void Bvh::CalcAnimation(double time)
{
int frame = (int)(time / frameTime);
frame %= motionFrames;
const float* mot = &rawMotion[frame * channels];
const Pose& pose = motion.poses[frame];
for (BONE_ID i = 0; i < (BONE_ID)m_frames.size(); i++) {
auto& it = m_frames[i];
Vec3 translate;
Quat q = pose.quats[i];
if (it.posIndices.x >= 0) {
translate = Vec3(mot[it.posIndices.x], mot[it.posIndices.y], -mot[it.posIndices.z]);
} else {
translate = it.offset;
}
it.frameTransformMatrix = q2m(q) * v2m(translate);
}
CalcFrameMatrices();
}
/*! */
inline dgemat3 rotate(const dgemat3& m, const dquater& q)
{VERBOSE_REPORT;
dgemat3 R(q2m(q));
return R*m*t(R);
}