void Causality::RemoveFrameRootTransform(ArmatureFrameView frame, const IArmature & armature)
{
auto& rotBone = frame[armature.root()->ID];
rotBone.GblRotation = rotBone.LclRotation = Math::Quaternion::Identity;
rotBone.GblTranslation = rotBone.LclTranslation = Math::Vector3::Zero;
rotBone.GblScaling = rotBone.LclScaling = Math::Vector3::One;
FrameRebuildGlobal(armature, frame);
}
void Causality::BuildJointMirrorRelation(IArmature& armature)
{
Joint* root = armature.root();
ArmatureFrameConstView frame = armature.bind_frame();
float epsilon = 1.00f;
auto _children = root->descendants_breadth_first();
std::vector<std::reference_wrapper<Joint>> children(_children.begin(), _children.end());
std::vector<Joint*> &joints = reinterpret_cast<std::vector<Joint*> &>(children);
for (int i = 0; i < children.size(); i++)
{
auto& bonei = frame[joints[i]->ID];
auto& ti = bonei.GblTranslation;
auto ji = joints[i];
for (int j = i + 1; j < children.size(); j++)
{
auto& bonej = frame[joints[j]->ID];
auto& tj = bonej.GblTranslation;
auto jj = joints[j];
auto pi = joints[i]->parent();
auto pj = joints[j]->parent();
if (((pi == pj && pi->MirrorJoint == nullptr) || pi->MirrorJoint == pj || pj->MirrorJoint == pi) && is_similar(ji, jj))
{
if (pi != pj && child_index(ji) != child_index(jj))
continue;
ji->MirrorJoint = jj;
jj->MirrorJoint = ji;
}
}
}
#ifdef _DEBUG
for (int i = 0; i < children.size(); i++)
{
std::cout << joints[i]->Name;
if (joints[i]->MirrorJoint)
std::cout << " <==> " << joints[i]->MirrorJoint->Name;
std::cout << std::endl;
}
#endif
}
void StaticArmature::clone_from(const IArmature & rhs)
{
for (auto& j : rhs.joints())
m_order.push_back(j.ID);
this->m_joints.resize(m_order.size());
this->m_rootIdx = rhs.root()->ID;
this->m_defaultFrame = rhs.bind_frame();
// Copy Joint meta-data
for (auto& j : rhs.joints())
m_joints[j.ID] = j;
// rebuild structure
for (int i : this->m_order)
{
if (m_joints[i].ParentID >= 0 && m_joints[i].ParentID != i)
{
m_joints[m_joints[i].ParentID].append_children_back(&m_joints[i]);
}
}
}