//-----------------------------------------------------------------------------
void XsiSkeletonExporter::sampleAllBones(DeformerMap& deformers,
std::vector<NodeAnimationTrack*> deformerTracks, double frame,
Real time, float fps, AxisAlignedBox& AABBPadding)
{
CValueArray args;
CValue dummy;
args.Resize(2);
// set the playcontrol
args[0] = L"PlayControl.Key";
args[1] = frame;
mXsiApp.ExecuteCommand(L"SetValue", args, dummy);
args[0] = L"PlayControl.Current";
mXsiApp.ExecuteCommand(L"SetValue", args, dummy);
// Refresh
mXsiApp.ExecuteCommand(L"Refresh", CValueArray(), dummy);
// Sample all bones
for (DeformerMap::iterator di = deformers.begin(); di != deformers.end(); ++di)
{
DeformerEntry* deformer = di->second;
NodeAnimationTrack* track = deformerTracks[deformer->boneID];
double initposx, initposy, initposz;
deformer->initialXform.GetTranslationValues(initposx, initposy, initposz);
double initrotx, initroty, initrotz;
deformer->initialXform.GetRotation().GetXYZAngles(initrotx, initroty, initrotz);
double initsclx, initscly, initsclz;
deformer->initialXform.GetScalingValues(initsclx, initscly, initsclz);
XSI::MATH::CMatrix4 invTrans = deformer->initialXform.GetMatrix4();
invTrans.InvertInPlace();
XSI::MATH::CTransformation transformation;
if (deformer->pBone->getParent() == 0)
{
// Based on global
transformation =
deformer->obj.GetKinematics().GetGlobal().GetTransform();
}
else
{
// Based on local
transformation =
deformer->obj.GetKinematics().GetLocal().GetTransform();
}
double posx, posy, posz;
transformation.GetTranslationValues(posx, posy, posz);
double sclx, scly, sclz;
transformation.GetScalingValues(sclx, scly, sclz);
// Make relative to initial
XSI::MATH::CMatrix4 transformationMatrix = transformation.GetMatrix4();
transformationMatrix.MulInPlace(invTrans);
transformation.SetMatrix4(transformationMatrix);
// create keyframe
TransformKeyFrame* kf = track->createNodeKeyFrame(time);
// not sure why inverted transform doesn't work for position, but it doesn't
// I thought XSI used same transform order as OGRE
kf->setTranslate(Vector3(posx - initposx, posy - initposy, posz - initposz));
kf->setRotation(XSItoOgre(transformation.GetRotationQuaternion()));
kf->setScale(Vector3(sclx / initsclx, scly / initscly, sclz / initsclz));
// Derive AABB of bone positions, for padding animated mesh AABB
XSI::MATH::CVector3 bonePos =
deformer->obj.GetKinematics().GetGlobal().GetTransform().GetTranslation();
AABBPadding.merge(XSItoOgre(bonePos));
}
}
bool bulletSimulation::SetFrame(int in_Frame)
{
// see if we have to reset the world
if(in_Frame <= 0)
{
ResetWorld();
return true;
}
// now let's skip if we already have that frame or the interval>5 - we don't want bullet to compute the whole sequence if you move to the last frame.
if(mLastFrame >= in_Frame || (in_Frame-mLastFrame)>5)
{
return false;
}
mChangingFrame = true;
// if this is not the first frame, let's update all rbd!
for(btRigidBodyIt it = mRigidBodies.begin();it!=mRigidBodies.end();it++)
{
// skip corrupt bodies
if(it->second->body==NULL)
continue;
if(it->first.secondary != -1)
continue;
btCollisionShape * shape = (btBoxShape*)it->second->body->getCollisionShape();
if(shape != NULL)
{
// refresh the kine ptr
it->second->kine.Set(it->second->kine.GetAsText());
XSI::MATH::CTransformation xf = XSI::KinematicState(it->second->kine).GetTransform();//(float)in_Frame);
shape->setLocalScaling(btVector3(xf.GetSclX(),xf.GetSclY(),xf.GetSclZ()));
// skip non valid ops
if(!it->second->op.IsValid())
continue;
// update the mass an inertia
it->second->mass = XSI::CustomOperator(it->second->op).GetParameterValue(L"mass");
btVector3 inertia(0,0,0);
if(it->second->mass > 0.0f)
shape->calculateLocalInertia(it->second->mass,inertia);
it->second->body->setMassProps(it->second->mass,inertia);
// if we are passive rigid body, let's update the transform
if(it->second->mass == 0.0f)
{
btDefaultMotionState * motionState = (btDefaultMotionState*)it->second->body->getMotionState();
if(motionState != NULL)
{
btTransform transform;
transform.setOrigin(btVector3(xf.GetPosX(),xf.GetPosY(),xf.GetPosZ()));
XSI::MATH::CQuaternion q = xf.GetRotationQuaternion();
transform.setRotation(btQuaternion(q.GetX(),q.GetY(),q.GetZ(),q.GetW()));
it->second->body->proceedToTransform( transform );
}
}
}
}
// step to the given frame
if(in_Frame > 0)
{
while(in_Frame > mLastFrame)
{
float dt=(1.0f/mFps)/(float)mSubSteps;
//Step every subframe
for (int i=0;i<mSubSteps;i++)
mDynamicsWorld->stepSimulation(dt,0,1.0f/mFps);
mLastFrame++;
}
}
mLastFrame = in_Frame;
mChangingFrame = false;
return true;
}