/******************************************************************************
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* Spine Runtimes License Agreement
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* Last updated July 28, 2023. Replaces all prior versions.
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*
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* Copyright (c) 2013-2023, Esoteric Software LLC
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*
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* Integration of the Spine Runtimes into software or otherwise creating
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* derivative works of the Spine Runtimes is permitted under the terms and
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* conditions of Section 2 of the Spine Editor License Agreement:
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* http://esotericsoftware.com/spine-editor-license
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*
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* Otherwise, it is permitted to integrate the Spine Runtimes into software or
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* otherwise create derivative works of the Spine Runtimes (collectively,
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* "Products"), provided that each user of the Products must obtain their own
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* Spine Editor license and redistribution of the Products in any form must
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* include this license and copyright notice.
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*
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* THE SPINE RUNTIMES ARE PROVIDED BY ESOTERIC SOFTWARE LLC "AS IS" AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL ESOTERIC SOFTWARE LLC BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES,
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* BUSINESS INTERRUPTION, OR LOSS OF USE, DATA, OR PROFITS) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THE
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* SPINE RUNTIMES, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*****************************************************************************/
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using System;
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namespace Spine {
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using Physics = Skeleton.Physics;
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/// <summary>
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/// Stores a bone's current pose.
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/// <para>
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/// A bone has a local transform which is used to compute its world transform. A bone also has an applied transform, which is a
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/// local transform that can be applied to compute the world transform. The local transform and applied transform may differ if a
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/// constraint or application code modifies the world transform after it was computed from the local transform.
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/// </para>
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/// </summary>
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public class Bone : IUpdatable {
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static public bool yDown;
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internal BoneData data;
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internal Skeleton skeleton;
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internal Bone parent;
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internal ExposedList<Bone> children = new ExposedList<Bone>();
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internal float x, y, rotation, scaleX, scaleY, shearX, shearY;
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internal float ax, ay, arotation, ascaleX, ascaleY, ashearX, ashearY;
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internal float a, b, worldX;
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internal float c, d, worldY;
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internal Inherit inherit;
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internal bool sorted, active;
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public BoneData Data { get { return data; } }
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public Skeleton Skeleton { get { return skeleton; } }
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public Bone Parent { get { return parent; } }
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public ExposedList<Bone> Children { get { return children; } }
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public bool Active { get { return active; } }
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/// <summary>The local X translation.</summary>
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public float X { get { return x; } set { x = value; } }
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/// <summary>The local Y translation.</summary>
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public float Y { get { return y; } set { y = value; } }
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/// <summary>The local rotation.</summary>
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public float Rotation { get { return rotation; } set { rotation = value; } }
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/// <summary>The local scaleX.</summary>
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public float ScaleX { get { return scaleX; } set { scaleX = value; } }
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/// <summary>The local scaleY.</summary>
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public float ScaleY { get { return scaleY; } set { scaleY = value; } }
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/// <summary>The local shearX.</summary>
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public float ShearX { get { return shearX; } set { shearX = value; } }
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/// <summary>The local shearY.</summary>
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public float ShearY { get { return shearY; } set { shearY = value; } }
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/// <summary>Controls how parent world transforms affect this bone.</summary>
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public Inherit Inherit { get { return inherit; } set { inherit = value; } }
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/// <summary>The rotation, as calculated by any constraints.</summary>
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public float AppliedRotation { get { return arotation; } set { arotation = value; } }
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/// <summary>The applied local x translation.</summary>
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public float AX { get { return ax; } set { ax = value; } }
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/// <summary>The applied local y translation.</summary>
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public float AY { get { return ay; } set { ay = value; } }
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/// <summary>The applied local scaleX.</summary>
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public float AScaleX { get { return ascaleX; } set { ascaleX = value; } }
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/// <summary>The applied local scaleY.</summary>
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public float AScaleY { get { return ascaleY; } set { ascaleY = value; } }
