WinNiLib/NiVMDTool.cpp

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#include "NiVMDTool.h"


using namespace jbxl;
using namespace jbxwl;


static std::string  _VMDJointName[] =       // VMD_JOINT_NUM
{
    // SJIS
    "全ての親", "センター", 
    "下半身", "上半身", "上半身2", "首", "頭", "頭先", 
    "両目", "左目", "右目", "左胸", "右胸",

    "左肩", "左腕", "左腕捩", "左ひじ", "左手捩", "左手首", "左手先",
    "右肩", "右腕", "右腕捩", "右ひじ", "右手捩", "右手首", "右手先",


    "左足", "左ひざ", "左足ＩＫ", "左足首", "左つま先", "左つま先ＩＫ",
    "右足", "右ひざ", "右足ＩＫ", "右足首", "右つま先", "右つま先ＩＫ"
};


//
static std::string  _VMDJointName_eng[] =   // VMD_JOINT_NUM
{
    "parent", "center", 
    "lower body", "upper body", "upper body2", "neck", "head", "skull", 
    "eyes", "eye_L", "eye_R", "bust_L", "bust_R",

    "shoulder_L", "arm_L", "arm twist_L", "elbow_L", "wrist twist_L", "wrist_L", "c wrist l",
    "shoulder_R", "arm_R", "arm twist_R", "elbow_R", "wrist twist_R", "wrist_R", "c wrist r",

    "leg_L", "knee_L", "leg_IK_L", "ankle_L", "toe_L", "toe_IK_L",
    "leg_R", "knee_R", "leg_IK_R", "ankle_R", "toe_R", "toe_IK_R"
};



std::string  jbxwl::VMDJointName(int n)
{
    std::string str = "";

    if (n>=0 && n<VMD_JOINT_NUM) {
        str = _VMDJointName[n];
    }

    return str; 
}



int   jbxwl::VMDJointNum(char* name)
{
    for (int i=0; i<VMD_JOINT_NUM; i++) {
        if (!strcmp(name, _VMDJointName[i].c_str()) || !strcmp(name, _VMDJointName_eng[i].c_str())) {
            return i;
        }
    }
    return -1;
}



/*
VMD_PARENT      ( 0)  => none
VMD_CENTER      ( 1)  => NI_PELVIS  ( 0)
VMD_LOWER       ( 2)  => NI_WAIST   ( 1)
VMD_UPPER       ( 3)  => NI_TORSO   ( 2)    
VMD_UPPER2      ( 4)  => NI_CHEST   ( 3)
VMD_NECK        ( 5)  => NI_NECK    ( 4)
VMD_HEAD        ( 6)  => NI_HEAD    ( 5)
VMD_SKULL       ( 7)  => NI_SKULL   ( 6)    

VMD_EYES        ( 8)  => none
VMD_L_EYE       ( 9)  => NI_L_EYE   ( 7)    
VMD_R_EYE       (10)  => NI_R_EYE   ( 8)
VMD_L_BUST      (11)  => NI_L_BUST  ( 9)
VMD_R_BUST      (12)  => NI_R_BUST  (10)
                    
VMD_L_SHLDR     (13)  => NI_L_COLLAR(11)
VMD_L_ARM       (14)  => NI_L_SHLDR (12)
VMD_L_ARM_TW    (15)  => none
VMD_L_ELBOW     (16)  => NI_R_ELBOW (13)
VMD_L_WRIST_TW  (17)  => none
VMD_L_WRIST     (18)  => NI_L_WRIST (14)
VMD_L_HAND      (19)  => NI_R_HAND  (15)
                    
VMD_R_SHLDR     (20)  => NI_R_COLLAR(17)
VMD_R_ARM       (21)  => NI_R_SHLDR (18)
VMD_R_ARM_TW    (22)  => none
VMD_R_ELBOW     (23)  => NI_R_ELBOW (19)
VMD_R_WRIST_TW  (24)  => none
VMD_R_WRIST     (25)  => NI_R_WRIST (20)
VMD_R_HAND      (26)  => NI_R_HAND  (21)
                    
VMD_L_HIP       (27)  => NI_L_HIP   (23)
VMD_L_KNEE      (28)  => NI_L_KNEE  (24)
VMD_L_ANKLE_IK  (29)  => NI_L_ANKLE (25)
VMD_L_ANKLE     (30)  => NI_L_FOOT  (26)
VMD_L_TOE       (31)  => NI_L_TOE   (27)
VMD_L_TOE_IK    (32)  => none
                    
