def make_armature(self, parent_node, armature):
egg_group = EggGroup(armature.name)
egg_group.set_dart_type(EggGroup.DT_structured)
egg_joints = {}
for bone_name, bone in armature.data.bones.items():
bone_matrix = get_bone_matrix(bone, armature)
egg_transform = EggTransform()
egg_transform.add_matrix4(matrix_to_panda(bone_matrix))
egg_joint = EggGroup(bone_name)
egg_joint.set_group_type(EggGroup.GT_joint)
egg_joint.add_matrix4(matrix_to_panda(bone_matrix))
egg_joint.set_default_pose(egg_transform)
if bone.parent:
egg_joints[bone.parent.name].add_child(egg_joint)
else: # root bone
egg_group.add_child(egg_joint)
egg_joints[bone_name] = egg_joint
self._setup_node(egg_group, armature)
parent_node.add_child(egg_group)
return egg_group
