public void ToParentDirection()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector3F(7, 9, -12);
var result1 = a.ToParentDirection(v);
var result2 = a.Rotation.ToRotationMatrix33() * v;
Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
}
private void LimitBoneTransform()
{
// This method is called by the JacobianTransposeIKSolver after each internal iteration.
// The job of this method is to apply bone limits; for example, the elbow should not
// bend backwards, etc.
// To apply a limit, get the bone transform or bone pose from skeleton pose, check if
// is in the allowed range. If it is outside the allowed range, rotate it back to the
// nearest allowed rotation.
// Here, for example, we only make sure that the palm of the hand is always parallel
// to the ground plane - as if the character wants to grab a horizontal bar or as
// if it wants to place the hand on horizontal plane.
SrtTransform bonePoseAbsolute = _meshNode.SkeletonPose.GetBonePoseAbsolute(15);
Vector3F palmAxis = bonePoseAbsolute.ToParentDirection(-Vector3F.UnitY);
bonePoseAbsolute.Rotation = QuaternionF.CreateRotation(palmAxis, Vector3F.UnitY) * bonePoseAbsolute.Rotation;
_meshNode.SkeletonPose.SetBonePoseAbsolute(15, bonePoseAbsolute);
}
private void LimitBoneTransform(int boneIndex)
{
// This method is called by the CcdIKSolver in each internal iteration after a bone
// was modified.
// The job of this method is to apply bone limits; for example, the elbow should not
// bend backwards, etc.
// To apply a limit, get the bone transform or bone pose from skeleton pose, check if
// is in the allowed range. If it is outside the allowed range, rotate it back to the
// nearest allowed rotation.
// The parameter of this method is the boneIndex of the bone that was modified.
// We can only apply the limit of this bone - or we can simply limit all bones
// all the time and ignore the parameter.
// Here, for example, we only make sure that the palm of the hand is always parallel
// to the ground plane - as if the character wants to grab a horizontal bar or as
// if it wants to place the hand on horizontal plane.
SrtTransform bonePoseAbsolute = _meshNode.SkeletonPose.GetBonePoseAbsolute(15);
Vector3 palmAxis = bonePoseAbsolute.ToParentDirection(-Vector3.UnitY);
bonePoseAbsolute.Rotation = Quaternion.CreateFromRotationMatrix(palmAxis, Vector3.UnitY) * bonePoseAbsolute.Rotation;
_meshNode.SkeletonPose.SetBonePoseAbsolute(15, bonePoseAbsolute);
}
public void ToParentDirection()
{
var a = new SrtTransform(new Vector3F(1, 2, 7), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(4, -5, 6));
var v = new Vector3F(7, 9, -12);
var result1 = a.ToParentDirection(v);
var result2 = a.Rotation.ToRotationMatrix33() * v;
Assert.IsTrue(Vector3F.AreNumericallyEqual(result1, result2));
}
