void SMDImporter::RecurseCreateNull ( XSI::X3DObject in_pParent, SMDNode* in_pNode )
{
LPWSTR l_wszModelName;
DSA2W(&l_wszModelName,FixName ( in_pNode->m_szName ) );
XSI::Null myNull = DoesObjectExist ( in_pParent, XSI::CString(l_wszModelName) );
if ( !myNull.IsValid() )
{
in_pParent.AddNull ( l_wszModelName, myNull );
}
in_pNode->m_x3d = myNull;
XSI::KinematicState l_lLocal = myNull.GetKinematics().GetLocal();
XSI::MATH::CTransformation xfo;
if ( in_pNode->m_pKeys.GetUsed() )
{
SMDKey* l_pKey = in_pNode->GetKey (0);
xfo = l_lLocal.GetTransform();
xfo.SetRotationFromXYZAnglesValues ( l_pKey->m_vRotation.GetX(), l_pKey->m_vRotation.GetY(), l_pKey->m_vRotation.GetZ() );
xfo.SetTranslationFromValues ( l_pKey->m_vPosition.GetX(), l_pKey->m_vPosition.GetY(), l_pKey->m_vPosition.GetZ() );
}
if ( in_pNode->m_pParent ==NULL )
{
XSI::MATH::CTransformation xfo2;
xfo2.SetRotationFromXYZAnglesValues ( -1.570796, 0.0, 0.0 );
xfo.MulInPlace(xfo2);
}
l_lLocal.PutTransform ( xfo );
for (int c=0;c<in_pNode->m_pChildren.GetUsed();c++)
{
RecurseCreateNull ( myNull, in_pNode->GetChild(c));
}
}
XSI::CStatus CAxisInterpOp::Update
(
UpdateContext& ctx,
OutputPort& output
)
{
Operator op(ctx.GetOperator());
///////////////////////////////////////////////////////////////
// get operator parameters
///////////////////////////////////////////////////////////////
XSI::CString triggers(op.GetParameterValue(L"Triggers"));
// triggers changed
if ( m_csTriggers != triggers )
{
m_csTriggers = triggers;
Init( ctx, 0 );
}
double boneperc = op.GetParameterValue(L"BoneDist");
///////////////////////////////////////////////////////////////
// get objects connected to input & output ports
///////////////////////////////////////////////////////////////
InputPort rootboneport(op.GetPort(L"globalkineport",L"RootBoneGroup",0));
InputPort parentboneport(op.GetPort(L"globalkineport",L"ParentBoneGroup",0));
InputPort parentbonelenport(op.GetPort(L"bonelengthport",L"ParentBoneGroup",0));
InputPort childboneport(op.GetPort(L"globalkineport",L"ChildBoneGroup",0));
KinematicState gkRoot(rootboneport.GetValue());
KinematicState gkParent(parentboneport.GetValue());
double parentbonelen(parentbonelenport.GetValue());
KinematicState gkChild(childboneport.GetValue());
KinematicState gkHelper(output.GetValue());
// GET TRANSFORMATIONS OF ROOT, PARENT & CHILD
CTransformation tGRoot = gkRoot.GetTransform();
CTransformation tGBone1 = gkParent.GetTransform();
CTransformation tGBone2 = gkChild.GetTransform();
#ifdef _DEBUG_UPDATE
{
Application app;
wchar_t wszBuf[256];
XSI::MATH::CQuaternion q = tGBone1.GetRotationQuaternion();
double x, y, z;
q.GetXYZAnglesValues(x,y,z);
swprintf( wszBuf, L"parent R(%f,%f,%f)]", r2d(x),r2d(y),r2d(z) );
app.LogMessage( (const wchar_t*)wszBuf );
}
#endif
#ifdef _DEBUG_UPDATE
{
Application app;
wchar_t wszBuf[256];
XSI::MATH::CQuaternion q = tGBone2.GetRotationQuaternion();
double x, y, z;
q.GetXYZAnglesValues(x,y,z);
swprintf( wszBuf, L"child R(%f,%f,%f)]", r2d(x),r2d(y),r2d(z) );
app.LogMessage( (const wchar_t*)wszBuf );
}
#endif
///////////////////////////////////////////////////////////////
// perform update function
///////////////////////////////////////////////////////////////
// GET LOCAL TRANSFORM OF CHILD RELATIVE TO PARENT
XSI::MATH::CMatrix3 mBone1( tGBone1.GetRotationMatrix3() );
XSI::MATH::CMatrix3 mBone2( tGBone2.GetRotationMatrix3() );
#ifdef _DEBUG_UPDATE
{
Application app;
wchar_t wszBuf[256];
double m0, m1, m2, m3, m4, m5, m6, m7, m8;
mBone1.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);