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/// <summary>The applied local shearX.</summary>
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public float AShearX { get { return ashearX; } set { ashearX = value; } }
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/// <summary>The applied local shearY.</summary>
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public float AShearY { get { return ashearY; } set { ashearY = value; } }
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/// <summary>Part of the world transform matrix for the X axis. If changed, <see cref="UpdateAppliedTransform()"/> should be called.</summary>
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public float A { get { return a; } set { a = value; } }
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/// <summary>Part of the world transform matrix for the Y axis. If changed, <see cref="UpdateAppliedTransform()"/> should be called.</summary>
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public float B { get { return b; } set { b = value; } }
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/// <summary>Part of the world transform matrix for the X axis. If changed, <see cref="UpdateAppliedTransform()"/> should be called.</summary>
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public float C { get { return c; } set { c = value; } }
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/// <summary>Part of the world transform matrix for the Y axis. If changed, <see cref="UpdateAppliedTransform()"/> should be called.</summary>
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public float D { get { return d; } set { d = value; } }
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/// <summary>The world X position. If changed, <see cref="UpdateAppliedTransform()"/> should be called.</summary>
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public float WorldX { get { return worldX; } set { worldX = value; } }
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/// <summary>The world Y position. If changed, <see cref="UpdateAppliedTransform()"/> should be called.</summary>
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public float WorldY { get { return worldY; } set { worldY = value; } }
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/// <summary>The world rotation for the X axis, calculated using <see cref="a"/> and <see cref="c"/>.</summary>
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public float WorldRotationX { get { return MathUtils.Atan2Deg(c, a); } }
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/// <summary>The world rotation for the Y axis, calculated using <see cref="b"/> and <see cref="d"/>.</summary>
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public float WorldRotationY { get { return MathUtils.Atan2Deg(d, b); } }
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/// <summary>Returns the magnitide (always positive) of the world scale X.</summary>
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public float WorldScaleX { get { return (float)Math.Sqrt(a * a + c * c); } }
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/// <summary>Returns the magnitide (always positive) of the world scale Y.</summary>
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public float WorldScaleY { get { return (float)Math.Sqrt(b * b + d * d); } }
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public Bone (BoneData data, Skeleton skeleton, Bone parent) {
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if (data == null) throw new ArgumentNullException("data", "data cannot be null.");
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if (skeleton == null) throw new ArgumentNullException("skeleton", "skeleton cannot be null.");
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this.data = data;
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this.skeleton = skeleton;
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this.parent = parent;
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SetToSetupPose();
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}
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/// <summary>Copy constructor. Does not copy the <see cref="Children"/> bones.</summary>
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/// <param name="parent">May be null.</param>
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public Bone (Bone bone, Skeleton skeleton, Bone parent) {
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if (bone == null) throw new ArgumentNullException("bone", "bone cannot be null.");
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if (skeleton == null) throw new ArgumentNullException("skeleton", "skeleton cannot be null.");
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this.skeleton = skeleton;
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this.parent = parent;
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data = bone.data;
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x = bone.x;
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y = bone.y;
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rotation = bone.rotation;
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scaleX = bone.scaleX;
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scaleY = bone.scaleY;
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shearX = bone.shearX;
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shearY = bone.shearY;
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inherit = bone.inherit;
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}
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/// <summary>Computes the world transform using the parent bone and this bone's local applied transform.</summary>
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public void Update (Physics physics) {
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UpdateWorldTransform(ax, ay, arotation, ascaleX, ascaleY, ashearX, ashearY);
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}
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/// <summary>Computes the world transform using the parent bone and this bone's local transform.</summary>
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public void UpdateWorldTransform () {
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UpdateWorldTransform(x, y, rotation, scaleX, scaleY, shearX, shearY);
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}
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/// <summary>Computes the world transform using the parent bone and the specified local transform. The applied transform is set to the
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/// specified local transform. Child bones are not updated.
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/// <para>
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/// See <a href="http://esotericsoftware.com/spine-runtime-skeletons#World-transforms">World transforms</a> in the Spine
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/// Runtimes Guide.</para></summary>
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public void UpdateWorldTransform (float x, float y, float rotation, float scaleX, float scaleY, float shearX, float shearY) {
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ax = x;
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ay = y;
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arotation = rotation;
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ascaleX = scaleX;
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ascaleY = scaleY;
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ashearX = shearX;
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ashearY = shearY;
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Bone parent = this.parent;
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if (parent == null) { // Root bone.
