private static Matrix4 GetDefaultBoneTransform(Bone b)
{
var m = Matrix4.Identity;
while (b != null)
{
var q = OpenTkExtensions.QuaternionFromEulerRotation(b.DefaultAngles);
var mat = Matrix4.CreateFromQuaternion(q);
var transform = mat * Matrix4.CreateTranslation(b.DefaultPosition);
m *= transform;
//m *= QuaternionF.EulerAngles(b.DefaultAngles).GetMatrix().Translate(b.DefaultPosition);
b = b.Parent;
}
return(m);
}
public Bone(int boneIndex, int parentIndex, Bone parent, string name,
Vector3 defaultPosition, Vector3 defaultAngles,
Vector3 defaultPositionScale, Vector3 defaultAnglesScale)
{
BoneIndex = boneIndex;
ParentIndex = parentIndex;
Parent = parent;
Name = name;
DefaultPosition = defaultPosition;
DefaultAngles = defaultAngles;
DefaultPositionScale = defaultPositionScale;
DefaultAnglesScale = defaultAnglesScale;
Transform = Matrix4.CreateFromQuaternion(OpenTkExtensions.QuaternionFromEulerRotation(DefaultAngles)) * Matrix4.CreateTranslation(defaultPosition);
if (parent != null)
{
Transform *= parent.Transform;
}
}
public Matrix4 GetAnimationTransform(Bone b, bool transformBones, bool applyDefaults)
{
var m = transformBones ? Matrix4.Identity : GetDefaultBoneTransform(b).Inverted();
while (b != null)
{
var ang = Bones[b.BoneIndex].Angles;
var pos = Bones[b.BoneIndex].Position;
if (applyDefaults)
{
ang *= OpenTkExtensions.QuaternionFromEulerRotation(b.DefaultAngles);
pos += b.DefaultPosition;
}
m *= Matrix4.CreateFromQuaternion(ang) * Matrix4.CreateTranslation(pos);
//var test = Bones[b.BoneIndex].Angles * QuaternionF.EulerAngles(b.DefaultAngles);
//m *= test.GetMatrix().Translate(Bones[b.BoneIndex].Position + b.DefaultPosition);
//m *= Bones[b.BoneIndex].Angles.GetMatrix().Translate(Bones[b.BoneIndex].Position);
b = b.Parent;
}
return(m);
}
