void AnimController::setBonePose( PyramidObject *node )
{
PyramidObject *childNode = (PyramidObject *)node;
PyramidObject *parentNode = (PyramidObject *)node->getParent();
if( parentNode == GraphicsObjMan::getMainTree()->getRoot() )
return;
if (parentNode != 0 && childNode != 0) {
// Now get the world matrices
Vect start(0.0f,0.0f,0.0f);
parentNode->transform();
Vect ptA = start * parentNode->getWorld();
childNode->transform();
Vect ptB = start * childNode->getWorld();
// direction between the anchor points of the respective bones
Vect dir = -(ptB - ptA);
// length of the bone 0
float mag = dir.mag();
// Set the orientation and length for bone 0
Matrix S( SCALE, BONE_WIDTH, BONE_WIDTH, mag);
Quat Q( ROT_ORIENT, dir.getNorm(), Vect( 0.0f, 1.0f, 0.0f) );
Matrix T( TRANS, ptB );
Matrix BoneOrient = S * Q * T;
childNode->setBoneOrientation( BoneOrient );
}
}
void Teddy::setBonePose(GameObject *node)
{
MyGameObjectAnim *childNode = (MyGameObjectAnim *)node;
///GameObject *parentNode = (GameObject *)node->getParent();
MyGameObjectAnim *parentNode;
if( node->getParent()->getParent()->getParent() != 0)
parentNode = (MyGameObjectAnim *)node->getParent();
else
parentNode = 0;
if( parentNode == root )
return;
if( parentNode != 0 && childNode != 0 )
{
// starting point
Vect start(0.0f,0.0f,0.0f);
// At this point, Find the two bones initial positions in world space
// Now get the length and directions
Vect ptA = start * parentNode->getWorld();
Vect ptB = start * childNode->getWorld();
// direction between the anchor points of the respective bones
Vect dir = -(ptB - ptA);
// length of the bone 0
float mag = dir.mag();
Matrix S( SCALE, boneWidth, boneWidth, mag);
Quat Q( ROT_ORIENT, dir.getNorm(), Vect( 0.0f, 1.0f, 0.0f) );
Matrix T( TRANS, ptB);
/*Matrix Sp( SCALE, BONE_WIDTH, BONE_WIDTH, mag);
Quat Qp( ROT_ORIENT, dir.getNorm(), Vect( 0.0f, 1.0f, 0.0f) );
Matrix Tp( TRANS, ptA);*/
Matrix BoneOrient = S * Q * T;
//Matrix BoneOrientp =Sp * Qp * Tp;
//parentNode->setBoneOrientation(BoneOrientp);
childNode->setBoneOrientation(BoneOrient);
}
}
void Quat :: setRotAxisAngle(const Vect &axis, const float angle)
{
const float angle_a = 0.5f * angle;
float cos_a;
float sin_a;
cos_a = cosf(angle_a);
sin_a = sinf(angle_a);
Vect qV = axis.getNorm();
qV *= sin_a;
this->qx = qV[x];
this->qy = qV[y];
this->qz = qV[z];
this->qw = cos_a;
}
void Skeleton::setBonePose(GraphicsObject * node, FrameBucket* pResult)
{
// need this value for Scale Vector - would it change in derived classes?
const float BONE_WIDTH = 2.0f;
// Now get the world matrices - we know nodes are PyramidObjects for Skeleton
// this casting may not be needed if we create a new AnimationObject to pass in instead of GraphicsObject
PyramidObject *childNode = (PyramidObject *)node;
PyramidObject *parentNode = (PyramidObject *)node->getParent();
// Get the manager
GraphicsObjectManager *goMgr = GraphicsObjectManager::getInstance();
PCSTree* tree = goMgr->getTree();
PCSNode* root = tree->getRoot();
// for bone Bip01 - it is the anchor point, no need to set its pose when its parent is dummy root node
if(parentNode == root)
return;
if( parentNode != 0 && childNode != 0 )
{
// starting point
Vect start(0.0f,0.0f,0.0f);
// calling transform first to evaluate an up-to-date world, then get starting point in World coords
// ***ORDER*** do this for parent first, then child - in transform, p1 will get parent's world matrix
parentNode->transform(pResult);
Vect ptA = start * parentNode->getWorld();
childNode->transform(pResult);
Vect ptB = start * childNode->getWorld();
// At this point, we have the two bones initial positions in world space
// Now get the direction between two anchor points of respective bones, and direction
Vect dir = -(ptB- ptA);
float mag = dir.mag();
// used to flip pyramids to point outward
Matrix T_flip(TRANS, 0.0f, 0.0f, 1.0f);
// rotates it to Z axis
Matrix R_flip( ROT_X, 180.0f * MATH_PI_180);
Matrix S( SCALE, BONE_WIDTH, BONE_WIDTH, mag);
Quat Q( ROT_ORIENT, dir.getNorm(), Vect( 0.0f, 1.0f, 0.0f) );
Matrix T(TRANS, ptB);
Matrix BoneOrient = S * Q * T;
// Matrix BoneOrient = R_flip * T_flip * S * Q * T ;
// Matrix BoneOrient = S * Q ;
// Matrix BoneOrient = S;
childNode->setBoneOrientation(BoneOrient);
}
/* deal with last node, when there isn't a terminal node - does this help in any way?
// copy orientation matrix from grandparent to set Parent's orientation
if( parentNode != 0 && childNode == 0 )
{
// get the parent's parent -> grandParent
GraphicsObject *grandParentNode = (GraphicsObject *)parentNode->getParent();
Matrix BoneOrient = grandParentNode->getBoneOrientation();
parentNode->setBoneOrientation( BoneOrient );
// should be childNode now???
} */
}
