/// <summary>
/// Computes the bone transformations for the model.
/// </summary>
/// <param name="transforms">A preallocated array of transformation matrices.</param>
/// <returns>The resultant bone transformation. This value is identical to the reference parameter result.</returns>
public Matrix4[] GetBoneTransformations(ref Matrix4[] transforms)
{
// Sanity.
if (animations.ContainsKey(currentAnimation) == true)
{
//
// Normal Case
//
// Interpolate between the current and next frames to calculate
// the transform to send to the renderer.
//
GLAnimation animation = animations[currentAnimation];
float blend = currentFrameTime / animation.timePerFrame;
int nextFrame = (currentFrame + 1) % (int)animation.numberOfFrames;
for (int i = 0; i < animation.bones.Count; ++i)
{
// Get the current frame's transform.
Matrix4 current = animation.bones[i].frames[currentFrame];
//
// The interpolation code is unstable. It creates alot of animation anomalies.
//
// TODO: Fix it.
//
// Break it down into a vector and quaternion.
Vector3 currentPosition = Vector3.Zero;
currentPosition.X = current.M41;
currentPosition.Y = current.M42;
currentPosition.Z = current.M43;
Quaternion currentOrientation = OpenTKExtras.Matrix4.CreateQuatFromMatrix(current);
// Get the next frame's transform.
Matrix4 next = animation.bones[i].frames[nextFrame];
// Break it down into a vector and quaternion.
Vector3 nextPosition = Vector3.Zero;
nextPosition.X = next.M41;
nextPosition.Y = next.M42;
nextPosition.Z = next.M43;
Quaternion nextOrientation = OpenTKExtras.Matrix4.CreateQuatFromMatrix(next);
// Interpolate the frame data.
Vector3 finalPosition = Vector3.Lerp(currentPosition, nextPosition, blend);
Quaternion finalOrientation = Quaternion.Slerp(currentOrientation, nextOrientation, blend);
// Rebuild a transform.
Matrix4 finalTransform = Matrix4.Rotate(finalOrientation);
finalTransform.M41 = finalPosition.X;
finalTransform.M42 = finalPosition.Y;
finalTransform.M43 = finalPosition.Z;
transforms[i] = finalTransform;
}
}
else
{
//
// Case when the animation is not present.
//
for (int i = 0; i < transforms.Length; ++i)
{
transforms[i] = Matrix4.Identity;
}
}
return(transforms);
}
/// <summary>
/// Loads data from SKN and SKL files into OpenGL.
/// </summary>
/// <param name="skn">The .skn data.</param>
/// <param name="skl">The .skl data.</param>
/// <returns></returns>
public bool Create(SKNFile skn, SKLFile skl, Dictionary <String, ANMFile> anms, Logger logger)
{
bool result = true;
// This function converts the handedness of the DirectX style input data
// into the handedness OpenGL expects.
// So, vector inputs have their Z value negated and quaternion inputs have their
// Z and W values negated.
// Vertex Data
List <float> vertexPositions = new List <float>();
List <float> vertexNormals = new List <float>();
List <float> vertexTextureCoordinates = new List <float>();
List <float> vertexBoneIndices = new List <float>();
List <float> vertexBoneWeights = new List <float>();
List <uint> indices = new List <uint>();
// Animation data.
List <OpenTK.Quaternion> boneOrientations = new List <OpenTK.Quaternion>();
List <OpenTK.Vector3> bonePositions = new List <OpenTK.Vector3>();
List <float> boneScales = new List <float>();
List <int> boneParents = new List <int>();
List <String> boneNames = new List <String>();
// Bones are not always in order between the ANM and SKL files.
