예제 #1
0
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;
}
예제 #2
0
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;
}