public static Switch CreateHAMSwitch(Bone bone, Bone fixedBone, int[] animationOrder, int numFrames)
{
Switch sw = new Switch();
sw.reference();
//add starting HAM (none shown), each animation does the animation and the ending frame, not the starting one :)
Separator nullSep = new Separator();
sw.addChild(nullSep);
for (int i = 0; i < animationOrder.Length - 1; i++) //not the last animation, there need start and end
{
TransformMatrix tmTransform = bone.CalculateRelativeMotion(animationOrder[i], animationOrder[i + 1], fixedBone);
HelicalTransform tform = tmTransform.ToHelical();
if (bone.HasInertia)
{
double[] cent = { bone.InertiaMatrix.GetElement(0, 3), bone.InertiaMatrix.GetElement(1, 3), bone.InertiaMatrix.GetElement(2, 3) };
tform.AdjustQToLocateHamNearCentroid(cent);
}
HamAxis axis = new HamAxis(tform.N[0], tform.N[1], tform.N[2], tform.Q[0], tform.Q[1], tform.Q[2]);
for (int j = 0; j < numFrames - 1; j++) //do one less then num frames, no HAM shown for the final position
{
sw.addChild(axis);
}
sw.addChild(nullSep); //add the empty at the end :)
}
sw.unrefNoDelete();
return(sw);
}
public HelicalTransform(TransformMatrix matrix)
{
HelicalTransform ham = matrix.ToHelical();
_phi = ham.Phi;
_n = ham.N;
_trans = ham._trans;
_q = ham._q;
}
public TransformMatrix[] CalculateInterpolatedMotion(int startPositionIndex, int endPositionIndex, Bone startFixedBone, Bone endFixedBone, int numSteps)
{
TransformMatrix[] finalTransforms = new TransformMatrix[numSteps];
TransformMatrix startTransform = this.CalculateRelativeMotionFromNeutral(startPositionIndex, startFixedBone);
TransformMatrix endTransform = this.CalculateRelativeMotionFromNeutral(endPositionIndex, endFixedBone);
TransformMatrix relMotion = endTransform * startTransform.Inverse();
HelicalTransform relMotionHT = relMotion.ToHelical();
HelicalTransform[] htTransforms = relMotionHT.LinearlyInterpolateMotion(numSteps);
for (int i = 0; i < numSteps; i++)
{
finalTransforms[i] = htTransforms[i].ToTransformMatrix() * startTransform;
}
return(finalTransforms);
}
