646 lines
23 KiB
C#
646 lines
23 KiB
C#
/*
|
|
* Copyright (c) Contributors, http://opensimulator.org/
|
|
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions are met:
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in the
|
|
* documentation and/or other materials provided with the distribution.
|
|
* * Neither the name of the OpenSimulator Project nor the
|
|
* names of its contributors may be used to endorse or promote products
|
|
* derived from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
|
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
|
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
using System;
|
|
using System.IO;
|
|
using OpenMetaverse;
|
|
|
|
namespace OpenSim.Region.Framework.Scenes.Animation
|
|
{
|
|
/// <summary>
|
|
/// Written to decode and encode a binary animation asset.
|
|
/// The SecondLife Client reads in a BVH file and converts
|
|
/// it to the format described here. This isn't
|
|
/// </summary>
|
|
public class BinBVHAnimation
|
|
{
|
|
/// <summary>
|
|
/// Rotation Keyframe count (used internally)
|
|
/// Don't use this, use the rotationkeys.Length on each joint
|
|
/// </summary>
|
|
private int rotationkeys;
|
|
|
|
/// <summary>
|
|
/// Position Keyframe count (used internally)
|
|
/// Don't use this, use the positionkeys.Length on each joint
|
|
/// </summary>
|
|
private int positionkeys;
|
|
|
|
public UInt16 unknown0; // Always 1
|
|
public UInt16 unknown1; // Always 0
|
|
|
|
/// <summary>
|
|
/// Animation Priority
|
|
/// </summary>
|
|
public int Priority;
|
|
|
|
/// <summary>
|
|
/// The animation length in seconds.
|
|
/// </summary>
|
|
public Single Length;
|
|
|
|
/// <summary>
|
|
/// Expression set in the client. Null if [None] is selected
|
|
/// </summary>
|
|
public string ExpressionName; // "" (null)
|
|
|
|
/// <summary>
|
|
/// The time in seconds to start the animation
|
|
/// </summary>
|
|
public Single InPoint;
|
|
|
|
/// <summary>
|
|
/// The time in seconds to end the animation
|
|
/// </summary>
|
|
public Single OutPoint;
|
|
|
|
/// <summary>
|
|
/// Loop the animation
|
|
/// </summary>
|
|
public bool Loop;
|
|
|
|
/// <summary>
|
|
/// Meta data. Ease in Seconds.
|
|
/// </summary>
|
|
public Single EaseInTime;
|
|
|
|
/// <summary>
|
|
/// Meta data. Ease out seconds.
|
|
/// </summary>
|
|
public Single EaseOutTime;
|
|
|
|
/// <summary>
|
|
/// Meta Data for the Hand Pose
|
|
/// </summary>
|
|
public uint HandPose;
|
|
|
|
/// <summary>
|
|
/// Number of joints defined in the animation
|
|
/// Don't use this.. use joints.Length
|
|
/// </summary>
|
|
private uint m_jointCount;
|
|
|
|
|
|
/// <summary>
|
|
/// Contains an array of joints
|
|
/// </summary>
|
|
public binBVHJoint[] Joints;
|
|
|
|
|
|
public byte[] ToBytes()
|
|
{
|
|
byte[] outputbytes;
|
|
|
|
using (MemoryStream ms = new MemoryStream())
|
|
using (BinaryWriter iostream = new BinaryWriter(ms))
|
|
{
|
|
iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(unknown0)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(unknown1)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(Priority)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(Length)));
|
|
iostream.Write(BinBVHUtil.WriteNullTerminatedString(ExpressionName));
|
|
iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(InPoint)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(OutPoint)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(Loop ? 1 : 0)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(EaseInTime)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(EaseOutTime)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.UIntToBytes(HandPose)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.UIntToBytes((uint)(Joints.Length))));
|
|
|
|
for (int i = 0; i < Joints.Length; i++)
|
|
{
|
|
Joints[i].WriteBytesToStream(iostream, InPoint, OutPoint);
|
|
}
|
|
iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(0)));
