static bool Test()
{
#if DEBUG && !MATRIXFRAMES
Keyframe kf = new Keyframe();
Matrix mx = Matrix.CreateScale(0.15f, 0.20f, 0.25f) *
Matrix.CreateRotationY((float)(Math.PI / 6)) *
Matrix.CreateRotationX(0.1f) *
Matrix.CreateRotationZ(-0.1f) *
Matrix.CreateTranslation(2, 0, 1);
Keyframe.CreateFromMatrix(ref mx, kf);
Matrix two;
kf.ToMatrix(out two);
Matrix three = Matrix.Invert(mx) * two;
// verify that forward and back is transparent
for (int i = 0; i != 16; ++i)
{
float f = MatrixElement(ref three, i);
if ((i % 5) == 0)
{
System.Diagnostics.Debug.Assert(Math.Abs(f - 1) < 1e-4);
}
else
{
System.Diagnostics.Debug.Assert(Math.Abs(f) < 1e-4);
}
}
#endif
return(true);
}
/// <summary>
/// An ultra convenient function that will copy all the keyframes
/// to a given Model bone array. Only the bones that are actually
/// animated will be affected.
/// </summary>
/// <param name="model">The model to apply the animation to.</param>
public void CopyPoseTo(Model model)
{
if (appliedTime_ != time_)
{
CalculateKeyframes();
}
int n = model.Bones.Count;
if (n > keyframes_.Length)
{
n = keyframes_.Length;
}
Matrix mat;
unchecked
{
for (int i = 0; i != n; ++i)
{
Keyframe kf = keyframes_[i];
if (kf != null)
{
kf.ToMatrix(out mat);
model.Bones[i].Transform = mat;
}
}
}
}
/// <summary>
/// Decompose the given matrix into a scale/rotation/translation
/// keyframe. The method used is not well behaved when the scale
/// along one axis is very close to 0, so don't scale down by more
/// than about 1/10,000.
/// This works for matrices that don't contain shear or off-axis scale.
/// </summary>
/// <param name="xform">The transform to decompose.</param>
/// <param name="ret">The keyframe to decompose into.</param>
/// <returns>ret (for convenience)</returns>
public static Keyframe CreateFromMatrix(ref Matrix xform, Keyframe ret)
{
#if DEBUG
if (ret == null)
{
throw new ArgumentNullException("ret");
}
#endif
#if !MATRIXFRAMES
// decompose the matrix into scale, rotation and translaction
ret.Scale = new Vector3(
(new Vector3(xform.M11, xform.M12, xform.M13)).Length(),
(new Vector3(xform.M21, xform.M22, xform.M23)).Length(),
(new Vector3(xform.M31, xform.M32, xform.M33)).Length());
ret.Pos = xform.Translation;
// I can't extract rotation if one of the axes is zero scale.
// That's unfortunate, as someone might want to animation an object
// becoming pancaked and spinning. Just don't make it THAT much
// of a pancake then.
Matrix mat = Matrix.Identity;
if (Math.Abs(ret.Scale.X) > 1e-6 && Math.Abs(ret.Scale.Y) > 1e-6 &&
Math.Abs(ret.Scale.Z) > 1e-6)
{
Vector3 right = Vector3.Normalize(xform.Right);
Vector3 up = Vector3.Normalize(xform.Up - right * Vector3.Dot(xform.Up, right));
Vector3 backward = Vector3.Cross(right, up);
if (Vector3.Dot(xform.Backward, backward) < 0)
{
// matrix is mirrored
ret.Scale = ret.Scale * new Vector3(1, 1, -1);
}
mat.Right = right;
mat.Up = up;
mat.Backward = backward;
ret.Ori = Quaternion.CreateFromRotationMatrix(mat);
}
ret.ToMatrix(out mat);
for (int i = 0; i != 16; ++i)
{
// Make sure that the matrix that comes out of the keyframe is a good decomposition
// of the original matrix.
if (Math.Abs(MatrixElement(ref mat, i) - MatrixElement(ref xform, i)) > 1e-2)
{
#if DEBUG
System.Diagnostics.Debugger.Break();
#endif
throw new System.ArgumentException("Matrix could not be properly decomposed into TRS keyframe.");
}
}
#else
ret.transform_ = xform;
#endif
return(ret);
}
/// <summary>
/// Extract the pose as a number of parent-relative matrices.
/// Note that this is not typically what you want to use for
/// rendering, as you then want object-relative matrices.
/// </summary>
/// <param name="output">Each bones parent relative matrix will be stored
/// here, if the bone is animated. Else that matrix will be untouched.</param>
public void CopyPoseTo(Matrix[] output)
{
if (appliedTime_ != time_)
{
CalculateKeyframes();
}
int n = output.Length;
if (n > keyframes_.Length)
{
n = keyframes_.Length;
}
unchecked
{
for (int i = 0; i != n; ++i)
{
Keyframe kf = keyframes_[i];
if (kf != null)
{
kf.ToMatrix(out output[i]);
}
}
}
}