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