|
|
|
|
using (MemoryStream ms2 = (MemoryStream)iostream.BaseStream)
|
|
outputbytes = ms2.ToArray();
|
|
}
|
|
|
|
return outputbytes;
|
|
}
|
|
|
|
public BinBVHAnimation()
|
|
{
|
|
rotationkeys = 0;
|
|
positionkeys = 0;
|
|
unknown0 = 1;
|
|
unknown1 = 0;
|
|
Priority = 1;
|
|
Length = 0;
|
|
ExpressionName = string.Empty;
|
|
InPoint = 0;
|
|
OutPoint = 0;
|
|
Loop = false;
|
|
EaseInTime = 0;
|
|
EaseOutTime = 0;
|
|
HandPose = 1;
|
|
m_jointCount = 0;
|
|
|
|
Joints = new binBVHJoint[1];
|
|
Joints[0] = new binBVHJoint();
|
|
Joints[0].Name = "mPelvis";
|
|
Joints[0].Priority = 7;
|
|
Joints[0].positionkeys = new binBVHJointKey[1];
|
|
Joints[0].rotationkeys = new binBVHJointKey[1];
|
|
Random rnd = new Random();
|
|
|
|
Joints[0].rotationkeys[0] = new binBVHJointKey();
|
|
Joints[0].rotationkeys[0].time = (0f);
|
|
Joints[0].rotationkeys[0].key_element.X = ((float)rnd.NextDouble() * 2 - 1);
|
|
Joints[0].rotationkeys[0].key_element.Y = ((float)rnd.NextDouble() * 2 - 1);
|
|
Joints[0].rotationkeys[0].key_element.Z = ((float)rnd.NextDouble() * 2 - 1);
|
|
|
|
Joints[0].positionkeys[0] = new binBVHJointKey();
|
|
Joints[0].positionkeys[0].time = (0f);
|
|
Joints[0].positionkeys[0].key_element.X = ((float)rnd.NextDouble() * 2 - 1);
|
|
Joints[0].positionkeys[0].key_element.Y = ((float)rnd.NextDouble() * 2 - 1);
|
|
Joints[0].positionkeys[0].key_element.Z = ((float)rnd.NextDouble() * 2 - 1);
|
|
|
|
|
|
}
|
|
|
|
public BinBVHAnimation(byte[] animationdata)
|
|
{
|
|
int i = 0;
|
|
if (!BitConverter.IsLittleEndian)
|
|
{
|
|
unknown0 = Utils.BytesToUInt16(BinBVHUtil.EndianSwap(animationdata,i,2)); i += 2; // Always 1
|
|
unknown1 = Utils.BytesToUInt16(BinBVHUtil.EndianSwap(animationdata, i, 2)); i += 2; // Always 0
|
|
Priority = Utils.BytesToInt(BinBVHUtil.EndianSwap(animationdata, i, 4)); i += 4;
|
|
Length = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
|
|
}
|
|
else
|
|
{
|
|
unknown0 = Utils.BytesToUInt16(animationdata, i); i += 2; // Always 1
|
|
unknown1 = Utils.BytesToUInt16(animationdata, i); i += 2; // Always 0
|
|
Priority = Utils.BytesToInt(animationdata, i); i += 4;
|
|
Length = Utils.BytesToFloat(animationdata, i); i += 4;
|
|
}
|
|
ExpressionName = ReadBytesUntilNull(animationdata, ref i);
|
|
if (!BitConverter.IsLittleEndian)
|
|
{
|
|
InPoint = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
|
|
OutPoint = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
|
|
Loop = (Utils.BytesToInt(BinBVHUtil.EndianSwap(animationdata, i, 4)) != 0); i += 4;
|
|
EaseInTime = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
|
|
EaseOutTime = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
|
|
HandPose = Utils.BytesToUInt(BinBVHUtil.EndianSwap(animationdata, i, 4)); i += 4; // Handpose?
|
|
|
|
m_jointCount = Utils.BytesToUInt(animationdata, i); i += 4; // Get Joint count
|
|
}
|
|
else
|
|
{
|
|
InPoint = Utils.BytesToFloat(animationdata, i); i += 4;
|
|
OutPoint = Utils.BytesToFloat(animationdata, i); i += 4;
|
|
Loop = (Utils.BytesToInt(animationdata, i) != 0); i += 4;
|
|
EaseInTime = Utils.BytesToFloat(animationdata, i); i += 4;
|
|
EaseOutTime = Utils.BytesToFloat(animationdata, i); i += 4;
|
|
HandPose = Utils.BytesToUInt(animationdata, i); i += 4; // Handpose?
|
|
|
|
m_jointCount = Utils.BytesToUInt(animationdata, i); i += 4; // Get Joint count
|
|
}
|
|
Joints = new binBVHJoint[m_jointCount];
|
|
|
|
// deserialize the number of joints in the animation.
|
|
// Joints are variable length blocks of binary data consisting of joint data and keyframes
|
|
for (int iter = 0; iter < m_jointCount; iter++)
|
|
{
|
|
binBVHJoint joint = readJoint(animationdata, ref i);
|
|
Joints[iter] = joint;
|
|
}
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Variable length strings seem to be null terminated in the animation asset.. but..
|
|
/// use with caution, home grown.
|
|
/// advances the index.
