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