Ok so we were approaching this problem in too complex of a way.
I was able to get the hands to move properly by creating a new matrix based off
of
a. The coordinate system we were getting from the API
b. The coordinate system of OSG
c. The local coordinate space of the hands.
So were now able to move the hands around using 3 steps.
1. Get the bone matrix of the current bone and its parent matrix.
2. Depending on whether it is the left or the right hand calculate the bones
normal, direction and position.
3. Update the matrix. Make the y axis negative as OSG has a z up and y into
the scene coordinate space.
Code:
xVector = normal ^ direction;
yVector = -normal;
zVector = direction;
xVector.normalize();
yVector.normalize();
zVector.normalize();
osgSpace.set( xVector.x(), -xVector.y(),
xVector.z(), 0, // X
AXIS
yVector.x(),
-yVector.y(), yVector.z(),
0, // Y AXIS
zVector.x(),
-zVector.y(), zVector.z(),
0, // Z AXIS
position.x()/X_SCALEFAC +
X_Offset, 0, position.z() / Y_SCALEFAC
+ Y_OFFSET, 1 // Position
);
Lastly and very important set your translations and multiply the matrices in
the right order
Code:
parentTransMat.makeTranslate(parent->getMatrixInSkeletonSpace().getTrans());
bone->setMatrix(osgSpace);
// Apply transformation.
if (parent)
bone->setMatrixInSkeletonSpace(bone->getMatrixInBoneSpace() * parentTransMat);
------------------
Read this topic online here:
http://forum.openscenegraph.org/viewtopic.php?p=61587#61587
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