static PxTransform computeBoneTransform(PxTransform &rootTransform, Acclaim::Bone &bone, PxVec3* boneFrameData)
{
using namespace Acclaim;
//PxTransform rootTransform(PxVec3(0.0f), PxQuat(PxIdentity));
PxTransform parentTransform = (bone.mParent) ?
computeBoneTransform(rootTransform, *bone.mParent, boneFrameData) : rootTransform;
PxQuat qWorld = EulerAngleToQuat(bone.mAxis);
PxVec3 offset = bone.mLength * bone.mDirection;
PxQuat qDelta = PxQuat(PxIdentity);
PxVec3 boneData = boneFrameData[bone.mID-1];
if (bone.mDOF & BoneDOFFlag::eRX)
qDelta = PxQuat(Ps::degToRad(boneData.x), PxVec3(1.0f, 0.0f, 0.0f)) * qDelta;
if (bone.mDOF & BoneDOFFlag::eRY)
qDelta = PxQuat(Ps::degToRad(boneData.y), PxVec3(0.0f, 1.0f, 0.0f)) * qDelta;
if (bone.mDOF & BoneDOFFlag::eRZ)
qDelta = PxQuat(Ps::degToRad(boneData.z), PxVec3(0.0f, 0.0f, 1.0f)) * qDelta;
PxQuat boneOrientation = qWorld * qDelta * qWorld.getConjugate();
PxTransform boneTransform(boneOrientation.rotate(offset), boneOrientation);
return parentTransform.transform(boneTransform);
}
bool Character::buildMotion(Acclaim::AMCData &amcData, Motion &motion, PxU32 start, PxU32 end)
{
using namespace Acclaim;
if (mASFData == NULL)
return false;
motion.mNbFrames = end - start + 1;
motion.mMotionData = SAMPLE_NEW(MotionData)[motion.mNbFrames];
// compute bounds of all the motion data on normalized frame
PxBounds3 bounds = PxBounds3::empty();
for (PxU32 i = start; i < end; i++)
{
Acclaim::FrameData &frameData = amcData.mFrameData[i];
PxTransform rootTransform(PxVec3(0.0f), EulerAngleToQuat(frameData.mRootOrientation));
for (PxU32 j = 0; j < mASFData->mNbBones; j++)
{
PxTransform t = computeBoneTransform(rootTransform, mASFData->mBones[j], frameData.mBoneFrameData);
bounds.include(t.p);
}
}
Acclaim::FrameData& firstFrame = amcData.mFrameData[0];
Acclaim::FrameData& lastFrame = amcData.mFrameData[amcData.mNbFrames-1];
// compute direction vector
motion.mDistance = mCharacterScale * (lastFrame.mRootPosition - firstFrame.mRootPosition).magnitude();
PxVec3 firstPosition = firstFrame.mRootPosition;
PX_UNUSED(firstPosition);
PxVec3 firstAngles = firstFrame.mRootOrientation;
PxQuat firstOrientation = EulerAngleToQuat(PxVec3(0, firstAngles.y, 0));
for (PxU32 i = 0; i < motion.mNbFrames; i++)
{
Acclaim::FrameData& frameData = amcData.mFrameData[i+start];
MotionData &motionData = motion.mMotionData[i];
// normalize y-rot by computing inverse quat from first frame
// this makes all the motion aligned in the same (+ z) direction.
PxQuat currentOrientation = EulerAngleToQuat(frameData.mRootOrientation);
PxQuat qdel = firstOrientation.getConjugate() * currentOrientation;
PxTransform rootTransform(PxVec3(0.0f), qdel);
for (PxU32 j = 0; j < mNbBones; j++)
{
PxTransform boneTransform = computeBoneTransform(rootTransform, mASFData->mBones[j], frameData.mBoneFrameData);
motionData.mBoneTransform[j] = boneTransform;
}
//PxReal y = mCharacterScale * (frameData.mRootPosition.y - firstPosition.y) - bounds.minimum.y;
motionData.mRootTransform = PxTransform(PxVec3(0.0f, -bounds.minimum.y, 0.0f), PxQuat(PxIdentity));
}
// now make the motion cyclic by linear interpolating root position and joint angles
const PxU32 windowSize = 10;
for (PxU32 i = 0; i <= windowSize; i++)
{
PxU32 j = motion.mNbFrames - 1 - windowSize + i;
PxReal t = PxReal(i) / PxReal(windowSize);
MotionData& motion_i = motion.mMotionData[0];
MotionData& motion_j = motion.mMotionData[j];
// lerp root translation
PxVec3 blendedRootPos = (1.0f - t) * motion_j.mRootTransform.p + t * motion_i.mRootTransform.p;
for (PxU32 k = 0; k < mNbBones; k++)
{
PxVec3 pj = motion_j.mRootTransform.p + motion_j.mBoneTransform[k].p;
PxVec3 pi = motion_i.mRootTransform.p + motion_i.mBoneTransform[k].p;
PxVec3 p = (1.0f - t) * pj + t * pi;
motion_j.mBoneTransform[k].p = p - blendedRootPos;
}
motion_j.mRootTransform.p = blendedRootPos;
}
return true;
}