Esempi in C++ (Cpp) per compute_rotation_parent_child

Esempio n. 1

File: skeleton.cpp Progetto: pcbennion/ucsb-graphics-rayTrace03-final

// loop through all bones to calculate local coordinate's direction vector and relative orientation  
void Skeleton::ComputeRotationToParentCoordSystem(Bone *bone)
{
  //Compute tmp2, a matrix containing root 
  //joint local coordinate system orientation
  int root = Skeleton::getRootIndex();
  MATRIX4 Rz = MATRIX4::RotationZ(bone[root].axis_z * M_PI / 180.0);
  MATRIX4 Ry = MATRIX4::RotationY(bone[root].axis_y * M_PI / 180.0);
  MATRIX4 Rx = MATRIX4::RotationX(bone[root].axis_x * M_PI / 180.0);

  MATRIX4 tmp2 = Rz * Ry * Rx;
  tmp2 = tmp2.transpose();

  for (int x = 0; x < 4; x++)
    for (int y = 0; y < 4; y++)
      bone[root].rot_parent_current[x][y] = tmp2[x][y];

  //Compute rot_parent_current for all other bones
  int numbones = numBonesInSkel(bone[0]);
  for(int i=0; i<numbones; i++) 
  {
    if(bone[i].child != NULL)
    {
      compute_rotation_parent_child(&bone[i], bone[i].child);

      // compute parent child siblings...
      Bone * tmp = NULL;
      if (bone[i].child != NULL) tmp = (bone[i].child)->sibling;
      while (tmp != NULL)
      {
        compute_rotation_parent_child(&bone[i], tmp);
        tmp = tmp->sibling;
      }
    }
  }
}

Esempio n. 2

File: skeleton.cpp Progetto: nauhc/mocapPlayer

// loop through all bones to calculate local coordinate's direction vector and relative orientation  
void Skeleton::ComputeRotationToParentCoordSystem(Bone *bone)
{
  int i;
  double Rx[4][4], Ry[4][4], Rz[4][4], tmp[4][4], tmp2[4][4];

  //Compute rot_parent_current for the root 

  //Compute tmp2, a matrix containing root 
  //joint local coordinate system orientation
  int root = Skeleton::getRootIndex();
  rotationZ(Rz, bone[root].axis_z);
  rotationY(Ry, bone[root].axis_y);
  rotationX(Rx, bone[root].axis_x);
  matrix_mult(Rz, Ry, tmp);
  matrix_mult(tmp, Rx, tmp2);
  //set bone[root].rot_parent_current to transpose of tmp2
  matrix_transpose(tmp2, bone[root].rot_parent_current);    



  //Compute rot_parent_current for all other bones
  int numbones = numBonesInSkel(bone[0]);
  for(i=0; i<numbones; i++) 
  {
    if(bone[i].child != NULL)
    {
      compute_rotation_parent_child(&bone[i], bone[i].child);

      // compute parent child siblings...
      Bone * tmp = NULL;
      if (bone[i].child != NULL) tmp = (bone[i].child)->sibling;
      while (tmp != NULL)
      {
        compute_rotation_parent_child(&bone[i], tmp);
        tmp = tmp->sibling;
      }
    }
  }
}