swprintf( wszBuf, L"mBone1->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
app.LogMessage( (const wchar_t*)wszBuf );
}
#endif
#ifdef _DEBUG_UPDATE
{
Application app;
wchar_t wszBuf[256];
double m0, m1, m2, m3, m4, m5, m6, m7, m8;
mBone2.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);
swprintf( wszBuf, L"mBone2->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
app.LogMessage( (const wchar_t*)wszBuf );
}
#endif
mBone1.TransposeInPlace();
#ifdef _DEBUG_UPDATE
{
Application app;
wchar_t wszBuf[256];
double m0, m1, m2, m3, m4, m5, m6, m7, m8;
mBone1.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);
swprintf( wszBuf, L"mBone1.TransposeInPlace->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
app.LogMessage( (const wchar_t*)wszBuf );
}
#endif
XSI::MATH::CMatrix3 tmpMat3;
for(int nR=0; nR<3; nR++)
for(int nC=0; nC<3; nC++)
{
tmpMat3.SetValue(nR,nC ,
mBone2.GetValue(nR,0) * mBone1.GetValue(0,nC) +
mBone2.GetValue(nR,1) * mBone1.GetValue(1,nC) +
mBone2.GetValue(nR,2) * mBone1.GetValue(2,nC) );
}
mBone2 = tmpMat3;
// bug #90494
// mBone2.MulInPlace( mBone1 );
#ifdef _DEBUG_UPDATE
{
Application app;
wchar_t wszBuf[256];
double m0, m1, m2, m3, m4, m5, m6, m7, m8;
mBone2.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);
swprintf( wszBuf, L"mBone2.MulInPlace( mBone1 )->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
app.LogMessage( (const wchar_t*)wszBuf );
}
#endif
// GET ORIENTATION OF BONE2 RELATIVE TO BONE1 AS A QUATERNION
XSI::MATH::CQuaternion qBone2 = mBone2.GetQuaternion();
// MATCH QUATERNIONS
XSI::MATH::CVector3 vBasePos(
op.GetParameterValue(L"BasePoseX"),
op.GetParameterValue(L"BasePoseY"),
op.GetParameterValue(L"BasePoseZ") );
#ifdef _DEBUG_UPDATE
{
Application app;
wchar_t wszBuf[256];
double x, y, z;
qBone2.GetXYZAnglesValues(x,y,z);
swprintf( wszBuf, L"child2parent R(%f,%f,%f)]", r2d(x),r2d(y),r2d(z) );
app.LogMessage( (const wchar_t*)wszBuf );
}
#endif
ComputeBaseOffset(vBasePos, boneperc, parentbonelen );
ComputeWeights( qBone2, m_cTriggers, m_aWeights, m_aTriggerOri, m_aTriggerTol );
// SUM TARGET ORIENTATIONS & POSITIONS
XSI::MATH::CQuaternion qNewOri;
SumTargets( qNewOri, vBasePos, m_cTriggers, m_aWeights, m_aTargetOri, m_aTargetPos );
#ifdef _DEBUG_UPDATE
Application app;
wchar_t wszBuf[256];
double x, y, z;
qNewOri.GetXYZAnglesValues(x,y,z);
swprintf( wszBuf, L"qNewOri->R(%f,%f,%f)]", r2d(x),r2d(y),r2d(z) );
app.LogMessage( (const wchar_t*)wszBuf );
#endif
// UPDATE TRANSFORMATION
XSI::MATH::CTransformation tNewPose;
tNewPose.SetRotationFromQuaternion( qNewOri );
tNewPose.SetTranslation( vBasePos );
tNewPose.MulInPlace( tGRoot );
///////////////////////////////////////////////////////////////
// update output port
///////////////////////////////////////////////////////////////
gkHelper.PutTransform( tNewPose );
return CStatus::OK;
}
CStatus CHelperBoneOp::Update
(
UpdateContext& ctx,
OutputPort& output
)
{
///////////////////////////////////////////////////////////////
// get operator
///////////////////////////////////////////////////////////////
Operator op(ctx.GetOperator());
///////////////////////////////////////////////////////////////
// get output port
///////////////////////////////////////////////////////////////
KinematicState gkHelper(output.GetValue());
///////////////////////////////////////////////////////////////
// get helper bone data
///////////////////////////////////////////////////////////////
InputPort bonedataport(op.GetPort(L"bonedataport",L"HelperBoneGroup",0));
Property HelperBoneData(bonedataport.GetValue());
bool enabled = HelperBoneData.GetParameterValue(L"Enabled");
