/// <summary>
/// Returns the global rotation of the specified constraint
/// </summary>
/// <param name="constraint"></param>
/// <param name="sceneAccess"></param>
/// <returns></returns>
public static MQuaternion GetGlobalRotation(this MGeometryConstraint constraint, MSceneAccess.Iface sceneAccess)
{
MTransform parentTransform = sceneAccess.GetTransformByID(constraint.ParentObjectID);
if (parentTransform != null)
{
if (constraint.ParentToConstraint != null)
{
return(parentTransform.TransformRotation(constraint.ParentToConstraint.Rotation));
}
else
{
return(parentTransform.Rotation);
}
}
//No parent defined
else
{
if (constraint.ParentToConstraint != null)
{
return(constraint.ParentToConstraint.Rotation);
}
}
return(null);
}
/// <summary>
/// Performs the actual solving
/// </summary>
/// <param name="currentResult"></param>
/// <param name="mmuResults"></param>
/// <param name="timeSpan"></param>
/// <returns></returns>
public MSimulationResult Solve(MSimulationResult currentResult, List <MSimulationResult> mmuResults, float timeSpan)
{
List <MJointConstraint> jointConstraints = new List <MJointConstraint>();
foreach (MConstraint constraint in currentResult.Constraints)
{
if (constraint.JointConstraint != null)
{
jointConstraints.Add(constraint.JointConstraint);
}
if (constraint.PostureConstraint != null && constraint.PostureConstraint.JointConstraints != null)
{
jointConstraints.AddRange(constraint.PostureConstraint.JointConstraints);
}
}
//Set the channel data
this.skeletonAccess.SetChannelData(currentResult.Posture);
foreach (MJointConstraint constraint in jointConstraints)
{
//Skip if joint is not considered
if (!this.ConsideredTypes.Contains(constraint.JointType))
{
continue;
}
MGeometryConstraint geometryConstraint = constraint.GeometryConstraint;
//To do -> Further check the parent
if (geometryConstraint.ParentToConstraint != null)
{
this.skeletonAccess.SetLocalJointPosition(currentResult.Posture.AvatarID, constraint.JointType, geometryConstraint.ParentToConstraint.Position);
this.skeletonAccess.SetLocalJointRotation(currentResult.Posture.AvatarID, constraint.JointType, geometryConstraint.ParentToConstraint.Rotation);
}
}
currentResult.Posture = this.skeletonAccess.RecomputeCurrentPostureValues(currentResult.Posture.AvatarID);
return(currentResult);
}