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Skeleton skeleton = this.skeleton;
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float sx = skeleton.scaleX, sy = skeleton.ScaleY;
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float rx = (rotation + shearX) * MathUtils.DegRad;
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float ry = (rotation + 90 + shearY) * MathUtils.DegRad;
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a = (float)Math.Cos(rx) * scaleX * sx;
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b = (float)Math.Cos(ry) * scaleY * sx;
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c = (float)Math.Sin(rx) * scaleX * sy;
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d = (float)Math.Sin(ry) * scaleY * sy;
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worldX = x * sx + skeleton.x;
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worldY = y * sy + skeleton.y;
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return;
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}
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float pa = parent.a, pb = parent.b, pc = parent.c, pd = parent.d;
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worldX = pa * x + pb * y + parent.worldX;
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worldY = pc * x + pd * y + parent.worldY;
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switch (inherit) {
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case Inherit.Normal: {
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float rx = (rotation + shearX) * MathUtils.DegRad;
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float ry = (rotation + 90 + shearY) * MathUtils.DegRad;
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float la = (float)Math.Cos(rx) * scaleX;
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float lb = (float)Math.Cos(ry) * scaleY;
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float lc = (float)Math.Sin(rx) * scaleX;
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float ld = (float)Math.Sin(ry) * scaleY;
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a = pa * la + pb * lc;
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b = pa * lb + pb * ld;
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c = pc * la + pd * lc;
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d = pc * lb + pd * ld;
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return;
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}
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case Inherit.OnlyTranslation: {
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float rx = (rotation + shearX) * MathUtils.DegRad;
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float ry = (rotation + 90 + shearY) * MathUtils.DegRad;
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a = (float)Math.Cos(rx) * scaleX;
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b = (float)Math.Cos(ry) * scaleY;
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c = (float)Math.Sin(rx) * scaleX;
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d = (float)Math.Sin(ry) * scaleY;
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break;
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}
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case Inherit.NoRotationOrReflection: {
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float sx = 1 / skeleton.scaleX, sy = 1 / skeleton.ScaleY;
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pa *= sx;
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pc *= sy;
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float s = pa * pa + pc * pc, prx;
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if (s > 0.0001f) {
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s = Math.Abs(pa * pd * sy - pb * sx * pc) / s;
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pb = pc * s;
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pd = pa * s;
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prx = MathUtils.Atan2Deg(pc, pa);
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} else {
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pa = 0;
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pc = 0;
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prx = 90 - MathUtils.Atan2Deg(pd, pb);
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}
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float rx = (rotation + shearX - prx) * MathUtils.DegRad;
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float ry = (rotation + shearY - prx + 90) * MathUtils.DegRad;
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float la = (float)Math.Cos(rx) * scaleX;
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float lb = (float)Math.Cos(ry) * scaleY;
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float lc = (float)Math.Sin(rx) * scaleX;
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float ld = (float)Math.Sin(ry) * scaleY;
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a = pa * la - pb * lc;
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b = pa * lb - pb * ld;
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c = pc * la + pd * lc;
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d = pc * lb + pd * ld;
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break;
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}
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case Inherit.NoScale:
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case Inherit.NoScaleOrReflection: {
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rotation *= MathUtils.DegRad;
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float cos = (float)Math.Cos(rotation), sin = (float)Math.Sin(rotation);
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float za = (pa * cos + pb * sin) / skeleton.scaleX;
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float zc = (pc * cos + pd * sin) / skeleton.ScaleY;
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float s = (float)Math.Sqrt(za * za + zc * zc);
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if (s > 0.00001f) s = 1 / s;
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za *= s;
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zc *= s;
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s = (float)Math.Sqrt(za * za + zc * zc);
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if (inherit == Inherit.NoScale && (pa * pd - pb * pc < 0) != (skeleton.scaleX < 0 != skeleton.ScaleY < 0)) s = -s;
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rotation = MathUtils.PI / 2 + MathUtils.Atan2(zc, za);
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float zb = (float)Math.Cos(rotation) * s;
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float zd = (float)Math.Sin(rotation) * s;
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shearX *= MathUtils.DegRad;
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shearY = (90 + shearY) * MathUtils.DegRad;
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float la = (float)Math.Cos(shearX) * scaleX;
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float lb = (float)Math.Cos(shearY) * scaleY;
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float lc = (float)Math.Sin(shearX) * scaleX;
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float ld = (float)Math.Sin(shearY) * scaleY;
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a = za * la + zb * lc;
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b = za * lb + zb * ld;
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c = zc * la + zd * lc;
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d = zc * lb + zd * ld;
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break;
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}
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}
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a *= skeleton.scaleX;
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b *= skeleton.scaleX;
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c *= skeleton.ScaleY;
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d *= skeleton.ScaleY;
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}
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/// <summary>Sets this bone's local transform to the setup pose.</summary>
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public void SetToSetupPose () {
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BoneData data = this.data;
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x = data.x;
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y = data.y;
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rotation = data.rotation;
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scaleX = data.scaleX;
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scaleY = data.ScaleY;
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shearX = data.shearX;
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shearY = data.shearY;
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inherit = data.inherit;
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}
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/// <summary>
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/// Computes the applied transform values from the world transform.
