/// <summary>
/// 开始从局部坐标到全局坐标的转换
/// </summary>
/// <param name="ct">参考坐标系</param>
public void Generate(CoordinateType ct)
{
CoordPara = ct.ToString().ToLower();
if (null == Skeleton || null == Motion)
{
return;
}
for (int indpos = 0; indpos < Motion.Postures.Count; ++indpos)
{
Motion.Posture motpos = Motion.Postures[indpos];
Posture anipos = new Posture();
anipos.Index = motpos.Index;
TransformBone("root", motpos, anipos);
Postures.Add(anipos);
}
}
/// <summary>
/// 迭代得到转化坐标系
/// </summary>
/// <param name="name">关节名称</param>
/// <param name="motpos">动作</param>
/// <param name="anipos">经过转化的动作</param>
protected void TransformBone(string name, Motion.Posture motpos, Posture anipos)
{
Skeleton.Bone skebone = Skeleton.Bones[name];
Motion.Bone motbone;
#region 判断是否存在节点
bool bonecontains = false;
foreach (string key in motpos.Bones.Keys)
{
if (key.Equals(name))
{
bonecontains = true;
break;
}
}
if (bonecontains)
{
motbone = motpos.Bones[name];
}
else
{
motbone = new Motion.Bone();
}
#endregion
Bone anibone = new Bone();
if ("root" == name)
{
if ("root" == CoordPara)
{
anibone.WorldTransform.MakeTransform(Vector3.ZERO, Vector3.UNIT_SCALE, Quaternion.IDENTITY);
}
else if ("global" == CoordPara)
{
Vector3 vec = new Vector3();
vec.x = motbone.DofVals[0];
vec.y = motbone.DofVals[1];
vec.z = motbone.DofVals[2];
Matrix3 mx = new Matrix3();
mx.FromAxisAngle(Vector3.UNIT_X, motbone.DofVals[3]);
Matrix3 my = new Matrix3();
my.FromAxisAngle(Vector3.UNIT_Y, motbone.DofVals[4]);
Matrix3 mz = new Matrix3();
mz.FromAxisAngle(Vector3.UNIT_Z, motbone.DofVals[5]);
Quaternion localorient = new Quaternion(mz * my * mx);
anibone.WorldTransform.MakeTransform(vec, Vector3.UNIT_SCALE, localorient);
}
anibone.WorldTranslate = anibone.WorldTransform.GetTrans();
anibone.WorldOrient = anibone.WorldTransform.ExtractQuaternion();
//anibone.WorldTranslateEnd = anibone.WorldTranslate;
}
else
{
Vector3 dof = Vector3.ZERO;
for (int ind = 0; ind < skebone.DofNames.Count; ++ind)
{
string dofname = skebone.DofNames[ind];
float val = motbone.DofVals[ind];
if ("rx" == dofname)
{
dof.x = val;
}
else if ("ry" == dofname)
{
dof.y = val;
}
else if ("rz" == dofname)
{
dof.z = val;
}
}
Matrix3 mx = new Matrix3();
mx.FromAxisAngle(Vector3.UNIT_X, dof.x);
Matrix3 my = new Matrix3();
my.FromAxisAngle(Vector3.UNIT_Y, dof.y);
Matrix3 mz = new Matrix3();
mz.FromAxisAngle(Vector3.UNIT_Z, dof.z);
Quaternion localorient = new Quaternion(mz * my * mx);
string parentname = skebone.Parent.Name;
Bone parentanibone = anipos.Bones[parentname];
Skeleton.Bone parentskebone = skebone.Parent;
Matrix4 parenttransform = new Matrix4();
parenttransform.MakeTransform(
parentskebone.Dir * parentskebone.Length,
Vector3.UNIT_SCALE,
skebone.ParentOrient * localorient
);
anibone.WorldTransform = parentanibone.WorldTransform * parenttransform;
anibone.WorldTranslate = anibone.WorldTransform.GetTrans();
anibone.WorldOrient = anibone.WorldTransform.ExtractQuaternion() * Vector3.UNIT_Y.GetRotationTo(skebone.Dir);
// anibone.WorldTranslateEnd = anibone.WorldTranslate + anibone.WorldOrient * new Vector3(0, skebone.Length, 0);
}
anipos.Bones.Add(name, anibone);
List <Skeleton.Bone> children = skebone.Children;
if (children != null)
{
for (int ind = 0; ind < children.Count; ++ind)
{
TransformBone(children[ind].Name, motpos, anipos);
}
}
}