public static NodeBuilder[] CreateGltfSkeleton(List <CSkelMeshBone> skeleton, NodeBuilder armatureNode) // TODO optimize { var result = new List <NodeBuilder>(); for (var i = 0; i < skeleton.Count; i++) { var root = skeleton[i]; if (root.ParentIndex != -1) { continue; } var rootCopy = (CSkelMeshBone)root.Clone(); // we don't want to modify the original skeleton rootCopy.Orientation = FQuat.Conjugate(root.Orientation); result.AddRange(CreateBonesRecursive(rootCopy, armatureNode, skeleton, i)); } return(result.ToArray()); }
public void Quat4() { FQuat fq = FQuat.Euler(( Fix64 )45, ( Fix64 )(-23), ( Fix64 )(-48.88)); FQuat fq2 = FQuat.Euler(( Fix64 )23, ( Fix64 )(-78), ( Fix64 )(-132.43f)); Quat q = Quat.Euler(45, -23, -48.88f); Quat q2 = Quat.Euler(23, -78, -132.43f); FVec3 fv = new FVec3(12.5f, 9, 8); FVec3 fv2 = new FVec3(1, 0, 0); Vec3 v = new Vec3(12.5f, 9, 8); Vec3 v2 = new Vec3(1, 0, 0); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); this._output.WriteLine(fq2.ToString()); this._output.WriteLine(q2.ToString()); Fix64 fa = FQuat.Angle(fq, fq2); float a = Quat.Angle(q, q2); this._output.WriteLine(fa.ToString()); this._output.WriteLine(a.ToString()); fq = FQuat.AngleAxis(( Fix64 )(-123.324), fv); q = Quat.AngleAxis(-123.324f, v); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fa = FQuat.Dot(fq, fq2); a = Quat.Dot(q, q2); this._output.WriteLine(fa.ToString()); this._output.WriteLine(a.ToString()); fq = FQuat.FromToRotation(FVec3.Normalize(fv), fv2); q = Quat.FromToRotation(Vec3.Normalize(v), v2); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fq = FQuat.Lerp(fq, fq2, ( Fix64 )0.66); q = Quat.Lerp(q, q2, 0.66f); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fq = FQuat.Normalize(fq); q.Normalize(); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fq.Inverse(); q = Quat.Inverse(q); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fv = FQuat.Orthogonal(fv); v = Quat.Orthogonal(v); this._output.WriteLine(fv.ToString()); this._output.WriteLine(v.ToString()); fq = FQuat.Slerp(fq, fq2, ( Fix64 )0.66); q = Quat.Slerp(q, q2, 0.66f); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fq = FQuat.LookRotation(FVec3.Normalize(fv), fv2); q = Quat.LookRotation(Vec3.Normalize(v), v2); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fq.ToAngleAxis(out fa, out fv); q.ToAngleAxis(out a, out v); this._output.WriteLine(fa.ToString()); this._output.WriteLine(a.ToString()); this._output.WriteLine(fv.ToString()); this._output.WriteLine(v.ToString()); fq = fq.Conjugate(); q = q.Conjugate(); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); fq.SetLookRotation(FVec3.Normalize(fv), fv2); q.SetLookRotation(Vec3.Normalize(v), v2); this._output.WriteLine(fq.ToString()); this._output.WriteLine(q.ToString()); }