1 files changed, 113 insertions, 0 deletions
diff --git a/Source/Graphics/bonetransform.cpp b/Source/Graphics/bonetransform.cpp
new file mode 100644
index 00000000..46a50e49
--- /dev/null
+++ b/Source/Graphics/bonetransform.cpp
@@ -0,0 +1,113 @@
+//-----------------------------------------------------------------------------
+//           Name: bonetransform.cpp
+//      Developer: Wolfire Games LLC
+//    Description: 
+//        License: Read below
+//-----------------------------------------------------------------------------
+//
+//
+//   Copyright 2022 Wolfire Games LLC
+//
+//   Licensed under the Apache License, Version 2.0 (the "License");
+//   you may not use this file except in compliance with the License.
+//   You may obtain a copy of the License at
+//
+//       http://www.apache.org/licenses/LICENSE-2.0
+//
+//   Unless required by applicable law or agreed to in writing, software
+//   distributed under the License is distributed on an "AS IS" BASIS,
+//   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//   See the License for the specific language governing permissions and
+//   limitations under the License.
+//
+//-----------------------------------------------------------------------------
+#include "bonetransform.h"
+
+#include <Math/enginemath.h>
+#include <Math/vec3math.h>
+#include <Math/quaternions.h>
+
+#include <cmath>
+
+const BoneTransform& BoneTransform::operator=( const mat4 &other )
+{
+    rotation = QuaternionFromMat4(other);
+    origin = other.GetTranslationPart();
+    return (*this);
+}
+
+BoneTransform invert( const BoneTransform& transform )
+{
+    BoneTransform inverted;
+    inverted.rotation = invert(transform.rotation);
+    inverted.origin = inverted.rotation * -transform.origin;
+    return inverted;
+}
+
+BoneTransform operator*( const BoneTransform& a, const BoneTransform& b )
+{
+    BoneTransform result;
+    result.rotation = a.rotation * b.rotation;
+    result.origin = a.rotation * b.origin + a.origin;
+    //result = a.GetMat4() * b.GetMat4();
+    return result;
+}
+
+BoneTransform operator*( const quaternion& a, const BoneTransform& b )
+{
+    BoneTransform result;
+    result.rotation = a * b.rotation;
+    result.origin = a * b.origin;
+    return result;
+}
+
+vec3 operator*( const BoneTransform& a, const vec3& b )
+{
+    vec3 result = a.rotation * b + a.origin;
+    return result;
+}
+
+BoneTransform mix( const BoneTransform &a, const BoneTransform &b, float alpha )
+{
+    BoneTransform result;
+    result.origin = mix(a.origin, b.origin, alpha);
+    result.rotation = mix(a.rotation, b.rotation, alpha);
+    return result;
+}
+
+mat4 BoneTransform::GetMat4() const
+{
+    mat4 matrix = Mat4FromQuaternion(rotation);
+    matrix.SetTranslationPart(origin);
+    return matrix;
+}
+
+BoneTransform::BoneTransform( const mat4 &other )
+{
+    (*this) = other;
+}
+
+BoneTransform::BoneTransform()
+{}
+
+BoneTransform ApplyParentRotations(const std::vector<BoneTransform> &matrices,
+                                   int id, 
+                                   const std::vector<int> &parents) 
+{
+    int parent_id = parents[id];
+    if(parent_id == -1){
+        return matrices[id];    
+    } else {
+        return ApplyParentRotations(matrices,parent_id,parents) *
+               matrices[id];
+    }
+}
+
+bool operator==(const BoneTransform& a, const BoneTransform& b) {
+    return (a.origin == b.origin && a.rotation == b.rotation);
+}
+
+void BoneTransform::LoadIdentity() {
+    origin = vec3(0.0f);
+    rotation = quaternion();
+}