public static OpenTK.Matrix4 TKMatrix2(Assimp.Matrix4x4 matOut)
{
var matIn = new OpenTK.Matrix4();
matOut.A1 = matIn.M11;
matOut.B1 = matIn.M12;
matOut.C1 = matIn.M13;
matOut.D1 = matIn.M14;
//Y
matOut.A2 = matIn.M21;
matOut.B2 = matIn.M22;
matOut.C2 = matIn.M23;
matOut.D2 = matIn.M24;
//Z
matOut.A3 = matIn.M31;
matOut.B3 = matIn.M32;
matOut.C3 = matIn.M33;
matOut.D3 = matIn.M34;
//Translation
matOut.A4 = matIn.M41;
matOut.B4 = matIn.M42;
matOut.C4 = matIn.M43;
matOut.D4 = matIn.M44;
return(matIn);
}
public static void FromNumerics(this SN.Matrix4x4 matIn, out Assimp.Matrix4x4 matOut)
{
//Numerics matrix are row vector, so X,Y,Z axes are rows 1-3 and 4th row is translation.
//Rows => Columns to make it compatible with assimp
//X
matOut.A1 = matIn.M11;
matOut.B1 = matIn.M12;
matOut.C1 = matIn.M13;
matOut.D1 = matIn.M14;
//Y
matOut.A2 = matIn.M21;
matOut.B2 = matIn.M22;
matOut.C2 = matIn.M23;
matOut.D2 = matIn.M24;
//Z
matOut.A3 = matIn.M31;
matOut.B3 = matIn.M32;
matOut.C3 = matIn.M33;
matOut.D3 = matIn.M34;
//Translation
matOut.A4 = matIn.M41;
matOut.B4 = matIn.M42;
matOut.C4 = matIn.M43;
matOut.D4 = matIn.M44;
}
public static Matrix4x4 ToNumericsTransposed(this Ai.Matrix4x4 value)
{
return(new Matrix4x4(value.A1, value.B1, value.C1, value.D1,
value.A2, value.B2, value.C2, value.D2,
value.A3, value.B3, value.C3, value.D3,
value.A4, value.B4, value.C4, value.D4));
}
private void UpdateChannel(double time, Node node, aiMatrix4x4 parentTransform)
{
aiMatrix4x4 nodeTransformation = node.Transform;
if (GetChannel(node, out NodeAnimationChannel channel))
{
aiMatrix4x4 scale = InterpolateScale(time, channel);
aiMatrix4x4 rotation = InterpolateRotation(time, channel);
aiMatrix4x4 translation = InterpolateTranslation(time, channel);
nodeTransformation = scale * rotation * translation;
}
if (_boneIDsByName.TryGetValue(node.Name, out uint boneID))
{
aiMatrix4x4 m = _firstMesh.Bones[(int)boneID].OffsetMatrix
* nodeTransformation
* parentTransform
* _rootNodeInverseTransform;
_boneTransformations[boneID] = m;
}
foreach (Node childNode in node.Children)
{
UpdateChannel(time, childNode, nodeTransformation * parentTransform);
}
}
private void TransformNode(double time, Node aiNode, mat4 parentTransform)
{
var name = aiNode.Name;
var nodeTransform = aiNode.Transform.ToMat4();
var animationChannel = animation.NodeAnimationChannels.SingleOrDefault(m => m.NodeName == name);
if (animationChannel != null)
{
var scaling = InterpolatedHelper.CalcInterpolatedScaling((float)time, animationChannel);
var scalingM = mat4.Scale(scaling.X, scaling.Y, scaling.Z);
var rotation = InterpolatedHelper.CalcInterpolatedRotation((float)time, animationChannel).GetMatrix();
var rotationM = new Assimp.Matrix4x4(rotation).ToMat4();
var translation = InterpolatedHelper.CalcInterpolatedPosition((float)time, animationChannel);
var translationM = mat4.Translate(translation.X, translation.Y, translation.Z);
nodeTransform = translationM * rotationM * scalingM;
}
var globalTransform = parentTransform * nodeTransform;
if (allBones.ContainsKey(name))
{
allBones[name].finalTransformation = globalTransform * allBones[name].Bone.OffsetMatrix.ToMat4();
}
for (int i = 0; i < aiNode.ChildCount; i++)
