OBB* RagDoll::CreateBoneBox(Bone* parent, Bone *bone, D3DXVECTOR3 size, D3DXQUATERNION rot) {
if (bone == NULL || parent == NULL)
return NULL;
D3DXMATRIX &parentMat = parent->CombinedTransformationMatrix;
D3DXMATRIX &boneMat = bone->CombinedTransformationMatrix;
D3DXVECTOR3 parentPos(parentMat(3, 0), parentMat(3, 1), parentMat(3, 2));
D3DXVECTOR3 bonePos(boneMat(3, 0), boneMat(3, 1), boneMat(3, 2));
D3DXQUATERNION q;
D3DXVECTOR3 p, s;
D3DXMatrixDecompose(&s, &q, &p, &parentMat);
q *= rot;
D3DXQuaternionNormalize(&q, &q);
p = (parentPos + bonePos) * 0.5f;
OBB *obb = new OBB(p, size, q, true);
physicsEngine.GetWorld()->addRigidBody(obb->m_pBody);
m_boxes.push_back(obb);
parent->m_pObb = obb;
parent->m_pivot = obb->SetPivot(parentPos);
return obb;
}
void CAnimatedGrabHandler::ProcessIKLimbs (ICharacterInstance * pCharacter)
{
if (m_grabStats.grabId>0 && pCharacter && m_grabStats.followBoneID>-1)
{
Matrix34 entMtx(m_pActor->GetEntity()->GetSlotWorldTM(0));
QuatT boneQ(pCharacter->GetISkeletonPose()->GetAbsJointByID(m_grabStats.followBoneID));
Vec3 bonePos(boneQ.t );
//static float color[] = {1,1,1,1};
//gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(entMtx* bonePos,ColorB(255,255,0,100),entMtx * (bonePos +boneMtx * m_grabStats.grabOffset),ColorB(255,255,0,100) );
m_grabStats.followBoneWPos = entMtx * bonePos;
}
else
m_grabStats.followBoneWPos.zero();
}
Ogre::SkeletonPtr MilkshapePlugin::doExportSkeleton(msModel* pModel, Ogre::MeshPtr& mesh)
{
Ogre::LogManager &logMgr = Ogre::LogManager::getSingleton();
Ogre::String msg;
//
// choose filename
//
OPENFILENAME ofn;
memset (&ofn, 0, sizeof (OPENFILENAME));
char szFile[MS_MAX_PATH];
char szFileTitle[MS_MAX_PATH];
char szDefExt[32] = "skeleton";
char szFilter[128] = "OGRE .skeleton Files (*.skeleton)\0*.skeleton\0All Files (*.*)\0*.*\0\0";
szFile[0] = '\0';
szFileTitle[0] = '\0';
ofn.lStructSize = sizeof (OPENFILENAME);
ofn.lpstrDefExt = szDefExt;
ofn.lpstrFilter = szFilter;
ofn.lpstrFile = szFile;
ofn.nMaxFile = MS_MAX_PATH;
ofn.lpstrFileTitle = szFileTitle;
ofn.nMaxFileTitle = MS_MAX_PATH;
ofn.Flags = OFN_HIDEREADONLY | OFN_OVERWRITEPROMPT | OFN_PATHMUSTEXIST;
ofn.lpstrTitle = "Export to OGRE Skeleton";
if (!::GetSaveFileName (&ofn))
return Ogre::SkeletonPtr();
// Strip off the path
Ogre::String skelName = szFile;
size_t lastSlash = skelName.find_last_of("\\");
skelName = skelName.substr(lastSlash+1);
// Set up
logMgr.logMessage("Trying to create Skeleton object");
Ogre::SkeletonPtr ogreskel = Ogre::SkeletonManager::getSingleton().create(skelName,
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
logMgr.logMessage("Skeleton object created");
// Complete the details
// Do the bones
int numBones = msModel_GetBoneCount(pModel);
msg = "Number of bones: " + Ogre::StringConverter::toString(numBones);
logMgr.logMessage(msg);
int i;
// Create all the bones in turn
for (i = 0; i < numBones; ++i)
{
msBone* bone = msModel_GetBoneAt(pModel, i);
Ogre::Bone* ogrebone = ogreskel->createBone(bone->szName);
msVec3 msBonePos, msBoneRot;
msBone_GetPosition(bone, msBonePos);
msBone_GetRotation(bone, msBoneRot);
Ogre::Vector3 bonePos(msBonePos[0], msBonePos[1], msBonePos[2]);
ogrebone->setPosition(bonePos);
// Hmm, Milkshape has chosen a Euler angle representation of orientation which is not smart
// Rotation Matrix or Quaternion would have been the smarter choice
// Might we have Gimbal lock here? What order are these 3 angles supposed to be applied?
// Grr, we'll try our best anyway...
Ogre::Quaternion qx, qy, qz, qfinal;
qx.FromAngleAxis(Ogre::Radian(msBoneRot[0]), Ogre::Vector3::UNIT_X);
qy.FromAngleAxis(Ogre::Radian(msBoneRot[1]), Ogre::Vector3::UNIT_Y);
qz.FromAngleAxis(Ogre::Radian(msBoneRot[2]), Ogre::Vector3::UNIT_Z);
// Assume rotate by x then y then z
qfinal = qz * qy * qx;
ogrebone->setOrientation(qfinal);
Ogre::LogManager::getSingleton().stream()
<< "Bone #" << i << ": " <<
"Name='" << bone->szName << "' " <<
"Position: " << bonePos << " " <<
"Ms3d Rotation: {" << msBoneRot[0] << ", " << msBoneRot[1] << ", " << msBoneRot[2] << "} " <<
"Orientation: " << qfinal;
}
// Now we've created all the bones, link them up
logMgr.logMessage("Establishing bone hierarchy..");
for (i = 0; i < numBones; ++i)
{
msBone* bone = msModel_GetBoneAt(pModel, i);
if (strlen(bone->szParentName) == 0)
{
// Root bone
msg = "Root bone detected: Name='" + Ogre::String(bone->szName) + "' Index="
+ Ogre::StringConverter::toString(i);
logMgr.logMessage(msg);
}
else
{
Ogre::Bone* ogrechild = ogreskel->getBone(bone->szName);
Ogre::Bone* ogreparent = ogreskel->getBone(bone->szParentName);
if (ogrechild == 0)
{
msg = "Error: could not locate child bone '" +
Ogre::String(bone->szName) + "'";
logMgr.logMessage(msg);
continue;
}
if (ogreparent == 0)
{
msg = "Error: could not locate parent bone '"
+ Ogre::String(bone->szParentName) + "'";
logMgr.logMessage(msg);
continue;
}
// Make child
ogreparent->addChild(ogrechild);
}
}
logMgr.logMessage("Bone hierarchy established.");
// Create the Animation(s)
doExportAnimations(pModel, ogreskel);
// Create skeleton serializer & export
Ogre::SkeletonSerializer serializer;
msg = "Exporting skeleton to " + Ogre::String(szFile);
logMgr.logMessage(msg);
serializer.exportSkeleton(ogreskel.getPointer(), szFile);
logMgr.logMessage("Skeleton exported");
msg = "Linking mesh to skeleton file '" + skelName + "'";
Ogre::LogManager::getSingleton().logMessage(msg);
mesh->_notifySkeleton(ogreskel);
return ogreskel;
}
