public Md5JointValue GetBaseJointValue(int joint, Md5Frame baseframe, Md5Frame thisframe)
{
Md5JointValue v;
int parentjoint = anim.Hierarchy[joint].ParentIndex;
if (parentjoint < 0)
{
v = baseframe.Values[joint];
}
else
{
if (parentjoint >= joint)
{
throw new Exception("");
}
Md5JointValue parent = thisframe.Values[parentjoint];
//Vector3 p = Matrix4Extensions.FromQuaternion(parent.Orientation) * baseframe.Values[joint].Position;
Vector3 p = Vector3.Transform(baseframe.Values[joint].Position, parent.Orientation);
p += parent.Position;
Quaternion q = baseframe.Values[joint].Orientation * parent.Orientation;
q.Normalize();
v.Orientation = q;
v.Position = p;
}
return(v);
}
public Md5JointValue GetBaseFrameJointValue(int joint, float[] values)
{
Md5JointValue v = new Md5JointValue();
v.Position.X = values[joint * 6 + 0];
if (Flip)
{
v.Position.Y = values[joint * 6 + 2];
v.Position.Z = values[joint * 6 + 1];
}
else
{
v.Position.Y = values[joint * 6 + 1];
v.Position.Z = values[joint * 6 + 2];
}
v.Orientation.X = values[joint * 6 + 3];
if (Flip)
{
v.Orientation.Y = values[joint * 6 + 5];
v.Orientation.Z = values[joint * 6 + 4];
}
else
{
v.Orientation.Y = values[joint * 6 + 4];
v.Orientation.Z = values[joint * 6 + 5];
}
v.Orientation.W = (float)Math.Sqrt(1.0f - ((v.Orientation.X * v.Orientation.X) + (v.Orientation.Y * v.Orientation.Y) + (v.Orientation.Z * v.Orientation.Z)));
return(v);
}
public Vector3 CalcVertexPosition(Md5Vertex v, Md5Anim a, int frame)
{
Vector3 pos = Vector3.Zero;
for (int i = v.WeightIndex; i < v.WeightIndex + v.WeightCount; ++i)
{
Md5Weight w = Weights[i];
Md5JointValue j = a.Frames[frame].Values[w.JointIndex];
Matrix4 m = Matrix4Extensions.FromTranslation(j.Position) * Matrix4Extensions.FromQuaternion(j.Orientation);
pos += w.Value * Vector3.Transform(w.Position, m);
}
return(pos);
}
/*
* public float[] GetJointValues(float[] values, int joint)
* {
* float[] r = new float[6];
* int i = 0;
* int c = 1;
* for (int k = 0; k < 6; ++k)
* {
* //if ((Hierarchy[joint].Components & c) != 0)
* if (false)
* {
* //component is animated
* r[k] = values[anim.Hierarchy[joint].FrameIndex + i];
* i++;
* }
* else
* {
* //not animated, get from baseframe
* //r[k] = values[joint*6+k];
* }
* c *= 2;
* }
* return r;
* }
*/
public Md5JointValue GetJointValue(float[] values, int joint, Md5Frame thisframe, Md5Frame baseframe)
{
Md5JointValue v = baseframe.Values[joint];
int i = anim.Hierarchy[joint].FrameIndex;
int c = anim.Hierarchy[joint].Components;
if (Flip)
{
if ((c & Md5JointAnim.Tx) != 0)
{
v.Position.X = values[i++];
}
if ((c & Md5JointAnim.Ty) != 0)
{
v.Position.Z = values[i++];
}
if ((c & Md5JointAnim.Tz) != 0)
{
v.Position.Y = values[i++];
}
if ((c & Md5JointAnim.Qx) != 0)
{
v.Orientation.X = values[i++];
}
if ((c & Md5JointAnim.Qy) != 0)
{
v.Orientation.Z = values[i++];
}
if ((c & Md5JointAnim.Qz) != 0)
{
v.Orientation.Y = values[i++];
}
}
else
{
if ((c & Md5JointAnim.Tx) != 0)
{
v.Position.X = values[i++];
}
if ((c & Md5JointAnim.Ty) != 0)
{
v.Position.Y = values[i++];
}
if ((c & Md5JointAnim.Tz) != 0)
{
v.Position.Z = values[i++];
}
if ((c & Md5JointAnim.Qx) != 0)
{
v.Orientation.X = values[i++];
}
if ((c & Md5JointAnim.Qy) != 0)
{
v.Orientation.Y = values[i++];
}
if ((c & Md5JointAnim.Qz) != 0)
{
v.Orientation.Z = values[i++];
}
}
float term = 1.0f - ((v.Orientation.X * v.Orientation.X) + (v.Orientation.Y * v.Orientation.Y) + (v.Orientation.Z * v.Orientation.Z));
if (term < 0.0f)
{
v.Orientation.W = 0.0f;
}
else
{
v.Orientation.W = (float)Math.Sqrt(term);
}
//v.Orientation.W = (float)Math.Sqrt(1.0f - );
int parentjoint = anim.Hierarchy[joint].ParentIndex;
if (parentjoint < 0)
{
}
else
{
if (parentjoint >= joint)
{
throw new Exception("");
}
Md5JointValue parent = thisframe.Values[parentjoint];
//Vector3 p = Matrix4Extensions.FromQuaternion(parent.Orientation) * v.Position;
Vector3 p = Vector3.Transform(v.Position, parent.Orientation);
p += parent.Position;
Quaternion q = v.Orientation * parent.Orientation;
q.Normalize();
v.Orientation = q;
v.Position = p;
}
return(v);
}
public Md5JointValue GetBaseFrameJointValue(int joint, float[] values)
{
Md5JointValue v = new Md5JointValue();
v.Position.X = values[joint * 6 + 0];
if (Flip)
{
v.Position.Y = values[joint * 6 + 2];
v.Position.Z = values[joint * 6 + 1];
}
else
{
v.Position.Y = values[joint * 6 + 1];
v.Position.Z = values[joint * 6 + 2];
}
v.Orientation.X = values[joint * 6 + 3];
if (Flip)
{
v.Orientation.Y = values[joint * 6 + 5];
v.Orientation.Z = values[joint * 6 + 4];
}
else
{
v.Orientation.Y = values[joint * 6 + 4];
v.Orientation.Z = values[joint * 6 + 5];
}
v.Orientation.W = (float)Math.Sqrt(1.0f - ((v.Orientation.X * v.Orientation.X) + (v.Orientation.Y * v.Orientation.Y) + (v.Orientation.Z * v.Orientation.Z)));
return v;
}
