//====================
// ボーンの行列を更新
//====================
void cPMDBone::updateMatrix( void )
{
// クォータニオンと移動値からボーンのローカルマトリックスを作成
QuaternionToMatrix( m_matLocal, &m_vec4Rotation );
m_matLocal[3][0] = m_vec3Position.x + m_vec3Offset.x;
m_matLocal[3][1] = m_vec3Position.y + m_vec3Offset.y;
m_matLocal[3][2] = m_vec3Position.z + m_vec3Offset.z;
// 親があるなら親の回転を受け継ぐ
if( m_pParentBone ) MatrixMultiply( m_matLocal, m_matLocal, m_pParentBone->m_matLocal );
}
void skinnedmesh_frame(skinnedmesh_t *sm,float frame) {
int i,frame1,frame2;
frame1 = (int)frame;
frame -= frame1;
if(frame1 >= sm->num_frame) frame1 %= sm->num_frame;
frame2 = frame1 + 1;
if(frame2 >= sm->num_frame) frame2 = 0;
for(i = 0; i < sm->num_bone; i++) {
float matrix_xyz[16],matrix_rot[16];
float xyz[3],rot[4],a[3],b[3];
VectorScale(sm->frame[frame1][i].xyz,1.0 - frame,a);
VectorScale(sm->frame[frame2][i].xyz,frame,b);
VectorAdd(a,b,xyz);
QuaternionSlerp(sm->frame[frame1][i].rot,
sm->frame[frame2][i].rot,frame,rot);
MatrixTranslate(xyz[0],xyz[1],xyz[2],matrix_xyz);
QuaternionToMatrix(rot,matrix_rot);
MatrixMultiply(matrix_xyz,matrix_rot,sm->bone[i].matrix);
}
for(i = 0; i < sm->num_surface; i++) {
int j;
surface_t *surface = sm->surface[i];
for(j = 0; j < surface->num_vertex; j++) {
int k;
VectorSet(0,0,0,surface->vertex[j].xyz);
VectorSet(0,0,0,surface->vertex[j].normal);
for(k = 0; k < surface->vertex[j].num_weight; k++) {
float v[3];
weight_t *weight = &surface->vertex[j].weight[k];
VectorTransform(weight->xyz,
sm->bone[weight->bone].matrix,v);
VectorScale(v,weight->weight,v);
VectorAdd(surface->vertex[j].xyz,v,
surface->vertex[j].xyz);
VectorTransformNormal(weight->normal,
sm->bone[weight->bone].matrix,v);
VectorScale(v,weight->weight,v);
VectorAdd(surface->vertex[j].normal,v,
surface->vertex[j].normal);
}
}
}
}
void PivotCalibration2::TransformToMatrix(QIN_Transform_Type* trans_in, vtkMatrix4x4* outmatrix)
{
auto rot_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
// convert quaternion to matrix
QuaternionToMatrix(rot_matrix, &(trans_in->q0));
outmatrix->SetElement(3, 0, 0);
outmatrix->SetElement(3, 1, 0);
outmatrix->SetElement(3, 2, 0);
outmatrix->SetElement(3, 3, 1);
for (unsigned int i = 0; i<3; i++)
{
for (unsigned int j = 0; j<3; j++)
{
outmatrix->SetElement(i, j, rot_matrix->GetElement(i, j));
}
}
outmatrix->SetElement(0,3,trans_in->x);
outmatrix->SetElement(1,3,trans_in->y);
outmatrix->SetElement(2,3,trans_in->z);
outmatrix->SetElement(3,3,1);
}
/*
Description:
Convert raw transform to an matrix
Parameters:
index count from 0
*/
void PivotCalibration2::TransformToMatrix(QIN_Transform_Type* trans_in, QIN_Matrix_Type trans_out)
{
auto tem_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
// convert quaternion to matrix
QuaternionToMatrix(tem_matrix,&(trans_in->q0));
trans_out[3][0] = 0;
trans_out[3][1] = 0;
trans_out[3][2] = 0;
trans_out[3][3] = 1;
for (unsigned int i = 0; i<3; i++)
{
for (unsigned int j = 0; j<3; j++)
{
trans_out[i][j] = tem_matrix->GetElement(i,j);
//outmatrix.SetElement(i, j, inmatrix.GetVnlMatrix().get(i, j));
}
}
trans_out[0][3] = trans_in->x;
trans_out[1][3] = trans_in->y;
trans_out[2][3] = trans_in->z;
trans_out[3][3] = 1;
}
// Render a frame
void Render()
{
// Clear the back buffer
g_D3DDevCtx->ClearRenderTargetView(g_RenderTargetView, g_BackgroundColor);
g_D3DDevCtx->ClearDepthStencilView(g_DepthStencilView, D3D11_CLEAR_DEPTH, 1, 0);
// Set world/view/proj matrices and global shader constants
float aspectRatio = (float)g_DepthStencilDesc.Width / g_DepthStencilDesc.Height;
Matrix4x4 proj = Projection(FLOAT_PI/4, aspectRatio, 0.1f, 100.0f);
float dist = g_CamDistance + 0.4f;
Vector3 camPosInv = { dist * 0.3f, dist * 0.0f, dist * 2.0f };
Matrix4x4 view = Translation(camPosInv);
Matrix4x4 world = QuaternionToMatrix(g_SpongeRotation);
SetShaderConstants(world, view, proj);
// Draw the sponge
DrawSponge();
// Draw tweak bars
TwDraw();
// Present the information rendered in the back buffer to the front buffer (the screen)
g_SwapChain->Present(0, 0);
}
