static System.Numerics.Quaternion ConvertQuat(Assimp.Quaternion Q)
{
NumMatrix4x4.Decompose(ConvertMatrix(new AssMatrix4x4(Q.GetMatrix())), out Vector3 _S, out System.Numerics.Quaternion Quat, out Vector3 _T);
return(Quat);
// return new System.Numerics.Quaternion(Q.X, Q.Y, Q.Z, Q.W);
}
// T O M G (convert for use with MonoGame) - QUATERNION
public static XNA.Quaternion ToMg(this Assimp.Quaternion aq)
{
var m = aq.GetMatrix();
var n = m.ToMgTransposed();
var q = XNA.Quaternion.CreateFromRotationMatrix(n);
return(q);
}
Matrix GetMatrix(Vector3D pscale, Vector3D pPosition, Assimp.Quaternion pRot)
{
// create the combined transformation matrix
var mat = new Matrix4x4(pRot.GetMatrix());
mat.A1 *= pscale.X; mat.B1 *= pscale.X; mat.C1 *= pscale.X;
mat.A2 *= pscale.Y; mat.B2 *= pscale.Y; mat.C2 *= pscale.Y;
mat.A3 *= pscale.Z; mat.B3 *= pscale.Z; mat.C3 *= pscale.Z;
mat.A4 = pPosition.X; mat.B4 = pPosition.Y; mat.C4 = pPosition.Z;
return(mat.ToMatrix());
}
/// <summary>
/// Build a transformation matrix from rotation, scaling and translation components.
/// The transformation order is scaling, rotation, translation (left to right).
/// </summary>
/// <param name="presentRotation"></param>
/// <param name="presentScaling"></param>
/// <param name="presentPosition"></param>
/// <param name="outMatrix"></param>
private static void BuildTransform(ref Quaternion presentRotation, ref Vector3D presentScaling,
ref Vector3D presentPosition, out Matrix outMatrix)
{
// build a transformation matrix from it
var mat = new Matrix4x4(presentRotation.GetMatrix());
mat.A1 *= presentScaling.X;
mat.B1 *= presentScaling.X;
mat.C1 *= presentScaling.X;
mat.A2 *= presentScaling.Y;
mat.B2 *= presentScaling.Y;
mat.C2 *= presentScaling.Y;
mat.A3 *= presentScaling.Z;
mat.B3 *= presentScaling.Z;
mat.C3 *= presentScaling.Z;
mat.A4 = presentPosition.X;
mat.B4 = presentPosition.Y;
mat.C4 = presentPosition.Z;
outMatrix = AssimpConv.ConvertTransform(mat);
}
public void Evaluate(float dt, Dictionary<string, Bone> bones) {
dt *= TicksPerSecond;
var time = 0.0f;
if (Duration > 0.0f) {
time = dt % Duration;
}
for (int i = 0; i < Channels.Count; i++) {
var channel = Channels[i];
if (!bones.ContainsKey(channel.Name)) {
Console.WriteLine("Did not find the bone node " + channel.Name);
continue;
}
// interpolate position keyframes
var pPosition = new Vector3D();
if (channel.PositionKeys.Count > 0) {
var frame = (time >= LastTime) ? LastPositions[i].Item1 : 0;
while (frame < channel.PositionKeys.Count - 1) {
if (time < channel.PositionKeys[frame + 1].Time) {
break;
}
frame++;
}
if (frame >= channel.PositionKeys.Count) {
frame = 0;
}
var nextFrame = (frame + 1) % channel.PositionKeys.Count;
var key = channel.PositionKeys[frame];
var nextKey = channel.PositionKeys[nextFrame];
var diffTime = nextKey.Time - key.Time;
if (diffTime < 0.0) {
diffTime += Duration;
}
if (diffTime > 0.0) {
var factor = (float)((time - key.Time) / diffTime);
pPosition = key.Value + (nextKey.Value - key.Value) * factor;
} else {
pPosition = key.Value;
}
LastPositions[i].Item1 = frame;
}
// interpolate rotation keyframes
var pRot = new Assimp.Quaternion(1, 0, 0, 0);
if (channel.RotationKeys.Count > 0) {
var frame = (time >= LastTime) ? LastPositions[i].Item2 : 0;
while (frame < channel.RotationKeys.Count - 1) {
if (time < channel.RotationKeys[frame + 1].Time) {
break;
}
frame++;
}
if (frame >= channel.RotationKeys.Count) {
frame = 0;
}
var nextFrame = (frame + 1) % channel.RotationKeys.Count;
var key = channel.RotationKeys[frame];
var nextKey = channel.RotationKeys[nextFrame];
key.Value.Normalize();
nextKey.Value.Normalize();
var diffTime = nextKey.Time - key.Time;
if (diffTime < 0.0) {
diffTime += Duration;
}
if (diffTime > 0) {
var factor = (float)((time - key.Time) / diffTime);
pRot = Assimp.Quaternion.Slerp(key.Value, nextKey.Value, factor);
} else {
pRot = key.Value;
}
LastPositions[i].Item1= frame;
}
// interpolate scale keyframes
var pscale = new Vector3D(1);
if (channel.ScalingKeys.Count > 0) {
var frame = (time >= LastTime) ? LastPositions[i].Item3 : 0;
while (frame < channel.ScalingKeys.Count - 1) {
if (time < channel.ScalingKeys[frame + 1].Time) {
break;
}
frame++;
}
if (frame >= channel.ScalingKeys.Count) {
frame = 0;
}
LastPositions[i].Item3 = frame;
