave++;
953	1544	// }
954	1545	// sound
955		- cVector eye = CameraPane.theRenderer.eyeCamera.location;
	1546	+ cVector eye = Globals.theRenderer.EyeCamera().location;
956	1547
957	1548	// if (sourcenode.parent.parent != null)
958	1549	// sourcenode.parent.parent.TransformToWorld(floor, tmp);
..	..	@@ -997,9 +1588,9 @@
997	1588	//GraphreeD.
998	1589	wav.play(volume * usedvolume); //, mywave);
999	1590
1000		- lastsoundtime = CameraPane.framecount;
	1591	+ lastsoundtime = Globals.framecount;
1001	1592
1002		- GrafreeD.hassound = true;
	1593	+ Grafreed.hassound = true;
1003	1594	}
1004	1595	// else
1005	1596	// System.out.println("skipped");
..	..	@@ -1018,9 +1609,9 @@
1018	1609
1019	1610	// System.out.println("Allo " + sourcenode);
1020	1611	// purple
1021		- CameraPane.debugpoint2.toParent[3][0] = floor.x;// + posx;
1022		- CameraPane.debugpoint2.toParent[3][1] = ground; // floor.y;// + sourcenode.parent.toParent[3][1];
1023		- CameraPane.debugpoint2.toParent[3][2] = floor.z;// + posz;
	1612	+ CameraPane.debugpointP.toParent[3][0] = floor.x;// + posx;
	1613	+ CameraPane.debugpointP.toParent[3][1] = ground; // floor.y;// + sourcenode.parent.toParent[3][1];
	1614	+ CameraPane.debugpointP.toParent[3][2] = floor.z;// + posz;
1024	1615
1025	1616
1026	1617	if (false) // dist2 > 0.1)
..	..	@@ -1086,9 +1677,9 @@
1086	1677	this.get(0).TransformToWorld(v0);
1087	1678
1088	1679	// cyan
1089		- CameraPane.debugpoint3.toParent[3][0] = v0.x;
1090		- CameraPane.debugpoint3.toParent[3][1] = ground;
1091		- CameraPane.debugpoint3.toParent[3][2] = v0.z;
	1680	+ CameraPane.debugpointC.toParent[3][0] = v0.x;
	1681	+ CameraPane.debugpointC.toParent[3][1] = ground;
	1682	+ CameraPane.debugpointC.toParent[3][2] = v0.z;
1092	1683
1093	1684	LA.matConcat(sourcenode.toParent, transformnode.toParent, sourcenode.toParent);
1094	1685	LA.matInvert(sourcenode.toParent, sourcenode.fromParent);
..	..	@@ -1098,9 +1689,9 @@
1098	1689	this.get(0).TransformToWorld(v0);
1099	1690
1100	1691	// red
1101		- CameraPane.debugpoint4.toParent[3][0] = v0.x;
1102		- CameraPane.debugpoint4.toParent[3][1] = ground;
1103		- CameraPane.debugpoint4.toParent[3][2] = v0.z;
	1692	+ CameraPane.debugpointR.toParent[3][0] = v0.x;
	1693	+ CameraPane.debugpointR.toParent[3][1] = ground;
	1694	+ CameraPane.debugpointR.toParent[3][2] = v0.z;
1104	1695	}
1105	1696	}
1106	1697
..	..	@@ -1140,11 +1731,11 @@
1140	1731
1141	1732	if (goal != null)
1142	1733	{
1143		- System.err.println("GOAL change (" + sourcenode + "): " + goal + " (was " + goalx + ", " + goalz + ")");
	1734	+ System.err.println("GOAL change (" + sourcenode + "): " + goal + " (was " + goalposx + ", " + goalposz + ")");
1144	1735	//sourcenode.parent.parent.Dump();
1145		- goalx = goal.x;
1146		- goalz = goal.z;
1147		- targetx = targetz = 0;
	1736	+ goalposx = goal.x;
	1737	+ goalposz = goal.z;
	1738	+ targetdirx = targetdirz = 0;
1148	1739
1149	1740	followpath = true;
1150	1741	}
..	..	@@ -1195,16 +1786,16 @@
1195	1786	// }
1196	1787	if (false) // !uselast)
1197	1788	{
1198		- CameraPane.debugpoint.toParent[3][0] = dst.x;
1199		- CameraPane.debugpoint.toParent[3][1] = dst.y;
1200		- CameraPane.debugpoint.toParent[3][2] = dst.z;
	1789	+ CameraPane.debugpointG.toParent[3][0] = dst.x;
	1790	+ CameraPane.debugpointG.toParent[3][1] = dst.y;
	1791	+ CameraPane.debugpointG.toParent[3][2] = dst.z;
1201	1792	}
1202	1793	}
1203	1794
1204		- if (goalx != 0 \|\| goalz != 0) // TODO
	1795	+ if (goalposx != 0 \|\| goalposz != 0) // TODO
1205	1796	{
1206	1797	// overwrite speaker orientation
1207		- dst.set(goalx,0,goalz);
	1798	+ dst.set(goalposx,0,goalposz);
1208	1799	if (sourcenode.parent != null) // july 2014
1209	1800	sourcenode.parent.
