#include "jointnodetree.h" #include "dust3dutil.h" const std::vector &JointNodeTree::nodes() const { return m_boneNodes; } void JointNodeTree::updateRotation(int index, QQuaternion rotation) { m_boneNodes[index].rotation = rotation; } void JointNodeTree::reset() { for (auto &node: m_boneNodes) { node.rotation = QQuaternion(); } } void JointNodeTree::recalculateTransformMatrices() { for (decltype(m_boneNodes.size()) i = 0; i < m_boneNodes.size(); i++) { QMatrix4x4 parentTransformMatrix; auto &node = m_boneNodes[i]; if (node.parentIndex != -1) { const auto &parent = m_boneNodes[node.parentIndex]; parentTransformMatrix = parent.transformMatrix; } QMatrix4x4 translateMatrix; translateMatrix.translate(node.translation); QMatrix4x4 rotationMatrix; rotationMatrix.rotate(node.rotation); node.transformMatrix = parentTransformMatrix * translateMatrix * rotationMatrix; } for (decltype(m_boneNodes.size()) i = 0; i < m_boneNodes.size(); i++) { auto &node = m_boneNodes[i]; node.transformMatrix *= node.inverseBindMatrix; } } JointNodeTree::JointNodeTree(const std::vector *resultRigBones) { if (nullptr == resultRigBones || resultRigBones->empty()) return; m_boneNodes.resize(resultRigBones->size()); m_boneNodes[0].parentIndex = -1; for (decltype(resultRigBones->size()) i = 0; i < resultRigBones->size(); i++) { const auto &bone = (*resultRigBones)[i]; auto &node = m_boneNodes[i]; node.name = bone.name; node.position = bone.headPosition; node.children = bone.children; for (const auto &childIndex: bone.children) m_boneNodes[childIndex].parentIndex = i; } for (decltype(resultRigBones->size()) i = 0; i < resultRigBones->size(); i++) { QMatrix4x4 parentTransformMatrix; auto &node = m_boneNodes[i]; if (node.parentIndex != -1) { const auto &parent = m_boneNodes[node.parentIndex]; parentTransformMatrix = parent.transformMatrix; node.translation = node.position - parent.position; } else { node.translation = node.position; } QMatrix4x4 translateMatrix; translateMatrix.translate(node.translation); node.transformMatrix = parentTransformMatrix * translateMatrix; node.inverseBindMatrix = node.transformMatrix.inverted(); } } JointNodeTree JointNodeTree::slerp(const JointNodeTree &first, const JointNodeTree &second, float t) { JointNodeTree slerpResult = first; for (decltype(first.nodes().size()) i = 0; i < first.nodes().size() && i < second.nodes().size(); i++) { slerpResult.updateRotation(i, quaternionOvershootSlerp(first.nodes()[i].rotation, second.nodes()[i].rotation, t)); } slerpResult.recalculateTransformMatrices(); return slerpResult; }