{
TransformNode(time, aiNode.Children[i], globalTransform);
}
}
private static bool NearlyEquals(Ai.Matrix4x4 left, Ai.Matrix4x4 right)
{
return(NearlyEquals(left.A1, right.A1) && NearlyEquals(left.A2, right.A2) && NearlyEquals(left.A3, right.A3) && NearlyEquals(left.A4, right.A4) &&
NearlyEquals(left.B1, right.B1) && NearlyEquals(left.B2, right.B2) && NearlyEquals(left.B3, right.B3) && NearlyEquals(left.B4, right.B4) &&
NearlyEquals(left.C1, right.C1) && NearlyEquals(left.C2, right.C2) && NearlyEquals(left.C3, right.C3) && NearlyEquals(left.C4, right.C4) &&
NearlyEquals(left.D1, right.D1) && NearlyEquals(left.D2, right.D2) && NearlyEquals(left.D3, right.D3) && NearlyEquals(left.D4, right.D4));
}
public static OpenTK.Matrix4 TKMatrix(Assimp.Matrix4x4 input)
{
return(new OpenTK.Matrix4(input.A1, input.B1, input.C1, input.D1,
input.A2, input.B2, input.C2, input.D2,
input.A3, input.B3, input.C3, input.D3,
input.A4, input.B4, input.C4, input.D4));
/* return new OpenTK.Matrix4()
* {
* M11 = input.A1,
* M12 = input.A2,
* M13 = input.A3,
* M14 = input.A4,
* M21 = input.B1,
* M22 = input.B2,
* M23 = input.B3,
* M24 = input.B4,
* M31 = input.C1,
* M32 = input.C2,
* M33 = input.C3,
* M34 = input.C4,
* M41 = input.D1,
* M42 = input.D2,
* M43 = input.D3,
* M44 = input.D4
* };*/
}
// QSRT INFO TO STRING
private static string QsrtInfoToString(this Assimp.Matrix4x4 m, string tabspaces, bool showQuaternions)
{
var checkdeterminatevalid = Math.Abs(m.Determinant()) < 1e-5;
string str = "";
// this can fail if the determinante is invalid.
if (checkdeterminatevalid == false)
{
Vector3D scale;
Assimp.Quaternion rot;
Vector3D rotAngles;
Vector3D trans;
m.Decompose(out scale, out rot, out trans);
QuatToEulerXyz(ref rot, out rotAngles);
var rotDeg = rotAngles * (float)(180d / Math.PI);
int padamt = 20;
if (showQuaternions)
{
str += "\n" + tabspaces + " " + "As Quaternion ".PadRight(padamt) + rot.ToStringTrimed();
}
str += "\n" + tabspaces + " " + "Translation ".PadRight(padamt) + trans.ToStringTrimed();
if (scale.X != scale.Y || scale.Y != scale.Z || scale.Z != scale.X)
{
str += "\n" + tabspaces + " " + "Scale ".PadRight(padamt) + scale.ToStringTrimed();
}
else
{
str += "\n" + tabspaces + " " + "Scale ".PadRight(padamt) + scale.X.ToString(); //scale.X.ToStringTrimed();
}
str += "\n" + tabspaces + " " + "Rotation degrees ".PadRight(padamt) + rotDeg.ToStringTrimed(); // + " radians: " + rotAngles.ToStringTrimed();
str += "\n";
}
return(str);
}
public static System.Numerics.Matrix4x4 ToNumerics(this Matrix4x4 matrix)
{
return(new System.Numerics.Matrix4x4(matrix.A1, matrix.B1, matrix.C1, matrix.D1,
matrix.A2, matrix.B2, matrix.C2, matrix.D2,
matrix.A3, matrix.B3, matrix.C3, matrix.D3,
matrix.A4, matrix.B4, matrix.C4, matrix.D4));
}
public static OpenTK.Matrix4d TKMatrixd(Assimp.Matrix4x4 input)
{
return(new OpenTK.Matrix4d(input.A1, input.B1, input.C1, input.D1,
input.A2, input.B2, input.C2, input.D2,
input.A3, input.B3, input.C3, input.D3,
input.A4, input.B4, input.C4, input.D4));
}
public static void ToNumerics(this Assimp.Matrix4x4 matIn, out SN.Matrix4x4 matOut)
{
//Assimp matrices are column vector, so X,Y,Z axes are columns 1-3 and 4th column is translation.