1210	1801	TransformToLocal(dst);
..	..	@@ -1220,6 +1811,7 @@
1220	1811	src.x = 0;
1221	1812	src.y = 0;
1222	1813	src.z = 0;
	1814	+ LA.xformPos(src, get(0).get(0).toParent, src);
1223	1815	LA.xformPos(src, get(0).toParent, src);
1224	1816	LA.xformPos(src, toParent, src);
1225	1817	// LA.xformPos(src, rotsourcenode.toParent, src);
..	..	@@ -1255,26 +1847,26 @@
1255	1847	// mars 2014
1256	1848	if (false) // goalx != 0 \|\| goalz != 0)
1257	1849	{
1258		- targetx = dst.x - src.x;
1259		- targetz = dst.z - src.z;
	1850	+ targetdirx = dst.x - src.x;
	1851	+ targetdirz = dst.z - src.z;
1260	1852
1261		- if (Math.abs(targetx) > 0.1 \|\| Math.abs(targetz) > 0.1)
	1853	+ if (Math.abs(targetdirx) > 0.1 \|\| Math.abs(targetdirz) > 0.1)
1262	1854	{
1263	1855	// far enough from goal. keep the goal position.
1264		- targetx = 0;
1265		- targetz = 0;
	1856	+ targetdirx = 0;
	1857	+ targetdirz = 0;
1266	1858	}
1267	1859	else
1268	1860	{
1269	1861	// too close to goal. switch to target direction instead.
1270		- goalx = 0;
1271		- goalz = 0;
	1862	+ goalposx = 0;
	1863	+ goalposz = 0;
1272	1864	}
1273	1865	}
1274	1866
1275	1867	//sourcenode.getCentroid(src, true);
1276	1868
1277		- if (speakernode == sourcenode && goalx == 0 && goalz == 0)
	1869	+ if (speakernode == sourcenode && goalposx == 0 && goalposz == 0)
1278	1870	{
1279	1871	if (ScriptNode.lastspeaker != null)
1280	1872	new Exception().printStackTrace();
..	..	@@ -1283,13 +1875,13 @@
1283	1875
1284	1876	// LA.xformPos(src, fromParent, src);
1285	1877
1286		- if ((ScriptNode.speaker != null && CameraPane.SPEAKERMOCAP \|\| goalx != 0 \|\| goalz != 0) && targetx == 0 && targetz == 0)
	1878	+ if ((ScriptNode.speaker != null && CameraPane.SPEAKERMOCAP \|\| goalposx != 0 \|\| goalposz != 0) && targetdirx == 0 && targetdirz == 0)
1287	1879	dst.sub(src);
1288	1880	else
1289	1881	// vector mode
1290	1882	{
1291		- dst.x = targetx;
1292		- dst.z = targetz;
	1883	+ dst.x = targetdirx;
	1884	+ dst.z = targetdirz;
1293	1885
1294	1886	// TEST TARGET
1295	1887	// dst.x = CameraPane.selectedpoint.toParent[3][0];
..	..	@@ -1563,6 +2155,7 @@
1563	2155	toParent = LA.newMatrix();
1564	2156	fromParent = LA.newMatrix();
1565	2157	}
	2158	+
1566	2159	LA.matConcat(toParent, rotsourcenode.toParent, toParent);
1567	2160	LA.matInvert(toParent, fromParent);
1568	2161
..	..	@@ -1698,7 +2291,7 @@
1698	2291	}
1699	2292
1700	2293	if (!smoothed)
1701		- for (int i=4; --i>=0;)
	2294	+ for (int i=10; --i>=0;)
1702	2295	SmoothAnimData(); // much reduces shakiness
1703	2296
1704	2297	smoothed = true;
..	..	@@ -1736,9 +2329,16 @@
1736	2329	toVector.x = LA.cos(to);
1737	2330	toVector.y = LA.sin(to);
1738	2331
	2332	+ double fromA = Math.atan2(fromVector.y, fromVector.x);
	2333	+ double toA = Math.atan2(toVector.y, toVector.x);
	2334	+
1739	2335	Vector2d currentVector = Slerp(fromVector, toVector, step);
1740	2336
1741		- return Math.atan2(currentVector.y, currentVector.x);
	2337	+ double angle = Math.atan2(currentVector.y, currentVector.x);
	2338	+
	2339	+ double angle2 = (1-step) * fromA + step * toA;
	2340	+
	2341	+ return angle;
1742	2342	}
1743	2343
1744	2344	public static Vector2d Slerp(Vector2d from, Vector2d to, double step)
..	..	@@ -1780,12 +2380,28 @@
1780	2380	if (!live) // aout 2013
1781	2381	return;
1782	2382
1783		- cVector centroid = new cVector();
1784		- cVector floor = new cVector();
1785		-
1786		- Object3D sourcenode = GetFileRoot();
	2383	+ //bvh.skeleton.setPose(f, bvh.animation.getBoneData(bvh.skeleton.getIndex()), null);
	2384	+ try
	2385	+ {
	2386	+ SetPose(GetSkeleton(), bvh.animation, f);
	2387	+ SetCurrentBones(frame);
	2388	+ }
	2389	+ catch (Exception e)
	2390	+ {
	2391	+ e.printStackTrace();
	2392	+ }
1787	2393