VMD_R_HIP       (33)  => NI_R_HIP   (28)
VMD_R_KNEE      (34)  => NI_R_KNEE  (29)
VMD_R_ANKLE_IK  (35)  => NI_R_ANKLE (30)
VMD_R_ANKLE     (36)  => NI_R_FOOT  (31)
VMD_R_TOE       (37)  => NI_R_TOE   (32)
VMD_R_TOE_IK    (38)  => none
*/

//
// VMDのジョイント番号から，共通ジョイントの番号を得る
//
static  int  _VMD2NiJointNum[] =        // VMD_JOINT_NUM (37)
{
    -1,  0, 
     1,  2,  3,  4,  5,  6,
    -1,  7,  8,  9, 10,
    11, 12, -1, 13, -1, 14, 15,
    17, 18, -1, 19, -1, 20, 21,
    23, 24, 25, 26, 27, -1,
    28, 29, 30, 31, 32, -1
};



int  jbxwl::VMD2NiJointNum(int joint)
{
    if (joint<0 || joint>=VMD_JOINT_NUM) return -1;

    return _VMD2NiJointNum[joint];
}



// CNiVMDTool Class

CNiVMDTool::CNiVMDTool(void)
{
    memset(&vmd_header, 0, sizeof(VMDFileHeader));

    vmd_frames = NULL;
    vmd_datnum = 0;
    dmy_frames = NULL;
    dmy_frmnum = 0;
    joints_num = VMD_JOINT_NUM;

    rate_frame = VMD_FARME_RATE/30.0;
    A2TPose.setRotation(37.0/180.0*PI, 1.0, 0.0, 0.0, 1.0);

    posVect = (Vector<double>*)malloc(sizeof(Vector<double>)*VMD_JOINT_NUM);
    rotQuat = (Quaternion<double>*)malloc(sizeof(Quaternion<double>)*VMD_JOINT_NUM);
}



CNiVMDTool::~CNiVMDTool(void)
{
    DEBUG_INFO("DESTRUCTOR: CNiVMDTool\n");

    free_data();
}



void  CNiVMDTool::free_data(void)
{
    if (dmy_frames!=NULL) ::freeFramesData(dmy_frames, dmy_frmnum);
    if (vmd_frames!=NULL) ::free(vmd_frames);

    vmd_frames = NULL;
    vmd_datnum = 0;
    dmy_frames = NULL;
    dmy_frmnum = 0;
    
    clear_data();
}



void  CNiVMDTool::clear_data(void)
{
    CBaseFrameTool::free_data();
}




//

BOOL  CNiVMDTool::readFile(FILE* fp)
{
    if (fp==NULL) return FALSE;

    clear_data();

    vmd_datnum = 0;
    vmd_header = readFileHeader(fp);                        // ヘッダ部
    if (vmd_header.data_num==0) return FALSE;

    vmd_frames = readJointsData(fp, vmd_header.data_num);   // 全フレームのデータ
    if (vmd_frames==NULL) return FALSE;
    vmd_datnum = vmd_header.data_num;

    //
    joints_num = VMD_JOINT_NUM;
    if (jointsData!=NULL) ::free(jointsData);
    jointsData = (NiJointData*)malloc(sizeof(NiJointData)*joints_num);
    if (jointsData==NULL) {
        clear_data();
        return FALSE;
    }
    clearJointsData(joints_num);

    if (posVect==NULL) posVect = (Vector<double>*)malloc(sizeof(Vector<double>)*VMD_JOINT_NUM);
    if (rotQuat==NULL) rotQuat = (Quaternion<double>*)malloc(sizeof(Quaternion<double>)*VMD_JOINT_NUM);
    if (posVect==NULL || rotQuat==NULL) {
        clear_data();
        return FALSE;
    }
    clearVectorData(VMD_JOINT_NUM);

    return TRUE;
}



VMDFileHeader  CNiVMDTool::readFileHeader(FILE* fp)
{
    VMDFileHeader fhd;

    fread(fhd.header,   30, 1, fp);
    fread(fhd.name,     20, 1, fp);
    fread(&fhd.data_num, 4, 1, fp);
    
    if (strcmp(VMD_FILE_HD_ID2, fhd.header)) {
        fhd.data_num = 0;
    }

    return fhd;
}



VMDJointData  CNiVMDTool::readJointData(FILE* fp)
{
    VMDJointData frame;

    fread(frame.name,     15, 1, fp);
    fread(&frame.frm_num, 96, 1, fp);   // 4 + 4x7 + 64

    return frame;
}



VMDJointData*  CNiVMDTool::readJointsData(FILE* fp, unsigned int& frmnum)
{
    VMDJointData* motion_data = (VMDJointData*)malloc(frmnum*sizeof(VMDJointData));
    if (motion_data==NULL) return NULL;
    memset(motion_data, 0, frmnum*sizeof(VMDJointData));

