Matrix4 evalRotation(float time)
{
// Evaluate
LWChannelEnvelope h_env = Motion.Channel(LWChannel.H);
LWChannelEnvelope p_env = Motion.Channel(LWChannel.P);
LWChannelEnvelope b_env = Motion.Channel(LWChannel.B);
float h = (h_env != null) ? h = h_env.eval(time) : 0.0f;
float p = (p_env != null) ? p = p_env.eval(time) : 0.0f;
float b = (b_env != null) ? b = b_env.eval(time) : 0.0f;
Matrix4 rotation = Matrix4.Identity;
#if true
Quaternion
q = new Quaternion(Vector3.UnitZ, -b);
q *= new Quaternion(Vector3.UnitX, -p);
q *= new Quaternion(Vector3.UnitY, -h);
Matrix4.CreateFromQuaternion(ref q, out rotation);
//last_rotation = q;
#else
last_rotation.rotateYMatrix(h);
last_rotation.rotateX(p);
last_rotation.rotateZ(b);
#endif
if (parentObject != null)
{
rotation = parentObject.evalRotation(time) * rotation;
}
return(rotation);
}
public Vector3 evalPosition(float time)
{
// Evaluate
LWChannelEnvelope x_env = Motion.Channel(LWChannel.X);
LWChannelEnvelope y_env = Motion.Channel(LWChannel.Y);
LWChannelEnvelope z_env = Motion.Channel(LWChannel.Z);
double x = (x_env != null) ? x = x_env.eval(time) : 0.0;
double y = (y_env != null) ? y = y_env.eval(time) : 0.0;
double z = (z_env != null) ? z = z_env.eval(time) : 0.0;
Vector3 position = new Vector3(x, y, z);
if (ParentObject != null)
{
position = ParentObject.evalRotation(time) * position;
position += ParentObject.evalPosition(time);
}
position += evalPivot(time);
return(position);
}