1788		- boolean success; // = sourcenode.getCentroid(centroid);
	2394	+ SetHipOrientation();
	2395	+
	2396	+ if (true)
	2397	+ return;
	2398	+
	2399	+ cVector centroid = new cVector();
	2400	+ cVector floor = new cVector();
	2401	+
	2402	+ Object3D sourcenode = GetFileRoot();
	2403	+
	2404	+ boolean success; // = sourcenode.getCentroid(centroid);
1789	2405	// if (!success)
1790	2406	// {
1791	2407	// //assert(success);
..	..	@@ -1793,16 +2409,6 @@
1793	2409	// System.out.println("No centroid for " + sourcenode);
1794	2410	// }
1795	2411
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	2412	if (sourcenode.parent == null && sourcenode.fileparent == null)
1807	2413	{
1808	2414	// No GFD
..	..	@@ -2050,7 +2656,7 @@
2050	2656	* @param frame
2051	2657	* Frame number
2052	2658	*/
2053		- public void setPose(Object3D bone, int frame, float[] data, boolean fade) //, Point3d offsetTrans)
	2659	+ public void setPose(Object3D bone, int frame, float[] data) //, boolean fade) //, Point3d offsetTrans)
2054	2660	{
2055	2661	if (!live) // aout 2013
2056	2662	return;
..	..	@@ -2058,6 +2664,33 @@
2058	2664	cVector temp = new cVector();
2059	2665	cVector temp0 = new cVector();
2060	2666	double pos[] = new double[3];
	2667	+ double angleY = 0;
	2668	+ double sinY = 0;
	2669	+ double cosY = 0;
	2670	+
	2671	+ if (false) // bone._isRoot && firsttimeafterload && frame > 0)
	2672	+ {
	2673	+ bone.get(0).GlobalTransformInv();
	2674	+
	2675	+ temp.x = bone.get(0).globalTransform[3][0];
	2676	+ temp.y = bone.get(0).globalTransform[3][1];
	2677	+ temp.z = bone.get(0).globalTransform[3][2];
	2678	+
	2679	+ pos[0] = temp.x;
	2680	+ pos[1] = temp.y;
	2681	+ pos[2] = temp.z;
	2682	+
	2683	+ temp.x = 1;
	2684	+ temp.y = 0;
	2685	+ temp.z = 0;
	2686	+
	2687	+ LA.xformDir(temp, bone.get(0).globalTransform, temp);
	2688	+
	2689	+ sinY = temp.z;
	2690	+ cosY = temp.x;
	2691	+
	2692	+ angleY = Math.atan2(-sinY, cosY);
	2693	+ }
2061	2694
2062	2695	// Object3D obj = get(0);
2063	2696	// Object3D gp = this.parent;
..	..	@@ -2189,13 +2822,14 @@
2189	2822	if (//frame > 0 &&
2190	2823	!bone.skipmocap &&
2191	2824	!bone.name.contains("head") &&
	2825	+ !bone.name.contains("Head") // &&
2192	2826	// !bone.name.contains("rFoot") &&
2193	2827	// !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")
	2828	+// !bone.name.contains("Pinky") &&
	2829	+// !bone.name.contains("Ring") &&
	2830	+// !bone.name.contains("Mid") &&
	2831	+// !bone.name.contains("Index") &&
	2832	+// !bone.name.contains("Thumb")
2199	2833	)
2200	2834	{
2201	2835	//_rotTG.setTransform(_t1);
..	..	@@ -2228,15 +2862,17 @@
2228	2862	// CROWD
2229	2863	//cJ3D.GetTranslation(bone, _trans0);
2230	2864	//_trans.add(_trans0);
2231		- _transTF.setIdentity();
	2865	+ //_transTF.setIdentity();
	2866	+ _transTF.set(_t1);
2232	2867	_transTF.setTranslation(_trans);
2233	2868	// System.err.println("Translate: " + _transTF);
2234	2869	//_transTG.setTransform(_transTF);
2235		- cJ3D.ResetTransform(bone, _transTF, true); // translation node
	2870	+ cJ3D.ResetTransform(bone.get(0), _transTF, true); // translation node
	2871	+ //cJ3D.ResetTransform(bone, _transTF, true); // translation node
2236	2872	}
2237	2873	}
2238	2874
2239		- if (bone._isRoot && firsttimeafterload && frame > 0)
	2875	+ if (false) // bone._isRoot && firsttimeafterload && frame > 0)
2240	2876	{
2241	2877	assert(bone == get(0));
2242	2878
..	..	@@ -2252,17 +2888,17 @@
2252	2888	// LA.matConcat(originmatrixinv, tempmatrixinv, fromParent); // ABC * (B'*C')^-1
2253	2889	//
2254	2890
2255		- Invariants();
2256		- bone.Invariants();
2257		- bone.get(0).Invariants();
2258		- // if (origin == null)
2259		- // origin = null;
2260		- origin.Invariants();
2261		- origin0.Invariants();
	2891	+ Invariants();
