private void importSkeletonJoints(Skeleton skeleton, ASFJoint asfJoint, Joint joint)
{
joint.CalculateAbsoluteMatrix();
for (int i = 0; i < asfJoint.children.Count; i++)
{
var asfChild = asfJoint.children[i];
var child = new Joint();
child.Parent = joint;
child.Name = asfChild.name;
child.Length = asfChild.length;
//get rotation component inherited from the parent rotation
child.CalculateInitialRelativeMatrix(Matrix.Identity);
child.CalculateAbsoluteMatrix();
var trans = Vector3.TransformCoordinate(Vector3.Zero, child.AbsoluteMatrix);
var rotationMat = child.AbsoluteMatrix * Matrix.Translation(-trans);
child.CalculateInitialRelativeMatrix(XnaMathExtensions.CreateRotationMatrixMapDirection(Vector3.UnitX.xna(), asfChild.direction.xna()).dx() * Matrix.Invert(rotationMat));
//Undo rotation of parent
//child.RelativeMatrix = XnaMathExtensions.CreateRotationMatrixMapDirection(Vector3.UnitX, asfChild.direction) * Matrix.CreateTranslation(trans) * Matrix.Invert(child.AbsoluteMatrix);
//child.RelativeMatrix = Matrix.Invert(rotationMat) * XnaMathExtensions.CreateRotationMatrixMapDirection(Vector3.UnitX, asfChild.direction);
skeleton.Joints.Add(child);
importSkeletonJoints(skeleton, asfChild, child);
}
}
private bool parseCommand()
{
if (!line.Line.StartsWith(":"))
{
return(false);
}
ParseCommandDelegate newCmd = null;
if (line == ":bonedata")
{
newCmd = parseCommandBonedata;
}
if (line == ":hierarchy")
{
newCmd = parseCommandHierarchy;
}
if (line == ":root")
{
var j = new ASFJoint();
j.name = "root";
Joints.Add(j);
RootJoint = j;
}
if (newCmd != null)
{
popCommand();
pushCommand(newCmd);
}
return(true);
}
public Matrix CalculateRelativeMatrix(AMCSegment seg, ASFJoint asfJoint)
{
if (asfJoint.name == "root")
{
//use root orientation here? prob not
Matrix c = Matrix.Identity;
c =
Matrix.RotationX(MathHelper.ToRadians(seg.Data[3])) *
Matrix.RotationY(MathHelper.ToRadians(seg.Data[4])) * Matrix.RotationZ(MathHelper.ToRadians(seg.Data[5]));
//use root position here? prob not
Matrix b = Matrix.Translation(seg.Data[0], seg.Data[1], seg.Data[2]);
Matrix m = Matrix.Identity;
m = Matrix.Identity;
Matrix l = Matrix.Invert(c) * m * c * b;
return(l);
}
else
{
//WARNING: not using the given order asfJoint.axisOrder
Matrix c = Matrix.RotationX(MathHelper.ToRadians(asfJoint.axis.X))
* Matrix.RotationY(MathHelper.ToRadians(asfJoint.axis.Y))
* Matrix.RotationZ(MathHelper.ToRadians(asfJoint.axis.Z));
Matrix b = Matrix.Translation(asfJoint.parent.direction * asfJoint.parent.length);
Matrix m = Matrix.Identity;
for (int i = 0; i < asfJoint.dof.Length; i++)
{
switch (asfJoint.dof[i])
{
case "rx":
m = m * Matrix.RotationX(MathHelper.ToRadians(seg.Data[i]));
break;
case "ry":
m = m * Matrix.RotationY(MathHelper.ToRadians(seg.Data[i]));
break;
case "rz":
m = m * Matrix.RotationZ(MathHelper.ToRadians(seg.Data[i]));
break;
}
}
Matrix l = Matrix.Invert(c) * m * c * b;
return(l);
}
}
private bool parseCommandBonedata()
{
if (line == "begin")
{
currentJoint = new ASFJoint();
pushCommand(parseCommandJoint);
return(true);
}
if (line == "end")
{
Joints.Add(currentJoint);
popCommand();
return(true);
}
return(false);
}