void tmo_Transform(TMOFile tmo)
{
Debug.Assert(nodes_length == tmo.nodes.Length, "nodes length mismatch between base and source.");
int[] id_pair = tmo_defo.CreateNodeIdPair(tmo);
int len = tmo.frames.Length;
for (int i = 0; i < len; i++)
{
tmo.LoadTransformationMatrixFromFrame(i);
for (int x = 0; x < nodes_length; x++)
{
int y = id_pair[x];
Vector3 S0 = tmo_prop.nodes[x].Scaling;
Vector3 S1 = tmo_defo.nodes[x].Scaling;
Vector3 S2 = tmo.nodes[y].Scaling;
Quaternion R0 = tmo_prop.nodes[x].Rotation;
Quaternion R1 = tmo_defo.nodes[x].Rotation;
Quaternion R2 = tmo.nodes[y].Rotation;
Vector3 T0 = tmo_prop.nodes[x].Translation;
Vector3 T1 = tmo_defo.nodes[x].Translation;
Vector3 T2 = tmo.nodes[y].Translation;
// dS = S2 / S1
// S. = S0 * dS
tmo.nodes[y].Scaling = new Vector3(S0.X * S2.X / S1.X, S0.Y * S2.Y / S1.Y, S0.Z * S2.Z / S1.Z);
// dR = inv(R1) * R2
// R. = R0 * dR
tmo.nodes[y].Rotation = R0 * Quaternion.Invert(R1) * R2;
// dT = T2 - T1
// T. = T0 + dT
tmo.nodes[y].Translation = T0 + T2 - T1;
}
tmo.SaveTransformationMatrixToFrame(i);
}
}