	2892	+ bone.Invariants();
	2893	+ bone.get(0).Invariants();
	2894	+ // if (origin == null)
	2895	+ // origin = null;
	2896	+ origin.Invariants();
	2897	+ origin0.Invariants();
2262	2898
2263		-
2264		- LA.matConcat(bone.get(0).fromParent, bone.fromParent, tempmatrix); // B' * C'
2265		- LA.matConcat(origin.toParent, tempmatrix, toParent);
	2899	+
	2900	+//?? LA.matConcat(bone.get(0).fromParent, bone.fromParent, tempmatrix); // B' * C'
	2901	+//?? LA.matConcat(origin.toParent, tempmatrix, toParent);
2266	2902
2267	2903	// matrixToEulerXYZ(toParent, temp);
2268	2904	// matrixToEulerXYZ(bone.get(0).toParent, temp);
..	..	@@ -2296,7 +2932,7 @@
2296	2932	//
2297	2933	// mat4d.get(quat);
2298	2934
2299		- if (true) // hip correction
	2935	+ if (false) // hip correction
2300	2936	{
2301	2937	_t2.setIdentity();
2302	2938
..	..	@@ -2337,13 +2973,13 @@
2337	2973	//????? LA.matConcat(bone.get(0).toParent, bone.toParent, tempmatrix); // B' * C'
2338	2974	// LA.matConcat(origin.fromParent, tempmatrix, fromParent);
2339	2975
2340		- LA.matInvert(toParent, fromParent);
	2976	+//?? LA.matInvert(toParent, fromParent);
2341	2977
2342		- Invariants();
2343		- bone.Invariants();
2344		- bone.get(0).Invariants();
2345		- origin.Invariants();
2346		- origin0.Invariants();
	2978	+ Invariants();
	2979	+ bone.Invariants();
	2980	+ bone.get(0).Invariants();
	2981	+ origin.Invariants();
	2982	+ origin0.Invariants();
2347	2983
2348	2984	// LA.matInvert(fromParent, tempmatrix);
2349	2985	//
..	..	@@ -2364,33 +3000,39 @@
2364	3000	// temp.x = data[0];
2365	3001	// temp.y = data[1];
2366	3002	// temp.z = data[2];
2367		- LA.xformPos(temp, origin0.toParent, temp0);
	3003	+ LA.xformPos(temp, origin0.toParent, temp0); // NU
2368	3004
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		-
	3005	+// bone.get(0).GlobalTransformInv();
	3006	+//
	3007	+// temp0.x = bone.get(0).globalTransform[3][0];
	3008	+// temp0.y = bone.get(0).globalTransform[3][1];
	3009	+// temp0.z = bone.get(0).globalTransform[3][2];
	3010	+//
2375	3011	// 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);
	3012	+//fromParent[3][0] = 0;
	3013	+//fromParent[3][1] = 0;
	3014	+//fromParent[3][2] = 0;
	3015	+//LA.matInvert(fromParent, toParent);
2380	3016
2381		- LA.xformPos(temp0, fromParent, temp);
	3017	+ LA.xformPos(temp0, fromParent, temp); // NU
2382	3018	//LA.xformPos(temp, bone.fromParent, temp);
2383	3019	// float[] data;
2384	3020
2385		- pos[0] = temp.x;
2386		- pos[1] = temp.y;
2387		- pos[2] = temp.z;
	3021	+// pos[0] = temp.x;
	3022	+// pos[1] = temp.y;
	3023	+// pos[2] = temp.z;
	3024	+//
	3025	+// temp.x = 1;
	3026	+// temp.y = 0;
	3027	+// temp.z = 0;
	3028	+//
	3029	+// LA.xformDir(temp, bone.get(0).globalTransform, temp);
2388	3030
2389	3031	// CameraPane.selectedpoint.toParent[3][0] = temp0.x;
2390	3032	// CameraPane.selectedpoint.toParent[3][1] = temp0.y;
2391	3033	// CameraPane.selectedpoint.toParent[3][2] = temp0.z;
2392	3034
2393		- int numframes = bvh.animation.getNumFrames();
	3035	+ int numframes = bvh.animation.getNumFrames();
2394	3036
2395	3037	int b = 0;
2396	3038	{
..	..	@@ -2398,12 +3040,12 @@
2398	3040
2399	3041	int dof = 6; /// data.length/numframes;
2400	3042
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		- }
	3043	+ // july 2014
	3044	+ if (dof != data.length/numframes)
	3045	+ {
	3046	+ System.err.println("Bone #" + b + ": dof = " + dof + " ---> " + (data.length/numframes));
	3047	+ dof = data.length/numframes;
	3048	+ }
2407	3049
2408	3050
2409	3051	int theframe = 0; // baseframe;
..	..	@@ -2455,17 +3097,26 @@
2455	3097	// }
2456	3098	// }
2457	3099
2458		- data[f3 + i] += pos[i] - data[frame3 + i];
	3100	+ data[f3 + i] += /pos[i]/ - data[frame3 + i];
2459	3101