    //
    unsigned int num = 0;
    while(num<frmnum) {
        motion_data[num] = readJointData(fp);
        if (feof(fp)) break;
        num++;  
    }

    frmnum = num;
    if (frmnum==0) {
        ::free(motion_data);
        motion_data = NULL;
    }

    return motion_data;
}



NiFrameData*  CNiVMDTool::getFramesData(void)
{
    joints_num = VMD_JOINT_NUM;

    if (framesData!=NULL) clear_data();
    framesData = convert2FrameData(vmd_frames, vmd_datnum, frames_num);
    if (framesData==NULL) return NULL;

    calcJointRotation();

    // ジョイント番号の書き換え
    for (unsigned int i=0; i<frames_num; i++) {
        //
        for (int j=0; j<framesData[i].jnum; j++) {
            int n = VMD2NiJointNum(framesData[i].jdat[j].joint);
            framesData[i].jdat[j].joint = n;
        }
    }

    
    dmy_frmnum = (int)(framesData[frames_num-1].frmn*rate_frame);
    dmy_frames = makeFramesData(dmy_frmnum, 0, NULL);
    if (dmy_frames==NULL) {
        dmy_frmnum = frames_num;
        return framesData;
    }

    for (unsigned int i=0; i<dmy_frmnum; i++) {
        dmy_frames[i].jnum = joints_num;
        dmy_frames[i].msec = (int)(i*(100.0/(rate_frame*3.0)));
    }
    if (rate_frame!=1.0) {
        for (unsigned int i=0; i<frames_num; i++) {
            framesData[i].frmn = (int)(framesData[i].frmn*rate_frame);
            framesData[i].msec = (int)(framesData[i].msec/rate_frame);
        }
    }
    
    start_time = framesData[0].msec;
    stop_time  = framesData[frames_num-1].msec;
    exec_time  = stop_time - start_time;

    return dmy_frames;
}



NiFrameData*  CNiVMDTool::convert2FrameData(VMDJointData* motion_data, unsigned int datanum, unsigned int& framenum)
{
    framenum = 0;
    if (motion_data==NULL || datanum<=0) return NULL;

    // VMDのデータをフレーム番号でソート
    VMDJointData swap_motion;
    unsigned int k = datanum - 1;
    while (k>0) {
        unsigned int j = 0;
        for (unsigned int i=0; i<k; i++) {
            if (motion_data[i].frm_num>motion_data[i+1].frm_num) {
                swap_motion      = motion_data[i];
                motion_data[i]   = motion_data[i+1];
                motion_data[i+1] = swap_motion;
                j = i;
            }
        }
        k = j;
    }

    // 一意的なフレーム数を数える
    unsigned int uniq_frame = 1;

    unsigned int frm_num = motion_data[0].frm_num;
    for (unsigned int i=1; i<datanum; i++) {
        if (frm_num!=motion_data[i].frm_num) {
            uniq_frame++;
            frm_num = motion_data[i].frm_num;
        }
    }

    NiFrameData* ni_joints = makeFramesData((int)uniq_frame, joints_num, NULL);
    if (ni_joints==NULL) return NULL;
    framenum = uniq_frame;

    // Joints
    unsigned int datacnt = 0;
    for (unsigned int i=0; i<uniq_frame; i++) {
        frm_num = motion_data[datacnt].frm_num;
        ni_joints[i].frmn = frm_num;
        ni_joints[i].msec = (int)(frm_num*33.3333333333333);        // msec
        //
        while (frm_num==motion_data[datacnt].frm_num) {
            int joint = VMDJointNum(motion_data[datacnt].name);
            if (joint>=0) {
                NiJointData* jdat = &(ni_joints[i].jdat[joint]);
                jdat->joint  = joint;
                jdat->index  = i;
                jdat->vect.x = -motion_data[datacnt].posz*(double)VMD_GRID_UNIT;
                jdat->vect.y =  motion_data[datacnt].posx*(double)VMD_GRID_UNIT;
                jdat->vect.z =  motion_data[datacnt].posy*(double)VMD_GRID_UNIT;
                jdat->quat.x =  motion_data[datacnt].qutz;
                jdat->quat.y = -motion_data[datacnt].qutx;
                jdat->quat.z = -motion_data[datacnt].quty;
                jdat->quat.s =  motion_data[datacnt].qutw;
                if (jdat->quat.s<0.0) jdat->quat = - jdat->quat;
                jdat->quat.normalize();

