int CalSkeleton::getBoneLines(float *pLines)
{
int nrLines;
nrLines = 0;
rde::vector<CalBone *>::iterator iteratorBone;
for(iteratorBone = m_vectorBone.begin(); iteratorBone != m_vectorBone.end(); ++iteratorBone)
{
int parentId;
parentId = (*iteratorBone)->getCoreBone()->getParentId();
if(parentId != -1)
{
CalBone *pParent;
pParent = m_vectorBone[parentId];
const CalVector& translation = (*iteratorBone)->getTranslationAbsolute();
const CalVector& translationParent = pParent->getTranslationAbsolute();
*pLines++ = translationParent[0];
*pLines++ = translationParent[1];
*pLines++ = translationParent[2];
*pLines++ = translation[0];
*pLines++ = translation[1];
*pLines++ = translation[2];
nrLines++;
}
}
return nrLines;
}
void IKCharacter::pullWorldPositions( int root_id, int leaf_id )
{
CalVector root_pos;
if ( auto_root_follow )
{
// get root pos
int skel_root_id = skeleton->getCoreSkeleton()->getVectorRootCoreBoneId()[0];
root_pos = skeleton->getBone(skel_root_id)->getTranslationAbsolute();
}
// work from the leaves down to the root
deque<int> queue;
if ( leaf_id == -1 )
queue.insert( queue.begin(), leaf_bones.begin(), leaf_bones.end() );
else
queue.push_back( leaf_id );
while ( !queue.empty() )
{
int id = queue.front();
queue.pop_front();
CalBone* bone = skeleton->getBone(id);
world_positions[id] = bone->getTranslationAbsolute() - root_pos;
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 && id != root_id )
queue.push_back( parent_id );
}
}
void CalBone::calculateState()
{
// check if the bone was not touched by any active animation
if(m_accumulatedWeight == 0.0f)
{
// set the bone to the initial skeleton state
m_translation = m_pCoreBone->getTranslation();
m_rotation = m_pCoreBone->getRotation();
}
// get parent bone id
int parentId;
parentId = m_pCoreBone->getParentId();
if(parentId == -1)
{
// no parent, this means absolute state == relative state
m_translationAbsolute = m_translation;
m_rotationAbsolute = m_rotation;
}
else
{
// get the parent bone
CalBone *pParent;
pParent = m_pSkeleton->getBone(parentId);
// transform relative state with the absolute state of the parent
m_translationAbsolute = m_translation;
m_translationAbsolute *= pParent->getRotationAbsolute();
m_translationAbsolute += pParent->getTranslationAbsolute();
m_rotationAbsolute = m_rotation;
m_rotationAbsolute *= pParent->getRotationAbsolute();
}
// calculate the bone space transformation
m_translationBoneSpace = m_pCoreBone->getTranslationBoneSpace();
m_translationBoneSpace *= m_rotationAbsolute;
m_translationBoneSpace += m_translationAbsolute;
m_rotationBoneSpace = m_pCoreBone->getRotationBoneSpace();
m_rotationBoneSpace *= m_rotationAbsolute;
// Generate the vertex transform. If I ever add support for bone-scaling
// to Cal3D, this step will become significantly more complex.
m_transformMatrix = m_rotationBoneSpace;
// calculate all child bones
std::list<int>::iterator iteratorChildId;
for(iteratorChildId = m_pCoreBone->getListChildId().begin(); iteratorChildId != m_pCoreBone->getListChildId().end(); ++iteratorChildId)
{
m_pSkeleton->getBone(*iteratorChildId)->calculateState();
}
}
/////////////////////////////////////
// Purpose: get the relative translation
// of given boneID
// Output: pLoc set
// Return: none
/////////////////////////////////////
void IgfxObject::BoneGetTransAbs(s32 boneID, Vec3D *pLoc)
{
if(m_pCalModel)
{
CalSkeleton *pSkel = m_pCalModel->getSkeleton();
CalBone *pBone = pSkel->getBone(boneID);
CalVector cVec = pBone->getTranslationAbsolute();
pLoc->x = cVec.x;
pLoc->y = cVec.y;
pLoc->z = cVec.z;
}
}
core::matrix4 CCal3DSceneNode::getBoneMatrix( s32 boneId ) const
{
if ( calModel == 0 ) return core::matrix4();
CalSkeleton* skeleton = calModel->getSkeleton();
CalBone* bone = skeleton->getBone(boneId);
CalQuaternion rot = bone->getRotationAbsolute();
CalVector pos = bone->getTranslationAbsolute();