2460	3102	// if (f < 3)
2461	3103	// {
2462	3104	// System.out.print(data[f3 + i] + " ");
2463	3105	// }
2464	3106	}
2465		-// if (f < 3)
2466		-// {
2467		-// System.out.println();
2468		-// }
	3107	+
	3108	+ double t1 = data[f3 + 0];
	3109	+ double t2 = data[f3 + 2];
	3110	+
	3111	+ data[f3 + 0] = (float)(cosYt1 - sinYt2);
	3112	+ data[f3 + 2] = (float)(sinYt1 + cosYt2);
	3113	+
	3114	+ for (int i=3/dof/; --i>=0;)
	3115	+ {
	3116	+ data[f3 + i] += pos[i];
	3117	+ }
	3118	+
	3119	+ data[f3 + 4] += angleY - data[frame3 + 4];
2469	3120	}
2470	3121	}
2471	3122
..	..	@@ -2479,186 +3130,17 @@
2479	3130	// temp.y = data[1];
2480	3131	// temp.z = data[2];
2481	3132
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		- }
	3133	+// if (fade && currentbones != null && !CameraPane.fullreset)
	3134	+// {
	3135	+// Fade();
	3136	+// }
2655	3137	}
2656		-
	3138	+
2657	3139	if (false) // doesn't change anything bone._isRoot)
2658	3140	{
2659	3141	// Reset orientation
2660	3142	_t2.setIdentity();
2661		-
	3143	+
2662	3144	double tx = bone.toParent[3][0];
2663	3145	double ty = bone.toParent[3][1];
2664	3146	double tz = bone.toParent[3][2];
..	..	@@ -2667,9 +3149,9 @@
2667	3149	temp.y = 0;
2668	3150	temp.z = 0;
2669	3151	LA.xformDir(temp, bone.toParent, temp);
2670		-
	3152	+
2671	3153	double angle = Math.atan2(-temp.z, temp.x);
2672		-
	3154	+
2673	3155	_t2.rotY(angle);
2674	3156	// _t1.setIdentity();
2675	3157	// _t1.rotX(temp.x);
..	..	@@ -2682,56 +3164,21 @@
2682	3164	// _t1.setIdentity();
2683	3165	// _t1.rotZ(temp.z);
2684	3166	// _t2.mul(_t1);
2685		-
	3167	+
2686	3168	cJ3D.ResetTransform(bone, _t2, false);
2687		-
	3169	+
2688	3170	bone.toParent[3][0] = tx;
2689	3171	bone.toParent[3][1] = ty;
2690	3172	bone.toParent[3][2] = tz;
2691	3173	}
2692	3174	}
2693	3175
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		- }
	3176	+ // SetCurrentBones(frame);
2731	3177	}
2732	3178	}
2733	3179
2734		- static int offset = 1; // 5; // 10; // 5; // 100; // skip initial "T"
	3180	+ // skip initial "T"
	3181	+ static int offset = 1; // 5; // 10; // 5; // 100;
2735	3182
2736	3183	void ReadBVH()
2737	3184	{
..	..	@@ -2760,14 +3207,14 @@
2760	3207
2761	3208	void Reset()
2762	3209	{
2763		- if (fullname != null)
2764		- ReadBVH();
	3210	+// if (fullname != null)
	3211	+// ReadBVH();
2765	3212
2766	3213	Object3D hip = get(0);
2767	3214
2768	3215	// assert(obj.name.equals("hip"));
2769	3216
2770		- Object3D rot = hip.get(0);
	3217	+ //Object3D rot = hip.get(0);
2771	3218
2772	3219	// assert(obj.name == null); // .equals("hip#"));
2773	3220
..	..	@@ -2777,8 +3224,8 @@
2777	3224	hip.fromParent = LA.newMatrix();
2778	3225	}
2779	3226
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;
	3227	+ //hip.toParent[3][0] = hip.toParent[3][1] = hip.toParent[3][2] = 0;
	3228	+ //hip.fromParent[3][0] = hip.fromParent[3][1] = hip.fromParent[3][2] = 0;
2782	3229
2783	3230	if (toParent == null)
2784	3231	{
..	..	@@ -2790,26 +3237,29 @@
2790	3237	LA.matIdentity(fromParent);
2791	3238	// LA.matIdentity(hip.toParent);
2792	3239	// 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);
	3240	+// if (rot.toParent == null)
	3241	+// {
	3242	+// // june 2014
	3243	+// rot.toParent = LA.newMatrix();
	3244	+// rot.fromParent = LA.newMatrix();
	3245	+// }
	3246	+// LA.matIdentity(rot.toParent);
	3247	+// LA.matIdentity(rot.fromParent);
2801	3248
2802	3249	// july 2014
2803		- goalx = goalz = 0;
2804		- targetx = targetz = 0;
	3250	+// goalx = goalz = 0;
	3251	+ targetdirx = targetdirz = 0;
2805	3252
2806		- SetPositionDelta(true, true, true, false);
	3253	+ //SetPositionDelta(true, true, true, false);
	3254	+// LoadData();
	3255	+// Rewind();
2807	3256
2808	3257	baseframe = frame = 0; // T pose. No offset.