                //
                if (jdat->vect.x!=0.0 || jdat->vect.y!=0.0 || jdat->vect.z!=0.0) {
                    jdat->vect.c = 1.0;
                }
                if (jdat->quat.x!=0.0 || jdat->quat.y!=0.0 || jdat->quat.z!=0.0 || jdat->quat.s!=0.0) { 
                    jdat->quat.c = 1.0;
                }
            }

            datacnt++;
            if (datacnt==datanum) break;
        }
    }

    //
    return ni_joints;
}



void  CNiVMDTool::calcJointRotation(void)
{
    if (framesData==NULL || frames_num<=0) return;

    if (posVect==NULL) posVect = (Vector<double>*)malloc(sizeof(Vector<double>)*VMD_JOINT_NUM);
    if (rotQuat==NULL) rotQuat = (Quaternion<double>*)malloc(sizeof(Quaternion<double>)*VMD_JOINT_NUM);
    if (posVect==NULL || rotQuat==NULL) return;
    clearVectorData(VMD_JOINT_NUM);

    NiJointData  prevJoint[VMD_JOINT_NUM];  // joints_num = VMD_JOINT_NUM
    for (int j=0; j<VMD_JOINT_NUM; j++) {
        prevJoint[j].joint = -1;
        prevJoint[j].index = -1;
        prevJoint[j].vect.init(-1.0);
        prevJoint[j].quat.init(-1.0);
    }

    // 関節の変換
    for (unsigned int i=0; i<frames_num; i++) {
        //
        NiJointData* jdata = framesData[i].jdat;

        jdata[VMD_CENTER].vect.c = 1.0;
        jdata[VMD_CENTER].quat.c = 1.0;

        for (int j=0; j<framesData[i].jnum; j++) {
            //
            if (jdata[j].joint>=0) {
                posVect[j] = jdata[j].vect;
                rotQuat[j] = jdata[j].quat;
                if (posVect[j].c<0.0) posVect[j] = prevJoint[j].vect;
                if (rotQuat[j].c<0.0) rotQuat[j] = prevJoint[j].quat;
            }
            //
            else {
                posVect[j] = prevJoint[j].vect;
                rotQuat[j] = prevJoint[j].quat;
            }
        }

        calcJointIK(i);     // IK

        //
        for (int j=0; j<framesData[i].jnum; j++) {
            if (jdata[j].joint>=0) {
                prevJoint[j] = jdata[j];
            }
        }

        //
        rotQuat[VMD_L_WRIST] = rotQuat[VMD_L_WRIST]*rotQuat[VMD_L_WRIST_TW];
        rotQuat[VMD_L_ELBOW] = rotQuat[VMD_L_ELBOW]*rotQuat[VMD_L_ARM_TW];
        rotQuat[VMD_R_WRIST] = rotQuat[VMD_R_WRIST]*rotQuat[VMD_R_WRIST_TW];
        rotQuat[VMD_R_ELBOW] = rotQuat[VMD_R_ELBOW]*rotQuat[VMD_R_ARM_TW];

        rotQuat[VMD_L_EYE]   = rotQuat[VMD_L_EYE]*rotQuat[VMD_EYES];
        rotQuat[VMD_R_EYE]   = rotQuat[VMD_R_EYE]*rotQuat[VMD_EYES];

        rotQuat[VMD_L_WRIST] =  A2TPose*rotQuat[VMD_L_WRIST]*~A2TPose;
        rotQuat[VMD_L_ELBOW] =  A2TPose*rotQuat[VMD_L_ELBOW]*~A2TPose;      
        rotQuat[VMD_L_ARM]   =  rotQuat[VMD_L_ARM]*~A2TPose;

        rotQuat[VMD_R_WRIST] = ~A2TPose*rotQuat[VMD_R_WRIST]*A2TPose;
        rotQuat[VMD_R_ELBOW] = ~A2TPose*rotQuat[VMD_R_ELBOW]*A2TPose;
        rotQuat[VMD_R_ARM]   =  rotQuat[VMD_R_ARM]*A2TPose;
        
