- // interpolate matrices
- if (skeleton)
- {
- for (i = 0;i < model->num_bones;i++)
- {
- Matrix4x4_ToArray12FloatD3D(&skeleton->relativetransforms[i], m);
- if (model->data_bones[i].parent >= 0)
- R_ConcatTransforms(bonepose[model->data_bones[i].parent].f, m, bonepose[i].f);
- else
- memcpy(bonepose[i].f, m, sizeof(m));
-
- // create a relative deformation matrix to describe displacement
- // from the base mesh, which is used by the actual weighting
- R_ConcatTransforms(bonepose[i].f, model->data_baseboneposeinverse + i * 12, boneposerelative[i].f);
- }
- }
- else
- {
- for (i = 0;i < model->num_bones;i++)
- {
- const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[0].subframe * model->num_bones + i);
- float lerp = frameblend[0].lerp,
- tx = pose7s[0], ty = pose7s[1], tz = pose7s[2],
- rx = pose7s[3] * lerp,
- ry = pose7s[4] * lerp,
- rz = pose7s[5] * lerp,
- rw = pose7s[6] * lerp,
- dx = tx*rw + ty*rz - tz*ry,
- dy = -tx*rz + ty*rw + tz*rx,
- dz = tx*ry - ty*rx + tz*rw,
- dw = -tx*rx - ty*ry - tz*rz,
- scale, sx, sy, sz, sw;
- for (blends = 1;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++)
- {
- const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i);
- float lerp = frameblend[blends].lerp,
- tx = pose7s[0], ty = pose7s[1], tz = pose7s[2],
- qx = pose7s[3], qy = pose7s[4], qz = pose7s[5], qw = pose7s[6];
- if(rx*qx + ry*qy + rz*qz + rw*qw < 0) lerp = -lerp;
- qx *= lerp;
- qy *= lerp;
- qz *= lerp;
- qw *= lerp;
- rx += qx;
- ry += qy;
- rz += qz;
- rw += qw;
- dx += tx*qw + ty*qz - tz*qy;
- dy += -tx*qz + ty*qw + tz*qx;
- dz += tx*qy - ty*qx + tz*qw;
- dw += -tx*qx - ty*qy - tz*qz;
- }
- scale = 1.0f / (rx*rx + ry*ry + rz*rz + rw*rw);
- sx = rx * scale;
- sy = ry * scale;
- sz = rz * scale;
- sw = rw * scale;
- m[0] = sw*rw + sx*rx - sy*ry - sz*rz;
- m[1] = 2*(sx*ry - sw*rz);
- m[2] = 2*(sx*rz + sw*ry);
- m[3] = model->num_posescale*(dx*sw - dy*sz + dz*sy - dw*sx);
- m[4] = 2*(sx*ry + sw*rz);
- m[5] = sw*rw + sy*ry - sx*rx - sz*rz;
- m[6] = 2*(sy*rz - sw*rx);
- m[7] = model->num_posescale*(dx*sz + dy*sw - dz*sx - dw*sy);
- m[8] = 2*(sx*rz - sw*ry);
- m[9] = 2*(sy*rz + sw*rx);
- m[10] = sw*rw + sz*rz - sx*rx - sy*ry;
- m[11] = model->num_posescale*(dy*sx + dz*sw - dx*sy - dw*sz);
- if (i == r_skeletal_debugbone.integer)
- m[r_skeletal_debugbonecomponent.integer % 12] += r_skeletal_debugbonevalue.value;
- m[3] *= r_skeletal_debugtranslatex.value;
- m[7] *= r_skeletal_debugtranslatey.value;
- m[11] *= r_skeletal_debugtranslatez.value;
- if (model->data_bones[i].parent >= 0)
- R_ConcatTransforms(bonepose[model->data_bones[i].parent].f, m, bonepose[i].f);
- else
- memcpy(bonepose[i].f, m, sizeof(m));
- // create a relative deformation matrix to describe displacement
- // from the base mesh, which is used by the actual weighting
- R_ConcatTransforms(bonepose[i].f, model->data_baseboneposeinverse + i * 12, boneposerelative[i].f);
- }
- }