private void SplitBendAndTwist(Vector3 axis, Quaternion sourceRotation, Dictionary <string, Quaternion> target, string bendName, string twistName)
{
OrientationSpace orientationSpace = boneSystem.BonesByName[twistName].GetOrientationSpace(outputs);
orientationSpace.DecomposeIntoTwistThenSwing(axis, sourceRotation, out Quaternion twist, out Quaternion swing);
target[twistName] = twist;
target[bendName] = swing;
}
private Matrix3x3 GetCombinedScale(ChannelOutputs outputs)
{
Vector3 scale = Scale.GetValue(outputs);
float generalScale = (float)GeneralScale.GetValue(outputs);
var objectSpaceScaling = Matrix3x3.Scaling(scale * generalScale);
OrientationSpace orientationSpace = GetOrientationSpace(outputs);
var orientedSpaceScaling = orientationSpace.TransformToOrientedSpace(objectSpaceScaling);
return(orientedSpaceScaling);
}
public void TestDecomposeIntoSwingThenTwistInOrientedSpace()
{
Quaternion orientation = Quaternion.RotationYawPitchRoll(0.4f, 0.3f, 0.2f);
OrientationSpace orientationSpace = new OrientationSpace(orientation);
Quaternion q = Quaternion.RotationYawPitchRoll(0.1f, 0.2f, 0.3f);
orientationSpace.DecomposeIntoTwistThenSwing(Vector3.UnitX, q, out var twist, out var swing);
Quaternion twistThenSwing = twist.Chain(swing);
Assert.AreEqual(twistThenSwing, q);
}
public Quaternion GetRotation(ChannelOutputs outputs)
{
OrientationSpace orientationSpace = GetOrientationSpace(outputs);
Vector3 rotationAngles = Rotation.GetValue(outputs);
TwistSwing rotationTwistSwing = RotationOrder.FromTwistSwingAngles(MathExtensions.DegreesToRadians(rotationAngles));
rotationTwistSwing = RotationConstraint.Clamp(rotationTwistSwing);
Quaternion orientedSpaceRotation = rotationTwistSwing.AsQuaternion(RotationOrder.TwistAxis);
Quaternion worldSpaceRotation = orientationSpace.TransformFromOrientedSpace(orientedSpaceRotation);
return(worldSpaceRotation);
}
public void Synchronize(ChannelOutputs outputs)
{
ScalingTransform parentScalingTransform = Parent != null ? Parent.chainedScalingTransform : ScalingTransform.Identity;
Vector3 parentTranslation = Parent != null ? Parent.chainedTranslation : Vector3.Zero;
var sourceTranslation = Parent != null?Source.Translation.GetValue(outputs) : Vector3.Zero; //don't bake in translation for root bone
chainedScalingTransform = Source.GetObjectCenteredScalingTransform(outputs).Chain(parentScalingTransform);
chainedTranslation = Vector3.Transform(sourceTranslation, parentScalingTransform.Scale) + parentTranslation;
Vector3 sourceCenter = Source.CenterPoint.GetValue(outputs);
centerPoint = parentScalingTransform.Transform(sourceCenter) + chainedTranslation;
orientationSpace = Source.GetOrientationSpace(outputs);
}
public Vector3 ConvertRotationToAngles(ChannelOutputs orientationOutputs, Quaternion objectSpaceRotation, bool applyClamp)
{
OrientationSpace orientationSpace = GetOrientationSpace(orientationOutputs);
Quaternion orientatedSpaceRotationQ = orientationSpace.TransformToOrientedSpace(objectSpaceRotation);
TwistSwing orientatedSpaceRotation = TwistSwing.Decompose(RotationOrder.TwistAxis, orientatedSpaceRotationQ);
if (applyClamp)
{
orientatedSpaceRotation = RotationConstraint.Clamp(orientatedSpaceRotation);
}
Vector3 rotationAnglesRadians = RotationOrder.ToTwistSwingAngles(orientatedSpaceRotation);
Vector3 rotationAnglesDegrees = MathExtensions.RadiansToDegrees(rotationAnglesRadians);
return(rotationAnglesDegrees);
}