Dictionary <String, int> boneNameToID = new Dictionary <String, int>();
Dictionary <int, String> boneIDToName = new Dictionary <int, String>();
for (int i = 0; i < skn.numVertices; ++i)
{
// Position Information
vertexPositions.Add(skn.vertices[i].position[0]);
vertexPositions.Add(skn.vertices[i].position[1]);
vertexPositions.Add(-skn.vertices[i].position[2]);
// Normal Information
vertexNormals.Add(skn.vertices[i].normal[0]);
vertexNormals.Add(skn.vertices[i].normal[1]);
vertexNormals.Add(-skn.vertices[i].normal[2]);
// Tex Coords Information
vertexTextureCoordinates.Add(skn.vertices[i].texCoords[0]);
vertexTextureCoordinates.Add(skn.vertices[i].texCoords[1]);
// Bone Index Information
for (int j = 0; j < SKNVertex.BONE_INDEX_SIZE; ++j)
{
vertexBoneIndices.Add(skn.vertices[i].boneIndex[j]);
}
// Bone Weight Information
vertexBoneWeights.Add(skn.vertices[i].weights[0]);
vertexBoneWeights.Add(skn.vertices[i].weights[1]);
vertexBoneWeights.Add(skn.vertices[i].weights[2]);
vertexBoneWeights.Add(skn.vertices[i].weights[3]);
}
// Animation data
for (int i = 0; i < skl.numBones; ++i)
{
Quaternion orientation = Quaternion.Identity;
if (skl.version == 0)
{
// Version 0 SKLs contain a quaternion.
orientation.X = skl.bones[i].orientation[0];
orientation.Y = skl.bones[i].orientation[1];
orientation.Z = -skl.bones[i].orientation[2];
orientation.W = -skl.bones[i].orientation[3];
}
else
{
// Other SKLs contain a rotation matrix.
// Create a matrix from the orientation values.
Matrix4 transform = Matrix4.Identity;
transform.M11 = skl.bones[i].orientation[0];
transform.M21 = skl.bones[i].orientation[1];
transform.M31 = skl.bones[i].orientation[2];
transform.M12 = skl.bones[i].orientation[4];
transform.M22 = skl.bones[i].orientation[5];
transform.M32 = skl.bones[i].orientation[6];
transform.M13 = skl.bones[i].orientation[8];
transform.M23 = skl.bones[i].orientation[9];
transform.M33 = skl.bones[i].orientation[10];
// Convert the matrix to a quaternion.
orientation = OpenTKExtras.Matrix4.CreateQuatFromMatrix(transform);
orientation.Z = -orientation.Z;
orientation.W = -orientation.W;
}
boneOrientations.Add(orientation);
// Create a vector from the position values.
Vector3 position = Vector3.Zero;
position.X = skl.bones[i].position[0];
position.Y = skl.bones[i].position[1];
position.Z = -skl.bones[i].position[2];
bonePositions.Add(position);
boneNames.Add(skl.bones[i].name);
boneNameToID[skl.bones[i].name] = i;
boneIDToName[i] = skl.bones[i].name;
boneScales.Add(skl.bones[i].scale);
boneParents.Add(skl.bones[i].parentID);
}
//
// Version 0 SKL files are similar to the animation files.
// The bone positions and orientations are relative to their parent.
// So, we need to compute their absolute location by hand.
//
if (skl.version == 0)
{
//
// This algorithm is a little confusing since it's indexing identical data from
// the SKL file and the local variable List<>s. The indexing scheme works because
// the List<>s are created in the same order as the data in the SKL files.
//
for (int i = 0; i < skl.numBones; ++i)
{
// Only update non root bones.
if (skl.bones[i].parentID != -1)
{
// Determine the parent bone.
int parentBoneID = skl.bones[i].parentID;
// Update orientation.
// Append quaternions for rotation transform B * A.
boneOrientations[i] = boneOrientations[parentBoneID] * boneOrientations[i];
Vector3 localPosition = Vector3.Zero;
localPosition.X = skl.bones[i].position[0];
localPosition.Y = skl.bones[i].position[1];
localPosition.Z = skl.bones[i].position[2];
// Update position.
bonePositions[i] = bonePositions[parentBoneID] + Vector3.Transform(localPosition, boneOrientations[parentBoneID]);
}
}
}
// Depending on the version of the model, the look ups change.
if (skl.version == 2 || skl.version == 0)
{
for (int i = 0; i < vertexBoneIndices.Count; ++i)
{
// I don't know why things need remapped, but they do.
