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remove JointState::getRota/PositionInWorldFrame()

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instead: use getRotat/PositionInModelFrame() and do math
This commit is contained in:
Andrew Meadows 2014-06-04 11:36:00 -07:00
parent 729c01ddbf
commit 5d8e3d447a
2 changed files with 3 additions and 14 deletions
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14
interface/src/renderer/Model.cpp
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@ -775,7 +775,7 @@ bool Model::getJointCombinedRotation(int jointIndex, glm::quat& rotation) const
if (jointIndex == -1 || jointIndex >= _jointStates.size()) { if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
return false; return false;
} }
rotation = _jointStates[jointIndex].getRotationInWorldFrame(_rotation); rotation = _rotation * _jointStates[jointIndex].getRotationInModelFrame();
return true; return true;
} }
@ -1018,12 +1018,12 @@ bool Model::findRayIntersection(const glm::vec3& origin, const glm::vec3& direct
float radiusScale = extractUniformScale(_scale); float radiusScale = extractUniformScale(_scale);
for (int i = 0; i < _jointStates.size(); i++) { for (int i = 0; i < _jointStates.size(); i++) {
const FBXJoint& joint = geometry.joints[i]; const FBXJoint& joint = geometry.joints[i];
glm::vec3 end = _jointStates[i].getPositionInWorldFrame(_rotation, _translation); glm::vec3 end = _translation + _rotation * _jointStates[i].getPositionInModelFrame();
float endRadius = joint.boneRadius * radiusScale; float endRadius = joint.boneRadius * radiusScale;
glm::vec3 start = end; glm::vec3 start = end;
float startRadius = joint.boneRadius * radiusScale; float startRadius = joint.boneRadius * radiusScale;
if (joint.parentIndex != -1) { if (joint.parentIndex != -1) {
start = _jointStates[joint.parentIndex].getPositionInWorldFrame(_rotation, _translation); start = _translation + _rotation * _jointStates[joint.parentIndex].getPositionInModelFrame();
startRadius = geometry.joints[joint.parentIndex].boneRadius * radiusScale; startRadius = geometry.joints[joint.parentIndex].boneRadius * radiusScale;
} }
// for now, use average of start and end radii // for now, use average of start and end radii
@ -2053,14 +2053,6 @@ void JointState::computeTransformInModelFrame(const glm::mat4& parentTransform)
_rotationInModelFrame = extractRotation(_transformInModelFrame); _rotationInModelFrame = extractRotation(_transformInModelFrame);
} }
glm::quat JointState::getRotationInWorldFrame(const glm::quat& baseRotation) const {
return baseRotation * _rotationInModelFrame;
}
glm::vec3 JointState::getPositionInWorldFrame(const glm::quat& baseRotation, const glm::vec3& basePosition) const {
return basePosition + baseRotation * extractTranslation(_transformInModelFrame);
}
void JointState::computeTransforms(const glm::mat4& parentTransform, const glm::quat& baseRotation) { void JointState::computeTransforms(const glm::mat4& parentTransform, const glm::quat& baseRotation) {
assert(_fbxJoint != NULL); assert(_fbxJoint != NULL);

3
interface/src/renderer/Model.h
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@ -46,9 +46,6 @@ public:
glm::quat getRotationInModelFrame() const { return _rotationInModelFrame; } glm::quat getRotationInModelFrame() const { return _rotationInModelFrame; }
glm::vec3 getPositionInModelFrame() const { return extractTranslation(_transformInModelFrame); } glm::vec3 getPositionInModelFrame() const { return extractTranslation(_transformInModelFrame); }
glm::quat getRotationInWorldFrame(const glm::quat& baseRotation) const;
glm::vec3 getPositionInWorldFrame(const glm::quat& baseRotation, const glm::vec3& basePosition) const;
/// computes new _transform and _combinedRotation /// computes new _transform and _combinedRotation
void computeTransforms(const glm::mat4& baseTransform, const glm::quat& baseRotation); void computeTransforms(const glm::mat4& baseTransform, const glm::quat& baseRotation);