void buildBoneTree(akSkeleton* skel, btAlignedObjectArray<akMatrix4>& bind, Blender::Bone* bone, UTuint8 parent)
{
//if(!(bone->flag & BONE_NO_DEFORM) || parent == AK_JOINT_NO_PARENT)
{
utHashedString jname = bone->name;
float* bmat = (float*)bone->arm_mat;
akMatrix4 mat(akVector4(bmat[4*0+0], bmat[4*0+1], bmat[4*0+2], bmat[4*0+3]),
akVector4(bmat[4*1+0], bmat[4*1+1], bmat[4*1+2], bmat[4*1+3]),
akVector4(bmat[4*2+0], bmat[4*2+1], bmat[4*2+2], bmat[4*2+3]),
akVector4(bmat[4*3+0], bmat[4*3+1], bmat[4*3+2], bmat[4*3+3]));
bind.push_back(mat);
parent = skel->addJoint(jname, parent);
if(bone->flag & BONE_NO_SCALE)
skel->getJoint(parent)->m_inheritScale = false;
}
Blender::Bone* chi = static_cast<Blender::Bone*>(bone->childbase.first);
while (chi)
{
// recurse
buildBoneTree(skel, bind, chi, parent);
chi = chi->next;
}
}
void akGeometryDeformer::LBSkinningUniformScale(
const btAlignedObjectArray<akMatrix4>* mpalette,
const UTsize vtxCount,
const float* weights, const UTsize weightsStride,
const UTuint8* indices, const UTsize indicesStride,
const akVector3* vtxSrc, const UTsize vtxSrcStride,
akVector3* vtxDst, const UTsize vtxDstStride,
const akVector3* normSrc, const UTsize normSrcStride,
akVector3* normDst, const UTsize normDstStride)
{
const btAlignedObjectArray<akMatrix4>& matrices = *mpalette;
for(unsigned int i=0; i<vtxCount; i++)
{
akMatrix4 mat(matrices[indices[0]] * weights[0]);
if (weights[1]) mat += matrices[indices[1]] * weights[1];
if (weights[2]) mat += matrices[indices[2]] * weights[2];
if (weights[3]) mat += matrices[indices[3]] * weights[3];
// position
*vtxDst = (mat * akVector4(*vtxSrc, 1.f)).getXYZ();
// normal
*normDst = (mat * akVector4(*normSrc, 0.0f)).getXYZ();
*normDst = normalize(*normDst);
akAdvancePointer(normSrc, normSrcStride);
akAdvancePointer(normDst, normDstStride);
akAdvancePointer(weights, weightsStride);
akAdvancePointer(indices, indicesStride);
akAdvancePointer(vtxSrc, vtxSrcStride);
akAdvancePointer(vtxDst, vtxDstStride);
}
}
void akGeometryDeformer::DLBSkinning(
const btAlignedObjectArray<akMatrix4>* mpalette,
const btAlignedObjectArray<akDualQuat>* dqpalette,
const UTsize vtxCount,
const float* weights, const UTsize weightsStride,
const UTuint8* indices, const UTsize indicesStride,
const akVector3* vtxSrc, const UTsize vtxSrcStride,
akVector3* vtxDst, const UTsize vtxDstStride,
const akVector3* normSrc, const UTsize normSrcStride,
akVector3* normDst, const UTsize normDstStride)
{
const btAlignedObjectArray<akMatrix4>& matrices = *mpalette;
const btAlignedObjectArray<akDualQuat>& dquats = *dqpalette;
for(unsigned int i=0; i<vtxCount; i++)
{
// position 1st pass for non rigid part of the transformation using matrices
akMatrix4 mat(matrices[indices[0]] * weights[0]);
