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In the CPU, you can divide the tasks to perform the model s animation into three main parts. First, you need to update the skeleton s bones according to the current animation that is being played and the elapsed time. Second, you calculate the absolute coordinate of each bone. Third, you calculate the final bone matrix used to transform the vertices. You start the first part of the animation process by calculating the current animation time. This is done by incrementing the animation time by the elapsed time since the last update, where the elapsed time is scaled by the animation speed:
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activeAnimationTime += new TimeSpan( (long)(time.ElapsedGameTime.Ticks * animationSpeed));
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Then you check if the current animation has finished by comparing the activeAnimationTime with the duration of the current animation. If it has finished you can restart if you re resetting the animation time:
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// Loop the animation if (activeAnimationTime > activeAnimation.Duration && enableAnimationLoop) { long elapsedTicks = activeAnimationTime.Ticks % activeAnimation.Duration.Ticks; activeAnimationTime = new TimeSpan(elapsedTicks); activeAnimationKeyframe = 0; }
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Next, you check if this is the first update of the animation. In this case, you need to restore the skeleton s bones to their bind pose:
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// Put the bind pose in the bones in the beginning of the animation if (activeAnimationKeyframe == 0) { for (int i = 0; i < bones.Length; i++) bones[i] = animatedModelData.BonesBindPose[i]; }
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CHAPTER 11 s SKELETAL ANIMATION
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To reproduce the animation, you loop through the keyframes of the current model animation, updating the model skeleton s bones when the activeAnimationTime is bigger than the keyframe time:
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// Read all animation keyframes until the current time is reached // That's possible because you have previously sorted the keyframes int index = 0; Keyframe[] keyframes = activeAnimation.Keyframes; while (index < keyframes.Length && keyframes[index].Time <= activeAnimationTime) { int boneIndex = keyframes[index].Bone; bones[boneIndex] = keyframes[index].Transform * bonesTransform[boneIndex]; index++; } activeAnimationKeyframe = index - 1;
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In the second part of the animation process you need to loop through all the bones matrices and calculate the absolute configuration for each of them. Because the skeleton s bone array was constructed by a depth traverse, the parent of a bone in this array can t have an index bigger than its index. So, you can go through each element of the list in order, calculating its final position because the final position of its ancestor will already have been calculated. Notice that the first bone of the array is already in its absolute coordinate system (because it doesn t have a parent), but you transform it with a custom user matrix:
// Fill the bones with their absolute coordinate bonesAbsolute[0] = bones[0] * parent; for (int i = 1; i < bonesAnimation.Length; i++) { int boneParent = animatedModelData.BonesParent[i]; // Here we are transforming a child bone by its parent bonesAbsolute[i] = bones[i] * bonesAbsolute[boneParent]; }
Finally, you calculate the final position of each bone by multiplying the inverse transformation of the bone in its bind pose and its current absolute position:
// Before we can transform the mesh's vertices using the calculated // bone matrix, we need to put the vertices in the coordinate system // of the bone that is linked to it for (int i = 0; i < bonesAnimation.Length; i++) {
CHAPTER 11 s SKELETAL ANIMATION
bonesAnimation[i] = animatedModelData.BonesInverseBindPose[i] * bonesAbsolute[i]; }
Following is the complete code for the Update method of the AnimatedModel class:
private void UpdateAnimation(GameTime time, Matrix parent) { activeAnimationTime += new TimeSpan( (long)(time.ElapsedGameTime.Ticks * animationSpeed)); if (activeAnimation != null) { // Loop the animation if (activeAnimationTime > activeAnimation.Duration && enableAnimationLoop) { long elapsedTicks = activeAnimationTime.Ticks % activeAnimation.Duration.Ticks; activeAnimationTime = new TimeSpan(elapsedTicks); activeAnimationKeyframe = 0; } // Every time the animation starts put the local bind pose in // the bones array if (activeAnimationKeyframe == 0) { for (int i = 0; i < bones.Length; i++) bones[i] = animatedModelData.BonesBindPose[i]; } // Play all animation keyframes until the current time // is reached. This is possible because we have sorted the // keyframes by time during the model processing int index = 0; Keyframe[] keyframes = activeAnimation.Keyframes; while (index < keyframes.Length && keyframes[index].Time <= activeAnimationTime) { int boneIndex = keyframes[index].Bone; bones[boneIndex] = keyframes[index].Transform * bonesTransform[boneIndex]; index++;
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