fixed irrlicht bug EJUOR_CONTROL were node transformation was wrong &…

… updated to quaternions

include/IAnimatedMeshSceneNode.h

@@ -51,7 +51,7 @@ namespace scene
 		//! Constructor
 		IAnimatedMeshSceneNode(ISceneNode* parent, ISceneManager* mgr, s32 id,
 			const core::vector3df& position = core::vector3df(0,0,0),
-			const core::vector3df& rotation = core::vector3df(0,0,0),
+			const core::quaternion& rotation = core::quaternion(0,0,0,1),
 			const core::vector3df& scale = core::vector3df(1.0f, 1.0f, 1.0f))
 			: ISceneNode(parent, mgr, id, position, rotation, scale) {}
 

include/ICameraSceneNode.h

@@ -26,7 +26,7 @@ namespace scene
 		//! Constructor
 		ICameraSceneNode(ISceneNode* parent, ISceneManager* mgr, s32 id,
 			const core::vector3df& position = core::vector3df(0,0,0),
-			const core::vector3df& rotation = core::vector3df(0,0,0),
+			const core::quaternion& rotation = core::quaternion(0,0,0,1),
 			const core::vector3df& scale = core::vector3df(1.0f,1.0f,1.0f))
 			: ISceneNode(parent, mgr, id, position, rotation, scale), IsOrthogonal(false) {}
 
@@ -89,7 +89,7 @@ namespace scene
 		bindTargetAndRotation() ) then calling this will also change
 		the camera's target to match the rotation.
 		\param rotation New rotation of the node in degrees. */
-		void setRotation(const core::vector3df& rotation) override =0;
+		void setRotation(const core::quaternion& rotation) override =0;
 
 		//! Gets the current look at target of the camera
 		/** \return The current look at target of the camera, in world co-ordinates */

include/IMeshSceneNode.h

@@ -24,7 +24,7 @@ class IMeshSceneNode : public ISceneNode
 	*/
 	IMeshSceneNode(ISceneNode* parent, ISceneManager* mgr, s32 id,
 			const core::vector3df& position = core::vector3df(0,0,0),
-			const core::vector3df& rotation = core::vector3df(0,0,0),
+			const core::quaternion& rotation = core::quaternion(0,0,0,1),
 			const core::vector3df& scale = core::vector3df(1,1,1))
 		: ISceneNode(parent, mgr, id, position, rotation, scale) {}
 

include/ISceneNode.h

@@ -42,7 +42,7 @@ namespace scene
 		//! Constructor
 		ISceneNode(ISceneNode* parent, ISceneManager* mgr, s32 id=-1,
 				const core::vector3df& position = core::vector3df(0,0,0),
-				const core::vector3df& rotation = core::vector3df(0,0,0),
+				const core::quaternion& rotation = core::quaternion(0,0,0,1),
 				const core::vector3df& scale = core::vector3df(1.0f, 1.0f, 1.0f))
 			: RelativeTranslation(position), RelativeRotation(rotation), RelativeScale(scale),
 				Parent(0), SceneManager(mgr), ID(id),
@@ -186,8 +186,9 @@ namespace scene
 		virtual core::matrix4 getRelativeTransformation() const
 		{
 			core::matrix4 mat;
-			mat.setRotationDegrees(RelativeRotation);
-			mat.setTranslation(RelativeTranslation);
+			//mat.setRotationDegrees(RelativeRotation);
+			RelativeRotation.getMatrix(mat, RelativeTranslation);
+			//mat.setTranslation(RelativeTranslation);
 
 			if (RelativeScale != core::vector3df(1.f,1.f,1.f))
 			{
@@ -372,21 +373,33 @@ namespace scene
 		}
 
 
+		virtual const core::quaternion& getRotation() const
+		{
+			return RelativeRotation;
+		}
+
 		//! Gets the rotation of the node relative to its parent.
 		/** Note that this is the relative rotation of the node.
 		If you want the absolute rotation, use
 		getAbsoluteTransformation().getRotation()
 		\return Current relative rotation of the scene node. */
-		virtual const core::vector3df& getRotation() const
+		virtual const core::vector3df getEuler() const
 		{
-			return RelativeRotation;
+			core::vector3df euler;
+			RelativeRotation.toEuler(euler);
+			return euler * core::RADTODEG;
 		}
 
 
 		//! Sets the rotation of the node relative to its parent.
 		/** This only modifies the relative rotation of the node.
 		\param rotation New rotation of the node in degrees. */
-		virtual void setRotation(const core::vector3df& rotation)
+		virtual void fromEuler(const core::vector3df& rotation)
+		{
+			RelativeRotation = core::quaternion(rotation*core::DEGTORAD);
+		}
+
+		virtual void setRotation(const core::quaternion& rotation)
 		{
 			RelativeRotation = rotation;
 		}
@@ -519,6 +532,20 @@ namespace scene
 				AbsoluteTransformation = getRelativeTransformation();
 		}
 
