void makBoneTrans2(INode* pNode , sBoneTrans_t& boneTrans , Matrix3& mat)
{
Point3 Trans = mat.GetTrans();
Matrix3 RotMat = mat;
Matrix3 ScaleMat = mat;
RotMat.NoScale();
ScaleMat = mat * Inverse(RotMat);
//算出Scale Matrix;
RotMat.NoTrans();
Quat RotQuat(RotMat);
//ScaleMat.NoRot();
//ScaleMat.NoTrans();
boneTrans.m_Rotate = conv_type<sQuat_t , Quat>(RotQuat);
boneTrans.m_Trans = conv_type<sVector_t ,Point3 >(Trans);
boneTrans.m_Scale.x = ScaleMat.GetRow(0).x;
boneTrans.m_Scale.y = ScaleMat.GetRow(1).y;
boneTrans.m_Scale.z = ScaleMat.GetRow(2).z;
if( abs(boneTrans.m_Scale.x - boneTrans.m_Scale.y) > 0.000001 ||
abs(boneTrans.m_Scale.y - boneTrans.m_Scale.z) > 0.000001 ||
abs(boneTrans.m_Scale.z - boneTrans.m_Scale.x) > 0.000001 )
{
std::wstring _NodeName = INodeName(pNode);
XEVOL_LOG(eXL_DEBUG_HIGH , L" {警告} : 骨头[ %s ] 的上有NonUniformScale\r\n", _NodeName.c_str() );
}
}
void RigidBody::UpdatePosition()
{
if (m_IsDynamic)
{
EditOwner()->EditChild<Transform>()->EditPosition() += m_Velocity* Constants::PhysicsDeltaTime;
Quaternion RotQuat(1, m_AngularVelocity[0] * Constants::PhysicsDeltaTime * 0.5f, m_AngularVelocity[1] * Constants::PhysicsDeltaTime * 0.5f, m_AngularVelocity[2] * Constants::PhysicsDeltaTime * 0.5f);
QuaternionRotate(GetOwner()->GetChild<Transform>()->GetRotation(), m_AngularVelocity, m_AngularMomentum);
RotQuat.normalize();
if (!RotQuat.isZero())
{
EditOwner()->EditChild<Transform>()->EditRotation() *= RotQuat;
EditOwner()->EditChild<Transform>()->EditRotation().normalize();
}
else
{
m_AngularMomentum = Vector3::Zero;
}
}
}
