Android Open Source - Schooner-3D Bone

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License

The source code is released under:

Apache License

Java Source Code

/*
 * Copyright 2012 Dan Mercer/*from  w w  w  .j  a va2s.c  om*/
 * 
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package com.supermercerbros.gameengine.armature;

import java.util.LinkedList;
import java.util.List;

import com.supermercerbros.gameengine.math.MatrixUtils;

public class Bone {
  public final byte index;
  private final LinkedList<Bone> children;
  private final float locX, locY, locZ;
  private float w = 1, x = 0, y = 0, z = 0;
  
  /**
   * Creates a new Bone
   * 
   * @param index
   *            The index of this Bone in its Skeleton's bone list.
   * @param children
   *            A LinkedList of this Bone's children.
   * @param x
   *            The x-coordinate of the Bone, in object-space coordinates
   * @param y
   *            The y-coordinate of the Bone, in object-space coordinates
   * @param z
   *            The z-coordinate of the Bone, in object-space coordinates
   */
  public Bone(byte index, LinkedList<Bone> children, float x, float y, float z) {
    this.index = index;
    this.children = children;
    this.locX = x;
    this.locY = y;
    this.locZ = z;
  }

  /**
   * Writes this Bone's current rotation (in quaternion form) to the given
   * array.
   * 
   * @param array
   */
  void getRotation(float[] array) {
    array[index * 4] = w;
    array[index * 4 + 1] = x;
    array[index * 4 + 2] = y;
    array[index * 4 + 3] = z;
  }

  /**
   * Sets this Bone's current rotation (in quaternion form).
   * 
   * @param w
   *            The w-component of the quaternion.
   * @param x
   *            The y-component of the quaternion.
   * @param y
   *            The x-component of the quaternion.
   * @param z
   *            The z-component of the quaternion.
   */
  void setRotation(float w, float x, float y, float z) {
    this.w = w;
    this.x = x;
    this.y = y;
    this.z = z;
  }

  public void writeMatrix(float[] matrixArray, int offset, int parentIndex) {
    final int boneOffset = offset + index * 16;

    if (parentIndex != -1) {
      // Bone has a parent bone
      final int parentOffset = offset + parentIndex * 16;
      MatrixUtils.translateM(matrixArray, boneOffset, matrixArray,
          parentOffset, locX, locY, locZ);
    } else {
      // Bone is a root bone
      MatrixUtils.setTranslateM(matrixArray, boneOffset, locX, locY, locZ);
    }
    // This "incorrect" order of coordinates seems to make skeletal
    // animation work correctly. I think Blender uses a different axis
    // system for rotating bones with quaternions. 
    // TODO: Move this hack to export.py
    MatrixUtils.rotateQuaternionM(matrixArray, boneOffset, w, -x, z, y);
    MatrixUtils.translateM(matrixArray, boneOffset, -locX, -locY, -locZ);

    if (children != null) {
      for (Bone child : children) {
        child.writeMatrix(matrixArray, offset, index);
      }
    }
  }

  public void getChildren(List<Bone> list) {
    if (children != null) {
      list.addAll(children);
      for (Bone child : children) {
        child.getChildren(list);
      }
    }
  }
}

Java Source Code List

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