|
|
/// </summary>
|
|
/// <param name="data">The animation asset byte array</param>
|
|
/// <param name="i">The offset to start reading</param>
|
|
/// <returns>a string</returns>
|
|
private static string ReadBytesUntilNull(byte[] data, ref int i)
|
|
{
|
|
char nterm = '\0'; // Null terminator
|
|
int endpos = i;
|
|
int startpos = i;
|
|
|
|
// Find the null character
|
|
for (int j = i; j < data.Length; j++)
|
|
{
|
|
char spot = Convert.ToChar(data[j]);
|
|
if (spot == nterm)
|
|
{
|
|
endpos = j;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// if we got to the end, then it's a zero length string
|
|
if (i == endpos)
|
|
{
|
|
// advance the 1 null character
|
|
i++;
|
|
return string.Empty;
|
|
}
|
|
else
|
|
{
|
|
// We found the end of the string
|
|
// append the bytes from the beginning of the string to the end of the string
|
|
// advance i
|
|
byte[] interm = new byte[endpos-i];
|
|
for (; i<endpos; i++)
|
|
{
|
|
interm[i-startpos] = data[i];
|
|
}
|
|
i++; // advance past the null character
|
|
|
|
return Utils.BytesToString(interm);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Read in a Joint from an animation asset byte array
|
|
/// Variable length Joint fields, yay!
|
|
/// Advances the index
|
|
/// </summary>
|
|
/// <param name="data">animation asset byte array</param>
|
|
/// <param name="i">Byte Offset of the start of the joint</param>
|
|
/// <returns>The Joint data serialized into the binBVHJoint structure</returns>
|
|
private binBVHJoint readJoint(byte[] data, ref int i)
|
|
{
|
|
|
|
binBVHJointKey[] positions;
|
|
binBVHJointKey[] rotations;
|
|
|
|
binBVHJoint pJoint = new binBVHJoint();
|
|
|
|
/*
|
|
109
|
|
84
|
|
111
|
|
114
|
|
114
|
|
111
|
|
0 <--- Null terminator
|
|
*/
|
|
|
|
pJoint.Name = ReadBytesUntilNull(data, ref i); // Joint name
|
|
|
|
/*
|
|
2 <- Priority Revisited
|
|
0
|
|
0
|
|
0
|
|
*/
|
|
|
|
/*
|
|
5 <-- 5 keyframes
|
|
0
|
|
0
|
|
0
|
|
... 5 Keyframe data blocks
|
|
*/
|
|
|
|
/*
|
|
2 <-- 2 keyframes
|
|
0
|
|
0
|
|
0
|
|
.. 2 Keyframe data blocks
|
|
*/
|
|
if (!BitConverter.IsLittleEndian)
|
|
{
|
|
pJoint.Priority = Utils.BytesToInt(BinBVHUtil.EndianSwap(data, i, 4)); i += 4; // Joint Priority override?
|
|
rotationkeys = Utils.BytesToInt(BinBVHUtil.EndianSwap(data, i, 4)); i += 4; // How many rotation keyframes
|
|
}
|
|
else
|
|
{
|
|
pJoint.Priority = Utils.BytesToInt(data, i); i += 4; // Joint Priority override?
|
|
rotationkeys = Utils.BytesToInt(data, i); i += 4; // How many rotation keyframes
|
|
}
|
|
|
|
// argh! floats into two bytes!.. bad bad bad bad
|
|
// After fighting with it for a while.. -1, to 1 seems to give the best results
|
|
rotations = readKeys(data, ref i, rotationkeys, -1f, 1f);
|
|
for (int iter = 0; iter < rotations.Length; iter++)
|
|
{
|
|
rotations[iter].W = 1f -
|
|
(rotations[iter].key_element.X + rotations[iter].key_element.Y +
|
|
rotations[iter].key_element.Z);
|
|
}
|
|
|
|
|
|
if (!BitConverter.IsLittleEndian)
|
|
{
|
|
positionkeys = Utils.BytesToInt(BinBVHUtil.EndianSwap(data, i, 4)); i += 4; // How many position keyframes
|
|
}
|
|
else
|
|
{
|
|
positionkeys = Utils.BytesToInt(data, i); i += 4; // How many position keyframes
|
|
}
|
|
|
|
// Read in position keyframes
|
|
// argh! more floats into two bytes!.. *head desk*
|
|
// After fighting with it for a while.. -5, to 5 seems to give the best results
|
|
positions = readKeys(data, ref i, positionkeys, -5f, 5f);
|
|
|
|
pJoint.rotationkeys = rotations;
|
|
pJoint.positionkeys = positions;
|
|
|
|
return pJoint;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Read Keyframes of a certain type
|
|
/// advance i
|
|
/// </summary>
|
|
/// <param name="data">Animation Byte array</param>
|
|
/// <param name="i">Offset in the Byte Array. Will be advanced</param>
|
|
/// <param name="keycount">Number of Keyframes</param>
|
|