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/// <para>
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/// If the world transform is modified (by a constraint, <see cref="RotateWorld(float)"/>, etc) then this method should be called so
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/// the applied transform matches the world transform. The applied transform may be needed by other code (eg to apply another
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/// constraint).
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/// </para><para>
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/// Some information is ambiguous in the world transform, such as -1,-1 scale versus 180 rotation. The applied transform after
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/// calling this method is equivalent to the local transform used to compute the world transform, but may not be identical.
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/// </para></summary>
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public void UpdateAppliedTransform () {
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Bone parent = this.parent;
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if (parent == null) {
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ax = worldX - skeleton.x;
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ay = worldY - skeleton.y;
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float a = this.a, b = this.b, c = this.c, d = this.d;
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arotation = MathUtils.Atan2Deg(c, a);
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ascaleX = (float)Math.Sqrt(a * a + c * c);
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ascaleY = (float)Math.Sqrt(b * b + d * d);
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ashearX = 0;
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ashearY = MathUtils.Atan2Deg(a * b + c * d, a * d - b * c);
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return;
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}
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float pa = parent.a, pb = parent.b, pc = parent.c, pd = parent.d;
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float pid = 1 / (pa * pd - pb * pc);
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float ia = pd * pid, ib = pb * pid, ic = pc * pid, id = pa * pid;
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float dx = worldX - parent.worldX, dy = worldY - parent.worldY;
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ax = (dx * ia - dy * ib);
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ay = (dy * id - dx * ic);
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float ra, rb, rc, rd;
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if (inherit == Inherit.OnlyTranslation) {
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ra = a;
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rb = b;
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rc = c;
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rd = d;
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} else {
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switch (inherit) {
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case Inherit.NoRotationOrReflection: {
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float s = Math.Abs(pa * pd - pb * pc) / (pa * pa + pc * pc);
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float skeletonScaleY = skeleton.ScaleY;
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pb = -pc * skeleton.scaleX * s / skeletonScaleY;
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pd = pa * skeletonScaleY * s / skeleton.scaleX;
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pid = 1 / (pa * pd - pb * pc);
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ia = pd * pid;
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ib = pb * pid;
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break;
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}
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case Inherit.NoScale:
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case Inherit.NoScaleOrReflection: {
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float r = rotation * MathUtils.DegRad, cos = (float)Math.Cos(r), sin = (float)Math.Sin(r);
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pa = (pa * cos + pb * sin) / skeleton.scaleX;
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pc = (pc * cos + pd * sin) / skeleton.ScaleY;
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float s = (float)Math.Sqrt(pa * pa + pc * pc);
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if (s > 0.00001f) s = 1 / s;
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pa *= s;
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pc *= s;
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s = (float)Math.Sqrt(pa * pa + pc * pc);
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if (inherit == Inherit.NoScale && pid < 0 != (skeleton.scaleX < 0 != skeleton.ScaleY < 0)) s = -s;
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r = MathUtils.PI / 2 + MathUtils.Atan2(pc, pa);
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pb = (float)Math.Cos(r) * s;
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pd = (float)Math.Sin(r) * s;
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pid = 1 / (pa * pd - pb * pc);
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ia = pd * pid;
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ib = pb * pid;
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ic = pc * pid;
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id = pa * pid;
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break;
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}
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}
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ra = ia * a - ib * c;
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rb = ia * b - ib * d;
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rc = id * c - ic * a;
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rd = id * d - ic * b;
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}
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ashearX = 0;
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ascaleX = (float)Math.Sqrt(ra * ra + rc * rc);
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if (ascaleX > 0.0001f) {
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float det = ra * rd - rb * rc;
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ascaleY = det / ascaleX;
