bool
KX_BoneParentRelation::
UpdateChildCoordinates(
SG_Spatial * child,
const SG_Spatial * parent,
bool& parentUpdated
) {
MT_assert(child != NULL);
// This way of accessing child coordinates is a bit cumbersome
// be nice to have non constant reference access to these values.
const MT_Vector3 & child_scale = child->GetLocalScale();
const MT_Point3 & child_pos = child->GetLocalPosition();
const MT_Matrix3x3 & child_rotation = child->GetLocalOrientation();
// we don't know if the armature has been updated or not, assume yes
parentUpdated = true;
// the childs world locations which we will update.
MT_Vector3 child_w_scale;
MT_Point3 child_w_pos;
MT_Matrix3x3 child_w_rotation;
bool valid_parent_transform = false;
if (parent)
{
BL_ArmatureObject *armature = (BL_ArmatureObject*)(parent->GetSGClientObject());
if (armature)
{
MT_Matrix4x4 parent_matrix;
if (armature->GetBoneMatrix(m_bone, parent_matrix))
{
// Get the child's transform, and the bone matrix.
MT_Matrix4x4 child_transform (
MT_Transform(child_pos + MT_Vector3(0.0f, armature->GetBoneLength(m_bone), 0.0f),
child_rotation.scaled(
child_scale[0],
child_scale[1],
child_scale[2])));
// The child's world transform is parent * child
parent_matrix = parent->GetWorldTransform() * parent_matrix;
child_transform = parent_matrix * child_transform;
// Recompute the child transform components from the transform.
child_w_scale.setValue(
MT_Vector3(child_transform[0][0], child_transform[0][1], child_transform[0][2]).length(),
MT_Vector3(child_transform[1][0], child_transform[1][1], child_transform[1][2]).length(),
MT_Vector3(child_transform[2][0], child_transform[2][1], child_transform[2][2]).length());
child_w_rotation.setValue(child_transform[0][0], child_transform[0][1], child_transform[0][2],
child_transform[1][0], child_transform[1][1], child_transform[1][2],
child_transform[2][0], child_transform[2][1], child_transform[2][2]);
child_w_rotation.scale(1.0f/child_w_scale[0], 1.0f/child_w_scale[1], 1.0f/child_w_scale[2]);
child_w_pos = MT_Point3(child_transform[0][3], child_transform[1][3], child_transform[2][3]);
valid_parent_transform = true;
}
}
}
if (valid_parent_transform)
{
child->SetWorldScale(child_w_scale);
child->SetWorldPosition(child_w_pos);
child->SetWorldOrientation(child_w_rotation);
}
else {
child->SetWorldFromLocalTransform();
}
child->ClearModified();
// this node must always be updated, so reschedule it for next time
child->ActivateRecheduleUpdateCallback();
return valid_parent_transform;
}
