Bugfix: taking scale into account when loading constraint's world matrix.
Refactoring: reducing the amount of allocated matrices during applying and loading constraint's matrices. git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@10939 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
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Kae..pl
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faf04cbb1f
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b5357e96ec
engine/src/blender/com/jme3/scene/plugins/blender
@ -104,7 +104,7 @@ public class BoneContext {
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Spatial armature = (Spatial) objectHelper.toObject(blenderContext.getFileBlock(armatureObjectOMA).getStructure(blenderContext), blenderContext);
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ConstraintHelper constraintHelper = blenderContext.getHelper(ConstraintHelper.class);
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Matrix4f armatureWorldMatrix = constraintHelper.toMatrix(armature.getWorldTransform());
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Matrix4f armatureWorldMatrix = constraintHelper.toMatrix(armature.getWorldTransform(), new Matrix4f());
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// and now compute the final bone matrix in world space
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globalBoneMatrix = armatureWorldMatrix.mult(globalBoneMatrix);
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@ -25,6 +25,7 @@ import com.jme3.scene.plugins.blender.file.BlenderFileException;
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import com.jme3.scene.plugins.blender.file.Pointer;
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import com.jme3.scene.plugins.blender.file.Structure;
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import com.jme3.scene.plugins.blender.objects.ObjectHelper;
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import com.jme3.util.TempVars;
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/**
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* This class should be used for constraint calculations.
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@ -228,42 +229,47 @@ public class ConstraintHelper extends AbstractBlenderHelper {
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space = Space.CONSTRAINT_SPACE_POSE;
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}
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TempVars tempVars = TempVars.get();// use readable names of the matrices so that the code is more clear
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Transform result;
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switch (space) {
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case CONSTRAINT_SPACE_WORLD:
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Spatial model = (Spatial) blenderContext.getLoadedFeature(targetBoneContext.getSkeletonOwnerOma(), LoadedFeatureDataType.LOADED_FEATURE);
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Transform worldTransform = new Transform(bone.getModelSpacePosition(), bone.getModelSpaceRotation(), bone.getModelSpaceScale());
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worldTransform.getTranslation().addLocal(model.getWorldTranslation());
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worldTransform.getRotation().multLocal(model.getWorldRotation());
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worldTransform.getScale().multLocal(model.getWorldScale());
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return worldTransform;
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Matrix4f boneModelMatrix = this.toMatrix(bone.getModelSpacePosition(), bone.getModelSpaceRotation(), bone.getModelSpaceScale(), tempVars.tempMat4);
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Matrix4f modelWorldMatrix = this.toMatrix(model.getWorldTransform(), tempVars.tempMat42);
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Matrix4f boneMatrixInWorldSpace = modelWorldMatrix.multLocal(boneModelMatrix);
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result = new Transform(boneMatrixInWorldSpace.toTranslationVector(), boneMatrixInWorldSpace.toRotationQuat(), boneMatrixInWorldSpace.toScaleVector());
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break;
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case CONSTRAINT_SPACE_LOCAL:
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assert bone.getParent() != null : "CONSTRAINT_SPACE_LOCAL should be evaluated as CONSTRAINT_SPACE_POSE if the bone has no parent!";
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return new Transform(bone.getLocalPosition(), bone.getLocalRotation(), bone.getLocalScale());
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result = new Transform(bone.getLocalPosition(), bone.getLocalRotation(), bone.getLocalScale());
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break;
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case CONSTRAINT_SPACE_POSE:
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Matrix4f boneWorldMatrix = this.toMatrix(this.getTransform(oma, subtargetName, Space.CONSTRAINT_SPACE_WORLD));
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Matrix4f armatureInvertedWorldMatrix = this.toMatrix(feature.getWorldTransform()).invertLocal();
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Matrix4f boneWorldMatrix = this.toMatrix(this.getTransform(oma, subtargetName, Space.CONSTRAINT_SPACE_WORLD), tempVars.tempMat4);
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Matrix4f armatureInvertedWorldMatrix = this.toMatrix(feature.getWorldTransform(), tempVars.tempMat42).invertLocal();
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Matrix4f bonePoseMatrix = armatureInvertedWorldMatrix.multLocal(boneWorldMatrix);
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return new Transform(bonePoseMatrix.toTranslationVector(), bonePoseMatrix.toRotationQuat(), bonePoseMatrix.toScaleVector());
