private Matrix4x4 ComputeRotation(RenderModel.Node node)
{
Matrix4x4 rot = new Matrix4x4();
rot.D4 = 1;
var quat = node.DefaultRotation.Normalize();
float sqw = quat.W * quat.W;
float sqx = quat.I * quat.I;
float sqy = quat.J * quat.J;
float sqz = quat.K * quat.K;
rot.A1 = (sqx - sqy - sqz + sqw);
rot.B2 = (-sqx + sqy - sqz + sqw);
rot.C3 = (-sqx - sqy + sqz + sqw);
float tmp1 = quat.I * quat.J;
float tmp2 = quat.K * quat.W;
rot.B1 = 2.0f * (tmp1 + tmp2);
rot.A2 = 2.0f * (tmp1 - tmp2);
tmp1 = quat.I * quat.K;
tmp2 = quat.J * quat.W;
rot.C1 = 2.0f * (tmp1 - tmp2);
rot.A3 = 2.0f * (tmp1 + tmp2);
tmp1 = quat.J * quat.K;
tmp2 = quat.I * quat.W;
rot.C2 = 2.0f * (tmp1 + tmp2);
rot.B3 = 2.0f * (tmp1 - tmp2);
return(rot);
}
/// <summary>
/// Adds a node to the model.
/// </summary>
/// <param name="node">The node to add.</param>
/// <returns>The node index.</returns>
public sbyte AddNode(RenderModel.Node node)
{
_model.Nodes.Add(node);
// Generate runtime data
_model.RuntimeNodeOrientations.Add(new RenderModel.RuntimeNodeOrientation
{
Translation = node.DefaultTranslation,
Rotation = node.DefaultRotation,
Scale = node.DefaultScale,
});
return((sbyte)(_model.Nodes.Count - 1));
}
private Matrix4x4 ComputeTransform(RenderModel.Node node)
{
Matrix4x4 matrix_translation = new Matrix4x4();
matrix_translation.A4 = node.DefaultTranslation.X;
matrix_translation.B4 = node.DefaultTranslation.Y;
matrix_translation.C4 = node.DefaultTranslation.Z;
matrix_translation.A1 = 1;
matrix_translation.B2 = 1;
matrix_translation.C3 = 1;
matrix_translation.D4 = 1;
Matrix4x4 matrix = ComputeRotation(node) * matrix_translation;
return(matrix);
}