// Sanity
if (vertexBoneIndices[i] < skl.boneIDs.Count)
{
vertexBoneIndices[i] = skl.boneIDs[(int)vertexBoneIndices[i]];
}
}
}
// Add the animations.
foreach (var animation in anms)
{
if (animations.ContainsKey(animation.Key) == false)
{
// Create the OpenGL animation wrapper.
GLAnimation glAnimation = new GLAnimation();
glAnimation.playbackFPS = animation.Value.playbackFPS;
glAnimation.numberOfBones = animation.Value.numberOfBones;
glAnimation.numberOfFrames = animation.Value.numberOfFrames;
// Convert ANMBone to GLBone.
foreach (ANMBone bone in animation.Value.bones)
{
GLBone glBone = new GLBone();
if (animation.Value.version == 4 && skl.boneIDMap.Count > 0)
{
// Version 4 ANM files contain a hash value to represent the bone ID/name.
// We need to use the map from the SKL file to match the ANM bone with the correct
// SKL bone.
if (skl.boneIDMap.ContainsKey(bone.id))
{
int sklID = (int)skl.boneIDMap[bone.id];
glBone.name = boneIDToName[sklID];
}
}
else
{
glBone.name = bone.name;
}
// Convert ANMFrame to Matrix4.
foreach (ANMFrame frame in bone.frames)
{
Matrix4 transform = Matrix4.Identity;
Quaternion quat = new Quaternion(frame.orientation[0], frame.orientation[1], -frame.orientation[2], -frame.orientation[3]);
transform = Matrix4.Rotate(quat);
transform.M41 = frame.position[0];
transform.M42 = frame.position[1];
transform.M43 = -frame.position[2];
glBone.frames.Add(transform);
}
glAnimation.bones.Add(glBone);
}
glAnimation.timePerFrame = 1.0f / (float)animation.Value.playbackFPS;
// Store the animation.
animations.Add(animation.Key, glAnimation);
}
}
// Index Information
for (int i = 0; i < skn.numIndices; ++i)
{
indices.Add((uint)skn.indices[i]);
}
this.numIndices = indices.Count;
//
// Compute the final animation transforms.
//
foreach (var animation in animations)
{
// This is sort of a mess.
// We need to make sure "parent" bones are always updated before their "children". The SKL file contains
// bones ordered in this manner. However, ANM files do not always do this. So, we sort the bones in the ANM to match the ordering in
// the SKL file.
animation.Value.bones.Sort((a, b) =>
{
if (boneNameToID.ContainsKey(a.name) && boneNameToID.ContainsKey(b.name))
{
return(boneNameToID[a.name].CompareTo(boneNameToID[b.name]));
}
else if (boneNameToID.ContainsKey(a.name) == false)
{
return(1);
}
else
{
return(-1);
}
});
}
// Create the binding transform. (The SKL initial transform.)
GLAnimation bindingBones = new GLAnimation();
for (int i = 0; i < boneOrientations.Count; ++i)
{
GLBone bone = new GLBone();
bone.name = boneNames[i];
bone.parent = boneParents[i];
bone.transform = Matrix4.Rotate(boneOrientations[i]);
bone.transform.M41 = bonePositions[i].X;
bone.transform.M42 = bonePositions[i].Y;
bone.transform.M43 = bonePositions[i].Z;
bone.transform = Matrix4.Invert(bone.transform);
bindingBones.bones.Add(bone);
}
// Convert animations into absolute space.
foreach (var animation in animations)
{
foreach (var bone in animation.Value.bones)
{
// Sanity.
