Esempio n. 1
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    public RigidBoneSystemInputs ApplyDeltas(RigidBoneSystemInputs baseInputs, RigidBoneSystemInputs deltaInputs)
    {
        var sumInputs = new RigidBoneSystemInputs(bones.Length)
        {
        };

        RigidTransform baseRootTransform = RigidTransform.FromRotationTranslation(
            RootBone.GetRotation(baseInputs),
            baseInputs.RootTranslation);

        RigidTransform deltaRootTransform = RigidTransform.FromRotationTranslation(
            RootBone.GetRotation(deltaInputs),
            deltaInputs.RootTranslation);

        RigidTransform sumRootTransform = deltaRootTransform.Chain(baseRootTransform);

        sumInputs.RootTranslation = sumRootTransform.Translation;
        RootBone.SetRotation(sumInputs, sumRootTransform.Rotation);

        for (int boneIdx = 1; boneIdx < bones.Length; ++boneIdx)
        {
            var bone = bones[boneIdx];
            sumInputs.Rotations[boneIdx] = bone.Constraint.Clamp(
                TwistSwing.ApplyDelta(baseInputs.Rotations[boneIdx], deltaInputs.Rotations[boneIdx]));
        }

        return(sumInputs);
    }
Esempio n. 2
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    public RigidBoneSystemInputs CalculateDeltas(RigidBoneSystemInputs baseInputs, RigidBoneSystemInputs sumInputs)
    {
        var deltaInputs = new RigidBoneSystemInputs(bones.Length)
        {
        };

        RigidTransform baseRootTransform = RigidTransform.FromRotationTranslation(
            RootBone.GetRotation(baseInputs),
            baseInputs.RootTranslation);

        RigidTransform sumRootTransform = RigidTransform.FromRotationTranslation(
            RootBone.GetRotation(sumInputs),
            sumInputs.RootTranslation);

        RigidTransform deltaRootTransform = sumRootTransform.Chain(baseRootTransform.Invert());

        deltaInputs.RootTranslation = deltaRootTransform.Translation;
        RootBone.SetRotation(deltaInputs, deltaRootTransform.Rotation);

        for (int boneIdx = 1; boneIdx < bones.Length; ++boneIdx)
        {
            var bone = bones[boneIdx];
            deltaInputs.Rotations[boneIdx] = TwistSwing.CalculateDelta(baseInputs.Rotations[boneIdx], sumInputs.Rotations[boneIdx]);
        }

        return(deltaInputs);
    }
    public RigidTransform GetChainedTransform(RigidBoneSystemInputs inputs, RigidTransform parentTransform)
    {
        RigidTransform rotationTransform        = GetObjectCenteredRotationTransform(inputs);
        RigidTransform chainedRotationTransform = rotationTransform.Chain(parentTransform);

        return(chainedRotationTransform);
    }
Esempio n. 4
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    public void TestChain()
    {
        var            rnd        = new Random(0);
        RigidTransform transform1 = RandomUtil.RigidTransform(rnd);
        RigidTransform transform2 = RandomUtil.RigidTransform(rnd);
        var            testPoint  = RandomUtil.Vector3(rnd);

        MathAssert.AreEqual(
            transform2.Transform(transform1.Transform(testPoint)),
            transform1.Chain(transform2).Transform(testPoint),
            Acc);
    }