void SE_BipedController::createBoneBaseMatrixInverse()
{
mBindposeMatrixInverse.clear();
for(int i = 0; i < oneBipAnimation.size(); ++i)
{
SE_Matrix4f bp = oneBipAnimation[i]->bind_pose;
mBindposeMatrixInverse.push_back(bp.inverse());
}
}
void SE_SkinJointController::createBoneBaseMatrixInverse()
{
mBoneBaseMatrixInverse.resize(mBoneVector.size());
for(int i = 0 ; i < mBoneVector.size() ; i++)
{
SE_Bone* bone = mBoneVector[i];
SE_Matrix4f boneBaseMatrix = bone->getBaseMatrix();
SE_Bone* parent = bone->getParent();
while(parent)
{
SE_Matrix4f parentBaseMatrix = parent->getBaseMatrix();
boneBaseMatrix = parentBaseMatrix.mul(boneBaseMatrix);
parent = parent->getParent();
}
mBoneBaseMatrixInverse[i] = boneBaseMatrix.inverse();
}
}
SE_Vector3f SE_BipedController::convert(int vertexIndex,int frameindex,const char * objname, const SE_Vector3f& v)
{
SE_Vector4f input;
input.set(v,1);
SE_Vector4f result(0,0,0,0);
SE_SkeletonUnit *su = findSU(objname);
//bipedIndex.size is number that how many bips effact this vertext.
int bipNumPerVertex = su->objVertexBlendInfo[vertexIndex]->bipedIndex.size();
//how many bips will take effact to one vertex
for(int i = 0; i < bipNumPerVertex; ++i)
{
int bipIndex = su->objVertexBlendInfo[vertexIndex]->bipedIndex[i];//bipIndex is start from 1, not 0.
int bipindexfromcache = su->bipCache[bipIndex-1]->bipIndexOnBipAnimation;
SE_Biped *bip = oneBipAnimation[bipindexfromcache];// find bip from all bips
if(bip->animationInfo.size() == 0)
{
continue;
}
#ifdef _FORDEBUG
SE_Matrix4f bindpos = bip->bind_pose;
SE_Matrix4f inversOfbp = bindpos.inverse();
SE_Quat worldR = bip->animationInfo[frameindex]->rotateQ;
SE_Vector3f worldT = bip->animationInfo[frameindex]->translate;
SE_Vector3f worldS = bip->animationInfo[frameindex]->scale;
SE_Matrix4f transform;
transform.identity();
//not use scale
transform.set(worldR.toMatrix3f(),SE_Vector3f(1,1,1),worldT);//myTransform relate parent
SE_Matrix4f parentBoneToWorld;
parentBoneToWorld.identity();
if(bip->parent)
{
parentBoneToWorld = *(bip->parent->boneToWorldPerFrame[frameindex]);
}
else
{
//this bip is ROOT,the transform is world relative;
}
SE_Matrix4f m = parentBoneToWorld.mul(transform).mul(inversOfbp);
SE_Matrix4f m = mAfterTransformMatrixToWorld[bipindexfromcache].mul(mBindposeMatrixInverse[bipindexfromcache]);
#else
SE_Matrix4f m = AllFrameFinalTransformMatrix[frameindex][bipindexfromcache];
#endif
result = result + m.map(input) * su->objVertexBlendInfo[vertexIndex]->weight[i];
}
return result.xyz();
}
void SE_Camera::getFrustumPlanes(SE_Plane planes[6]) const
{
if(!mChanged)
{
for(int i = 0 ; i < 6 ; i++)
{
planes[i] = mPlanes[i];
}
return;
}
SE_Plane lplanes[6];
lplanes[0] = mFrustum.getLeftPlane();
lplanes[1] = mFrustum.getRightPlane();
lplanes[2] = mFrustum.getTopPlane();
lplanes[3] = mFrustum.getBottomPlane();
lplanes[4] = mFrustum.getNearPlane();
lplanes[5] = mFrustum.getFarPlane();
SE_Matrix4f vtom = getViewToWorldMatrix();
vtom = vtom.inverse();
vtom = vtom.transpose();
for(int i = 0 ; i < 6 ; i++)
{
SE_Plane p = lplanes[i].transform(vtom);
planes[i].set(p.getNormal().neg(), p.getDistance());
mPlanes[i] = planes[i];
}
#ifdef DEBUG
/*
SE_Plane nplanes[6];
SE_Vector3f NearLeftBottom, NearLeftTop, NearRightBottom, NearRightTop,
FarLeftBottom, FarLeftTop, FarRightBottom, FarRightTop;
SE_Vector3f tmp1;
SE_Vector3f tmp[4];
SE_Rect<float> nearplane = mFrustum.getNearPlaneRect();
tmp[0] = mAxisZ.mul(-mFrustum.getNear());
tmp[1] = mAxisX.mul(nearplane.left);
tmp[2] = mAxisY.mul(nearplane.bottom);
tmp[3] = mLocation;
NearLeftBottom = tmp[0] + tmp[1] + tmp[2] + tmp[3];
tmp1 = tmp[0] + tmp[1] + tmp[2];
tmp1 = tmp1.mul(mFrustum.getFar() / mFrustum.getNear());
FarLeftBottom = mLocation + tmp1;
tmp[1] = mAxisX.mul(nearplane.left);
tmp[2] = mAxisY.mul(nearplane.top);
NearLeftTop = tmp[0] + tmp[1] + tmp[2] + tmp[3];
tmp1 = tmp[0] + tmp[1] + tmp[2];
tmp1 = tmp1.mul(mFrustum.getFar() / mFrustum.getNear());
FarLeftTop = mLocation + tmp1;
tmp[1] = mAxisX.mul(nearplane.right);
tmp[2] = mAxisY.mul(nearplane.bottom);
NearRightBottom = tmp[0] + tmp[1] + tmp[2] + tmp[3];
tmp1 = tmp[0] + tmp[1] + tmp[2];
tmp1 = tmp1.mul(mFrustum.getFar() / mFrustum.getNear());
FarRightBottom = mLocation + tmp1;
tmp[1] = mAxisX.mul(nearplane.right);
tmp[2] = mAxisY.mul(nearplane.top);
NearRightTop = tmp[0] + tmp[1] + tmp[2] + tmp[3];
tmp1 = tmp[0] + tmp[1] + tmp[2];
tmp1 = tmp1.mul(mFrustum.getFar() / mFrustum.getNear());
FarRightTop = mLocation + tmp1;
nplanes[0].set(NearLeftBottom, mLocation, NearLeftTop);
nplanes[1].set(NearRightTop, mLocation, NearRightBottom);
nplanes[2].set(mLocation, NearLeftBottom, NearRightBottom);
nplanes[3].set(mLocation, NearRightTop, NearLeftTop);
nplanes[4].set(NearLeftBottom, NearRightBottom, NearRightTop);
nplanes[5].set(FarLeftBottom, FarLeftTop, FarRightTop);
for(int i = 0 ; i < 6 ; i++)
{
planes[i] = nplanes[i];
}
*/
#endif
}
SE_Matrix4f SE_Camera::getWorldToViewMatrix() const
{
SE_Matrix4f vtow = getViewToWorldMatrix();
return vtow.inverse();
}