void CalCoreBone::calculateState()
{
if(m_parentId == -1)
{
// no parent, this means absolute state == relative state
m_translationAbsolute = m_translation;
m_rotationAbsolute = m_rotation;
}
else
{
// get the parent bone
CalCoreBone *pParent;
pParent = m_pCoreSkeleton->getCoreBone(m_parentId);
// transform relative state with the absolute state of the parent
m_translationAbsolute = m_translation;
m_translationAbsolute *= pParent->getRotationAbsolute();
m_translationAbsolute += pParent->getTranslationAbsolute();
m_rotationAbsolute = m_rotation;
m_rotationAbsolute *= pParent->getRotationAbsolute();
}
// calculate all child bones
std::list<int>::iterator iteratorChildId;
for(iteratorChildId = m_listChildId.begin(); iteratorChildId != m_listChildId.end(); ++iteratorChildId)
{
m_pCoreSkeleton->getCoreBone(*iteratorChildId)->calculateState();
}
}
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;
}