CWE-ou-minkata/Sources/Tools/MaxComponent/plBipedKiller.cpp

/*==LICENSE==*

CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011  Cyan Worlds, Inc.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
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Additional permissions under GNU GPL version 3 section 7

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combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
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*==LICENSE==*/
#include "HeadSpin.h"
#include "hsStlSortUtils.h"

#include "plComponent.h"
#include "plComponentReg.h"
#include "plMiscComponents.h"
#include "MaxMain/plMaxNodeBase.h"

#include <CS/bipexp.h>
#include <decomp.h>
#include <windowsx.h>

#include <map>
#include <vector>
#include "resource.h"
#pragma hdrstop

#include "BipedKiller.h"
#include "plTransform/hsAffineParts.h"

//////////////
//
// LOCAL TYPES
//
//////////////

// NODETMINFO
// A local handy thing to remember a matrix and the time we sampled it
struct nodeTMInfo
{
    TimeValue fTime;
    Matrix3 fMat3;
};

// PLSAMPLEVEC
// A vector of matrix samples
typedef std::vector<nodeTMInfo *> plSampleVec;

// PLSAMPLEVECMAP
// A map relating bone names to plSampleVecs
typedef std::map<char *, plSampleVec *, stringSorter> plSampleVecMap;

/////////////
//
// PROTOTYPES
//
/////////////

void ProcessNodeRecurse(INode *node, INode *parent, Interface *theInterface);
void ProcessBipedNodeRecurse(INode *bipNode, INode *newParent, Interface *theInterface);
void ProcessNonBipedNodeRecurse(INode *node, INode *parent, Interface *theInterface);

int LimitTransform(INode* node, Matrix3* nodeTM);
void GetParts(int32_t i, std::vector<nodeTMInfo *>& mat3Array,  hsAffineParts* parts);

Quat GetRotKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array, hsAffineParts* parts);
Point3 GetPosKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array, hsAffineParts* parts);
ScaleValue GetScaleKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array, hsAffineParts* parts);

Quat MakeRotKey(INode *node, INode *parent, TimeValue t);
Point3 MakePosKey(INode *node, INode *parent, TimeValue t);
ScaleValue MakeScaleKey(INode *node, INode *parent, TimeValue t);

AffineParts GetLocalNodeParts(INode *node, INode *parent, TimeValue t);

bool ExportableAnimationController(INode* node);
bool HasBipController(INode* node);
Quat GetRotKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array);


plSampleVec * SampleNodeMotion(INode* node, INode* parent, int sampleRate, Interface *theInterface);
plSampleVec * SampleNodeMotion(INode * node, INode* parent, int sampleRate, TimeValue start, TimeValue end);
void ReapplyAnimation(INode *node, plSampleVec *samples);
void FreeMotionSamples(plSampleVec *samples);

/////////////////
//
// IMPLEMENTATION
//
/////////////////

// REMOVEBIPED
void RemoveBiped(INode *bipRoot, Interface *theInterface)
{
    SuspendAnimate();   
    AnimateOn();
    
    // remember Max's default controllers (for the user)
    ClassDesc* defaultRotCtrl=GetDefaultController(CTRL_ROTATION_CLASS_ID);
    ClassDesc* defaultPosCtrl=GetDefaultController(CTRL_POSITION_CLASS_ID);
    ClassDesc* defaultScaleCtrl=GetDefaultController(CTRL_SCALE_CLASS_ID);
    
    // change default controllers to linear to create linear controllers
    // since we have no tan info
    DllDir* dllDir=&theInterface->GetDllDir();
    ClassDirectory* classDir=&dllDir->ClassDir();

    ClassDesc* rotCtrl = classDir->FindClass( SClass_ID(CTRL_ROTATION_CLASS_ID),
                                Class_ID(TCBINTERP_ROTATION_CLASS_ID,0));  // was Class_ID(LININTERP_ROTATION_CLASS_ID,0));

    ClassDesc* posCtrl = classDir->FindClass( SClass_ID(CTRL_POSITION_CLASS_ID),
                                    Class_ID(LININTERP_POSITION_CLASS_ID, 0));