+		virtual void updateAbsolutePositionRecursive()
+		{
+			if (Parent)
+			{
+				AbsoluteTransformation =
+					Parent->getAbsoluteTransformation() * getRelativeTransformation();
+			}
+			else
+				AbsoluteTransformation = getRelativeTransformation();
+
+			for (auto c : Children)
+				c->updateAbsolutePositionRecursive();
+		}
+
 
 		//! Returns the parent of this scene node
 		/** \return A pointer to the parent. */
@@ -601,7 +628,8 @@ namespace scene
 		core::vector3df RelativeTranslation;
 
 		//! Relative rotation of the scene node.
-		core::vector3df RelativeRotation;
+		//core::vector3df RelativeRotation;
+		core::quaternion RelativeRotation;
 
 		//! Relative scale of the scene node.
 		core::vector3df RelativeScale;

source/Irrlicht/CAnimatedMeshSceneNode.cpp

@@ -28,7 +28,7 @@ namespace scene
 CAnimatedMeshSceneNode::CAnimatedMeshSceneNode(IAnimatedMesh* mesh,
 		ISceneNode* parent, ISceneManager* mgr, s32 id,
 		const core::vector3df& position,
-		const core::vector3df& rotation,
+		const core::quaternion& rotation,
 		const core::vector3df& scale)
 : IAnimatedMeshSceneNode(parent, mgr, id, position, rotation, scale), Mesh(0),
 	StartFrame(0), EndFrame(0), FramesPerSecond(0.025f),
@@ -718,16 +718,14 @@ void CAnimatedMeshSceneNode::animateJoints(bool CalculateAbsolutePositions)
 
 				//Code is slow, needs to be fixed up
 
-				const core::quaternion RotationStart(PretransitingSave[n].getRotationDegrees()*core::DEGTORAD);
-				const core::quaternion RotationEnd(JointChildSceneNodes[n]->getRotation()*core::DEGTORAD);
+				//const core::quaternion RotationStart(PretransitingSave[n].getRotationDegrees()*core::DEGTORAD);
+				const core::quaternion RotationStart = core::quaternion(0,0,0,1) * PretransitingSave[n];
+				const core::quaternion RotationEnd(JointChildSceneNodes[n]->getRotation());
 
 				core::quaternion QRotation;
 				QRotation.slerp(RotationStart, RotationEnd, TransitingBlend);
 
-				core::vector3df tmpVector;
-				QRotation.toEuler(tmpVector);
-				tmpVector*=core::RADTODEG; //convert from radians back to degrees
-				JointChildSceneNodes[n]->setRotation( tmpVector );
+				JointChildSceneNodes[n]->setRotation( QRotation );
 
 				//------Scale------
 

source/Irrlicht/CAnimatedMeshSceneNode.h

@@ -23,7 +23,7 @@ namespace scene
 		//! constructor
 		CAnimatedMeshSceneNode(IAnimatedMesh* mesh, ISceneNode* parent, ISceneManager* mgr,	s32 id,
 			const core::vector3df& position = core::vector3df(0,0,0),
-			const core::vector3df& rotation = core::vector3df(0,0,0),
+			const core::quaternion& rotation = core::quaternion(0,0,0,1),
 			const core::vector3df& scale = core::vector3df(1.0f, 1.0f, 1.0f));
 
 		//! destructor

source/Irrlicht/CCameraSceneNode.cpp

@@ -122,7 +122,7 @@ void CCameraSceneNode::setTarget(const core::vector3df& pos)
 	if(TargetAndRotationAreBound)
 	{
 		const core::vector3df toTarget = Target - getAbsolutePosition();
-		ISceneNode::setRotation(toTarget.getHorizontalAngle());
+		ISceneNode::fromEuler(toTarget.getHorizontalAngle());
 	}
 }
 
@@ -132,10 +132,10 @@ void CCameraSceneNode::setTarget(const core::vector3df& pos)
 If the camera's target and rotation are bound ( @see bindTargetAndRotation() )
 then calling this will also change the camera's target to match the rotation.
 \param rotation New rotation of the node in degrees. */
-void CCameraSceneNode::setRotation(const core::vector3df& rotation)
+void CCameraSceneNode::setRotation(const core::quaternion& rotation)
 {
 	if(TargetAndRotationAreBound)
-		Target = getAbsolutePosition() + rotation.rotationToDirection();
+		Target = getAbsolutePosition() + rotation * core::vector3df(1, 0, 0);
 
 	ISceneNode::setRotation(rotation);
 }

source/Irrlicht/CCameraSceneNode.h

@@ -64,7 +64,7 @@ namespace scene
 		If the camera's target and rotation are bound ( @see bindTargetAndRotation() )
 		then calling this will also change the camera's target to match the rotation.
 		\param rotation New rotation of the node in degrees. */
-		void setRotation(const core::vector3df& rotation) override;
+		void setRotation(const core::quaternion& rotation) override;
 
 		//! Gets the current look at target of the camera
 		/** \return The current look at target of the camera */

source/Irrlicht/CDummyTransformationSceneNode.cpp

@@ -77,13 +77,13 @@ void CDummyTransformationSceneNode::setScale(const core::vector3df& scale)
 	RelativeScale = scale;
 }
 