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result = new Transform(bonePoseMatrix.toTranslationVector(), bonePoseMatrix.toRotationQuat(), bonePoseMatrix.toScaleVector());
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break;
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case CONSTRAINT_SPACE_PARLOCAL:
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Matrix4f parentLocalMatrix = Matrix4f.IDENTITY;
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Matrix4f parentLocalMatrix = tempVars.tempMat4;
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if (bone.getParent() != null) {
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Bone parent = bone.getParent();
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parentLocalMatrix = this.toMatrix(parent.getLocalPosition(), parent.getLocalRotation(), parent.getLocalScale());
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this.toMatrix(parent.getLocalPosition(), parent.getLocalRotation(), parent.getLocalScale(), parentLocalMatrix);
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} else {
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// we need to clone it because otherwise we could spoil
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// the IDENTITY matrix
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parentLocalMatrix = parentLocalMatrix.clone();
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parentLocalMatrix.loadIdentity();
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}
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Matrix4f boneLocalMatrix = this.toMatrix(bone.getLocalPosition(), bone.getLocalRotation(), bone.getLocalScale());
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Matrix4f result = parentLocalMatrix.multLocal(boneLocalMatrix);
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Matrix4f boneLocalMatrix = this.toMatrix(bone.getLocalPosition(), bone.getLocalRotation(), bone.getLocalScale(), tempVars.tempMat42);
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Matrix4f resultMatrix = parentLocalMatrix.multLocal(boneLocalMatrix);
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Vector3f loc = result.toTranslationVector();
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Quaternion rot = result.toRotationQuat().normalizeLocal().multLocal(NEG_PARLOC_SPACE_QUATERNION);
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Vector3f scl = result.toScaleVector();
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return new Transform(loc, rot, scl);
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Vector3f loc = resultMatrix.toTranslationVector();
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Quaternion rot = resultMatrix.toRotationQuat().normalizeLocal().multLocal(NEG_PARLOC_SPACE_QUATERNION);
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Vector3f scl = resultMatrix.toScaleVector();
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result = new Transform(loc, rot, scl);
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break;
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default:
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throw new IllegalStateException("Unknown space type: " + space);
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}
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tempVars.release();
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return result;
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} else {
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switch (space) {
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case CONSTRAINT_SPACE_LOCAL:
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@ -305,56 +311,57 @@ public class ConstraintHelper extends AbstractBlenderHelper {
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space = Space.CONSTRAINT_SPACE_POSE;
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}
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TempVars tempVars = TempVars.get();
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switch (space) {
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case CONSTRAINT_SPACE_LOCAL:
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assert bone.getParent() != null : "CONSTRAINT_SPACE_LOCAL should be evaluated as CONSTRAINT_SPACE_POSE if the bone has no parent!";
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bone.setBindTransforms(transform.getTranslation(), transform.getRotation(), transform.getScale());
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break;
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case CONSTRAINT_SPACE_WORLD: {
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Matrix4f boneMatrixInWorldSpace = this.toMatrix(transform);
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Matrix4f invertedModelMatrix = this.toMatrix(this.getTransform(targetBoneContext.getSkeletonOwnerOma(), null, Space.CONSTRAINT_SPACE_WORLD)).invertLocal();
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Matrix4f boneMatrixInModelSpace = invertedModelMatrix.mult(boneMatrixInWorldSpace);
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Matrix4f boneMatrixInWorldSpace = this.toMatrix(transform, tempVars.tempMat4);
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Matrix4f modelWorldMatrix = this.toMatrix(this.getTransform(targetBoneContext.getSkeletonOwnerOma(), null, Space.CONSTRAINT_SPACE_WORLD), tempVars.tempMat42);
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Matrix4f boneMatrixInModelSpace = modelWorldMatrix.invertLocal().multLocal(boneMatrixInWorldSpace);
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Bone parent = bone.getParent();
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if (parent != null) {
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Matrix4f invertedParentMatrixInModelSpace = this.toMatrix(parent.getModelSpacePosition(), parent.getModelSpaceRotation(), parent.getModelSpaceScale()).invertLocal();
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boneMatrixInModelSpace = invertedParentMatrixInModelSpace.mult(boneMatrixInModelSpace);
