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Character Animation

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I'm trying to achieve character animation through the use of a single-mesh, an articulated skeleton and keyframing. However, I don't just want to draw the mesh using an indirect recursive translation/rotation function (I already know how to do that). What I need is for this character to interact with it's 3D environment 'physically' (ie, ragdoll), so the way I'm looking at it, all I really need to do is translate/rotate each bone directly (along with each vertex weighted to the bone), and the rest should fall into place. My problem lies in rotating the bones/vertices around a single point (their 'parent' bones). Example: If the rootBone is positioned at 0,0,0 and it has a single child bone, positioned at 1,0,0; and I set 2 keyframes for the rootBone's orientation; 0,0,0 at time 0s, 0,5,0 at time 10s. As time progresses from 0s to 10s, the rootBone's child bone rotates around the rootBone approx 300 degrees. I believe the problem lies in my rotation function. Perhaps someone can confirm that it works properly? Here's how I'm doing it:
// The following is uber-pseudo-code

      Vector3f position, orientation;
      Bone children[];
      int numChildren;

          rootBone.child[i].position = Vector3fRotated(rootBone.child[i].position,rootBone.position,rootBone.orientation);

// The following function is actual code

Vector3f Vector3fRotated(Vector3f source, Vector3f origin, Vector3f rotation)
    Vector3f result = source;
    float x1,x2,x3,y1,y2,y3,z1,z2,z3;
    float xReal = source.x, yReal = source.y, zReal = source.z;
    xReal -= origin.x;
    yReal -= origin.y;
    zReal -= origin.z;
    x1 = zReal*sin(rotation.y)+xReal*cos(rotation.y);
    y1 = yReal;
    z1 = zReal*cos(rotation.y)-xReal*sin(rotation.y);
    x2 = x1;
    y2 = y1*cos(rotation.x)-z1*sin(rotation.x);
    z2 = y1*sin(rotation.x)+z1*cos(rotation.x);
    x3 = y2*sin(rotation.z)+x2*cos(rotation.z);
    y3 = y2*cos(rotation.z)-x2*sin(rotation.z);
    z3 = z2;
    result.x = x3+origin.x;
    result.y = y3+origin.y;
    result.z = z3+origin.z;
Thanks for your help. [edited by - mattbbangin on April 11, 2004 4:26:49 PM]

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void Matrix::setRotationRadians( const float *angles )
double cr = cos( angles[0] );
double sr = sin( angles[0] );
double cp = cos( angles[1] );
double sp = sin( angles[1] );
double cy = cos( angles[2] );
double sy = sin( angles[2] );


''cr'' and ''sr'' appear to mean ''cos(roll)'' and ''sin(roll)''
so they have *angles setup in the manner of ROLL, PITCH, YAW.
that means that i shouldnt assume that ''const float *angles'' is a ptr to the members (XYZ) of a standard Vector3f structure, correct?

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