if (boneNameToID.ContainsKey(bone.name))
{
int id = boneNameToID[bone.name];
bone.parent = bindingBones.bones[id].parent;
// For each frame...
for (int i = 0; i < bone.frames.Count; ++i)
{
Matrix4 parentTransform = Matrix4.Identity;
if (bone.parent >= 0)
{
if (bone.parent < animation.Value.bones.Count)
{
GLBone parent = animation.Value.bones[bone.parent];
parentTransform = parent.frames[i];
}
}
bone.frames[i] = bone.frames[i] * parentTransform;
}
}
}
}
// Multiply the animation transforms by the binding transform.
foreach (var animation in animations)
{
foreach (var bone in animation.Value.bones)
{
// Sanity.
if (boneNameToID.ContainsKey(bone.name))
{
int id = boneNameToID[bone.name];
GLBone bindingBone = bindingBones.bones[id];
for (int i = 0; i < bone.frames.Count; ++i)
{
bone.frames[i] = bindingBone.transform * bone.frames[i];
}
}
}
}
// Create the OpenGL objects.
result = Create(vertexPositions, vertexNormals, vertexTextureCoordinates,
vertexBoneIndices, vertexBoneWeights, indices, logger);
return(result);
}
/// <summary>
/// Loads data from SKN and SKL files into OpenGL.
/// </summary>
/// <param name="skn">The .skn data.</param>
/// <param name="skl">The .skl data.</param>
/// <returns></returns>
public bool Create(SKNFile skn, SKLFile skl, Dictionary<String, ANMFile> anms, Logger logger)
{
bool result = true;
// This function converts the handedness of the DirectX style input data
// into the handedness OpenGL expects.
// So, vector inputs have their Z value negated and quaternion inputs have their
// Z and W values negated.
// Vertex Data
List<float> vertexPositions = new List<float>();
List<float> vertexNormals = new List<float>();
List<float> vertexTextureCoordinates = new List<float>();
List<float> vertexBoneIndices = new List<float>();
List<float> vertexBoneWeights = new List<float>();
List<uint> indices = new List<uint>();
// Animation data.
List<OpenTK.Quaternion> boneOrientations = new List<OpenTK.Quaternion>();
List<OpenTK.Vector3> bonePositions = new List<OpenTK.Vector3>();
List<float> boneScales = new List<float>();
List<int> boneParents = new List<int>();
List<String> boneNames = new List<String>();
// Bones are not always in order between the ANM and SKL files.
Dictionary<String, int> boneNameToID = new Dictionary<String, int>();
Dictionary<int, String> boneIDToName = new Dictionary<int, String>();
for (int i = 0; i < skn.numVertices; ++i)
{
// Position Information
vertexPositions.Add(skn.vertices[i].position[0]);
vertexPositions.Add(skn.vertices[i].position[1]);
vertexPositions.Add(-skn.vertices[i].position[2]);
// Normal Information
vertexNormals.Add(skn.vertices[i].normal[0]);
vertexNormals.Add(skn.vertices[i].normal[1]);
vertexNormals.Add(-skn.vertices[i].normal[2]);
// Tex Coords Information
vertexTextureCoordinates.Add(skn.vertices[i].texCoords[0]);
vertexTextureCoordinates.Add(skn.vertices[i].texCoords[1]);
// Bone Index Information
for (int j = 0; j < SKNVertex.BONE_INDEX_SIZE; ++j)
{
vertexBoneIndices.Add(skn.vertices[i].boneIndex[j]);
}
// Bone Weight Information
vertexBoneWeights.Add(skn.vertices[i].weights[0]);
vertexBoneWeights.Add(skn.vertices[i].weights[1]);
vertexBoneWeights.Add(skn.vertices[i].weights[2]);
vertexBoneWeights.Add(skn.vertices[i].weights[3]);
}
// Animation data
for (int i = 0; i < skl.numBones; ++i)
{
Quaternion orientation = Quaternion.Identity;
if (skl.version == 0)
{
// Version 0 SKLs contain a quaternion.
orientation.X = skl.bones[i].orientation[0];
orientation.Y = skl.bones[i].orientation[1];
orientation.Z = -skl.bones[i].orientation[2];
orientation.W = -skl.bones[i].orientation[3];
}
else
{
// Other SKLs contain a rotation matrix.
