public AnimMeshPose(AnimMeshPose copyFrom)
{
Position = copyFrom.Position;
Rotation = copyFrom.Rotation;
AngularVelocity = copyFrom.AngularVelocity;
Velocity = copyFrom.Velocity;
BoneNum = copyFrom.BoneNum;
FrameNum = copyFrom.FrameNum;
}
public void BuildPerFrameFKPoses()
{
perFrameFKPoses = new AnimMeshPose[NumFrames, NumBones];
var parentPoints = new Point3D[64];
var parentRotations = new Quaternion[64];
parentPoints[0] = new Point3D(0, 0, 0);
parentRotations[0] = new Quaternion(0, 0, 0, 1);
for (var frame = 0; frame < NumFrames; ++frame)
{
for (var jointNum = 0; jointNum < skeletonDef.GetLength(0); ++jointNum)
{
var parentIndex = skeletonDef[jointNum];
var parentPos = parentPoints[parentIndex];
var parentRot = parentRotations[parentIndex];
// The world position of the child joint is the local position of the child joint rotated by the
// world rotation of the parent and then offset by the world position of the parent.
var pose = perFramePoses[frame, jointNum];
var m = Matrix3D.Identity;
m.Rotate(parentRot);
var thisPos = m.Transform(pose.Position);
thisPos.Offset(parentPos.X, parentPos.Y, parentPos.Z);
// The world rotation of the child joint is the world rotation of the parent rotated by the local rotation of the child.
var poseRot = pose.Rotation;
poseRot.Normalize();
var thisRot = Quaternion.Multiply(parentRot, poseRot);
thisRot.Normalize();
var fkPose = new AnimMeshPose
{
Position = thisPos,
Rotation = thisRot
};
perFrameFKPoses[frame, jointNum] = fkPose;
parentPoints[parentIndex + 1] = fkPose.Position;
parentRotations[parentIndex + 1] = fkPose.Rotation;
}
}
}
public void BuildPerFramePoses()
{
perFramePoses = new AnimMeshPose[NumFrames, NumBones];
foreach (var pose in MeshPoses)
{
if (pose != null && pose.FrameNum <= NumFrames)
{
perFramePoses[pose.FrameNum, pose.BoneNum] = pose;
}
}
for (var bone = 0; bone < NumBones; ++bone)
{
AnimMeshPose prevPose = null;
for (var frame = 0; frame < NumFrames; ++frame)
{
if (perFramePoses[frame, bone] == null)
{
var frameDiff = frame - prevPose.FrameNum;
var avCoeff = frameDiff / 131072.0;
var rotDelta = new Quaternion(prevPose.AngularVelocity.X * avCoeff, prevPose.AngularVelocity.Y * avCoeff, prevPose.AngularVelocity.Z * avCoeff, prevPose.AngularVelocity.W * avCoeff);
var velCoeff = frameDiff / 512.0;
var posDelta = new Point3D(prevPose.Velocity.X * velCoeff, prevPose.Velocity.Y * velCoeff, prevPose.Velocity.Z * velCoeff);
var pose = new AnimMeshPose
{
BoneNum = bone,
FrameNum = frame,
Position = new Point3D(prevPose.Position.X + posDelta.X, prevPose.Position.Y + posDelta.Y, prevPose.Position.Z + posDelta.Z),
Rotation = new Quaternion(prevPose.Rotation.X + rotDelta.X, prevPose.Rotation.Y + rotDelta.Y, prevPose.Rotation.Z + rotDelta.Z, prevPose.Rotation.W + rotDelta.W),
AngularVelocity = prevPose.AngularVelocity,
Velocity = prevPose.Velocity
};
perFramePoses[frame, bone] = pose;
}
prevPose = perFramePoses[frame, bone];
}
}
}
