void WorkspaceGrid::setEntries( std::vector<WorkspaceRepresentation::WorkspaceCut2DTransformationPtr> &wsData, Eigen::Matrix4f &graspGlobal, GraspPtr grasp )
{
if (!data)
return;
float x,y;
for (int i=0;i<(int)wsData.size();i++)
{
Eigen::Matrix4f tmpPos2 = graspGlobal * wsData[i]->transformation.inverse();
x = tmpPos2(0,3);
y = tmpPos2(1,3);
setEntryCheckNeighbors(x,y,wsData[i]->value,grasp);
//setEntry(x,y,vData[i].value);
}
}
void akGeometryDeformer::DLBSkinningNoNormals(
const btAlignedObjectArray<akMatrix4>* mpalette,
const btAlignedObjectArray<akDualQuat>* dqpalette,
const UTsize vtxCount,
const float* weights, const UTsize weightsStride,
const UTuint8* indices, const UTsize indicesStride,
const akVector3* vtxSrc, const UTsize vtxSrcStride,
akVector3* vtxDst, const UTsize vtxDstStride)
{
const btAlignedObjectArray<akMatrix4>& matrices = *mpalette;
const btAlignedObjectArray<akDualQuat>& dquats = *dqpalette;
for(unsigned int i=0; i<vtxCount; i++)
{
// position 1st pass for non rigid part of the transformation using matrices
akVector4 pos(vtxSrc[0].getX(), vtxSrc[0].getY(), vtxSrc[0].getZ(), 1);
akVector4 posout(0,0,0,1);
if (weights[0]) posout += matrices[indices[0]] * weights[0] * pos;
if (weights[1]) posout += matrices[indices[1]] * weights[1] * pos;
if (weights[2]) posout += matrices[indices[2]] * weights[2] * pos;
if (weights[3]) posout += matrices[indices[3]] * weights[3] * pos;
// position 2nd pass for rigid transformation (rotaion & location) using dual quats
akDualQuat dq = dquats[indices[0]] * weights[0];
if (weights[1]) dq += dquats[indices[1]] * weights[1];
if (weights[2]) dq += dquats[indices[2]] * weights[2];
if (weights[3]) dq += dquats[indices[3]] * weights[3];
dq /= length(dq.n);
akVector3 tmpPos2(posout.getXYZ());
akVector3 ndxyz(dq.n.getXYZ());
akVector3 dxyz(dq.d.getXYZ());
*vtxDst = tmpPos2 + 2.0 * cross( ndxyz, cross(ndxyz, tmpPos2) + dq.n.getW() * tmpPos2 ) +
2.0 * ( dq.n.getW() * dxyz - dq.d.getW() * ndxyz + cross(ndxyz, dxyz) );
akAdvancePointer(weights, weightsStride);
akAdvancePointer(indices, indicesStride);
akAdvancePointer(vtxSrc, vtxSrcStride);
akAdvancePointer(vtxDst, vtxDstStride);
}
}