if (weights[1]) mat += matrices[indices[1]] * weights[1];
if (weights[2]) mat += matrices[indices[2]] * weights[2];
if (weights[3]) mat += matrices[indices[3]] * weights[3];
akVector3 tmpPos = (mat * akVector4(*vtxSrc, 1.f)).getXYZ();
// position 2nd pass for rigid transformation (rotaion & location) using dual quats
akDualQuat dq = dquats[indices[0]] * weights[0];
if (weights[1]) dq += dquats[indices[1]] * weights[1];
if (weights[2]) dq += dquats[indices[2]] * weights[2];
if (weights[3]) dq += dquats[indices[3]] * weights[3];
dq /= length(dq.n);
akVector3 ndxyz(dq.n.getXYZ());
akVector3 dxyz(dq.d.getXYZ());
*vtxDst = tmpPos + 2.0 * cross( ndxyz, cross(ndxyz, tmpPos) + dq.n.getW() * tmpPos ) +
2.0 * ( dq.n.getW() * dxyz - dq.d.getW() * ndxyz + cross(ndxyz, dxyz) );
// normal 1st pass
inverseTranspose(mat);
akVector3 tmpNorm = (mat * akVector4(*normSrc, 0.0f)).getXYZ();
// normal 2nd pass
*normDst = tmpNorm + 2.0 * cross( ndxyz, cross(ndxyz, tmpNorm) + dq.n.getW() * tmpNorm );
*normDst = normalize(*normDst);
akAdvancePointer(normSrc, normSrcStride);
akAdvancePointer(normDst, normDstStride);
akAdvancePointer(weights, weightsStride);
akAdvancePointer(indices, indicesStride);
akAdvancePointer(vtxSrc, vtxSrcStride);
akAdvancePointer(vtxDst, vtxDstStride);
}
}
void akBLoader::convertObjectMesh(Blender::Object *bobj)
{
if(!bobj->data)
return;
akEntity* entity = new akEntity();
m_demo->addEntity(AKB_IDNAME(bobj), entity);
float* bmat = (float*)bobj->obmat;
akMatrix4 mat(akVector4(bmat[4*0+0], bmat[4*0+1], bmat[4*0+2], bmat[4*0+3]),
akVector4(bmat[4*1+0], bmat[4*1+1], bmat[4*1+2], bmat[4*1+3]),
akVector4(bmat[4*2+0], bmat[4*2+1], bmat[4*2+2], bmat[4*2+3]),
akVector4(bmat[4*3+0], bmat[4*3+1], bmat[4*3+2], bmat[4*3+3]));
akTransformState trans;
akMathUtils::extractTransform(mat, trans.loc, trans.rot,trans.scale );
entity->setTransformState(trans);
Blender::Mesh* bmesh = (Blender::Mesh*)bobj->data;
if (!m_demo->getMesh(AKB_IDNAME(bmesh)))
{
akMesh* mesh = new akMesh();
akMeshLoader meconv(m_demo, mesh, bobj, bmesh);
meconv.convert(false, true);
m_demo->addMesh(AKB_IDNAME(bmesh), mesh);
}
akMesh* mesh = m_demo->getMesh(AKB_IDNAME(bmesh));
entity->setMesh(mesh);
if(mesh && bobj->parent != 0 && bobj->parent->type == OB_ARMATURE)
{
Blender::bArmature* bskel = (Blender::bArmature*)bobj->parent->data;
if(!m_demo->getSkeleton(AKB_IDNAME(bskel)))
convertSkeleton(bskel);
akSkeleton* skel = m_demo->getSkeleton(AKB_IDNAME(bskel));
entity->setSkeleton(skel);
if(bskel->deformflag & BLENDER_ARM_DEF_QUATERNION)
entity->setUseDualQuatSkinning(true);
mesh->generateBoneWeightsFromVertexGroups(skel, true);
}
}
void akBLoader::convertCameraObject(Blender::Object *bobj)
{
if(!bobj || !bobj->data)
return;
Blender::Camera* bcam = (Blender::Camera*)bobj->data;
akCamera* camera = m_demo->getCamera();
