public void Merge(ActorBehavior behaviour)
{
Vector3 rootRotation = new Vector3(rotation);
Vector3 rootTranslation = new Vector3(translation);
DualQuaternion rootTransform = DualQuaternion.FromRotationTranslation(
behaviour.model.MainDefinition.BoneSystem.RootBone.RotationOrder.FromEulerAngles(MathExtensions.DegreesToRadians(rootRotation)),
rootTranslation);
behaviour.dragHandle.Transform = rootTransform.ToMatrix();
var poseDeltas = behaviour.ikAnimator.PoseDeltas;
poseDeltas.ClearToZero();
foreach (var bone in behaviour.model.MainDefinition.BoneSystem.Bones)
{
Vector3 angles;
if (boneRotations.TryGetValue(bone.Name, out var values))
{
angles = new Vector3(values);
}
else
{
angles = Vector3.Zero;
}
var twistSwing = bone.RotationOrder.FromTwistSwingAngles(MathExtensions.DegreesToRadians(angles));
poseDeltas.Rotations[bone.Index] = twistSwing;
}
}
public DualQuaternion Invert()
{
var inverseRotation = Quaternion.Invert(Rotation);
var inverseTranslation = Vector3.Transform(-Translation, inverseRotation);
return(DualQuaternion.FromRotationTranslation(inverseRotation, inverseTranslation));
}
private DualQuaternion GetJointCenteredRotationTransform(ChannelOutputs outputs, Matrix3x3 parentScale)
{
Quaternion worldSpaceRotation = GetRotation(outputs);
Vector3 translation = Vector3.Transform(Translation.GetValue(outputs), parentScale);
return(DualQuaternion.FromRotationTranslation(worldSpaceRotation, translation));
}
public void TestFromAndToRotationTranslation()
{
Quaternion rotation = Quaternion.RotationYawPitchRoll(1, 2, 3);
Vector3 translation = new Vector3(2, 3, 4);
DualQuaternion dq = DualQuaternion.FromRotationTranslation(rotation, translation);
Assert.AreEqual(0, Vector3.Distance(translation, dq.Translation), 1e-6);
Assert.IsTrue(dq.Rotation == rotation || dq.Rotation == -rotation);
}
public void TestTransform()
{
Vector3 translation = new Vector3(2, 3, 4);
Quaternion rotation = Quaternion.RotationYawPitchRoll(1, 2, 3);
Matrix matrix = Matrix.RotationQuaternion(rotation) * Matrix.Translation(translation);
DualQuaternion dq = DualQuaternion.FromRotationTranslation(rotation, translation);
Vector3 v = new Vector3(3, 4, 5);
Assert.IsTrue(dq.Transform(v) == Vector3.TransformCoordinate(v, matrix));
}
public void Apply(ChannelInputs inputs, Pose pose, DualQuaternion rootTransform)
{
foreach (Bone bone in boneSystem.Bones)
{
bone.AddRotation(orientationOutputs, inputs, pose.BoneRotations[bone.Index]);
}
var rescaledRootTransform = DualQuaternion.FromRotationTranslation(rootTransform.Rotation, rootTransform.Translation * 100);
boneSystem.RootBone.SetRotation(orientationOutputs, inputs, rescaledRootTransform.Rotation);
boneSystem.RootBone.SetTranslation(inputs, rescaledRootTransform.Translation);
boneSystem.Bones[1].SetTranslation(inputs, pose.RootTranslation);
}
public void TestInvert()
{
Vector3 translation = new Vector3(2, 3, 4);
Quaternion rotation = Quaternion.RotationYawPitchRoll(1, 2, 3);
DualQuaternion dq = DualQuaternion.FromRotationTranslation(rotation, translation);
Vector3 v = new Vector3(3, 4, 5);
Vector3 transformed = dq.Transform(v);
Vector3 inverseTransformed = dq.Invert().Transform(transformed);
Assert.AreEqual(
v,
inverseTransformed);
}