/// <param name="min">Scaling Min to pass to the Uint16ToFloat method</param>
|
|
/// <param name="max">Scaling Max to pass to the Uint16ToFloat method</param>
|
|
/// <returns></returns>
|
|
private binBVHJointKey[] readKeys(byte[] data, ref int i, int keycount, float min, float max)
|
|
{
|
|
float x;
|
|
float y;
|
|
float z;
|
|
|
|
/*
|
|
0.o, Float values in Two bytes.. this is just wrong >:(
|
|
17 255 <-- Time Code
|
|
17 255 <-- Time Code
|
|
255 255 <-- X
|
|
127 127 <-- X
|
|
255 255 <-- Y
|
|
127 127 <-- Y
|
|
213 213 <-- Z
|
|
142 142 <---Z
|
|
|
|
*/
|
|
|
|
binBVHJointKey[] m_keys = new binBVHJointKey[keycount];
|
|
for (int j = 0; j < keycount; j++)
|
|
{
|
|
binBVHJointKey pJKey = new binBVHJointKey();
|
|
if (!BitConverter.IsLittleEndian)
|
|
{
|
|
pJKey.time = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, InPoint, OutPoint); i += 2;
|
|
x = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, min, max); i += 2;
|
|
y = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, min, max); i += 2;
|
|
z = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, min, max); i += 2;
|
|
}
|
|
else
|
|
{
|
|
pJKey.time = Utils.UInt16ToFloat(data, i, InPoint, OutPoint); i += 2;
|
|
x = Utils.UInt16ToFloat(data, i, min, max); i += 2;
|
|
y = Utils.UInt16ToFloat(data, i, min, max); i += 2;
|
|
z = Utils.UInt16ToFloat(data, i, min, max); i += 2;
|
|
}
|
|
pJKey.key_element = new Vector3(x, y, z);
|
|
m_keys[j] = pJKey;
|
|
}
|
|
return m_keys;
|
|
}
|
|
|
|
|
|
|
|
}
|
|
/// <summary>
|
|
/// A Joint and it's associated meta data and keyframes
|
|
/// </summary>
|
|
public struct binBVHJoint
|
|
{
|
|
/// <summary>
|
|
/// Name of the Joint. Matches the avatar_skeleton.xml in client distros
|
|
/// </summary>
|
|
public string Name;
|
|
|
|
/// <summary>
|
|
/// Joint Animation Override? Was the same as the Priority in testing..
|
|
/// </summary>
|
|
public int Priority;
|
|
|
|
/// <summary>
|
|
/// Array of Rotation Keyframes in order from earliest to latest
|
|
/// </summary>
|
|
public binBVHJointKey[] rotationkeys;
|
|
|
|
/// <summary>
|
|
/// Array of Position Keyframes in order from earliest to latest
|
|
/// This seems to only be for the Pelvis?
|
|
/// </summary>
|
|
public binBVHJointKey[] positionkeys;
|
|
|
|
|
|
|
|
public void WriteBytesToStream(BinaryWriter iostream, float InPoint, float OutPoint)
|
|
{
|
|
iostream.Write(BinBVHUtil.WriteNullTerminatedString(Name));
|
|
iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(Priority)));
|
|
iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(rotationkeys.Length)));
|
|
for (int i=0;i<rotationkeys.Length;i++)
|
|
{
|
|
rotationkeys[i].WriteBytesToStream(iostream, InPoint, OutPoint, -1f, 1f);
|
|
}
|
|
iostream.Write(BinBVHUtil.ES(Utils.IntToBytes((positionkeys.Length))));
|
|
for (int i = 0; i < positionkeys.Length; i++)
|
|
{
|
|
positionkeys[i].WriteBytesToStream(iostream, InPoint, OutPoint, -256f, 256f);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// A Joint Keyframe. This is either a position or a rotation.
|
|
/// </summary>
|
|
public struct binBVHJointKey
|
|
{
|
|
// Time in seconds for this keyframe.
|
|
public float time;
|
|
|
|
/// <summary>
|
|
/// Either a Vector3 position or a Vector3 Euler rotation
|
|
/// </summary>
|
|
public Vector3 key_element;
|
|
|
|
public float W;
|
|
|
|
public void WriteBytesToStream(BinaryWriter iostream, float InPoint, float OutPoint, float min, float max)
|
|
{
|
|
iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(time, InPoint, OutPoint))));
|
|
iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(key_element.X, min, max))));
|
|
iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(key_element.Y, min, max))));
|
|
iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(key_element.Z, min, max))));
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Poses set in the animation metadata for the hands.
