public StagedSkinningTransform GetChainedTransform(ChannelOutputs outputs, StagedSkinningTransform parentTransform)
{
ScalingTransform scalingTransform = GetObjectCenteredScalingTransform(outputs);
ScalingTransform chainedScalingTransform = scalingTransform.Chain(parentTransform.ScalingStage);
DualQuaternion rotationTransform = GetObjectCenteredRotationTransform(outputs, parentTransform.ScalingStage);
DualQuaternion chainedRotationTransform = rotationTransform.Chain(parentTransform.RotationStage);
return(new StagedSkinningTransform(chainedScalingTransform, chainedRotationTransform));
}
private void UpdateEye(ChannelOutputs outputs, StagedSkinningTransform eyeParentTotalTransform, ChannelInputs inputs, Bone eyeBone, Vector3 targetPosition)
{
Vector3 targetPositionInRotationFreeEyeSpace = eyeParentTotalTransform.InverseTransform(targetPosition * 100) - eyeBone.CenterPoint.GetValue(outputs);
var targetRotation = QuaternionExtensions.RotateBetween(Vector3.BackwardRH, targetPositionInRotationFreeEyeSpace);
targetRotation = Quaternion.RotationAxis(
targetRotation.Axis,
TukeysBiweight(targetRotation.Angle, RotationAngleRejectionThreshold));
eyeBone.SetEffectiveRotation(inputs, outputs, targetRotation);
}
public StagedSkinningTransform[] GetBoneTransforms(ChannelOutputs outputs)
{
while (outputs.Parent != null)
{
outputs = outputs.Parent;
}
StagedSkinningTransform[] boneTransforms = new StagedSkinningTransform[bones.Count];
for (int boneIdx = 0; boneIdx < bones.Count; ++boneIdx)
{
Bone bone = bones[boneIdx];
Bone parent = bone.Parent;
StagedSkinningTransform parentTransform = parent != null ? boneTransforms[parent.Index] : StagedSkinningTransform.Identity;
boneTransforms[boneIdx] = bone.GetChainedTransform(outputs, parentTransform);
}
return(boneTransforms);
}
public static void PrependChildToParentBindPoseTransforms(RigidTransform[] childToParentBindPoseTransforms, StagedSkinningTransform[] boneTransforms)
{
for (int i = 0; i < boneTransforms.Length; ++i)
{
var childToParentBindPoseTransform = childToParentBindPoseTransforms[i];
/*
* Technically, I should be using a DualQuaternion for the ChildToParentBindPoseTransform in order to get
* smooth blending. But I don't currently have t chain a DualQuaternion with a StaggedSkinningTransform.
*
* Instead, I'll hack the ChildToParentBindPoseTransform into a ScalingTransform. Very few figures use
* non-identity ChildToParentBindPoseTransforms so the difference with hardly ever matter.
*/
var childToParentBindPoseScalingTransform = new ScalingTransform(
Matrix3x3.RotationQuaternion(childToParentBindPoseTransform.Rotation),
childToParentBindPoseTransform.Translation);
boneTransforms[i] = new StagedSkinningTransform(
childToParentBindPoseScalingTransform.Chain(boneTransforms[i].ScalingStage),
boneTransforms[i].RotationStage);
}
}
public StagedSkinningTransform GetChainedTransform(ChannelOutputs outputs)
{
StagedSkinningTransform parentTransform = Parent != null?Parent.GetChainedTransform(outputs) : StagedSkinningTransform.Identity;
return(GetChainedTransform(outputs, parentTransform));
}
public void Add(float weight, StagedSkinningTransform t)
{
scalingStageBlender.Add(weight, t.ScalingStage);
rotationStageBlender.Add(weight, t.RotationStage);
}