float* bmat = (float*)bobj->obmat;
akMatrix4 mat(akVector4(bmat[4*0+0], bmat[4*0+1], bmat[4*0+2], bmat[4*0+3]),
akVector4(bmat[4*1+0], bmat[4*1+1], bmat[4*1+2], bmat[4*1+3]),
akVector4(bmat[4*2+0], bmat[4*2+1], bmat[4*2+2], bmat[4*2+3]),
akVector4(bmat[4*3+0], bmat[4*3+1], bmat[4*3+2], bmat[4*3+3]));
akTransformState trans;
akMathUtils::extractTransform(mat, trans.loc, trans.rot,trans.scale );
camera->m_transform = trans;
camera->m_clipStart = bcam->clipsta;
camera->m_clipEnd = bcam->clipend;
camera->m_fov = 360.0f * atanf(16.0f / bcam->lens) / akPi; //TODO fovx to fovy
}
void akGeometryDeformer::DLBAntipodalitySkinningUniformScale(
const btAlignedObjectArray<akMatrix4>* mpalette,
const btAlignedObjectArray<akDualQuat>* dqpalette,
const UTsize vtxCount,
const float* weights, const UTsize weightsStride,
const UTuint8* indices, const UTsize indicesStride,
const akVector3* vtxSrc, const UTsize vtxSrcStride,
akVector3* vtxDst, const UTsize vtxDstStride,
const akVector3* normSrc, const UTsize normSrcStride,
akVector3* normDst, const UTsize normDstStride)
{
const btAlignedObjectArray<akMatrix4>& matrices = *mpalette;
const btAlignedObjectArray<akDualQuat>& dquats = *dqpalette;
for(unsigned int i=0; i<vtxCount; i++)
{
// positions 1st pass for non rigid part of the transformation using matrices
akMatrix4 mat(matrices[indices[0]] * weights[0]);
if (weights[1]) mat += matrices[indices[1]] * weights[1];
if (weights[2]) mat += matrices[indices[2]] * weights[2];
if (weights[3]) mat += matrices[indices[3]] * weights[3];
akVector3 tmpPos = (mat * akVector4(*vtxSrc, 1.f)).getXYZ();
akDualQuat dq0 = dquats[indices[0]];
akDualQuat dq1 = dquats[indices[1]];
akDualQuat dq2 = dquats[indices[2]];
akDualQuat dq3 = dquats[indices[3]];
if( dot(dq0.n, dq1.n) < 0.0) dq1 *= -1.0;
if( dot(dq0.n, dq2.n) < 0.0) dq2 *= -1.0;
if( dot(dq0.n, dq3.n) < 0.0) dq3 *= -1.0;
akDualQuat dq = dq0 * weights[0];
if (weights[1]) dq += dq1 * weights[1];
if (weights[2]) dq += dq2 * weights[2];
if (weights[3]) dq += dq3 * weights[3];
dq /= length(dq.n);
akVector3 ndxyz(dq.n.getXYZ());
akVector3 dxyz(dq.d.getXYZ());
//position 2nd pass
*vtxDst = tmpPos + 2.0 * cross( ndxyz, cross(ndxyz, tmpPos) + dq.n.getW() * tmpPos ) +
2.0 * ( dq.n.getW() * dxyz - dq.d.getW() * ndxyz + cross(ndxyz, dxyz) );
// normal 1rst pass
akVector3 tmpNor = (mat * akVector4(*normSrc, 1.f)).getXYZ();
// normal 2nd pass
*normDst = tmpNor + 2.0 * cross( ndxyz, cross(ndxyz, tmpNor) + dq.n.getW() * tmpNor );
*normDst = normalize(*normDst);
akAdvancePointer(normSrc, normSrcStride);
akAdvancePointer(normDst, normDstStride);
akAdvancePointer(weights, weightsStride);
akAdvancePointer(indices, indicesStride);
akAdvancePointer(vtxSrc, vtxSrcStride);
akAdvancePointer(vtxDst, vtxDstStride);
}
}