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Matrix4f parentMatrixInModelSpace = this.toMatrix(parent.getModelSpacePosition(), parent.getModelSpaceRotation(), parent.getModelSpaceScale(), tempVars.tempMat4);
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boneMatrixInModelSpace = parentMatrixInModelSpace.invertLocal().multLocal(boneMatrixInModelSpace);
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}
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bone.setBindTransforms(boneMatrixInModelSpace.toTranslationVector(), boneMatrixInModelSpace.toRotationQuat(), boneMatrixInModelSpace.toScaleVector());
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break;
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}
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case CONSTRAINT_SPACE_POSE: {
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Matrix4f armatureWorldMatrix = this.toMatrix(feature.getWorldTransform());
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Matrix4f boneMatrixInWorldSpace = armatureWorldMatrix.multLocal(this.toMatrix(transform));
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Matrix4f invertedModelMatrix = this.toMatrix(this.getTransform(targetBoneContext.getSkeletonOwnerOma(), null, Space.CONSTRAINT_SPACE_WORLD)).invertLocal();
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Matrix4f boneMatrixInModelSpace = invertedModelMatrix.mult(boneMatrixInWorldSpace);
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Matrix4f armatureWorldMatrix = this.toMatrix(feature.getWorldTransform(), tempVars.tempMat4);
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Matrix4f boneMatrixInWorldSpace = armatureWorldMatrix.multLocal(this.toMatrix(transform, tempVars.tempMat42));
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Matrix4f invertedModelMatrix = this.toMatrix(this.getTransform(targetBoneContext.getSkeletonOwnerOma(), null, Space.CONSTRAINT_SPACE_WORLD), tempVars.tempMat42).invertLocal();
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Matrix4f boneMatrixInModelSpace = invertedModelMatrix.multLocal(boneMatrixInWorldSpace);
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Bone parent = bone.getParent();
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if (parent != null) {
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Matrix4f invertedParentMatrixInModelSpace = this.toMatrix(parent.getModelSpacePosition(), parent.getModelSpaceRotation(), parent.getModelSpaceScale()).invertLocal();
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boneMatrixInModelSpace = invertedParentMatrixInModelSpace.mult(boneMatrixInModelSpace);
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Matrix4f parentMatrixInModelSpace = this.toMatrix(parent.getModelSpacePosition(), parent.getModelSpaceRotation(), parent.getModelSpaceScale(), tempVars.tempMat4);
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boneMatrixInModelSpace = parentMatrixInModelSpace.invertLocal().multLocal(boneMatrixInModelSpace);
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}
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bone.setBindTransforms(boneMatrixInModelSpace.toTranslationVector(), boneMatrixInModelSpace.toRotationQuat(), boneMatrixInModelSpace.toScaleVector());
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break;
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}
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case CONSTRAINT_SPACE_PARLOCAL:
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Matrix4f parentLocalMatrix = Matrix4f.IDENTITY;
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Matrix4f parentLocalInverseMatrix = tempVars.tempMat4;
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if (bone.getParent() != null) {
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parentLocalMatrix = this.toMatrix(bone.getParent().getLocalPosition(), bone.getParent().getLocalRotation(), bone.getParent().getLocalScale());
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parentLocalMatrix.invertLocal();
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this.toMatrix(bone.getParent().getLocalPosition(), bone.getParent().getLocalRotation(), bone.getParent().getLocalScale(), parentLocalInverseMatrix);
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parentLocalInverseMatrix.invertLocal();
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} else {
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// we need to clone it because otherwise we could
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// spoil the IDENTITY matrix
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parentLocalMatrix = parentLocalMatrix.clone();
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parentLocalInverseMatrix.loadIdentity();
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}
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Matrix4f m = this.toMatrix(transform.getTranslation(), transform.getRotation(), transform.getScale());
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Matrix4f result = parentLocalMatrix.multLocal(m);
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Matrix4f m = this.toMatrix(transform.getTranslation(), transform.getRotation(), transform.getScale(), tempVars.tempMat42);
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Matrix4f result = parentLocalInverseMatrix.multLocal(m);
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Vector3f loc = result.toTranslationVector();
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Quaternion rot = result.toRotationQuat().normalizeLocal().multLocal(POS_PARLOC_SPACE_QUATERNION);
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Vector3f scl = result.toScaleVector();
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bone.setBindTransforms(loc, rot, scl);
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break;
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default:
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tempVars.release();
