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//-----------------------------------------------------------------------------
// 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();
}
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