//Columns => Rows to make it compatible with numerics
matOut = new System.Numerics.Matrix4x4(matIn.A1, matIn.B1, matIn.C1, matIn.D1, //X
matIn.A2, matIn.B2, matIn.C2, matIn.D2, //Y
matIn.A3, matIn.B3, matIn.C3, matIn.D3, //Z
matIn.A4, matIn.B4, matIn.C4, matIn.D4); //Translation
}
public static Matrix ToMatrix(this Assimp.Matrix4x4 v)
{
return(Matrix.Transpose(new Matrix(
v.A1, v.A2, v.A3, v.A4,
v.B1, v.B2, v.B3, v.B4,
v.C1, v.C2, v.C3, v.C4,
v.D1, v.D2, v.D3, v.D4
)));
}
private Matrix4 ConvertToMatrix4(Assimp.Matrix4x4 m)
{
var row1 = new Vector4(m.A1, m.A2, m.A3, m.A4);
var row2 = new Vector4(m.B1, m.B2, m.B3, m.B4);
var row3 = new Vector4(m.C1, m.C2, m.C3, m.C4);
var row4 = new Vector4(m.D1, m.D2, m.D3, m.D4);
var m4 = new Matrix4(row1, row2, row3, row4);
return(m4);
}
// T O M G (convert for use with MonoGame) - MATRIX
public static Matrix ToMg(this Assimp.Matrix4x4 ma)
{
Matrix m = Matrix.Identity;
m.M11 = TestVal(ma.A1); m.M12 = TestVal(ma.A2); m.M13 = TestVal(ma.A3); m.M14 = TestVal(ma.A4);
m.M21 = TestVal(ma.B1); m.M22 = TestVal(ma.B2); m.M23 = TestVal(ma.B3); m.M24 = TestVal(ma.B4);
m.M31 = TestVal(ma.C1); m.M32 = TestVal(ma.C2); m.M33 = TestVal(ma.C3); m.M34 = TestVal(ma.C4);
m.M41 = TestVal(ma.D1); m.M42 = TestVal(ma.D2); m.M43 = TestVal(ma.D3); m.M44 = TestVal(ma.D4);
return(m);
}
static NumMatrix4x4 ConvertMatrix(AssMatrix4x4 Mat)
{
return(NumMatrix4x4.Transpose(*(NumMatrix4x4 *)&Mat));
/*Mat.Decompose(out Vector3D Scaling, out AssQuaternion Rotation, out Vector3D Translation);
*
* NumMatrix4x4 Rot = NumMatrix4x4.CreateFromQuaternion(ConvertQuat(Rotation));
* NumMatrix4x4 Pos = NumMatrix4x4.CreateTranslation(ConvertVec(Translation));
* NumMatrix4x4 Scl = NumMatrix4x4.CreateScale(ConvertVec(Scaling));
* return Scl * Rot * Pos;
* //*/
}
private static Matrix4x4 GetMatrix4x4FromAiMatrix4x4(Ai.Matrix4x4 matrix, bool transpose = true)
{
if (transpose)
{
return(new Matrix4x4(matrix.A1, matrix.B1, matrix.C1, matrix.D1,
matrix.A2, matrix.B2, matrix.C2, matrix.D2,
matrix.A3, matrix.B3, matrix.C3, matrix.D3,
matrix.A4, matrix.B4, matrix.C4, matrix.D4));
}
else
{
return(new Matrix4x4(matrix.A1, matrix.A2, matrix.A3, matrix.A4,
matrix.B1, matrix.B2, matrix.B3, matrix.B4,
matrix.C1, matrix.C2, matrix.C3, matrix.C4,
matrix.D1, matrix.D2, matrix.D3, matrix.D4));
}
}
/// <summary>
/// Transform a direction vector by the given Matrix. Note: this is for assimp
/// matrix which is row major.
