// ----------------------------------------------------------------

// From Game Programming in C++ by Sanjay Madhav

// Copyright (C) 2017 Sanjay Madhav. All rights reserved.

//

// Released under the BSD License

// See LICENSE in root directory for full details.

// ----------------------------------------------------------------

#include "BoneTransform.h"

Matrix4 BoneTransform::ToMatrix() const

{

Matrix4 rot = Matrix4::CreateFromQuaternion(mRotation);

Matrix4 trans = Matrix4::CreateTranslation(mTranslation);

return rot * trans;

}

BoneTransform BoneTransform::Interpolate(const BoneTransform& a, const BoneTransform& b, float f)

{

BoneTransform retVal;

retVal.mRotation = Quaternion::Slerp(a.mRotation, b.mRotation, f);

retVal.mTranslation = Vector3::Lerp(a.mTranslation, b.mTranslation, f);

return retVal;

}