// Create a matrix from the orientation values.
Matrix4 transform = Matrix4.Identity;
transform.M11 = skl.bones[i].orientation[0];
transform.M21 = skl.bones[i].orientation[1];
transform.M31 = skl.bones[i].orientation[2];
transform.M12 = skl.bones[i].orientation[4];
transform.M22 = skl.bones[i].orientation[5];
transform.M32 = skl.bones[i].orientation[6];
transform.M13 = skl.bones[i].orientation[8];
transform.M23 = skl.bones[i].orientation[9];
transform.M33 = skl.bones[i].orientation[10];
// Convert the matrix to a quaternion.
orientation = OpenTKExtras.Matrix4.CreateQuatFromMatrix(transform);
orientation.Z = -orientation.Z;
orientation.W = -orientation.W;
}
boneOrientations.Add(orientation);
// Create a vector from the position values.
Vector3 position = Vector3.Zero;
position.X = skl.bones[i].position[0];
position.Y = skl.bones[i].position[1];
position.Z = -skl.bones[i].position[2];
bonePositions.Add(position);
boneNames.Add(skl.bones[i].name);
boneNameToID[skl.bones[i].name] = i;
boneIDToName[i] = skl.bones[i].name;
boneScales.Add(skl.bones[i].scale);
boneParents.Add(skl.bones[i].parentID);
}
//
// Version 0 SKL files are similar to the animation files.
// The bone positions and orientations are relative to their parent.
// So, we need to compute their absolute location by hand.
//
if (skl.version == 0)
{
//
// This algorithm is a little confusing since it's indexing identical data from
// the SKL file and the local variable List<>s. The indexing scheme works because
// the List<>s are created in the same order as the data in the SKL files.
//
for (int i = 0; i < skl.numBones; ++i)
{
// Only update non root bones.
if (skl.bones[i].parentID != -1)
{
// Determine the parent bone.
int parentBoneID = skl.bones[i].parentID;
// Update orientation.
// Append quaternions for rotation transform B * A.
boneOrientations[i] = boneOrientations[parentBoneID] * boneOrientations[i];
Vector3 localPosition = Vector3.Zero;
localPosition.X = skl.bones[i].position[0];
localPosition.Y = skl.bones[i].position[1];
localPosition.Z = skl.bones[i].position[2];
// Update position.
bonePositions[i] = bonePositions[parentBoneID] + Vector3.Transform(localPosition, boneOrientations[parentBoneID]);
}
}
}
// Depending on the version of the model, the look ups change.
if (skl.version == 2 || skl.version == 0)
{
for (int i = 0; i < vertexBoneIndices.Count; ++i)
{
// I don't know why things need remapped, but they do.
// Sanity
if (vertexBoneIndices[i] < skl.boneIDs.Count)
{
vertexBoneIndices[i] = skl.boneIDs[(int)vertexBoneIndices[i]];
}
}
}
// Add the animations.
foreach (var animation in anms)
{
if (animations.ContainsKey(animation.Key) == false)
{
// Create the OpenGL animation wrapper.
GLAnimation glAnimation = new GLAnimation();
glAnimation.playbackFPS = animation.Value.playbackFPS;
glAnimation.numberOfBones = animation.Value.numberOfBones;
glAnimation.numberOfFrames = animation.Value.numberOfFrames;
// Convert ANMBone to GLBone.
foreach (ANMBone bone in animation.Value.bones)
{
GLBone glBone = new GLBone();
if (animation.Value.version == 4 && skl.boneIDMap.Count > 0)
{
// Version 4 ANM files contain a hash value to represent the bone ID/name.