2809	3258
2810	3259	// aout 2013 endframe = 0; // june 2013
2811	3260
2812		- setPose(frame);
	3261	+ ResetZero();
	3262	+ //setPose(frame);
2813	3263	}
2814	3264
2815	3265	static int mocapsupport = 0;
..	..	@@ -2827,12 +3277,13 @@
2827	3277
2828	3278	int step = 1;
2829	3279
	3280	+ // patch for running hare
2830	3281	if (speedup) // fev 2014
2831	3282	step *= 2; // 4;
2832	3283	if (rewind) // mars 2014
2833	3284	step *= 4;
2834	3285
2835		- if (CameraPane.FAST) // && !CameraPane.HOLD)
	3286	+ //if (CameraPane.FAST) // && !CameraPane.HOLD)
2836	3287	step *= CameraPane.STEP;
2837	3288
2838	3289	//System.err.println("Step Mocap frame # " + frame);
..	..	@@ -2840,7 +3291,7 @@
2840	3291	baseframe += step;
2841	3292
2842	3293	//frame = baseframe;
2843		- frame += step;
	3294	+ //frame += step;
2844	3295
2845	3296	// if (frame != baseframe)
2846	3297	// {
..	..	@@ -2864,7 +3315,7 @@
2864	3315	"; fullname = " + fullname);
2865	3316
2866	3317	//int delta = frame - baseframe;
2867		- if (CameraPane.CROWD)
	3318	+ if (Globals.CROWD)
2868	3319	{
2869	3320	baseframe = GetFirstFrame(); // 0 initial point
2870	3321	}
..	..	@@ -2873,29 +3324,53 @@
2873	3324	// SetPositionDelta(false, true, false); // ?? false);
2874	3325	{
2875	3326	if (support == null)
2876		- ObjEditor.LoadBVHFile(fullname, this, false, beginframe, lastframetest);
2877		- else
2878	3327	{
2879		- try
	3328	+ if (bvh == null && new File(fullname).exists())
	3329	+ ObjEditor.LoadBVHFile(fullname, this, false, beginframe, lastframetest);
	3330	+ else
2880	3331	{
2881		- bvh = ((Mocap)support.get(mocapsupport++ % support.Size())).bvh;
2882		-
2883		- SetPositionDelta(false, true, true, true);
2884		- }
2885		- catch (Exception e)
2886		- {
2887		- e.printStackTrace();
2888		- ObjEditor.LoadBVHFile(fullname, this, false, beginframe, lastframetest);
	3332	+ SetGlobalTransform();
	3333	+ Rewind();
	3334	+ Fade();
2889	3335	}
2890	3336	}
	3337	+ else
	3338	+ {
	3339	+// try
	3340	+// {
	3341	+ bvh = ((Mocap)support.get(mocapsupport++ % support.Size())).bvh;
	3342	+
	3343	+ // SetPositionDelta(false, true, true, true);
	3344	+ LoadData();
	3345	+ Rewind();
	3346	+ Fade();
	3347	+// }
	3348	+// catch (Exception e)
	3349	+// {
	3350	+// System.err.println("An error occured while loading data. Use fallback by loading the file.");
	3351	+// //e.printStackTrace();
	3352	+// try
	3353	+// {
	3354	+// ObjEditor.LoadBVHFile(fullname, this, false, beginframe, lastframetest);
	3355	+// }
	3356	+// catch (Exception e2)
	3357	+// {
	3358	+// System.err.println("Motion file not found: " + fullname);
	3359	+// }
	3360	+// }
	3361	+ }
2891	3362	}
	3363	+
	3364	+ frame = GetFirstFrame();
2892	3365	}
	3366	+ else
	3367	+ frame += step;
2893	3368
2894	3369	//SetPositionDelta(false);
2895	3370
2896		- if (frame >= bvh.animation.getNumFrames())
2897		- //baseframe =
2898		- frame = GetFirstFrame(); // 0; // offset; // initial point
	3371	+// if (frame >= bvh.animation.getNumFrames())
	3372	+// //baseframe =
	3373	+// frame = GetFirstFrame(); // 0; // offset; // initial point
2899	3374
2900	3375	//System.err.println("frame = " + frame);
2901	3376	if (lastframe != 0)
..	..	@@ -3064,6 +3539,7 @@
3064	3539	// filters out bad input data
3065	3540	void FilterAnimData()
3066	3541	{