    ClassDesc* scaleCtrl = classDir->FindClass( SClass_ID(CTRL_SCALE_CLASS_ID),
                                            Class_ID(LININTERP_SCALE_CLASS_ID, 0));

    SetDefaultController(CTRL_ROTATION_CLASS_ID, rotCtrl);
    SetDefaultController(CTRL_POSITION_CLASS_ID, posCtrl);
    SetDefaultController(CTRL_SCALE_CLASS_ID, scaleCtrl);

    ProcessNodeRecurse(bipRoot, nil, theInterface);

    //deinit
    ResumeAnimate();
    
    // remember Max's default controllers (for the user)
    SetDefaultController(CTRL_ROTATION_CLASS_ID, defaultRotCtrl);
    SetDefaultController(CTRL_POSITION_CLASS_ID, defaultPosCtrl);
    SetDefaultController(CTRL_SCALE_CLASS_ID, defaultScaleCtrl);
}

// PROCESSNODERECURSE
void ProcessNodeRecurse(INode *node, INode *parent, Interface *theInterface)
{
    if(HasBipController(node))
    {
        ProcessBipedNodeRecurse(node, parent, theInterface);
    } else {
        ProcessNonBipedNodeRecurse(node, parent, theInterface);
    }
}

// PROCESSBIPNODERECURSE
// When we find a Biped-controlled node in our hierarchy, we need to find one non-biped
// child and promote it to the place of the biped node in the hierarchy. The siblings
// of the promoted node will become its children, as will the original children from the
// biped node.
void ProcessBipedNodeRecurse(INode *bipNode, INode *parent, Interface *theInterface)
{
    int numChildren = bipNode->NumberOfChildren();
    char *bipName = bipNode ? bipNode->GetName() : nil;
    INode *replacement = nil;

    for (int i = 0; i < numChildren; i++)
    {
        INode *child = bipNode->GetChildNode(i);
        char *childName = child ? child->GetName() : nil;

        if( ! HasBipController(child) )
        {
            replacement = child;                    // this child is going to be our replacement for this bipnode

            // sample the animation (into global space)
            plSampleVec *samples = SampleNodeMotion(replacement, bipNode, 1, theInterface);

            // detach from the parent (this blows away the animation)
            replacement->Detach(0);

            // attach the node to the biped's parent.
            parent->AttachChild(replacement);   

            ReapplyAnimation(child, samples);
            FreeMotionSamples(samples);

            // we only need one replacement for the bip node
            break;
        }
    }
    
    if(replacement)
    {
        // reparent the siblings to the newly promoted replacement node
        numChildren = bipNode->NumberOfChildren();
        for (int i = 0; i < numChildren; i++)
        {
            INode *child = bipNode->GetChildNode(i);

            if( HasBipController(child) )
            {
                ProcessBipedNodeRecurse(child, replacement, theInterface);
            } else {
                child->Detach(0);                   // remove the (non-bip) child from the bip node
                replacement->AttachChild(child);    // attach it to the non-bip parent

                ProcessNonBipedNodeRecurse(child, replacement, theInterface);
            }
        }
    } else {
        // this is an error condition: we've got a bip node that has no non-bip child for us to promote
        char buf[256];
        sprintf(buf, "Couldn't find non-bip node to transfer motion to for bip node %s\n", bipNode->GetName());
        hsStatusMessage(buf);
    }
}

// PROCESSNONBIPEDNODERECURSE
// Sample motion for a hierarchy that does not have any Biped controllers in it.
void ProcessNonBipedNodeRecurse(INode *node, INode *parent, Interface *theInterface)
{
    if( ! ExportableAnimationController(node) )
    {
        plSampleVec *samples = SampleNodeMotion(node, parent, 2, theInterface);
        ReapplyAnimation(node, samples);
        FreeMotionSamples(samples);
    }

    int numChildren = node->NumberOfChildren();
    for (int i = 0; i < numChildren; i++)
    {
        INode *child = node->GetChildNode(i);

        ProcessNodeRecurse(child, node, theInterface);
    }
}

// ADJUSTROTKEYS
void AdjustRotKeys(INode *node)
{
    Control *controller = node->GetTMController();
    Control *rotControl = controller->GetRotationController();
    IKeyControl *rotKeyCont = GetKeyControlInterface(rotControl);
    int numKeys = rotKeyCont->GetNumKeys();

    for(int i = 0; i < numKeys; i++)
    {
        ITCBKey key;
        rotKeyCont->GetKey(i, &key);

        key.cont = 0;
        rotKeyCont->SetKey(i, &key);