// Note: Swap Y and Z to convert to Irrlicht coordinates
core::quaternion quat = core::quaternion( rot.x, rot.y, rot.z, rot.w );
core::vector3df v = core::vector3df( pos.x, pos.y, pos.z );
core::matrix4 mat = quat.getMatrix();
mat.setTranslation(v);
return mat;
}
void IKCharacter::pullWorldPositions( int root_id, int leaf_id )
{
deque<int> queue;
if ( leaf_id == -1 )
queue.insert( queue.begin(), leaf_bones.begin(), leaf_bones.end() );
else
queue.push_back( leaf_id );
// work backwards up the tree
while ( !queue.empty() )
{
int id = queue.front();
queue.pop_front();
CalBone* bone = skeleton->getBone(id);
world_positions[id] = bone->getTranslationAbsolute();
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 && id != root_id )
queue.push_back( parent_id );
}
}
void IKCharacter::draw( int bone_id, float scale, bool additional_drawing )
{
CalBone* bone = skeleton->getBone( bone_id );
int parent_id = bone->getCoreBone()->getParentId();
if ( parent_id != -1 )
{
// current
CalBone* parent = skeleton->getBone( parent_id );
glBegin( GL_LINES );
CalVector v = parent->getTranslationAbsolute();
v*=scale;
CalVector c = v;
glVertex3f( v.x, v.y, v.z );
v = bone->getTranslationAbsolute();
v*=scale;
c += v;
c /= 2.0f;
glVertex3f( v.x, v.y, v.z );
glEnd();
// world
glPushAttrib( GL_CURRENT_BIT );
glColor3f( 0.1f, 0.8f, 0.1f );
glBegin( GL_LINES );
v = world_positions[parent_id];
v*=scale;
glVertex3f( v.x, v.y, v.z );
v = world_positions[bone_id];
v*=scale;
glVertex3f( v.x, v.y, v.z );
glEnd();
glPopAttrib();
if ( additional_drawing )
{
glPushAttrib( GL_CURRENT_BIT );
glBegin( GL_LINES );
// core
glColor3f( (parent_id==debug_bone)?1.0f:0.3f, 0.3f, 0.5f );
v = parent->getCoreBone()->getTranslationAbsolute();
v*=scale;
glVertex3f( v.x, v.y, v.z );
v = bone->getCoreBone()->getTranslationAbsolute();
v*=scale;
glVertex3f( v.x, v.y, v.z );
glEnd();
// draw rotation
glPushMatrix();
CalVector root = bone->getCoreBone()->getTranslationAbsolute();
glTranslatef( root.x, root.y, root.z );
CalVector rot;
rot.set( 0, 0.1f*scale, 0 );
rot *= bone->getCoreBone()->getRotationAbsolute();
ofEnableAlphaBlending();
glColor4f( 0.2f, 0.2f, 0.8f, 0.2f );
glBegin( GL_TRIANGLES );
//glVertex3f( 0,0,0 );
glVertex3f( rot.x, rot.y, rot.z );
rot *= debug_cached_rotations[bone_id];
glVertex3f( rot.x, rot.y, rot.z );
glEnd();
glColor4f( 0.2f, 0.2f, 0.8f, 0.8f );
rot.set( 0, 0.1f*scale, 0 );
rot *= bone->getCoreBone()->getRotationAbsolute();
glBegin( GL_LINES );
glVertex3f( 0,0,0 );
glVertex3f( rot.x, rot.y, rot.z );
rot *= debug_cached_rotations[bone_id];
glVertex3f( 0,0,0 );
glVertex3f( rot.x, rot.y, rot.z );
glEnd();
ofDisableAlphaBlending();
glPopMatrix();
CalVector u( 0, 0.1f*scale, 0);
u *= bone->getRotationAbsolute();
CalVector r( 0.1f*scale, 0, 0 );
r *= bone->getRotationAbsolute();
CalVector f( 0, 0, 0.1f*scale );
f *= bone->getRotationAbsolute();
// right blue
glPushMatrix();
root = bone->getTranslationAbsolute();
glTranslatef( root.x, root.y, root.z );
glBegin( GL_LINES );
glColor3f( 0, 0, 1 );
glVertex3f( 0,0,0 );
glVertex3f( r.x, r.y, r.z );
// up red
glColor3f( 1, 0, 0 );
glVertex3f( 0,0,0 );
glVertex3f( u.x, u.y, u.z );
// forward green
glColor3f( 0, 1, 0 );
glVertex3f( 0,0,0 );
glVertex3f( f.x, f.y, f.z );
glEnd();
glPopMatrix();
// right blue
glPushMatrix();
root = world_positions[bone_id];
glTranslatef( root.x, root.y, root.z );
glBegin( GL_LINES );
glColor3f( 0, 0, 1 );
glVertex3f( 0,0,0 );
glVertex3f( r.x, r.y, r.z );
// up red
glColor3f( 1, 0, 0 );
glVertex3f( 0,0,0 );
glVertex3f( u.x, u.y, u.z );
// forward green
glColor3f( 0, 1, 0 );
glVertex3f( 0,0,0 );
glVertex3f( f.x, f.y, f.z );
glEnd();
glPopMatrix();
glPopAttrib();
}
}
list<int> children = bone->getCoreBone()->getListChildId();
for ( list<int>::iterator it = children.begin();
it != children.end();
++it )
{
draw( *it, scale, additional_drawing );
}
}