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/**
* $Id$
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#include <iostream>
#include "KX_SG_BoneParentNodeRelationship.h"
#include "MT_Matrix4x4.h"
#include "BL_ArmatureObject.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
/**
* Implementation of classes defined in KX_SG_BoneParentNodeRelationship.h
*/
/**
* first of all KX_SG_BoneParentRelation
*/
KX_BoneParentRelation *
KX_BoneParentRelation::
New(Bone* bone
) {
return new KX_BoneParentRelation(bone);
}
bool
KX_BoneParentRelation::
UpdateChildCoordinates(
SG_Spatial * child,
const SG_Spatial * parent,
bool& parentUpdated
){
MT_assert(child != NULL);
// This way of accessing child coordinates is a bit cumbersome
// be nice to have non constant reference access to these values.
const MT_Vector3 & child_scale = child->GetLocalScale();
const MT_Point3 & child_pos = child->GetLocalPosition();
const MT_Matrix3x3 & child_rotation = child->GetLocalOrientation();
// we don't know if the armature has been updated or not, assume yes
parentUpdated = true;
// the childs world locations which we will update.
MT_Vector3 child_w_scale;
MT_Point3 child_w_pos;
MT_Matrix3x3 child_w_rotation;
bool valid_parent_transform = false;
if (parent)
{
BL_ArmatureObject *armature = (BL_ArmatureObject*)(parent->GetSGClientObject());
if (armature)
{
MT_Matrix4x4 parent_matrix;
if (armature->GetBoneMatrix(m_bone, parent_matrix))
{
// Get the child's transform, and the bone matrix.
MT_Matrix4x4 child_transform (
MT_Transform(child_pos + MT_Vector3(0.0, armature->GetBoneLength(m_bone), 0.0),
child_rotation.scaled(
child_scale[0],
child_scale[1],
child_scale[2])));
// The child's world transform is parent * child
parent_matrix = parent->GetWorldTransform() * parent_matrix;
child_transform = parent_matrix * child_transform;
// Recompute the child transform components from the transform.
child_w_scale.setValue(
MT_Vector3(child_transform[0][0], child_transform[0][1], child_transform[0][2]).length(),
MT_Vector3(child_transform[1][0], child_transform[1][1], child_transform[1][2]).length(),
MT_Vector3(child_transform[2][0], child_transform[2][1], child_transform[2][2]).length());
child_w_rotation.setValue(child_transform[0][0], child_transform[0][1], child_transform[0][2],
child_transform[1][0], child_transform[1][1], child_transform[1][2],
child_transform[2][0], child_transform[2][1], child_transform[2][2]);
child_w_rotation.scale(1.0/child_w_scale[0], 1.0/child_w_scale[1], 1.0/child_w_scale[2]);
child_w_pos = MT_Point3(child_transform[0][3], child_transform[1][3], child_transform[2][3]);
valid_parent_transform = true;
}
}
}
if (valid_parent_transform)
{
child->SetWorldScale(child_w_scale);
child->SetWorldPosition(child_w_pos);
child->SetWorldOrientation(child_w_rotation);
}
else {
child->SetWorldFromLocalTransform();
}
child->ClearModified();
// this node must always be updated, so reschedule it for next time
child->ActivateRecheduleUpdateCallback();
return valid_parent_transform;
}
SG_ParentRelation *
KX_BoneParentRelation::
NewCopy(
){
KX_BoneParentRelation* bone_parent = new KX_BoneParentRelation(m_bone);
return bone_parent;
}
KX_BoneParentRelation::
~KX_BoneParentRelation(
){
//nothing to do
}
KX_BoneParentRelation::
KX_BoneParentRelation(Bone* bone
)
: m_bone(bone)
{
// nothing to do
}
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