    }
    
}

#define boolTrue = (0 == 0);
#define boolFalse = (0 == 1);

// *** todo: generalize this for rotation keys as well.
int CompareKeys(ILinPoint3Key &a, ILinPoint3Key &b)
{
    int result = a.val.Equals(b.val, .001);
#if 0
    hsStatusMessageF("COMPAREKEYS(point): (%f %f %f) vs (%f, %f, %f) = %s\n", a.val.x, a.val.y, a.val.z, b.val.x, b.val.y, b.val.z, result ? "yes" : "no");
#endif
    return result;
}

template<class T>
void ReduceKeys(INode *node, IKeyControl *keyCont)
{

    keyCont->SortKeys();        // ensure the keys are sorted by time
    
    int to;         // the next key we're setting
    int from;       // the next key we're examining
    int origNumKeys = keyCont->GetNumKeys();
    int finalNumKeys = origNumKeys;
    
    for (to = 1, from = 1; from < origNumKeys - 1; to++, from++)
    {
        T prevKey, curKey, nextKey;

        keyCont->GetKey(from - 1, &prevKey);
        keyCont->GetKey(from, &curKey);
        keyCont->GetKey(from + 1, &nextKey);

        if (CompareKeys(curKey, prevKey) && CompareKeys(curKey, nextKey))
            finalNumKeys--; // skip it
        else
            keyCont->SetKey(to, &curKey); // copy current key
    }
    // copy the last one without peeking ahead
    T lastKey;
    keyCont->GetKey(from, &lastKey);
    keyCont->SetKey(to, &lastKey);

    keyCont->SetNumKeys(finalNumKeys);
    keyCont->SortKeys();
}

void EliminateScaleKeys(INode *node, IKeyControl *keyCont)
{
    int numKeys = keyCont->GetNumKeys();
    ILinScaleKey last;
    keyCont->GetKey(numKeys - 1, &last);
    keyCont->SetKey(1, &last);      // move the last to the second
    keyCont->SetNumKeys(2);
}

// REAPPLYANIMATION
// Now that we've reparented a node within the hierarchy, re-apply all its animation.
void ReapplyAnimation(INode *node, plSampleVec *samples)
{
    Control *controller = node->GetTMController();

    Control *rotControl = NewDefaultRotationController();   // we set the default rotation controller type above in RemoveBiped()
    Control *posControl = NewDefaultPositionController();   // '' ''
    Control *scaleControl = NewDefaultScaleController();    // '' ''
    
    controller->SetRotationController(rotControl);
    controller->SetPositionController(posControl);
    controller->SetScaleController(scaleControl);

    for(int i = 0; i < samples->size(); i++)
    {
        nodeTMInfo *info = (*samples)[i];
        Matrix3 m = info->fMat3;
        TimeValue t = info->fTime;

#if 1
        node->SetNodeTM(t, m);
#else
        AffineParts parts;

        INode *parent = node->GetParentNode();
        Matrix3 parentTM = parent->GetNodeTM(t);
        Matrix3 invParentTM = Inverse(parentTM);
        m *= invParentTM;

        decomp_affine(m, &parts);

        Quat q(parts.q.x, parts.q.y, parts.q.z, parts.q.w);
        Point3 p(parts.t.x, parts.t.y, parts.t.z);

        rotControl->SetValue(t, q);
        posControl->SetValue(t, p);
#endif
    }

    IKeyControl *posKeyCont = GetKeyControlInterface(posControl);
    IKeyControl *scaleKeyCont = GetKeyControlInterface(scaleControl);

    ReduceKeys<ILinPoint3Key>(node, posKeyCont);
    EliminateScaleKeys(node, scaleKeyCont);
    // grrrr ReduceKeys<ILinScaleKey>(node, scaleKeyCont);
}

