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@@ -109,6 +109,7 @@ class DynamicJointData extends JointData {
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static var newWorldPos = new Vector(0, 0, 0);
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static var expectedPos = new Vector(0, 0, 0);
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+ static var tmpQ = new Quat();
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var f = -1;
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var initialState : DynamicJointData;
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@@ -195,8 +196,12 @@ class DynamicJointData extends JointData {
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// Apply computed position to joint
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jData.speed = (jData.speed + (newWorldPos - absPos.getPosition()) * (1.0 / hxd.Timer.dt)) * 0.5;
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jData.currentAbsPose.setPosition(newWorldPos);
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- jData.absPos = jData.currentAbsPose.clone();
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- jData.currentRelPose = relPos.clone();
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+ if (jData.absPos == null)
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+ jData.absPos = new h3d.Matrix();
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+ jData.absPos.load(jData.currentAbsPose.clone());
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+ if (jData.currentRelPose == null)
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+ jData.currentRelPose = new Matrix();
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+ jData.currentRelPose.load(relPos);
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if( j.bindIndex >= 0 )
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skin.currentPalette[j.bindIndex].multiply3x4inline(j.transPos, jData.currentAbsPose);
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@@ -218,12 +223,12 @@ class DynamicJointData extends JointData {
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if (dynJoint != null)
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Skin.TMP_MAT.load(jDynData.absPos);
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- var q = new Quat();
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var offset = Std.downcast(skin.jointsData[child.index], DynamicJointData).absPos.getPosition() - Skin.TMP_MAT.getPosition();
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offset.transform3x3(jData.currentAbsPose.getInverse());
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- q.initMoveTo(Std.downcast(skin.jointsData[child.index], DynamicJointData).currentRelPose.getPosition().normalized(), offset.normalized());
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+ tmpQ.initMoveTo(Std.downcast(skin.jointsData[child.index], DynamicJointData).currentRelPose.getPosition().normalized(), offset.normalized());
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+ tmpQ.toMatrix(Skin.TMP_MAT);
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- jData.currentAbsPose.multiply(q.toMatrix(), jData.currentAbsPose);
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+ jData.currentAbsPose.multiply(Skin.TMP_MAT, jData.currentAbsPose);
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if (j.subs != null) {
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for (s in j.subs)
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lviguier