}
// create the combined transformation matrix
var mat = new Matrix4x4(pRot.GetMatrix());
mat.A1 *= pscale.X; mat.B1 *= pscale.X; mat.C1 *= pscale.X;
mat.A2 *= pscale.Y; mat.B2 *= pscale.Y; mat.C2 *= pscale.Y;
mat.A3 *= pscale.Z; mat.B3 *= pscale.Z; mat.C3 *= pscale.Z;
mat.A4 = pPosition.X; mat.B4 = pPosition.Y; mat.C4 = pPosition.Z;
// transpose to get DirectX style matrix
mat.Transpose();
bones[channel.Name].LocalTransform = mat.ToMatrix();
}
LastTime = time;
}
public void Evaluate(float dt, Dictionary<string, Bone> bones) {
dt *= TicksPerSecond;
var time = 0.0f;
if (Duration > 0.0f) {
time = dt % Duration;
}
for (int i = 0; i < Channels.Count; i++) {
var channel = Channels[i];
if (!bones.ContainsKey(channel.Name)) {
Console.WriteLine("Did not find the bone node " + channel.Name);
continue;
}
// interpolate position keyframes
var pPosition = new Vector3D();
if (channel.PositionKeys.Count > 0) {
var frame = (time >= LastTime) ? LastPositions[i].Item1 : 0;
while (frame < channel.PositionKeys.Count - 1) {
if (time < channel.PositionKeys[frame + 1].Time) {
break;
}
frame++;
}
if (frame >= channel.PositionKeys.Count) {
frame = 0;
}
var nextFrame = (frame + 1) % channel.PositionKeys.Count;
var key = channel.PositionKeys[frame];
var nextKey = channel.PositionKeys[nextFrame];
var diffTime = nextKey.Time - key.Time;
if (diffTime < 0.0) {
diffTime += Duration;
}
if (diffTime > 0.0) {
var factor = (float)((time - key.Time) / diffTime);
pPosition = key.Value + (nextKey.Value - key.Value) * factor;
} else {
pPosition = key.Value;
}
LastPositions[i].Item1 = frame;
}
// interpolate rotation keyframes
var pRot = new Assimp.Quaternion(1, 0, 0, 0);
if (channel.RotationKeys.Count > 0) {
var frame = (time >= LastTime) ? LastPositions[i].Item2 : 0;
while (frame < channel.RotationKeys.Count - 1) {
if (time < channel.RotationKeys[frame + 1].Time) {
break;
}
frame++;
}
if (frame >= channel.RotationKeys.Count) {
frame = 0;
}
var nextFrame = (frame + 1) % channel.RotationKeys.Count;
var key = channel.RotationKeys[frame];
var nextKey = channel.RotationKeys[nextFrame];
key.Value.Normalize();
nextKey.Value.Normalize();
var diffTime = nextKey.Time - key.Time;
if (diffTime < 0.0) {
diffTime += Duration;
}
if (diffTime > 0) {
var factor = (float)((time - key.Time) / diffTime);
pRot = Assimp.Quaternion.Slerp(key.Value, nextKey.Value, factor);
} else {
pRot = key.Value;
}
LastPositions[i].Item1= frame;
}
// interpolate scale keyframes
var pscale = new Vector3D(1);
if (channel.ScalingKeys.Count > 0) {
var frame = (time >= LastTime) ? LastPositions[i].Item3 : 0;
while (frame < channel.ScalingKeys.Count - 1) {
if (time < channel.ScalingKeys[frame + 1].Time) {
break;
}
frame++;
}
if (frame >= channel.ScalingKeys.Count) {
frame = 0;
}
LastPositions[i].Item3 = frame;
}
// create the combined transformation matrix
var mat = new Matrix4x4(pRot.GetMatrix());
mat.A1 *= pscale.X; mat.B1 *= pscale.X; mat.C1 *= pscale.X;
mat.A2 *= pscale.Y; mat.B2 *= pscale.Y; mat.C2 *= pscale.Y;
mat.A3 *= pscale.Z; mat.B3 *= pscale.Z; mat.C3 *= pscale.Z;
mat.A4 = pPosition.X; mat.B4 = pPosition.Y; mat.C4 = pPosition.Z;
// transpose to get DirectX style matrix
mat.Transpose();
bones[channel.Name].LocalTransform = mat.ToMatrix();
}
LastTime = time;
}
/// <summary>
/// Build a transformation matrix from rotation, scaling and translation components.
/// The transformation order is scaling, rotation, translation (left to right).
/// </summary>
/// <param name="presentRotation"></param>
/// <param name="presentScaling"></param>
/// <param name="presentPosition"></param>
/// <param name="outMatrix"></param>
private static void BuildTransform(ref Quaternion presentRotation, ref Vector3D presentScaling,
ref Vector3D presentPosition, out Matrix4 outMatrix)
{
// build a transformation matrix from it
var mat = new Matrix4x4(presentRotation.GetMatrix());
mat.A1 *= presentScaling.X;
mat.B1 *= presentScaling.X;
mat.C1 *= presentScaling.X;
mat.A2 *= presentScaling.Y;
mat.B2 *= presentScaling.Y;
mat.C2 *= presentScaling.Y;
mat.A3 *= presentScaling.Z;
mat.B3 *= presentScaling.Z;
mat.C3 *= presentScaling.Z;
mat.A4 = presentPosition.X;
mat.B4 = presentPosition.Y;
mat.C4 = presentPosition.Z;
outMatrix = AssimpToOpenTk.FromMatrix(ref mat);
}