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/home/rdbrown/doxygen/cse125g1/src/modules/actor/Skeleton.cpp

#include "Skeleton.h"

Skeleton::Skeleton()
{
        //selectedJoint = -1;
}

Skeleton::~Skeleton()
{
//      delete joints;
}

void Skeleton::Load(Tokenizer &tokens)
{
        char temp[64];
        float skelScale;

        BallJoint *currParent = NULL;

        tokens.FindToken("numbones");
        numJoints = tokens.GetInt();

        tokens.FindToken("scale");
        skelScale = tokens.GetFloat();

        joints = new BallJoint[numJoints];

        tokens.FindToken("bone");
        for(int i = 0; i < numJoints; i++)
        {
                //joint name
//              tokens.GetToken(joints[i].name);
                tokens.GetToken(temp);
                joints[i].parent = currParent;
                currParent = &(joints[i]);
                tokens.FindToken("offset");
                float x = tokens.GetFloat();
                float y = tokens.GetFloat();
                float z = tokens.GetFloat();
                joints[i].local.d.Set(skelScale*x,skelScale*y,skelScale*z);
                tokens.FindToken("pose");
                joints[i].x.SetVal(x=tokens.GetFloat());
                joints[i].y.SetVal(y=tokens.GetFloat());
                joints[i].z.SetVal(z=tokens.GetFloat());
                joints[i].xBase.SetVal(x);
                joints[i].yBase.SetVal(y);
                joints[i].zBase.SetVal(z);
                //tokens.FindToken("eulerOrder");
                //joints[i].eulerOrder = tokens.GetInt();
                //binding matrix
                        x = tokens.GetFloat();
                        y = tokens.GetFloat();
                        z = tokens.GetFloat();
                        joints[i].binding.a.Set(x,y,z);
                        x = tokens.GetFloat();
                        y = tokens.GetFloat();
                        z = tokens.GetFloat();
                        joints[i].binding.b.Set(x,y,z);
                        x = tokens.GetFloat();
                        y = tokens.GetFloat();
                        z = tokens.GetFloat();
                        joints[i].binding.c.Set(x,y,z);
                        x = tokens.GetFloat();
                        y = tokens.GetFloat();
                        z = tokens.GetFloat();
                        joints[i].binding.d.Set(skelScale*x,skelScale*y,skelScale*z);
                        joints[i].binding.Inverse();
                //end binding matrix
//              joints[i].DoTester();
                tokens.GetToken(temp);
                while(strcmp(temp,"endbone") == 0)
                {
                        currParent = currParent->parent;
                        if(currParent == NULL)
                                break;
                        tokens.GetToken(temp);
                }
        }
}

void Skeleton::Update()
{
        joints[0].world = world;
        //if(!rootPos.Equals(Vector3(0,0,0))
                joints[0].world.d.Add(rootPos);
                //joints[0].world.d.Subtract(joints[0].local.d);
        for(int i=0;i<numJoints;i++)
                joints[i].Update();
}

void Skeleton::Draw()
{
        
        for(int i=0;i<numJoints;i++)
                joints[i].Draw();
}

void Skeleton::SetWorld(Matrix34 &w)
{
        world = w;
        //don't tilt the actor!
        world.MakeLevel();
}

void Skeleton::Pose(AnimPose *pose)
{
        int numBones = pose->GetNumBones();
        Vector3 *p = pose->GetPose();
        if(pose->GetRootTranslation())
                rootPos.Subtract(pose->GetRootPos(),joints[0].local.d);
        else
                rootPos.Zero();

        for(int i = 0; i < numBones; i++)
        {
                joints[i].x.SetVal(p[i].x);
                joints[i].y.SetVal(p[i].y);
                joints[i].z.SetVal(p[i].z);
        }
}

void Skeleton::BlendPose(AnimPose *pose1, AnimPose *pose2)
{
        int numBones = pose1->GetNumBones();
        Vector3 *p1 = pose1->GetPose();
        Vector3 *p2 = pose2->GetPose();
        rootPos.Zero();

        for(int i = 0; i < numBones; i++)
        {
                joints[i].x.SetVal((p1[i].x-joints[i].xBase.GetVal()) + 
                        (p2[i].x-joints[i].xBase.GetVal()) + joints[i].xBase.GetVal());
                joints[i].y.SetVal((p1[i].y-joints[i].yBase.GetVal()) +
                        (p2[i].y-joints[i].yBase.GetVal()) + joints[i].yBase.GetVal());
                joints[i].z.SetVal((p1[i].z-joints[i].zBase.GetVal()) +
                        (p2[i].z-joints[i].zBase.GetVal()) + joints[i].zBase.GetVal());
        }
}

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