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throw new IllegalStateException("Invalid space type for target object: " + space.toString());
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}
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tempVars.release();
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skeleton.updateWorldVectors();
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} else {
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switch (space) {
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@ -367,9 +374,11 @@ public class ConstraintHelper extends AbstractBlenderHelper {
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} else {
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Transform parentWorldTransform = feature.getParent().getWorldTransform();
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Matrix4f parentMatrix = this.toMatrix(parentWorldTransform).invertLocal();
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Matrix4f m = this.toMatrix(transform);
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m = m.multLocal(parentMatrix);
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TempVars tempVars = TempVars.get();
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Matrix4f parentInverseMatrix = this.toMatrix(parentWorldTransform, tempVars.tempMat4).invertLocal();
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Matrix4f m = this.toMatrix(transform, tempVars.tempMat42);
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m = m.multLocal(parentInverseMatrix);
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tempVars.release();
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transform.setTranslation(m.toTranslationVector());
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transform.setRotation(m.toRotationQuat());
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@ -389,28 +398,37 @@ public class ConstraintHelper extends AbstractBlenderHelper {
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*
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* @param transform
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* the transform to be converted
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* @return 4x4 matrix that represents the given transform
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* @param store
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* the matrix where the result will be stored
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* @return the store matrix
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*/
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public Matrix4f toMatrix(Transform transform) {
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public Matrix4f toMatrix(Transform transform, Matrix4f store) {
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if (transform != null) {
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return this.toMatrix(transform.getTranslation(), transform.getRotation(), transform.getScale());
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return this.toMatrix(transform.getTranslation(), transform.getRotation(), transform.getScale(), store);
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}
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return Matrix4f.IDENTITY.clone();
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store.loadIdentity();
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return store;
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}
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/**
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* Converts given transformation parameters into the matrix.
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*
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* @param transform
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* the transform to be converted
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* @return 4x4 matrix that represents the given transformation parameters
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* @param position
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* the position of the feature
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* @param rotation
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* the rotation of the feature
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* @param scale
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* the scale of the feature
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* @param store
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* the matrix where the result will be stored
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* @return the store matrix
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*/
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private Matrix4f toMatrix(Vector3f position, Quaternion rotation, Vector3f scale) {
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Matrix4f result = new Matrix4f();
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result.setTranslation(position);
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result.setRotationQuaternion(rotation);
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result.setScale(scale);
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return result;
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private Matrix4f toMatrix(Vector3f position, Quaternion rotation, Vector3f scale, Matrix4f store) {
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store.loadIdentity();
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store.setTranslation(position);
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store.setRotationQuaternion(rotation);
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store.setScale(scale);
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return store;
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}
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/**
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