/// </summary>
/// <param name="vec">The vector to transform</param>
/// <param name="mat">The desired transformation</param>
/// <param name="result">The transformed vector</param>
public static ai.Vector3D eTransformVector(this ai.Matrix4x4 mat, ai.Vector3D vec)
{
return(new ai.Vector3D
{
X = vec.X * mat.A1
+ vec.Y * mat.B1
+ vec.Z * mat.C1
+ mat.A4,
Y = vec.X * mat.A2
+ vec.Y * mat.B2
+ vec.Z * mat.C2
+ mat.B4,
Z = vec.X * mat.A3
+ vec.Y * mat.B3
+ vec.Z * mat.C3
+ mat.C4
});
}
/// <summary>
/// Converts an Assimp <see cref="AssimpMatrix4x4"/> to a numerics <see cref="NumericsMatrix4x4"/>.
/// </summary>
/// <param name="input">The input <see cref="AssimpMatrix4x4"/>.</param>
/// <returns>The output <see cref="NumericsMatrix4x4"/>.</returns>
private NumericsMatrix4x4 GetNumericsMatrix4x4(AssimpMatrix4x4 input)
{
return(new NumericsMatrix4x4(input[1, 1],
input[1, 2],
input[1, 3],
input[1, 4],
input[2, 1],
input[2, 2],
input[2, 3],
input[2, 4],
input[3, 1],
input[3, 2],
input[3, 3],
input[3, 4],
input[4, 1],
input[4, 2],
input[4, 3],
input[4, 4]));
}
static public Matrix MatrixAssimpToXna(Assimp.Matrix4x4 matrix)
{
return(new Matrix(
matrix.A1,
matrix.A2,
matrix.A3,
matrix.A4,
matrix.B1,
matrix.B2,
matrix.B3,
matrix.B4,
matrix.C1,
matrix.C2,
matrix.C3,
matrix.C4,
matrix.D1,
matrix.D2,
matrix.D3,
matrix.D4
));
}
public static Assimp.Matrix4x4 convertMatrix(Matrix4 localMat)
{
Assimp.Matrix4x4 mat = new Assimp.Matrix4x4();
mat.A1 = localMat.Column0.X;
mat.A2 = localMat.Column0.Y;
mat.A3 = localMat.Column0.Z;
mat.A4 = localMat.Column0.W;
mat.B1 = localMat.Column1.X;
mat.B2 = localMat.Column1.Y;
mat.B3 = localMat.Column1.Z;
mat.B4 = localMat.Column1.W;
mat.C1 = localMat.Column2.X;
mat.C2 = localMat.Column2.Y;
mat.C3 = localMat.Column2.Z;
mat.C4 = localMat.Column2.W;
mat.D1 = localMat.Column3.X;
mat.D2 = localMat.Column3.Y;
mat.D3 = localMat.Column3.Z;
mat.D4 = localMat.Column3.W;
return(mat);
}
/// <summary>
/// internal.
/// </summary>
internal static Matrix ConvertTransform(Assimp.Matrix4x4 mat)
{
Matrix Result = new Matrix();
Result.a00 = mat.A1;
Result.a01 = mat.A2;
Result.a02 = mat.A3;
Result.a03 = mat.A4;
Result.a10 = mat.B1;
Result.a11 = mat.B2;
Result.a12 = mat.B3;
Result.a13 = mat.B4;
Result.a20 = mat.C1;
Result.a21 = mat.C2;
Result.a22 = mat.C3;
Result.a23 = mat.C4;
Result.a30 = mat.D1;
Result.a31 = mat.D2;
Result.a32 = mat.D3;
Result.a33 = mat.D4;
return(Result);
}
/// <summary>
/// Convert 4x4 Assimp matrix to OpenTK matrix.
/// Will be a very useful function becasue Assimp
/// matrices are very limited.
