// Create linked list of all bones in skeleton
private List <DAE_Bone> load(DAE_Bone parent_bone, Grendgine_Collada_Node[] bone_children)
{
if (bone_children != null)
{
List <DAE_Bone> children = new List <DAE_Bone>();
foreach (Grendgine_Collada_Node child in bone_children)
{
Matrix4 joint_matrix = EngineHelper.createMatrix(child.Matrix[0].Value());
// Add parent's joint matrix
joint_matrix = joint_matrix * parent_bone.JM;
DAE_Bone temp_bone = createBone(child.ID, parent_bone, joint_matrix);
if (child.node != null)
{
temp_bone.children = load(temp_bone, child.node);
}
children.Add(temp_bone);
}
return(children);
}
else
{
return(null);
}
}
public DAE_Bone createBone(string name, DAE_Bone parent, Matrix4 joint_matrix)
{
DAE_Bone temp_bone = new DAE_Bone(_bone_id_incrementer, name, parent, joint_matrix);
_bone_id_incrementer++;
return(temp_bone);
}
public DAE_Bone(int id, string name, DAE_Bone parent, Matrix4 joint_matrix)
{
_id = id;
_name = name;
_parent = parent;
_JM = joint_matrix;
_IBM = Matrix4.Identity;
}
// Create new bone and add it to dictionaries
private DAE_Bone createBone(string name, DAE_Bone parent, Matrix4 joint_matrix)
{
DAE_Bone temp_bone = new DAE_Bone(_bone_id_incrementer, name, parent, joint_matrix);
_bones.Add(temp_bone.id, temp_bone);
_bone_ids.Add(temp_bone.name, temp_bone.id);
_bone_id_incrementer++;
return(temp_bone);
}
public DAE_Skeleton(string id, Matrix4 root_matrix, Grendgine_Collada_Node[] bone_nodes)
{
_id = id;
_animated = false;
_bone_id_incrementer = 0;
_bones = new Dictionary <int, DAE_Bone>();
_bone_ids = new Dictionary <string, int>();
_vertex_weights = new Dictionary <int, VertexWeight[]>();
// Setup root bone and load the rest
_root = createBone("root", null, root_matrix);
_root.children = load(_root, bone_nodes);
// Print Bone Structure
//Console.WriteLine(getBoneStructure(_root, 0));
}
public void updateBones(DAE_Bone parent, Dictionary <string, Matrix4> boneMatrices)
{
if (parent.children == null)
{
return;
}
else
{
foreach (DAE_Bone child in parent.children)
{
Matrix4 temp_mat = child.JM;
boneMatrices.TryGetValue(child.name, out temp_mat);
child.JM = temp_mat * parent.JM;
updateBones(child, boneMatrices);
}
return;
}
}
// Traverse Skeleton and print bone hierarchy
private string getBoneStructure(DAE_Bone bone, int level)
{
string output = "";
string indent = "|";
for (int i = 0; i < level; i++)
{
indent += '_';
}
output += indent + " [" + bone.id + "] " + bone.name;
if (bone.children == null)
{
return(output);
}
else
{
foreach (DAE_Bone child in bone.children)
{
output += "\n" + getBoneStructure(child, level + 1);
}
return(output);
}
}