        // 足首の回転は省略
        rotQuat[VMD_L_ANKLE_IK].set(1.0, 0.0, 0.0, 0.0, 1.0);
        rotQuat[VMD_R_ANKLE_IK].set(1.0, 0.0, 0.0, 0.0, 1.0);

        //rotQuat[VMD_CENTER]   = rotQuat[VMD_CENTER]*~rotQuat[VMD_PARENT];
        //posVect[VMD_CENTER]   = posVect[VMD_CENTER] + posVect[VMD_PARENT];
                
        //
        for (int j=0; j<framesData[i].jnum; j++) {
            jdata[j].joint = prevJoint[j].joint;
            jdata[j].index = prevJoint[j].index;
            jdata[j].vect  = posVect[j];
            jdata[j].quat  = rotQuat[j];
        }
    }
    
    return;
}



void  CNiVMDTool::calcJointIK(int fnum)
{
    // 軸
    Vector<double> vect_Y(0.0, 1.0, 0.0, 1.0);
    Vector<double> vect_Z(0.0, 0.0,-1.0, 1.0);
    Vector<double> cnt_vect_Y = VectorRotation(vect_Y,  rotQuat[VMD_CENTER]);
    Vector<double> cnt_vect_Z = VectorRotation(vect_Z,  rotQuat[VMD_CENTER]);
    
    // 足の方向
    Vector<double> l_leg_vect = VectorRotation(cnt_vect_Z, rotQuat[VMD_L_HIP]);
    Vector<double> r_leg_vect = VectorRotation(cnt_vect_Z, rotQuat[VMD_R_HIP]);

    // エフェクタ: センターからの初期相対位置
    Vector<double> l_ank_vect =  vect_Y*0.10  + vect_Z*0.83;
    Vector<double> r_ank_vect = -vect_Y*0.10  + vect_Z*0.83;
    
    // エフェクタ: 移動後のセンターからの相対位置
    Vector<double> l_end_vect =  cnt_vect_Y*0.10 + l_leg_vect*0.83;
    Vector<double> r_end_vect = -cnt_vect_Y*0.10 + r_leg_vect*0.83;

    // 到達目標
    Vector<double> l_ik_vect = l_ank_vect + posVect[VMD_L_ANKLE_IK] - posVect[VMD_CENTER] - l_end_vect;
    Vector<double> r_ik_vect = r_ank_vect + posVect[VMD_R_ANKLE_IK] - posVect[VMD_CENTER] - r_end_vect;

    // 到達目標（ローカル座標系）
    l_ik_vect = VectorRotation(l_ik_vect, ~rotQuat[VMD_CENTER]);
    r_ik_vect = VectorRotation(r_ik_vect, ~rotQuat[VMD_CENTER]);

    //
    Vector<double> l_vect[3], r_vect[3];
    Quaternion<double> l_quat[3], r_quat[3];

    // 膝，腰の相対位置
    l_vect[0].set(0.0, 0.0, 0.0); 
    r_vect[0].set(0.0, 0.0, 0.0); 

    l_vect[1] = -l_leg_vect*0.58;
    r_vect[1] = -r_leg_vect*0.58;
    l_vect[2] = -l_leg_vect*1.18;
    r_vect[2] = -r_leg_vect*1.18;
    
    // ローカル座標系
    l_vect[1] = VectorRotation(l_vect[1], ~rotQuat[VMD_CENTER]);
    r_vect[1] = VectorRotation(r_vect[1], ~rotQuat[VMD_CENTER]);
    l_vect[2] = VectorRotation(l_vect[2], ~rotQuat[VMD_CENTER]);
    r_vect[2] = VectorRotation(r_vect[2], ~rotQuat[VMD_CENTER]);

    calcLegIK_CCD(l_vect, l_ik_vect, l_quat, 50); 
    calcLegIK_CCD(r_vect, r_ik_vect, r_quat, 50); 

    // HIP
    if (rotQuat[VMD_L_HIP].c>0.0) rotQuat[VMD_L_HIP] = l_quat[2]*rotQuat[VMD_L_HIP];
    else                          rotQuat[VMD_L_HIP] = l_quat[2];
    if (rotQuat[VMD_R_HIP].c>0.0) rotQuat[VMD_R_HIP] = r_quat[2]*rotQuat[VMD_R_HIP];
    else                          rotQuat[VMD_R_HIP] = r_quat[2];

    framesData[fnum].jdat[VMD_L_HIP].joint = VMD_L_HIP;
    framesData[fnum].jdat[VMD_R_HIP].joint = VMD_R_HIP;
    framesData[fnum].jdat[VMD_L_HIP].index = fnum;
    framesData[fnum].jdat[VMD_R_HIP].index = fnum;