	3542	+ new Exception().printStackTrace();
3067	3543	System.exit(0);
3068	3544
3069	3545	float[] data; // = bvh.animation.getBoneData(0);
..	..	@@ -3193,6 +3669,8 @@
3193	3669	//static
3194	3670	transient
3195	3671	double[] currentbones;
	3672	+ double[] currenthip;
	3673	+
3196	3674	transient boolean inbetween;
3197	3675
3198	3676	void SetPositionDelta(boolean reset, boolean rewind, boolean load, boolean fade)
..	..	@@ -3203,38 +3681,9 @@
3203	3681	//assert(dim == numframes*6);
3204	3682
3205	3683	if (load)
3206		- for (int b=numbones; --b>=0;)
3207		- //int b = 0;
3208		- {
3209		- float[] thedata = bvh.animation.getBoneData(b);
3210		-
3211		- int numframes = bvh.animation.getNumFrames();
3212		-
3213		- int dof = 6; // thedata.length/numframes;
3214		-
3215		- if (b > 0)
3216		- dof = 3;
3217		-
3218		- if (dof != thedata.length/numframes)
3219		- {
3220		- System.err.println("Bone #" + b + ": dof = " + dof + " ---> " + (thedata.length/numframes));
3221		- dof = thedata.length/numframes;
3222		- }
3223		-
3224		- //for (int f=numframes; --f>=offset;)
3225		- int firstframe = GetFirstFrame();
3226		- for (int f=0; f<numframes-firstframe; f++)
3227		- {
3228		- int f3 = f*dof;
3229		-
3230		- //for (int i=3/dof/; --i>=0;)
3231		- for (int i=dof; --i>=0;)
3232		- {
3233		- //thedata[f3 + i] += thedata[i] - thedata[offset*dof + i];
3234		- thedata[f3 + i] = thedata[f3 + firstframe*dof + i];
3235		- }
3236		- }
3237		- }
	3684	+ {
	3685	+ LoadData();
	3686	+ }
3238	3687
3239	3688	// assert(thedata[0] == 0);
3240	3689	// assert(thedata[1] == 0);
..	..	@@ -3244,11 +3693,11 @@
3244	3693	// assert(thedata[7] == 0);
3245	3694	// assert(thedata[8] == 0);
3246	3695
3247		- Object3D obj = get(0);
	3696	+ Object3D hip = get(0);
3248	3697
3249	3698	// assert(obj.name.equals("hip"));
3250	3699
3251		- Object3D rot = obj.get(0);
	3700	+ Object3D rot = hip.get(0);
3252	3701
3253	3702	// if (toParent == null)
3254	3703	// {
..	..	@@ -3260,7 +3709,7 @@
3260	3709	// // assert(obj.name == null); // .equals("hip#"));
3261	3710
3262	3711	Invariants();
3263		- obj.Invariants();
	3712	+ hip.Invariants();
3264	3713	rot.Invariants();
3265	3714
3266	3715	if (origin == null)
..	..	@@ -3281,16 +3730,16 @@
3281	3730	fromParent = LA.newMatrix();
3282	3731	}
3283	3732
3284		- if (obj.toParent == null) // june 2014
	3733	+ if (hip.toParent == null) // june 2014
3285	3734	{
3286		- obj.toParent = LA.newMatrix();
3287		- obj.fromParent = LA.newMatrix();
	3735	+ hip.toParent = LA.newMatrix();
	3736	+ hip.fromParent = LA.newMatrix();
3288	3737	}
3289	3738
3290		- LA.matConcat(toParent, obj.toParent, origin0.toParent); // AB
	3739	+ LA.matConcat(toParent, hip.toParent, origin0.toParent); // AB
3291	3740	Object3D gp = this.parent;
3292	3741	this.parent = null;
3293		- obj.GlobalTransformInv();
	3742	+ hip.GlobalTransformInv();
3294	3743	this.parent = gp;
3295	3744
3296	3745	if (rot.toParent == null)
..	..	@@ -3313,41 +3762,41 @@
3313	3762	LA.matInvert(origin.toParent, origin.fromParent);
3314	3763
3315	3764	Invariants();
3316		- obj.Invariants();
	3765	+ hip.Invariants();
3317	3766	rot.Invariants();
3318	3767	origin.Invariants();
3319	3768	origin0.Invariants();
3320	3769
3321		- firsttimeafterload = true;
	3770	+ firsttimeafterload = false; // true;
3322	3771