// We need to use the map from the SKL file to match the ANM bone with the correct
// SKL bone.
if (skl.boneIDMap.ContainsKey(bone.id))
{
int sklID = (int)skl.boneIDMap[bone.id];
glBone.name = boneIDToName[sklID];
}
}
else
{
glBone.name = bone.name;
}
// Convert ANMFrame to Matrix4.
foreach (ANMFrame frame in bone.frames)
{
Matrix4 transform = Matrix4.Identity;
Quaternion quat = new Quaternion(frame.orientation[0], frame.orientation[1], -frame.orientation[2], -frame.orientation[3]);
transform = Matrix4.Rotate(quat);
transform.M41 = frame.position[0];
transform.M42 = frame.position[1];
transform.M43 = -frame.position[2];
glBone.frames.Add(transform);
}
glAnimation.bones.Add(glBone);
}
glAnimation.timePerFrame = 1.0f / (float)animation.Value.playbackFPS;
// Store the animation.
animations.Add(animation.Key, glAnimation);
}
}
// Index Information
for (int i = 0; i < skn.numIndices; ++i)
{
indices.Add((uint)skn.indices[i]);
}
this.numIndices = indices.Count;
//
// Compute the final animation transforms.
//
foreach (var animation in animations)
{
// This is sort of a mess.
// We need to make sure "parent" bones are always updated before their "children". The SKL file contains
// bones ordered in this manner. However, ANM files do not always do this. So, we sort the bones in the ANM to match the ordering in
// the SKL file.
animation.Value.bones.Sort( (a, b) =>
{
if (boneNameToID.ContainsKey(a.name) && boneNameToID.ContainsKey(b.name))
{
return boneNameToID[a.name].CompareTo(boneNameToID[b.name]);
}
else if (boneNameToID.ContainsKey(a.name) == false)
{
return 1;
}
else
{
return -1;
}
});
}
// Create the binding transform. (The SKL initial transform.)
GLAnimation bindingBones = new GLAnimation();
for (int i = 0; i < boneOrientations.Count; ++i)
{
GLBone bone = new GLBone();
bone.name = boneNames[i];
bone.parent = boneParents[i];
bone.transform = Matrix4.Rotate(boneOrientations[i]);
bone.transform.M41 = bonePositions[i].X;
bone.transform.M42 = bonePositions[i].Y;
bone.transform.M43 = bonePositions[i].Z;
bone.transform = Matrix4.Invert(bone.transform);
bindingBones.bones.Add(bone);
}
// Convert animations into absolute space.
foreach (var animation in animations)
{
foreach (var bone in animation.Value.bones)
{
// Sanity.
if (boneNameToID.ContainsKey(bone.name))
{
int id = boneNameToID[bone.name];
bone.parent = bindingBones.bones[id].parent;
// For each frame...
for (int i = 0; i < bone.frames.Count; ++i)
{
Matrix4 parentTransform = Matrix4.Identity;
if (bone.parent >= 0)
{
if (bone.parent < animation.Value.bones.Count)
{
GLBone parent = animation.Value.bones[bone.parent];
parentTransform = parent.frames[i];
}
}
bone.frames[i] = bone.frames[i] * parentTransform;
}
}
}
}
// Multiply the animation transforms by the binding transform.
foreach (var animation in animations)
{
foreach (var bone in animation.Value.bones)
{
// Sanity.
if (boneNameToID.ContainsKey(bone.name))
{
int id = boneNameToID[bone.name];
GLBone bindingBone = bindingBones.bones[id];
for (int i = 0; i < bone.frames.Count; ++i)
{
bone.frames[i] = bindingBone.transform * bone.frames[i];
}
}
}
}
// Create the OpenGL objects.
result = Create(vertexPositions, vertexNormals, vertexTextureCoordinates,
vertexBoneIndices, vertexBoneWeights, indices, logger);
return result;
}