/// </summary>
/// <param name="m"></param>
/// <returns></returns>
public static tk.Matrix4 eToOpenTK(this ai.Matrix4x4 m)
{
return(new tk.Matrix4
{
M11 = m.A1,
M12 = m.B1,
M13 = m.C1,
M14 = m.D1,
M21 = m.A2,
M22 = m.B2,
M23 = m.C2,
M24 = m.D2,
M31 = m.A3,
M32 = m.B3,
M33 = m.C3,
M34 = m.D3,
M41 = m.A4,
M42 = m.B4,
M43 = m.C4,
M44 = m.D4
});
}
public static Syroot.Maths.Matrix3x4 FromAssimpMatrix(Assimp.Matrix4x4 mat)
{
var mat4 = new Syroot.Maths.Matrix3x4();
mat4.M11 = mat.A1;
mat4.M12 = mat.A2;
mat4.M13 = mat.A3;
mat4.M14 = mat.A4;
mat4.M21 = mat.B1;
mat4.M22 = mat.B2;
mat4.M23 = mat.B3;
mat4.M24 = mat.B4;
mat4.M31 = mat.C1;
mat4.M32 = mat.C2;
mat4.M33 = mat.C3;
mat4.M34 = mat.C4;
/* mat4.M41 = mat.D1;
* mat4.M42 = mat.D2;
* mat4.M43 = mat.D3;
* mat4.M44 = mat.D4;*/
return(mat4);
}
private void CreateByNode(Node node, STSkeleton skeleton, short SmoothIndex, short RigidIndex, bool IsRoot, ref Assimp.Matrix4x4 rootTransform)
{
Matrix4x4 trafo = node.Transform;
Matrix4x4 world = trafo * rootTransform;
var transformMat = AssimpHelper.TKMatrix(world);
int matchedBoneIndex = skeleton.bones.FindIndex(item => item.Name == node.Name);
if (matchedBoneIndex < 0)
{
tempBoneNodes.Add(node);
STBone bone = new STBone();
bone.skeletonParent = skeleton;
skeleton.bones.Add(bone);
bone.Text = node.Name;
bone.SmoothMatrixIndex = (short)skeleton.bones.IndexOf(bone);
bone.RigidMatrixIndex = -1; //Todo calculate these
STConsole.WriteLine($"-".Repeat(30));
STConsole.WriteLine($"Processing Bone {bone.Text}");
STConsole.WriteLine($"SmoothMatrixIndex {bone.SmoothMatrixIndex}");
STConsole.WriteLine($"RigidMatrixIndex {bone.RigidMatrixIndex}");
STConsole.WriteLine($"Transform Matrix {transformMat}");
STConsole.WriteLine($"-".Repeat(30));
if (IsRoot)
{
bone.parentIndex = -1;
transformMat = AssimpHelper.TKMatrix(world * Matrix4x4.FromRotationX(MathHelper.DegreesToRadians(BoneRotation)));
}
else
{
if (tempBoneNodes.Contains(node.Parent))
{
bone.parentIndex = tempBoneNodes.IndexOf(node.Parent);
}
}
var scale = transformMat.ExtractScale();
var rotation = transformMat.ExtractRotation();
var position = transformMat.ExtractTranslation();
var rotEular = AssimpHelper.ToEular(rotation);
bone.position = new float[] { position.X, position.Y, position.Z };
bone.scale = new float[] { scale.X, scale.Y, scale.Z };
bone.rotation = new float[] { rotEular.X, rotEular.Y, rotEular.Z, 0 };
}
else
{
STConsole.WriteLine($"Duplicate node name found for bone {node.Name}!", Color.Red);
}
foreach (Node child in node.Children)
{
CreateByNode(child, skeleton, SmoothIndex, RigidIndex, false, ref rootTransform);
}
}
private void CreateByNode(Node node, STSkeleton skeleton, string ParentArmatureName,
short SmoothIndex, short RigidIndex, bool IsRoot, ref Assimp.Matrix4x4 rootTransform)
{
Matrix4x4 trafo = node.Transform;
Matrix4x4 world = trafo * rootTransform;
var transformMat = AssimpHelper.TKMatrix(world);
int matchedBoneIndex = skeleton.bones.FindIndex(item => item.Name == node.Name);
if (matchedBoneIndex < 0)
{
tempBoneNodes.Add(node);
STBone bone = new STBone();
bone.skeletonParent = skeleton;
bone.RotationType = STBone.BoneRotationType.Euler;
skeleton.bones.Add(bone);
if (DaeHelper.IDMapToName.ContainsKey(node.Name))
{
bone.Text = DaeHelper.IDMapToName[node.Name];
