C++ CalBone::getTranslationAbsolute方法代码示例

int CalSkeleton::getBoneLines(float *pLines)
{
  int nrLines;
  nrLines = 0;

  rde::vector<CalBone *>::iterator iteratorBone;
  for(iteratorBone = m_vectorBone.begin(); iteratorBone != m_vectorBone.end(); ++iteratorBone)
  {
    int parentId;
    parentId = (*iteratorBone)->getCoreBone()->getParentId();

    if(parentId != -1)
    {
      CalBone *pParent;
      pParent = m_vectorBone[parentId];

      const CalVector& translation = (*iteratorBone)->getTranslationAbsolute();
      const CalVector& translationParent = pParent->getTranslationAbsolute();

      *pLines++ = translationParent[0];
      *pLines++ = translationParent[1];
      *pLines++ = translationParent[2];

      *pLines++ = translation[0];
      *pLines++ = translation[1];
      *pLines++ = translation[2];

      nrLines++;
    }
  }

  return nrLines;
}

void IKCharacter::pullWorldPositions( int root_id, int leaf_id )
{
	CalVector root_pos;
	if ( auto_root_follow )
	{
		// get root pos
		int skel_root_id = skeleton->getCoreSkeleton()->getVectorRootCoreBoneId()[0];
		root_pos = skeleton->getBone(skel_root_id)->getTranslationAbsolute();
	}
	
	// work from the leaves down to the root
	deque<int> queue;
	if ( leaf_id == -1 )
		queue.insert( queue.begin(), leaf_bones.begin(), leaf_bones.end() );
	else
		queue.push_back( leaf_id );
	while ( !queue.empty() )
	{
		int id = queue.front();
		queue.pop_front();
		CalBone* bone = skeleton->getBone(id);
		world_positions[id] = bone->getTranslationAbsolute() - root_pos;
		int parent_id = bone->getCoreBone()->getParentId();
		if ( parent_id != -1 && id != root_id )
			queue.push_back( parent_id );
	}
	
}

void CalBone::calculateState()
{
  // check if the bone was not touched by any active animation
  if(m_accumulatedWeight == 0.0f)
  {
    // set the bone to the initial skeleton state
    m_translation = m_pCoreBone->getTranslation();
    m_rotation = m_pCoreBone->getRotation();
  }

  // get parent bone id
  int parentId;
  parentId = m_pCoreBone->getParentId();

  if(parentId == -1)
  {
    // no parent, this means absolute state == relative state
    m_translationAbsolute = m_translation;
    m_rotationAbsolute = m_rotation;
  }
  else
  {
    // get the parent bone
    CalBone *pParent;
    pParent = m_pSkeleton->getBone(parentId);

    // transform relative state with the absolute state of the parent
    m_translationAbsolute = m_translation;
    m_translationAbsolute *= pParent->getRotationAbsolute();
    m_translationAbsolute += pParent->getTranslationAbsolute();

    m_rotationAbsolute = m_rotation;
    m_rotationAbsolute *= pParent->getRotationAbsolute();
  }

	
  // calculate the bone space transformation
  m_translationBoneSpace = m_pCoreBone->getTranslationBoneSpace();
  m_translationBoneSpace *= m_rotationAbsolute;
  m_translationBoneSpace += m_translationAbsolute;

  m_rotationBoneSpace = m_pCoreBone->getRotationBoneSpace();
  m_rotationBoneSpace *= m_rotationAbsolute;
	

  // Generate the vertex transform.  If I ever add support for bone-scaling
  // to Cal3D, this step will become significantly more complex.
  m_transformMatrix = m_rotationBoneSpace;

  // calculate all child bones
  std::list<int>::iterator iteratorChildId;
  for(iteratorChildId = m_pCoreBone->getListChildId().begin(); iteratorChildId != m_pCoreBone->getListChildId().end(); ++iteratorChildId)
  {
    m_pSkeleton->getBone(*iteratorChildId)->calculateState();
  }
}

/////////////////////////////////////
// Purpose:	get the relative translation
//			of given boneID
// Output:	pLoc set
// Return:	none
/////////////////////////////////////
void IgfxObject::BoneGetTransAbs(s32 boneID, Vec3D *pLoc)
{
	if(m_pCalModel)
	{
		CalSkeleton *pSkel = m_pCalModel->getSkeleton();
		CalBone *pBone = pSkel->getBone(boneID);
		CalVector cVec = pBone->getTranslationAbsolute();

		pLoc->x = cVec.x;
		pLoc->y = cVec.y;
		pLoc->z = cVec.z;
	}
}

core::matrix4 CCal3DSceneNode::getBoneMatrix( s32 boneId ) const
{
    if ( calModel == 0 ) return core::matrix4();
    
    CalSkeleton* skeleton = calModel->getSkeleton();
    CalBone* bone = skeleton->getBone(boneId);
    