// HASBIPCONTROLLER
bool HasBipController(INode* node)
{
    if (!node)
        return false;
    Control* c = node->GetTMController();
    if (c && ((c->ClassID()== BIPSLAVE_CONTROL_CLASS_ID) ||
        (c->ClassID()== BIPBODY_CONTROL_CLASS_ID) || 
        (c->ClassID()== FOOTPRINT_CLASS_ID)) )
        return true;
    return false;

}

// EXPORTABLEANIMATIONCONTROLLER
bool ExportableAnimationController(INode* node)
{
    bool result = false;

    if(node)
    {
        Control *c = node->GetTMController();
        if(c)
        {
            Class_ID id = c->ClassID();
            if(id == Class_ID(LININTERP_ROTATION_CLASS_ID, 0)
                || id == Class_ID(PRS_CONTROL_CLASS_ID, 0)
                || id == Class_ID(LININTERP_POSITION_CLASS_ID, 0)
                || id == Class_ID(TCBINTERP_FLOAT_CLASS_ID, 0)
                || id == Class_ID(TCBINTERP_POSITION_CLASS_ID, 0)
                || id == Class_ID(TCBINTERP_ROTATION_CLASS_ID, 0)
                || id == Class_ID(TCBINTERP_POINT3_CLASS_ID, 0)
                || id == Class_ID(TCBINTERP_SCALE_CLASS_ID, 0))
            {
                result = true;
            }
        }
    }
    return result;
}

// SAMPLENODEMOTION
// top level function for sampling all the motion on a single node
plSampleVec * SampleNodeMotion(INode* node, INode* parent, int sampleRate, Interface *theInterface)
{
    Interval interval = theInterface->GetAnimRange();
    TimeValue start = interval.Start();                 // in ticks
    TimeValue end = interval.End();

    sampleRate *= GetTicksPerFrame();                   // convert sample rate to ticks

    return SampleNodeMotion(node, parent, sampleRate, start, end);
}

// SAMPLENODEMOTION
// sample all the motion on a single node
// intended for use in the context of a full tree traversal
plSampleVec * SampleNodeMotion(INode * node, INode* parent, int sampleRate, TimeValue start, TimeValue end)
{
    plSampleVec *result = new plSampleVec;

    bool done = false;
    
    for(int i = start; ! done; i += sampleRate)
    {
        if (i > end) i = end;
        if (i == end) done = true;

        // Get key time
        TimeValue keyTime = i;
        int frameNum= keyTime / GetTicksPerFrame();

        // get localTM
        nodeTMInfo * nti = new nodeTMInfo;
        nti->fTime = keyTime;
        Matrix3 localTM = node->GetNodeTM(keyTime);

        nti->fMat3 = localTM;
        result->push_back(nti);
    }
    return result;
}

// FREEMOTIONSAMPLES
void FreeMotionSamples(plSampleVec *samples)
{
    int count = samples->size();
    for(int i = 0; i < count; i++)
    {
        delete (*samples)[i];
    }
    delete samples;
}

// LIMITTRANSFORM
// Check if this node is marked as having a constrained transform.
// Meaning ignore part of the transform for this node and push it down to its kids.
int LimitTransform(INode* node, Matrix3* nodeTM)
{
/* NOT sure if we want to support this functionality: probably eventually.
    bool32 noRotX=false,noRotY=false,noRotZ=false;
    bool32 noRot=gUserPropMgr.UserPropExists(node,"BEHNoRot") || MatWrite::HasToken(node->GetName(), "norot");
    if (!noRot)
    {
        noRotX=gUserPropMgr.UserPropExists(node,"BEHNoRotX") || MatWrite::HasToken(node->GetName(), "norotx");
        noRotY=gUserPropMgr.UserPropExists(node,"BEHNoRotY") || MatWrite::HasToken(node->GetName(), "noroty");
        noRotZ=gUserPropMgr.UserPropExists(node,"BEHNoRotZ") || MatWrite::HasToken(node->GetName(), "norotz");
    }

    bool32 noTransX=false,noTransY=false,noTransZ=false;
    bool32 noTrans=gUserPropMgr.UserPropExists(node,"BEHNoTrans") || MatWrite::HasToken(node->GetName(), "notrans");
    if (!noTrans)
    {
        noTransX=gUserPropMgr.UserPropExists(node,"BEHNoTransX") || MatWrite::HasToken(node->GetName(), "notransx");
        noTransY=gUserPropMgr.UserPropExists(node,"BEHNoTransY") || MatWrite::HasToken(node->GetName(), "notransy");
        noTransZ=gUserPropMgr.UserPropExists(node,"BEHNoTransZ") || MatWrite::HasToken(node->GetName(), "notransz");
    }

    if (noRot || noTrans || 
        noRotX || noRotY || noRotZ ||
        noTransX || noTransY || noTransZ)
    {
        Matrix3 tm(true);           // identity
        