3323	3772	if (rewind)
3324	3773	Rewind();
3325	3774
3326		- setPose(obj, frame, bvh.animation.getBoneData(obj._index), fade);
	3775	+ setPose(hip, frame, bvh.animation.getBoneData(hip._index)); //, fade);
3327	3776
3328		- if (true)
3329		- return;
	3777	+ if (true)
	3778	+ return;
3330	3779
3331	3780	double pos[] = new double[6];
3332	3781
3333	3782	if (!reset)
3334	3783	{
3335		- assert(obj.tx == obj.toParent[3][0]);
3336		- assert(obj.ty == obj.toParent[3][1]);
3337		- assert(obj.tz == obj.toParent[3][2]);
	3784	+ assert(hip.tx == hip.toParent[3][0]);
	3785	+ assert(hip.ty == hip.toParent[3][1]);
	3786	+ assert(hip.tz == hip.toParent[3][2]);
3338	3787
3339		- pos[0] = obj.tx; // obj.toParent[3][0];
3340		- pos[1] = obj.ty; // obj.toParent[3][1];
3341		- pos[2] = obj.tz; // obj.toParent[3][2];
3342		- pos[3] = obj.rz;
3343		- pos[4] = obj.ry;
3344		- pos[5] = obj.rx;
	3788	+ pos[0] = hip.tx; // obj.toParent[3][0];
	3789	+ pos[1] = hip.ty; // obj.toParent[3][1];
	3790	+ pos[2] = hip.tz; // obj.toParent[3][2];
	3791	+ pos[3] = hip.rz;
	3792	+ pos[4] = hip.ry;
	3793	+ pos[5] = hip.rx;
3345	3794	}
3346	3795
3347	3796	cVector temp = new cVector();
3348		- temp.x = obj.globalTransform[3][0];
3349		- temp.y = obj.globalTransform[3][1];
3350		- temp.z = obj.globalTransform[3][2];
	3797	+ temp.x = hip.globalTransform[3][0];
	3798	+ temp.y = hip.globalTransform[3][1];
	3799	+ temp.z = hip.globalTransform[3][2];
3351	3800	// LA.xformPos(temp, origin0.toParent, temp);
3352	3801	// System.err.println("POS0 = " + temp.x + ", " + temp.y + ", " + temp.z + ";");
3353	3802
..	..	@@ -3431,7 +3880,7 @@
3431	3880	}
3432	3881
3433	3882	// Rewind();
3434		- setPose(obj, frame, bvh.animation.getBoneData(obj._index), true);
	3883	+ setPose(hip, frame, bvh.animation.getBoneData(hip._index)); // , true);
3435	3884	}
3436	3885
3437	3886	void Rewind()
..	..	@@ -3448,7 +3897,7 @@
3448	3897
3449	3898	transient boolean restarted; // CROWD issue?
3450	3899
3451		- void drawSelf(CameraPane display, Object3D /Composite/ root, boolean selected, boolean blocked)
	3900	+ void drawSelf(iCameraPane display, Object3D /Composite/ root, boolean selected, boolean blocked)
3452	3901	{
3453	3902	//System.err.println("drawSelf Mocap frame # " + frame);
3454	3903	//System.err.println("drawSelf Mocap baseframe # " + baseframe);
..	..	@@ -3465,17 +3914,22 @@
3465	3914	// if (firstframe)
3466	3915	// return;
3467	3916
3468		- if (!restarted && /display.restartframe &&/
3469		- display.isLIVE() && live && display.drawMode == display.SHADOW) // FUCK
	3917	+ if (//!restarted && /display.restartframe &&/
	3918	+ Globals.isLIVE() && live && (display.DrawMode() == iCameraPane.SHADOW \|\| !Globals.RENDERSHADOW))
3470	3919	{
3471	3920	//display.restartframe = false;
3472	3921	restarted = true;
	3922	+ //System.err.println("restarted = true");
3473	3923	Step();
3474	3924	}
3475	3925	else
3476	3926	{
3477		- if (display.isLIVE() && live && display.drawMode != display.SHADOW)
	3927	+ //System.err.println("restarted");
	3928	+ if (Globals.isLIVE() && live && display.DrawMode() != iCameraPane.SHADOW)
	3929	+ {
3478	3930	restarted = false;
	3931	+ //System.err.println("restarted = false");
	3932	+ }
3479	3933	}
3480	3934
3481	3935	super.drawSelf(display, root, selected, blocked);