}
else
{
bone.Text = node.Name;
}
bone.SmoothMatrixIndex = (short)skeleton.bones.IndexOf(bone);
bone.RigidMatrixIndex = -1; //Todo calculate these
if (IsRoot)
{
bone.parentIndex = -1;
if (RotateSkeleton)
{
transformMat = AssimpHelper.TKMatrix(world * Matrix4x4.FromRotationX(MathHelper.DegreesToRadians(RotateSkeletonAmount)));
}
else
{
transformMat = AssimpHelper.TKMatrix(world);
}
}
else
{
if (tempBoneNodes.Contains(node.Parent))
{
bone.parentIndex = tempBoneNodes.IndexOf(node.Parent);
}
}
var scale = transformMat.ExtractScale();
var rotation = transformMat.ExtractRotation();
var position = transformMat.ExtractTranslation();
STConsole.WriteLine($"-".Repeat(30));
STConsole.WriteLine($"Processing Bone {bone.Text}");
STConsole.WriteLine($"scale {scale}");
STConsole.WriteLine($"rotation {rotation}");
STConsole.WriteLine($"position {position}");
STConsole.WriteLine($"-".Repeat(30));
bone.FromTransform(transformMat);
}
else
{
STConsole.WriteLine($"Duplicate node name found for bone {node.Name}!", Color.Red);
}
var identity = Matrix4x4.Identity;
foreach (Node child in node.Children)
{
CreateByNode(child, skeleton, ParentArmatureName, SmoothIndex, RigidIndex, false, ref identity);
}
}
public static Matrix4x4 ToNumerics(this Ai.Matrix4x4 value) =>
new Matrix4x4(value.A1, value.A2, value.A3, value.A4,
value.B1, value.B2, value.B3, value.B4,
value.C1, value.C2, value.C3, value.C4,
value.D1, value.D2, value.D3, value.D4);
public unsafe override ProcessedModel ProcessT(Stream stream, string extension)
{
AssimpContext ac = new AssimpContext();
Scene scene = ac.ImportFileFromStream(
stream,
PostProcessSteps.FlipWindingOrder | PostProcessSteps.GenerateNormals | PostProcessSteps.FlipUVs,
extension);
aiMatrix4x4 rootNodeInverseTransform = scene.RootNode.Transform;
rootNodeInverseTransform.Inverse();
List <ProcessedMeshPart> parts = new List <ProcessedMeshPart>();
List <ProcessedAnimation> animations = new List <ProcessedAnimation>();
HashSet <string> encounteredNames = new HashSet <string>();
for (int meshIndex = 0; meshIndex < scene.MeshCount; meshIndex++)
{
Mesh mesh = scene.Meshes[meshIndex];
string meshName = mesh.Name;
if (string.IsNullOrEmpty(meshName))
{
meshName = $"mesh_{meshIndex}";
}
int counter = 1;
while (!encounteredNames.Add(meshName))
{
meshName = mesh.Name + "_" + counter.ToString();
counter += 1;
}
int vertexCount = mesh.VertexCount;
int positionOffset = 0;
int normalOffset = 12;
int texCoordsOffset = -1;
int boneWeightOffset = -1;
int boneIndicesOffset = -1;
List <VertexElementDescription> elementDescs = new List <VertexElementDescription>();
elementDescs.Add(new VertexElementDescription("Position", VertexElementSemantic.Position, VertexElementFormat.Float3));
elementDescs.Add(new VertexElementDescription("Normal", VertexElementSemantic.Normal, VertexElementFormat.Float3));
normalOffset = 12;
int vertexSize = 24;
bool hasTexCoords = mesh.HasTextureCoords(0);
elementDescs.Add(new VertexElementDescription("TexCoords", VertexElementSemantic.TextureCoordinate, VertexElementFormat.Float2));
texCoordsOffset = vertexSize;
vertexSize += 8;
bool hasBones = mesh.HasBones;
if (hasBones)
{
elementDescs.Add(new VertexElementDescription("BoneWeights", VertexElementSemantic.TextureCoordinate, VertexElementFormat.Float4));
