88 lines
2.4 KiB
C++
88 lines
2.4 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <Jolt/Jolt.h>
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#include <Jolt/Skeleton/SkeletonPose.h>
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#ifdef JPH_DEBUG_RENDERER
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#include <Jolt/Renderer/DebugRenderer.h>
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#endif // JPH_DEBUG_RENDERER
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JPH_NAMESPACE_BEGIN
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void SkeletonPose::SetSkeleton(const Skeleton *inSkeleton)
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{
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mSkeleton = inSkeleton;
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mJoints.resize(mSkeleton->GetJointCount());
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mJointMatrices.resize(mSkeleton->GetJointCount());
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}
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void SkeletonPose::CalculateJointMatrices()
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{
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for (int i = 0; i < (int)mJoints.size(); ++i)
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{
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mJointMatrices[i] = mJoints[i].ToMatrix();
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int parent = mSkeleton->GetJoint(i).mParentJointIndex;
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if (parent >= 0)
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{
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JPH_ASSERT(parent < i, "Joints must be ordered: parents first");
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mJointMatrices[i] = mJointMatrices[parent] * mJointMatrices[i];
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}
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}
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}
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void SkeletonPose::CalculateJointStates()
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{
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for (int i = 0; i < (int)mJoints.size(); ++i)
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{
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Mat44 local_transform;
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int parent = mSkeleton->GetJoint(i).mParentJointIndex;
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if (parent >= 0)
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local_transform = mJointMatrices[parent].Inversed() * mJointMatrices[i];
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else
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local_transform = mJointMatrices[i];
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JointState &joint = mJoints[i];
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joint.mTranslation = local_transform.GetTranslation();
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joint.mRotation = local_transform.GetQuaternion();
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}
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}
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void SkeletonPose::CalculateLocalSpaceJointMatrices(Mat44 *outMatrices) const
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{
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for (int i = 0; i < (int)mJoints.size(); ++i)
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outMatrices[i] = mJoints[i].ToMatrix();
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}
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#ifdef JPH_DEBUG_RENDERER
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void SkeletonPose::Draw(const DrawSettings &inDrawSettings, DebugRenderer *inRenderer, RMat44Arg inOffset) const
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{
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RMat44 offset = inOffset * RMat44::sTranslation(mRootOffset);
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const Skeleton::JointVector &joints = mSkeleton->GetJoints();
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for (int b = 0; b < mSkeleton->GetJointCount(); ++b)
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{
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RMat44 joint_transform = offset * mJointMatrices[b];
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if (inDrawSettings.mDrawJoints)
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{
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int parent = joints[b].mParentJointIndex;
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if (parent >= 0)
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inRenderer->DrawLine(offset * mJointMatrices[parent].GetTranslation(), joint_transform.GetTranslation(), Color::sGreen);
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}
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if (inDrawSettings.mDrawJointOrientations)
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inRenderer->DrawCoordinateSystem(joint_transform, 0.05f);
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if (inDrawSettings.mDrawJointNames)
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inRenderer->DrawText3D(joint_transform.GetTranslation(), joints[b].mName, Color::sWhite, 0.05f);
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}
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}
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#endif // JPH_DEBUG_RENDERER
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JPH_NAMESPACE_END
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