        Quat q(*nodeTM);            // matrix to quat
        float eulerAng[3];
        QuatToEuler(q, eulerAng);   // to euler
        
        // rotation
        if (!noRot && !noRotX)
            tm.RotateX(eulerAng[0]);
        if (!noRot && !noRotY)
            tm.RotateY(eulerAng[1]);
        if (!noRot && !noRotZ)
            tm.RotateZ(eulerAng[2]);

        // translation
        Point3 trans=nodeTM->GetTrans();
        if (noTrans || noTransX)
            trans.x=0;
        if (noTrans || noTransY)
            trans.y=0;
        if (noTrans || noTransZ)
            trans.z=0;
        tm.Translate(trans);

        // copy back
        *nodeTM = tm;
        return true;
    }
*/
    return false;
}


/*
//////////
// ARCHIVE
//////////
// Stuff we're not using but that looks kind of handy and which we might use again at some point.

/////////////////////////////////
/////////////////////////////////
/// SAMPLETREEMOTION
/// Sample motion for all of the non-bip bones in the heirarchy.
/// Need to sample the motion before rearranging the hierarchy and then
/// apply it after rearranging; hence the intermediate storage format.

// SAMPLETREEMOTION
// Sample all the (non-bip) motion in the whole tree
plSampleVecMap *SampleTreeMotion(INode* node, INode* parent, int sampleRate, Interface *theInterface)
{
    Interval interval = theInterface->GetAnimRange();
    TimeValue start = interval.Start();             // in ticks
    TimeValue end = interval.End();
    plSampleVecMap *ourMap = new plSampleVecMap();

    sampleRate *= GetTicksPerFrame();                   // convert sample rate to ticks

    SampleTreeMotionRecurse(node, parent, sampleRate, start, end, ourMap);

    return ourMap;
}

// SAMPLETREEMOTIONRECURSE
void SampleTreeMotionRecurse(INode * node, INode* parent, int sampleRate,
                             TimeValue start, TimeValue end, plSampleVecMap *ourMap)
{
    // if it's not a bip, sample the fuck out of it
    if(!HasBipController(node))
    {
        char *nodeName = node->GetName();
        char *nameCopy = new char[strlen(nodeName) + 1];
        strcpy(nameCopy, nodeName);

        plSampleVec *branch = SampleNodeMotion(node, parent, sampleRate, start, end);
        (*ourMap)[nameCopy] = branch;
    }

    // whether it's a bip or not, paw through its children
    for(int i = 0; i < node->NumberOfChildren(); i++)
    {
        INode *child = node->GetChildNode(i);
        SampleTreeMotionRecurse(child, node, sampleRate, start, end, ourMap);
    }
}

// GETPARTS
void GetParts(int32_t i, std::vector<nodeTMInfo *>& mat3Array,  hsAffineParts* parts)
{
    hsAssert(parts, "nil parts");

    // decomp matrix
    gemAffineParts ap;
    hsMatrix44 tXform = plMaxNodeBase::Matrix3ToMatrix44(mat3Array[i]->fMat3);

    decomp_affine(tXform.fMap, &ap); 
    AP_SET((*parts), ap);
}

// MAKEROTKEY
Quat MakeRotKey(INode *node, INode *parent, TimeValue t)
{
    AffineParts parts = GetLocalNodeParts(node, parent, t);

    Quat q(parts.q.x, parts.q.y, parts.q.z, parts.q.w);
    if( parts.f < 0.f )
    {
//      q = Quat(parts.q.x, parts.q.y, parts.q.z, -parts.q.w);
    }
    else
    {
//      q=Quat(-parts.q.x, -parts.q.y, -parts.q.z, parts.q.w);
    }

    return q;
}

Quat GetRotKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array)
{
    Matrix3 m = mat3Array[i]->fMat3;
    AffineParts parts;

    decomp_affine(m, &parts);