|
|
/// </summary>
|
|
public enum HandPose : uint
|
|
{
|
|
Spread = 0,
|
|
Relaxed = 1,
|
|
Point_Both = 2,
|
|
Fist = 3,
|
|
Relaxed_Left = 4,
|
|
Point_Left = 5,
|
|
Fist_Left = 6,
|
|
Relaxed_Right = 7,
|
|
Point_Right = 8,
|
|
Fist_Right = 9,
|
|
Salute_Right = 10,
|
|
Typing = 11,
|
|
Peace_Right = 12
|
|
}
|
|
public static class BinBVHUtil
|
|
{
|
|
public const float ONE_OVER_U16_MAX = 1.0f / UInt16.MaxValue;
|
|
|
|
public static UInt16 FloatToUInt16(float val, float lower, float upper)
|
|
{
|
|
UInt16 uival = 0;
|
|
//m_parentGroup.GetTimeDilation() * (float)ushort.MaxValue
|
|
//0-1
|
|
|
|
// float difference = upper - lower;
|
|
// we're trying to get a zero lower and modify all values equally so we get a percentage position
|
|
if (lower > 0)
|
|
{
|
|
upper -= lower;
|
|
val = val - lower;
|
|
|
|
// start with 500 upper and 200 lower.. subtract 200 from the upper and the value
|
|
}
|
|
else //if (lower < 0 && upper > 0)
|
|
{
|
|
// double negative, 0 minus negative 5 is 5.
|
|
upper += 0 - lower;
|
|
lower += 0 - lower;
|
|
val += 0 - lower;
|
|
}
|
|
|
|
if (upper == 0)
|
|
val = 0;
|
|
else
|
|
{
|
|
val /= upper;
|
|
}
|
|
|
|
uival = (UInt16)(val * UInt16.MaxValue);
|
|
|
|
return uival;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Endian Swap
|
|
/// Swaps endianness if necessary
|
|
/// </summary>
|
|
/// <param name="arr">Input array</param>
|
|
/// <returns></returns>
|
|
public static byte[] ES(byte[] arr)
|
|
{
|
|
if (!BitConverter.IsLittleEndian)
|
|
Array.Reverse(arr);
|
|
return arr;
|
|
}
|
|
public static byte[] EndianSwap(byte[] arr, int offset, int len)
|
|
{
|
|
byte[] bendian = new byte[offset + len];
|
|
Buffer.BlockCopy(arr, offset, bendian, 0, len);
|
|
Array.Reverse(bendian);
|
|
return bendian;
|
|
}
|
|
|
|
public static byte[] WriteNullTerminatedString(string str)
|
|
{
|
|
byte[] output = new byte[str.Length + 1];
|
|
Char[] chr = str.ToCharArray();
|
|
int i = 0;
|
|
for (i = 0; i < chr.Length; i++)
|
|
{
|
|
output[i] = Convert.ToByte(chr[i]);
|
|
|
|
}
|
|
|
|
output[i] = Convert.ToByte('\0');
|
|
return output;
|
|
}
|
|
|
|
}
|
|
}
|
|
/*
|
|
switch (jointname)
|
|
{
|
|
case "mPelvis":
|
|
case "mTorso":
|
|
case "mNeck":
|
|
case "mHead":
|
|
case "mChest":
|
|
case "mHipLeft":
|
|
case "mHipRight":
|
|
case "mKneeLeft":
|
|
case "mKneeRight":
|
|
// XYZ->ZXY
|
|
t = x;
|
|
x = y;
|
|
y = t;
|
|
break;
|
|
case "mCollarLeft":
|
|
case "mCollarRight":
|
|
case "mElbowLeft":
|
|
case "mElbowRight":
|
|
// YZX ->ZXY
|
|
t = z;
|
|
z = x;
|
|
x = y;
|
|
y = t;
|
|
break;
|
|
case "mWristLeft":
|
|
case "mWristRight":
|
|
case "mShoulderLeft":
|
|
case "mShoulderRight":
|
|
// ZYX->ZXY
|
|
t = y;
|
|
y = z;
|
|
z = t;
|
|
|
|
break;
|
|
case "mAnkleLeft":
|
|
case "mAnkleRight":
|
|
// XYZ ->ZXY
|
|
t = x;
|
|
x = z;
|
|
z = y;
|
|
y = t;
|
|
break;
|
|
}
|
|
*/ |