// not enabled: do nothing
if (!enabled)
return CStatus::OK;
///////////////////////////////////////////////////////////////
// evaluate new transformation for helperbone
///////////////////////////////////////////////////////////////
XSI::MATH::CTransformation tNewPose;
bool bComputeInWorldSpace = (0!=(long)HelperBoneData.GetParameterValue(L"ComputationSpace"));
///////////////////////////////////////////////////////////////
// get objects connected to input & output ports
///////////////////////////////////////////////////////////////
InputPort rootboneport(op.GetPort(L"globalkineport",L"RootBoneGroup",0));
InputPort parentboneport(op.GetPort(L"globalkineport",L"ParentBoneGroup",0));
InputPort childboneport(op.GetPort(L"globalkineport",L"ChildBoneGroup",0));
KinematicState gkRoot(rootboneport.GetValue());
KinematicState gkParent(parentboneport.GetValue());
KinematicState gkChild(childboneport.GetValue());
// get helperbonedata values
XSI::MATH::CVector3 vBasePos(
HelperBoneData.GetParameterValue(L"BoneOffsetX"),
HelperBoneData.GetParameterValue(L"BoneOffsetY"),
HelperBoneData.GetParameterValue(L"BoneOffsetZ") );
double perc_along_root = (double)HelperBoneData.GetParameterValue(L"BoneDistance") / 100.0;
double root_bone_length = (double)HelperBoneData.GetParameterValue(L"RootBoneLength");
XSI::GridData griddata(HelperBoneData.GetParameterValue(L"Triggers"));
// read triggers
ReadTriggerData(griddata);
// GET TRANSFORMATIONS OF ROOT, PARENT & CHILD
CTransformation tGRoot = gkRoot.GetTransform();
CTransformation tGParent = gkParent.GetTransform();
CTransformation tGChild = gkChild.GetTransform();
///////////////////////////////////////////////////////////////
// compute new orientation and position based on triggers
///////////////////////////////////////////////////////////////
DebugPrint( L"parent", tGParent.GetRotationQuaternion() );
DebugPrint( L"child", tGChild.GetRotationQuaternion() );
// GET LOCAL TRANSFORM OF CHILD RELATIVE TO PARENT
XSI::MATH::CMatrix3 m3Parent( tGParent.GetRotationMatrix3() );
DebugPrint(L"m3Parent->", m3Parent);
XSI::MATH::CMatrix3 m3Child( tGChild.GetRotationMatrix3() );
DebugPrint(L"m3Parent->", m3Child);
m3Parent.TransposeInPlace();
DebugPrint(L"m3Parent.TransposeInPlace->", m3Parent);
// bug #90494
// m3Child.MulInPlace( m3Parent );
MulInPlace( m3Child, m3Parent );
DebugPrint(L"m3Child.MulInPlace->", m3Child);
// GET ORIENTATION OF BONE2 RELATIVE TO BONE1 AS A QUATERNION
XSI::MATH::CQuaternion qBone2 = m3Child.GetQuaternion();
DebugPrint( L"child2parent", qBone2 );
// MATCH QUATERNIONS
ComputeWeights( qBone2, m_cTriggers, m_aEnabled, m_aWeights, m_aTriggerOri, m_aTriggerTol );
// SUM TARGET ORIENTATIONS & POSITIONS
XSI::MATH::CQuaternion qNewOri;
XSI::MATH::CVector3 vNewPos;
SumTargets( qNewOri, vNewPos, m_cTriggers, m_aWeights, m_aTargetOri, m_aTargetPos );
DebugPrint( L"qNewPos->", qNewPos );
DebugPrint( L"vNewOri->", qNewOri );
// UPDATE TRANSFORMATION
if (bComputeInWorldSpace)
{
// not implemented
}
else // Root object space
{
// compute initial helperbone position
vBasePos.PutX( vBasePos.GetX() + (root_bone_length * perc_along_root) );
vNewPos.AddInPlace(vBasePos);
// apply changes from triggers
tNewPose.SetRotationFromQuaternion( qNewOri );
tNewPose.SetTranslation( vNewPos );
// map root object space to worldspace
tNewPose.MulInPlace( tGRoot );
}
///////////////////////////////////////////////////////////////
// update output port
///////////////////////////////////////////////////////////////
gkHelper.PutTransform( tNewPose );
return CStatus::OK;
}
