//***************************************************************************************
// function : SumTargets
// description: multiply all the weights by the set of new orientations and positions
// and sum the result to give the new orientation and position.
//
// aweights : array of weights
// qrot : resulting summed rotation quaternion
// vpos : resulting summed position vector3
// atargetori : array of target orientations
// atargetpos : array of target positions
//***************************************************************************************
void CAxisInterpOp::SumTargets( XSI::MATH::CQuaternion& qrot, XSI::MATH::CVector3& vpos,
unsigned long size, double* aweights, double* atargetori, double* atargetpos )
{
double w;
XSI::MATH::CRotation r1;
XSI::MATH::CQuaternion q1;
XSI::MATH::CQuaternion q2;
XSI::MATH::CVector3 v1;
qrot.Set(0,0,0,0);
for ( unsigned long i=0; i < size; i++ )
{
w = aweights[i];
if ( w != 0 ) {
q1.SetFromXYZAnglesValues( d2r(atargetori[(i*3)+0]), d2r(atargetori[(i*3)+1]), d2r(atargetori[(i*3)+2]) );
// w.qi
q2.Set( q1.GetW() * w, q1.GetX() * w, q1.GetY() * w, q1.GetZ() * w );
qrot.AddInPlace( q2 );
// w.vi
v1.Set( atargetpos[(i*3)+0], atargetpos[(i*3)+1], atargetpos[(i*3)+2] );
v1.ScaleInPlace( w );
vpos.AddInPlace( v1 );
}
}
qrot.Normalize();
}
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;
}