public static Quaternion GetQuaternion(IBcx bcx, int jointIndex, float time)
{
var animatedJoint = bcx.Anx1.Joints[jointIndex];
var values = animatedJoint.Values;
var xRadians = animatedJoint.GetAnimValue(values.rotationsX, time);
var yRadians = animatedJoint.GetAnimValue(values.rotationsY, time);
var zRadians = animatedJoint.GetAnimValue(values.rotationsZ, time);
return(QuaternionUtil.Create(xRadians, yRadians, zRadians));
}
public static IFinMatrix4x4 FromRotation(IRotation rotation) => MatrixTransformUtil.FromRotation(QuaternionUtil.Create(rotation));
public Quaternion GetInterpolatedFrame(
float frame,
IOptional <float[]>?defaultAxes = null,
bool useLoopingInterpolation = false)
{
var xTrack = this.axisTracks_[0];
var yTrack = this.axisTracks_[1];
var zTrack = this.axisTracks_[2];
var keyframe = (int)frame;
// TODO: Properly interpolate between first and final keyframe
// TODO: Fix gimbal lock
/*xTrack.FindIndexOfKeyframe(keyframe,
* out var xKeyframeIndex,
* out var xRadiansKeyframe,
* out var xKeyframeDefined,
* out var xPastEnd);
* yTrack.FindIndexOfKeyframe(keyframe,
* out var yKeyframeIndex,
* out var yRadiansKeyframe,
* out var yKeyframeDefined,
* out var yPastEnd);
* zTrack.FindIndexOfKeyframe(keyframe,
* out var zKeyframeIndex,
* out var zRadiansKeyframe,
* out var zKeyframeDefined,
* out var zPastEnd);
*
* var fromXRadians = xRadiansKeyframe.Pluck(keyframe => keyframe.Value)
* .Or(this.defaultRotation_)
* .Assert();
* var fromYRadians = yRadiansKeyframe.Pluck(keyframe => keyframe.Value)
* .Or(this.defaultRotation_)
* .Assert();
* var fromZRadians = zRadiansKeyframe.Pluck(keyframe => keyframe.Value)
* .Or(this.defaultRotation_)
* .Assert();
*
* var xKeyframes = this.axisTracks_[0].Keyframes;
* if (xKeyframeIndex < xKeyframes.Count) {
*
* }*/
var defaultX = defaultAxes == null
? this.defaultRotation_
: defaultAxes.Pluck(axes => axes[0])
.Or(this.defaultRotation_);
var defaultY = defaultAxes == null
? this.defaultRotation_
: defaultAxes.Pluck(axes => axes[1])
.Or(this.defaultRotation_);
var defaultZ = defaultAxes == null
? this.defaultRotation_
: defaultAxes.Pluck(axes => axes[2])
.Or(this.defaultRotation_);
xTrack.GetInterpolationData(
frame,
defaultX,
out var fromXFrame,
out var toXFrame,
useLoopingInterpolation);
yTrack.GetInterpolationData(
frame,
defaultY,
out var fromYFrame,
out var toYFrame,
useLoopingInterpolation);
zTrack.GetInterpolationData(
frame,
defaultZ,
out var fromZFrame,
out var toZFrame,
useLoopingInterpolation);
if (!RadiansRotationTrackImpl.CanInterpolateWithQuaternions_(
fromXFrame, fromYFrame, fromZFrame,
toXFrame, toYFrame, toZFrame))
{
var xRadians =
xTrack.GetInterpolatedFrame(frame, defaultX,
useLoopingInterpolation)
.Assert();
var yRadians =
yTrack.GetInterpolatedFrame(frame, defaultY,
useLoopingInterpolation)
.Assert();
var zRadians =
zTrack.GetInterpolatedFrame(frame, defaultZ,
useLoopingInterpolation)
.Assert();
return(QuaternionUtil.Create(xRadians, yRadians, zRadians));
}
var fromFrame = fromXFrame.Value.frame;
var toFrame = toXFrame.Value.frame;
var frameDelta = (frame - fromFrame) / (toFrame - fromFrame);
var q1 = QuaternionUtil.Create(
fromXFrame.Value.value,
fromYFrame.Value.value,
fromZFrame.Value.value);
var q2 = QuaternionUtil.Create(
toXFrame.Value.value,
toYFrame.Value.value,
toZFrame.Value.value);
if (Quaternion.Dot(q1, q2) < 0)
{
q2 = -q2;
}
var interp = Quaternion.Slerp(q1, q2, frameDelta);
return(Quaternion.Normalize(interp));
}