    // KNEE
    rotQuat[VMD_L_KNEE] = l_quat[1];
    rotQuat[VMD_R_KNEE] = r_quat[1];
    //
    double dot = vect_Y*rotQuat[VMD_L_KNEE].getVector();
    if (dot>=0.0) {
        framesData[fnum].jdat[VMD_L_KNEE].joint = VMD_L_KNEE;
        framesData[fnum].jdat[VMD_L_KNEE].index = fnum;
    }
    else {
        framesData[fnum].jdat[VMD_L_KNEE].joint = -1;
        framesData[fnum].jdat[VMD_L_KNEE].index = -1;
    }
    
    dot = vect_Y*rotQuat[VMD_R_KNEE].getVector();
    if (dot>=0.0) { 
        framesData[fnum].jdat[VMD_R_KNEE].joint = VMD_R_KNEE;
        framesData[fnum].jdat[VMD_R_KNEE].index = fnum;
    }
    else {
        framesData[fnum].jdat[VMD_R_KNEE].joint = -1;
        framesData[fnum].jdat[VMD_R_KNEE].index = -1;
    }
    
    return;
}



void  CNiVMDTool::calcLegIK_CCD(Vector<double>* vect, Vector<double> ik_vect, Quaternion<double>* quat, int rpmax)
{
    Vector<double> vect_Y(0.0, 1.0, 0.0, 1.0);
    Vector<double> effect, target;
    Quaternion<double> rot;

    for (int j=0; j<3; j++) quat[j].init();

    for (int i=0; i<rpmax; i++) {
        //
        int cnt = 0;
        for (int j=1; j<3; j++) {
            //
            if (i==0 && j==1) {
                rot.setRotation((double)PI_DIV2, vect_Y);       // 最初にひざを曲げる
            }
            else {
                effect = vect[0] - vect[j];
                target = ik_vect - vect[j];
                rot = V2VQuaternion(effect, target);
            }

            //
            if (rot.c>0.0) {
                rot.normalize();
                if (rot.s<1.00-Zero_Eps) {
                //if (rot.s<1.00) {
                    quat[j] = quat[j]*rot;
                    for (int k=0; k<j; k++) {
                        vect[k] = VectorRotation(vect[k]-vect[j], rot) + vect[j];
                    }
                }
                else cnt++;
            }
            else cnt++;
        }
        if (cnt==2) break;
    }

    return;
}



NiJointData*  CNiVMDTool::getJointsData(int frmnum, int fps)
{
    clearJointsData(joints_num);
    
    frmnum = (int)((double)frmnum*VMD_FARME_RATE/(double)fps);

    //
    for (int j=0; j<joints_num; j++) {
        //
        int n = framesData[0].jdat[j].joint;        
        if (n>=0) {
            unsigned int st_index = 0;
            unsigned int en_index = 0;

            while (en_index<frames_num && framesData[en_index].frmn<frmnum) en_index++;
            if (en_index==frames_num) break;

            if (en_index==0 || (framesData[en_index].frmn==frmnum && en_index==framesData[en_index].jdat[j].index)) {
                jointsData[j].vect = framesData[en_index].jdat[j].vect;
                jointsData[j].quat = framesData[en_index].jdat[j].quat;
            }
            else {
                st_index = framesData[en_index-1].jdat[j].index;
                while (en_index<frames_num && en_index!=framesData[en_index].jdat[j].index) en_index++;

                if (en_index==frames_num) {
                    jointsData[j].vect = framesData[st_index].jdat[j].vect;
                    jointsData[j].quat = framesData[st_index].jdat[j].quat;
                }
                else {
                    NiJointData st_joint = framesData[st_index].jdat[j];
                    NiJointData en_joint = framesData[en_index].jdat[j];
                    double tparam = ((double)(frmnum - framesData[st_index].frmn))/(framesData[en_index].frmn - framesData[st_index].frmn);
                    jointsData[j].vect = BSplineInterp4 (st_joint.vect, en_joint.vect, tparam);
                    jointsData[j].quat = SlerpQuaternion(st_joint.quat, en_joint.quat, tparam);
                }
            }

            jointsData[j].joint  = n;
            jointsData[j].index  = frmnum;
            jointsData[j].vect.c = 1.0;
            jointsData[j].quat.c = 1.0;
        }
    }

    return jointsData;
}

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