-const core::vector3df& CDummyTransformationSceneNode::getRotation() const
+const core::quaternion& CDummyTransformationSceneNode::getRotation() const
 {
 	os::Printer::log("CDummyTransformationSceneNode::getRotation() does not contain the relative transformation.", ELL_DEBUG);
 	return RelativeRotation;
 }
 
-void CDummyTransformationSceneNode::setRotation(const core::vector3df& rotation)
+void CDummyTransformationSceneNode::setRotation(const core::quaternion& rotation)
 {
 	os::Printer::log("CDummyTransformationSceneNode::setRotation() does not affect the relative transformation.", ELL_DEBUG);
 	RelativeRotation = rotation;

source/Irrlicht/CDummyTransformationSceneNode.h

@@ -45,8 +45,8 @@ namespace scene
 		// fixed bug id 2318691.
 		const core::vector3df& getScale() const override;
 		void setScale(const core::vector3df& scale) override;
-		const core::vector3df& getRotation() const override;
-		void setRotation(const core::vector3df& rotation) override;
+		const core::quaternion& getRotation() const override;
+		void setRotation(const core::quaternion& rotation) override;
 		const core::vector3df& getPosition() const override;
 		void setPosition(const core::vector3df& newpos) override;
 

source/Irrlicht/CMeshSceneNode.cpp

@@ -21,7 +21,8 @@ namespace scene
 
 //! constructor
 CMeshSceneNode::CMeshSceneNode(IMesh* mesh, ISceneNode* parent, ISceneManager* mgr, s32 id,
-			const core::vector3df& position, const core::vector3df& rotation,
+			const core::vector3df& position,
+			const core::quaternion& rotation,
 			const core::vector3df& scale)
 : IMeshSceneNode(parent, mgr, id, position, rotation, scale), Mesh(0),
 	PassCount(0), ReadOnlyMaterials(false)

source/Irrlicht/CMeshSceneNode.h

@@ -19,7 +19,7 @@ namespace scene
 		//! constructor
 		CMeshSceneNode(IMesh* mesh, ISceneNode* parent, ISceneManager* mgr,	s32 id,
 			const core::vector3df& position = core::vector3df(0,0,0),
-			const core::vector3df& rotation = core::vector3df(0,0,0),
+			const core::quaternion& rotation = core::quaternion(0,0,0,1),
 			const core::vector3df& scale = core::vector3df(1.0f, 1.0f, 1.0f));
 
 		//! destructor

source/Irrlicht/CSkinnedMesh.cpp

@@ -1340,16 +1340,41 @@ void CSkinnedMesh::recoverJointsFromMesh(core::array<IBoneSceneNode*> &jointChil
 	{
 		IBoneSceneNode* node=jointChildSceneNodes[i];
 		SJoint *joint=AllJoints[i];
-		node->setPosition(joint->LocalAnimatedMatrix.getTranslation());
-		node->setRotation(joint->LocalAnimatedMatrix.getRotationDegrees());
-		node->setScale(joint->LocalAnimatedMatrix.getScale());
+
+		node->setPosition(joint->Animatedposition);
+		node->setRotation(joint->Animatedrotation);
+		node->setScale(joint->Animatedscale);
 
 		node->positionHint=joint->positionHint;
 		node->scaleHint=joint->scaleHint;
 		node->rotationHint=joint->rotationHint;
+	}
+
+	IBoneSceneNode* top = nullptr;
+	for (u32 i=0; i<jointChildSceneNodes.size(); ++i)
+	{
+		IBoneSceneNode* node=jointChildSceneNodes[i];
+		if (!top || !node->getParent()) {
+			top = node;
+			continue;
+		}
 
-		node->updateAbsolutePosition();
+		bool is_child = false;
+		for (u32 j=0; j<jointChildSceneNodes.size(); ++j)
+			if (jointChildSceneNodes[j] == node->getParent()) {
+				is_child = true;
+				break;
+			}
+		if (is_child)
+			continue;
+
+		top = node;
+
+
 	}
+
+	if (top)
+		top->updateAbsolutePositionRecursive();
 }
 
 
@@ -1360,9 +1385,9 @@ void CSkinnedMesh::transferJointsToMesh(const core::array<IBoneSceneNode*> &join
 		const IBoneSceneNode* const node=jointChildSceneNodes[i];
 		SJoint *joint=AllJoints[i];
 
-		joint->LocalAnimatedMatrix.setRotationDegrees(node->getRotation());
-		joint->LocalAnimatedMatrix.setTranslation(node->getPosition());
-		joint->LocalAnimatedMatrix *= core::matrix4().setScale(node->getScale());
+		joint->Animatedposition = node->getPosition();
+		joint->Animatedrotation = node->getRotation();
+		joint->Animatedscale = node->getScale();
 
 		joint->positionHint=node->positionHint;
 		joint->scaleHint=node->scaleHint;
@@ -1373,6 +1398,8 @@ void CSkinnedMesh::transferJointsToMesh(const core::array<IBoneSceneNode*> &join
 	// Make sure we recalc the next frame
 	LastAnimatedFrame=-1;
 	SkinnedLastFrame=false;
+
+	buildAllLocalAnimatedMatrices();
 }