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ashearY = -MathUtils.Atan2Deg(ra * rb + rc * rd, det);
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arotation = MathUtils.Atan2Deg(rc, ra);
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} else {
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ascaleX = 0;
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ascaleY = (float)Math.Sqrt(rb * rb + rd * rd);
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ashearY = 0;
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arotation = 90 - MathUtils.Atan2Deg(rd, rb);
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}
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}
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/// <summary>Transforms a point from world coordinates to the bone's local coordinates.</summary>
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public void WorldToLocal (float worldX, float worldY, out float localX, out float localY) {
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float a = this.a, b = this.b, c = this.c, d = this.d;
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float det = a * d - b * c;
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float x = worldX - this.worldX, y = worldY - this.worldY;
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localX = (x * d - y * b) / det;
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localY = (y * a - x * c) / det;
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}
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/// <summary>Transforms a point from the bone's local coordinates to world coordinates.</summary>
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public void LocalToWorld (float localX, float localY, out float worldX, out float worldY) {
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worldX = localX * a + localY * b + this.worldX;
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worldY = localX * c + localY * d + this.worldY;
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}
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/// <summary>Transforms a point from world coordinates to the parent bone's local coordinates.</summary>
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public void WorldToParent (float worldX, float worldY, out float parentX, out float parentY) {
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if (parent == null) {
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parentX = worldX;
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parentY = worldY;
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} else {
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parent.WorldToLocal(worldX, worldY, out parentX, out parentY);
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}
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}
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/// <summary>Transforms a point from the parent bone's coordinates to world coordinates.</summary>
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public void ParentToWorld (float parentX, float parentY, out float worldX, out float worldY) {
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if (parent == null) {
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worldX = parentX;
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worldY = parentY;
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} else {
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parent.LocalToWorld(parentX, parentY, out worldX, out worldY);
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}
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}
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/// <summary>Transforms a world rotation to a local rotation.</summary>
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public float WorldToLocalRotation (float worldRotation) {
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worldRotation *= MathUtils.DegRad;
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float sin = (float)Math.Sin(worldRotation), cos = (float)Math.Cos(worldRotation);
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return MathUtils.Atan2Deg(a * sin - c * cos, d * cos - b * sin) + rotation - shearX;
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}
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/// <summary>Transforms a local rotation to a world rotation.</summary>
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public float LocalToWorldRotation (float localRotation) {
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localRotation = (localRotation - rotation - shearX) * MathUtils.DegRad;
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float sin = (float)Math.Sin(localRotation), cos = (float)Math.Cos(localRotation);
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return MathUtils.Atan2Deg(cos * c + sin * d, cos * a + sin * b);
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}
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/// <summary>
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/// Rotates the world transform the specified amount.
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/// <para>
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/// After changes are made to the world transform, <see cref="UpdateAppliedTransform()"/> should be called and
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/// <see cref="Update(Skeleton.Physics)"/> will need to be called on any child bones, recursively.
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/// </para></summary>
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public void RotateWorld (float degrees) {
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degrees *= MathUtils.DegRad;
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float sin = (float)Math.Sin(degrees), cos = (float)Math.Cos(degrees);
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float ra = a, rb = b;
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a = cos * ra - sin * c;
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b = cos * rb - sin * d;
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c = sin * ra + cos * c;
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d = sin * rb + cos * d;
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}
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override public string ToString () {
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return data.name;
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}
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}
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}
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