    Quat q(parts.q.x, parts.q.y, parts.q.z, parts.q.w);

    return q;
}


// GETROTKEY
Quat GetRotKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array, hsAffineParts* parts)
{
    hsAffineParts myParts;
    if (!parts)
    {
        parts=&myParts;
        GetParts(i, mat3Array, parts);
    }

    Quat q;
    if( parts->fF < 0.f )
    {
        q = Quat(parts->fQ.fX, parts->fQ.fY, parts->fQ.fZ, -parts->fQ.fW); // ??? why are we inverting W?
#if 0
        if( false)
        {
            Point3 ax;
            float ang;
            AngAxisFromQ(q, &ang, ax);
            //ang -= M_PI;
            ax = -ax;
            q = QFromAngAxis(ang, ax);
        }
#endif
    }
    else
    {
        q=Quat(-parts->fQ.fX, -parts->fQ.fY, -parts->fQ.fZ, parts->fQ.fW);
    }

    return q;
}

// MAKEPOSKEY
Point3 MakePosKey(INode *node, INode *parent, TimeValue t)
{
    AffineParts parts = GetLocalNodeParts(node, parent, t);

    return Point3(parts.t.x, parts.t.y, parts.t.z);
}


// GETPOSKEY
Point3 GetPosKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array, hsAffineParts* parts)
{
    hsAffineParts myParts;
    if (!parts)
    {
        parts=&myParts;
        GetParts(i, mat3Array, parts);
    }
    return Point3(parts->fT.fX, parts->fT.fY, parts->fT.fZ);
}

// MAKESCALEKEY
ScaleValue MakeScaleKey(INode *node, INode *parent, TimeValue t)
{
    Matrix3 m1 = node->GetNodeTM(t);
    hsMatrix44 hsM = plMaxNodeBase::Matrix3ToMatrix44(m1);
    gemAffineParts ap;
    hsAffineParts hsParts;

    decomp_affine(hsM.fMap, &ap);
    AP_SET(hsParts, ap);

    Point3 sAx1;
    sAx1=Point3(hsParts.fK.fX, hsParts.fK.fY, hsParts.fK.fZ);
    if( hsParts.fF < 0.f )
    {
        sAx1=-sAx1;
    }
    Quat sQ1(hsParts.fU.fX, hsParts.fU.fY, hsParts.fU.fZ, hsParts.fU.fW);

//  return ScaleValue(sAx, sQ);

    AffineParts parts = GetLocalNodeParts(node, parent, t);

    Point3 sAx(parts.k.x, parts.k.y, parts.k.z);
    if( parts.f < 0.f )
    {
        sAx=-sAx;
    }
    Quat sQ(parts.u.x, parts.u.y, parts.u.z, parts.u.w);

    return ScaleValue(sAx, sQ);
}

// GETSCALEKEY
ScaleValue GetScaleKey(int32_t i, std::vector<nodeTMInfo *>& mat3Array, hsAffineParts* parts)
{
    hsAffineParts myParts;
    if (!parts)
    {
        parts=&myParts;
        GetParts(i, mat3Array, parts);
    }

    Point3 sAx;
    sAx=Point3(parts->fK.fX, parts->fK.fY, parts->fK.fZ);
    if( parts->fF < 0.f )
    {
        sAx=-sAx;
    }
    Quat sQ(parts->fU.fX, parts->fU.fY, parts->fU.fZ, parts->fU.fW);

    return ScaleValue(sAx, sQ);
}


// GETLOCALNODEPARTS
AffineParts GetLocalNodeParts(INode *node, INode *parent, TimeValue t)
{
    Matrix3 localTM = node->GetNodeTM(t);       // world transform of source node

    INode *parent2 = node->GetParentNode();
    // localize it
    Matrix3 parentTMX = parent->GetNodeTM(t);
    Matrix3 parentTM = parent2->GetNodeTM(t);

    Matrix3 invParent = Inverse(parentTM);
    localTM *= invParent;

    AffineParts parts;

    decomp_affine(localTM, &parts);

    return parts;
}


*/