void BoneBridgeCAL3D::SetModelSpaceTransform(const Matrix4x4f& modelSpaceTransform) const
{
// calculate the transform as relative to the parent bone
Matrix4x4f localModelSpaceTransform = Matrix4x4f::Identity();
{
// for now use absolute model space positioning
localModelSpaceTransform = modelSpaceTransform;
// divide by any existing parent's model space position
if (const Bone* parent = GetParent())
{
//const osg::Matrix parentTransform = ConvertKerneltoOSG(parent->GetModelSpaceTransform());
const Matrix4x4f parentTransform = parent->GetModelSpaceTransform();
// get inverse of parent transform
const Matrix4x4f invParentTransform = parentTransform.Inverse();
localModelSpaceTransform *= invParentTransform;
}
}
// now update the cal3d side from this new model space information
#if WRITE_CAL3D_BONE_TRANSLATION
// update model space position
{
Vec3f kernelPosVec = localModelSpaceTransform.GetTranslation();
CalVector calPosVec;
for (int i = 0; i < 3; ++i)
{
calPosVec[i] = kernelPosVec[i];
}
mpCalBone->setTranslation(calPosVec); // setting the relative position
}
#endif
#if WRITE_CAL3D_BONE_ROTATION
// update model space orientation
{
const Quaternionf& kernelRotQuat = localModelSpaceTransform.GetRotate();
CalQuaternion calRotQuat;
calRotQuat = ConvertKerneltoCAL3D(kernelRotQuat);
mpCalBone->setRotation(calRotQuat); // setting the relative orientation
}
#endif
}