elementDescs.Add(new VertexElementDescription("BoneIndices", VertexElementSemantic.TextureCoordinate, VertexElementFormat.UInt4));
boneWeightOffset = vertexSize;
vertexSize += 16;
boneIndicesOffset = vertexSize;
vertexSize += 16;
}
byte[] vertexData = new byte[vertexCount * vertexSize];
VertexDataBuilder builder = new VertexDataBuilder(vertexData, vertexSize);
Vector3 min = vertexCount > 0 ? mesh.Vertices[0].ToSystemVector3() : Vector3.Zero;
Vector3 max = vertexCount > 0 ? mesh.Vertices[0].ToSystemVector3() : Vector3.Zero;
for (int i = 0; i < vertexCount; i++)
{
Vector3 position = mesh.Vertices[i].ToSystemVector3();
min = Vector3.Min(min, position);
max = Vector3.Max(max, position);
builder.WriteVertexElement(
i,
positionOffset,
position);
Vector3 normal = mesh.Normals[i].ToSystemVector3();
builder.WriteVertexElement(i, normalOffset, normal);
if (mesh.HasTextureCoords(0))
{
builder.WriteVertexElement(
i,
texCoordsOffset,
new Vector2(mesh.TextureCoordinateChannels[0][i].X, mesh.TextureCoordinateChannels[0][i].Y));
}
else
{
builder.WriteVertexElement(
i,
texCoordsOffset,
new Vector2());
}
}
List <int> indices = new List <int>();
foreach (Face face in mesh.Faces)
{
if (face.IndexCount == 3)
{
indices.Add(face.Indices[0]);
indices.Add(face.Indices[1]);
indices.Add(face.Indices[2]);
}
}
Dictionary <string, uint> boneIDsByName = new Dictionary <string, uint>();
System.Numerics.Matrix4x4[] boneOffsets = new System.Numerics.Matrix4x4[mesh.BoneCount];
if (hasBones)
{
Dictionary <int, int> assignedBoneWeights = new Dictionary <int, int>();
for (uint boneID = 0; boneID < mesh.BoneCount; boneID++)
{
Bone bone = mesh.Bones[(int)boneID];
string boneName = bone.Name;
int suffix = 1;
while (boneIDsByName.ContainsKey(boneName))
{
boneName = bone.Name + "_" + suffix.ToString();
suffix += 1;
}
boneIDsByName.Add(boneName, boneID);
foreach (VertexWeight weight in bone.VertexWeights)
{
int relativeBoneIndex = GetAndIncrementRelativeBoneIndex(assignedBoneWeights, weight.VertexID);
builder.WriteVertexElement(weight.VertexID, boneIndicesOffset + (relativeBoneIndex * sizeof(uint)), boneID);
builder.WriteVertexElement(weight.VertexID, boneWeightOffset + (relativeBoneIndex * sizeof(float)), weight.Weight);
}
System.Numerics.Matrix4x4 offsetMat = bone.OffsetMatrix.ToSystemMatrixTransposed();
System.Numerics.Matrix4x4.Decompose(offsetMat, out var scale, out var rot, out var trans);
offsetMat = System.Numerics.Matrix4x4.CreateScale(scale)
* System.Numerics.Matrix4x4.CreateFromQuaternion(rot)
* System.Numerics.Matrix4x4.CreateTranslation(trans);
boneOffsets[boneID] = offsetMat;
}
}
builder.FreeGCHandle();
uint indexCount = (uint)indices.Count;
int[] int32Indices = indices.ToArray();
byte[] indexData = new byte[indices.Count * sizeof(uint)];
fixed(byte *indexDataPtr = indexData)
{
fixed(int *int32Ptr = int32Indices)
{
Buffer.MemoryCopy(int32Ptr, indexDataPtr, indexData.Length, indexData.Length);
}
}
ProcessedMeshPart part = new ProcessedMeshPart(
vertexData,
elementDescs.ToArray(),
indexData,
IndexFormat.UInt32,
(uint)indices.Count,
boneIDsByName,
boneOffsets);
parts.Add(part);
}
// Nodes
Node rootNode = scene.RootNode;
List <ProcessedNode> processedNodes = new List <ProcessedNode>();
