Problem with bones' position in Animation node

Development Character & Animation
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1

I have a problem with my class derived from FAnimNode_SkeletalControlBase: I set rotation of all the bones in mannequin in EvaluateSkeletalControl_AnyThread method. However FBoneTransform holds also a position so I think that’s why UE4 ignores bones’ restrictions and sets position of each bone to 0,0,0.

This is is my code:

void FAnimNode_SensoAnimate::SetBoneTransform(const FTransform & ComponentTransform, FCSPose<FCompactPose> & Pose, const FBoneReference & Bone, const SAvatarSensor & SensorData, TArray<FBoneTransform> & OutTransforms, FQuat *StartRotation)
{
	const FBoneContainer& BoneContainer = Pose.GetPose().GetBoneContainer();
	auto CompactPoseBoneToModify = Bone.GetCompactPoseIndex(BoneContainer);
	auto NewBoneTM = Pose.GetComponentSpaceTransform(CompactPoseBoneToModify);

	const FQuat sensoQuat(-SensorData.data.rotation.z, -SensorData.data.rotation.y, -SensorData.data.rotation.x, SensorData.data.rotation.w);

	// Convert to Bone Space.
	FAnimationRuntime::ConvertCSTransformToBoneSpace(ComponentTransform, Pose, NewBoneTM, CompactPoseBoneToModify, BCS_BoneSpace);
	
	NewBoneTM.SetRotation(sensoQuat);
	// Convert back to Component Space.
	FAnimationRuntime::ConvertBoneSpaceTransformToCS(ComponentTransform, Pose, NewBoneTM, CompactPoseBoneToModify, BCS_BoneSpace);

	OutTransforms.Add(FBoneTransform(CompactPoseBoneToModify, NewBoneTM));
}

void FAnimNode_SensoAnimate::EvaluateSkeletalControl_AnyThread(FComponentSpacePoseContext& Output, TArray < FBoneTransform > & OutBoneTransforms)
{
	check(OutBoneTransforms.Num() == 0);
	const FBoneContainer& RequiredBones = Output.AnimInstanceProxy->GetRequiredBones();

	if (sensoLib->GetMyAvatar(&avatar))
	{
		FTransform ComponentTransform = Output.AnimInstanceProxy->GetComponentTransform();
		
		if (PelvisBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, PelvisBone, avatar.sensorsData[AVATAR_PELVIS], OutBoneTransforms, &m_pelvisStartRotation);
		if (SpineBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, SpineBone, avatar.sensorsData[AVATAR_SPINE], OutBoneTransforms, &m_spineStartRotation);
		if (NeckBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, NeckBone, avatar.sensorsData[AVATAR_NECK], OutBoneTransforms, &m_neckStartRotation);

		if (HipLeftBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, HipLeftBone, avatar.sensorsData[AVATAR_HIP_LEFT], OutBoneTransforms, &m_hipLeftStartRotation);
		if (KneeLeftBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, KneeLeftBone, avatar.sensorsData[AVATAR_KNEE_LEFT], OutBoneTransforms, &m_kneeLeftStartRotation);
		if (FootLeftBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, FootLeftBone, avatar.sensorsData[AVATAR_FOOT_LEFT], OutBoneTransforms, &m_footLeftStartRotation);

		if (HipRightBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, HipRightBone, avatar.sensorsData[AVATAR_HIP_RIGHT], OutBoneTransforms, &m_hipRightStartRotation);
		if (KneeRightBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, KneeRightBone, avatar.sensorsData[AVATAR_KNEE_RIGHT], OutBoneTransforms, &m_kneeRightStartRotation);
		if (FootRightBone.IsValidToEvaluate(RequiredBones))
			SetBoneTransform(ComponentTransform, Output.Pose, FootRightBone, avatar.sensorsData[AVATAR_FOOT_RIGHT], OutBoneTransforms, &m_footRightStartRotation);
		
	}	
}

The result:

220296-animation-problem.gif

Thanks in advance!

2

I will answer my own question for anybody who will have the same problem:
All I had to do is to change OutTransforms.Add(FBoneTransform(CompactPoseBoneToModify, NewBoneTM)); with

TArray<FBoneTransform> TempTransforms;
TempTransforms.Add(FBoneTransform(CompactPoseBoneToModify, NewBoneTM));
Pose.LocalBlendCSBoneTransforms(TempTransforms, 1.0f);
TempTransforms.Reset();

Of course there is a room for optimization and you don’t have to blend the pose after each transform. Like you can set shoulders, neck and hips in one batch because they don’t reflect each other.