MStatus
HRBFSkinCluster::skinDQ(MMatrixArray& transforms,
int numTransforms,
MArrayDataHandle& weightListHandle,
MItGeometry& iter) {
MStatus returnStatus;
// compute dual quaternions. we're storing them as a parallel array.
std::vector<MQuaternion> tQuaternions(numTransforms); // translation quaterions
std::vector<MQuaternion> rQuaternions(numTransforms); // rotation quaternions
for (int i = 0; i < numTransforms; i++) {
rQuaternions.at(i) = getRotationQuaternion(transforms[i]);
rQuaternions.at(i).normalizeIt();
tQuaternions.at(i) = getTranslationQuaternion(transforms[i], rQuaternions.at(i));
#if DEBUG_PRINTS
std::cout << "rota quaternion " << i << " is: " << rQuaternions.at(i) << std::endl;
std::cout << "tran quaternion " << i << " is: " << tQuaternions.at(i) << std::endl;
#endif
}
MQuaternion rBlend; // blended rotation quaternions
MQuaternion tBlend; // blended translation quaternions
MQuaternion scaleMe; // Maya's quaternion scaling is in-place
double weight;
// Iterate through each point in the geometry.
//
for (; !iter.isDone(); iter.next()) {
MPoint pt = iter.position();
MPoint skinned;
rBlend = MQuaternion(); // reset
tBlend = MQuaternion(); // reset
rBlend[3] = 0.0;
tBlend[3] = 0.0;
// get the weights for this point
MArrayDataHandle weightsHandle = weightListHandle.inputValue().child(weights);
// compute the skinning
for (int i = 0; i<numTransforms; ++i) {
if (MS::kSuccess == weightsHandle.jumpToElement(i)) {
weight = weightsHandle.inputValue().asDouble();
scaleMe = rQuaternions.at(i);
rBlend = rBlend + scaleMe.scaleIt(weight);
scaleMe = tQuaternions.at(i);
tBlend = tBlend + scaleMe.scaleIt(weight);
}
}
MMatrix dqMatrix = makeDQMatrix(rBlend.normalizeIt(), tBlend);
skinned = pt * dqMatrix;
// Set the final position.
iter.setPosition(skinned);
// advance the weight list handle
weightListHandle.next();
}
return returnStatus;
}