    CalQuaternion rot = bone->getRotationAbsolute();
    CalVector pos = bone->getTranslationAbsolute();
    
    // Note: Swap Y and Z to convert to Irrlicht coordinates
    core::quaternion quat = core::quaternion( rot.x, rot.y, rot.z, rot.w );
    core::vector3df v = core::vector3df( pos.x, pos.y, pos.z );
    
    core::matrix4 mat = quat.getMatrix();
    mat.setTranslation(v);
    
    return mat;
}

void IKCharacter::pullWorldPositions( int root_id, int leaf_id )
{
    deque<int> queue;
    if ( leaf_id == -1 )
        queue.insert( queue.begin(), leaf_bones.begin(), leaf_bones.end() );
    else
        queue.push_back( leaf_id );

    // work backwards up the tree
    while ( !queue.empty() )
    {
        int id = queue.front();
        queue.pop_front();
        CalBone* bone = skeleton->getBone(id);
        world_positions[id] = bone->getTranslationAbsolute();
        int parent_id = bone->getCoreBone()->getParentId();
        if ( parent_id != -1 && id != root_id )
            queue.push_back( parent_id );
    }

}

void IKCharacter::draw( int bone_id, float scale, bool additional_drawing )
{
	CalBone* bone = skeleton->getBone( bone_id );
	int parent_id = bone->getCoreBone()->getParentId();
	if ( parent_id != -1 )
	{
		// current
		CalBone* parent = skeleton->getBone( parent_id );
		glBegin( GL_LINES );
		CalVector v = parent->getTranslationAbsolute();
		v*=scale;
		CalVector c = v;
		glVertex3f( v.x, v.y, v.z );
		v = bone->getTranslationAbsolute();
		v*=scale;
		c += v;
		c /= 2.0f;
		glVertex3f( v.x, v.y, v.z );
		glEnd();

		// world
		glPushAttrib( GL_CURRENT_BIT );
		glColor3f( 0.1f, 0.8f, 0.1f );
		glBegin( GL_LINES );
		v = world_positions[parent_id];
		v*=scale;
		glVertex3f( v.x, v.y, v.z );
		v = world_positions[bone_id];
		v*=scale;
		glVertex3f( v.x, v.y, v.z );
		glEnd();
		glPopAttrib();


		if ( additional_drawing )
		{
			glPushAttrib( GL_CURRENT_BIT );
			glBegin( GL_LINES );
			// core
			glColor3f( (parent_id==debug_bone)?1.0f:0.3f, 0.3f, 0.5f );
			v = parent->getCoreBone()->getTranslationAbsolute();
			v*=scale;
			glVertex3f( v.x, v.y, v.z );
			v = bone->getCoreBone()->getTranslationAbsolute();
			v*=scale;
			glVertex3f( v.x, v.y, v.z );
			glEnd();
			

			// draw rotation
			glPushMatrix();
			CalVector root = bone->getCoreBone()->getTranslationAbsolute();
			glTranslatef( root.x, root.y, root.z );
			CalVector rot;
			
			rot.set( 0, 0.1f*scale, 0 );
			rot *= bone->getCoreBone()->getRotationAbsolute();
			ofEnableAlphaBlending();
			glColor4f( 0.2f, 0.2f, 0.8f, 0.2f );
			glBegin( GL_TRIANGLES );
			//glVertex3f( 0,0,0 );
			glVertex3f( rot.x, rot.y, rot.z );
			rot *= debug_cached_rotations[bone_id];
			glVertex3f( rot.x, rot.y, rot.z );
			glEnd();
			
			glColor4f( 0.2f, 0.2f, 0.8f, 0.8f );
			rot.set( 0, 0.1f*scale, 0 );
			rot *= bone->getCoreBone()->getRotationAbsolute();
			glBegin( GL_LINES );
			glVertex3f( 0,0,0 );
			glVertex3f( rot.x, rot.y, rot.z );
			rot *= debug_cached_rotations[bone_id];
			glVertex3f( 0,0,0 );
			glVertex3f( rot.x, rot.y, rot.z );
			glEnd();
			
			ofDisableAlphaBlending();
			
			glPopMatrix();
			
			CalVector u( 0, 0.1f*scale, 0);
			u *= bone->getRotationAbsolute();
			CalVector r( 0.1f*scale, 0, 0 );
			r *= bone->getRotationAbsolute();
			CalVector f( 0, 0, 0.1f*scale );
			f *= bone->getRotationAbsolute();
			
			
			// right blue
			glPushMatrix();
			root = bone->getTranslationAbsolute();
			glTranslatef( root.x, root.y, root.z );
			glBegin( GL_LINES );
			glColor3f( 0, 0, 1 );
			glVertex3f( 0,0,0 );
			glVertex3f( r.x, r.y, r.z );
			// up red
			glColor3f( 1, 0, 0 );
			glVertex3f( 0,0,0 );
//.........这里部分代码省略.........