Matrix4x4f BoneBridgeCAL3D::GetModelSpaceTransform() const
{
Matrix4x4f matrix = Matrix4x4f::Identity();
// update model space position
{
Vec3f kernelPosVec;
const CalVector& calPosVec = mpCalBone->getTranslationAbsolute();
for (int i = 0; i < 3; ++i)
{
kernelPosVec[i] = calPosVec[i];
}
matrix.SetTranslation(kernelPosVec);
}
// update model space orientation
{
Quaternionf kernelRotQuat;
const CalQuaternion& calRotQuat = mpCalBone->getRotationAbsolute();
kernelRotQuat = ConvertCAL3DtoKernel(calRotQuat);
matrix.SetRotate(kernelRotQuat);
}
return matrix;
}
Matrix4x4f BoneBridgeCAL3D::CalculateBoneSpaceTransform() const
{
Matrix4x4f boneSpaceTransform = Matrix4x4f::Identity();
// set up bone space geometry transform
{
// transform forward by half the box length
const Vec3f& dimensions = GetDimensions();
boneSpaceTransform.SetTranslation(Vec3f(dimensions[Y] / 2.0f, 0.0f, 0.0f));
// set rotational offset (the inversion of the core bone absolute rotation)
{
CalCoreBone* coreBone = mpCalBone->getCoreBone();
CalQuaternion calRotAbsolute = coreBone->getRotationAbsolute();
calRotAbsolute.invert();
Quaternionf kernelRot = ConvertCAL3DtoKernel(calRotAbsolute);
boneSpaceTransform.SetRotate(kernelRot);
}
}
return boneSpaceTransform;
}