ConvertNode(rootNode, -1, processedNodes);
ProcessedNodeSet nodes = new ProcessedNodeSet(processedNodes.ToArray(), 0, rootNodeInverseTransform.ToSystemMatrixTransposed());
for (int animIndex = 0; animIndex < scene.AnimationCount; animIndex++)
{
Animation animation = scene.Animations[animIndex];
Dictionary <string, ProcessedAnimationChannel> channels = new Dictionary <string, ProcessedAnimationChannel>();
for (int channelIndex = 0; channelIndex < animation.NodeAnimationChannelCount; channelIndex++)
{
NodeAnimationChannel nac = animation.NodeAnimationChannels[channelIndex];
channels[nac.NodeName] = ConvertChannel(nac);
}
string baseAnimName = animation.Name;
if (string.IsNullOrEmpty(baseAnimName))
{
baseAnimName = "anim_" + animIndex;
}
string animationName = baseAnimName;
int counter = 1;
while (!encounteredNames.Add(animationName))
{
animationName = baseAnimName + "_" + counter.ToString();
counter += 1;
}
}
return(new ProcessedModel()
{
MeshParts = parts.ToArray(),
Animations = animations.ToArray(),
Nodes = nodes
});
}
public static unsafe System.Numerics.Matrix4x4 ToSystemMatrixTransposed(this aiMatrix4x4 mat)
{
return(System.Numerics.Matrix4x4.Transpose(Unsafe.Read <System.Numerics.Matrix4x4>(&mat)));
}
private Mesh ProcessMesh(Assimp.Mesh mesh, Assimp.Scene scene, Assimp.Matrix4x4 transform)
{
List <Vertex> vertices = new List <Vertex>();
List <uint> indices = new List <uint>();
List <Texture> textures = new List <Texture>();
for (int i = 0; i < mesh.VertexCount; ++i)
{
var vertex = new Vertex()
{
Position = new Vector3(mesh.Vertices[i].X, mesh.Vertices[i].Y, mesh.Vertices[i].Z),
Normal = new Vector3(mesh.Normals[i].X, mesh.Normals[i].Y, mesh.Normals[i].Z)
};
if (mesh.HasTextureCoords(0))
{
var texCoords = new Vector2(mesh.TextureCoordinateChannels[0][i].X, mesh.TextureCoordinateChannels[0][i].Y);
vertex.TexCoords = texCoords;
}
else
{
vertex.TexCoords = new Vector2(0, 0);
}
if (mesh.HasTangentBasis)
{
vertex.Tangent = new Vector3(mesh.Tangents[i].X, mesh.Tangents[i].Y, mesh.Tangents[i].Z);
vertex.BiTangent = new Vector3(mesh.BiTangents[i].X, mesh.BiTangents[i].Y, mesh.BiTangents[i].Z);
}
vertices.Add(vertex);
}
for (int i = 0; i < mesh.FaceCount; ++i)
{
var face = mesh.Faces[i];
for (int f = 0; f < face.IndexCount; ++f)
{
indices.Add((uint)face.Indices[f]);
}
}
if (mesh.MaterialIndex >= 0)
{
var material = scene.Materials[mesh.MaterialIndex];
var diffuseMaps = LoadMaterialTextures(material, TextureType.Diffuse, "texture_diffuse");
textures.AddRange(diffuseMaps);
if (diffuseMaps.Count == 0)
{
textures.Add(Texture.LoadFromData(new[]
{
(byte)(material.ColorDiffuse.R * 255),
(byte)(material.ColorDiffuse.G * 255),
(byte)(material.ColorDiffuse.B * 255),
(byte)(material.ColorDiffuse.A * 255)
}, 1, 1, 4, "texture_diffuse"));
}
var specularMaps = LoadMaterialTextures(material, TextureType.Specular, "texture_specular");
textures.AddRange(specularMaps);
if (specularMaps.Count == 0)
{
textures.Add(Texture.LoadFromData(new[]
{
(byte)(material.ColorSpecular.R * 255),
(byte)(material.ColorSpecular.G * 255),
(byte)(material.ColorSpecular.B * 255),
(byte)(material.ColorSpecular.A * 255)
}, 1, 1, 4, "texture_specular"));
}
var normalMaps = LoadMaterialTextures(material, TextureType.Normals, "texture_normal");
textures.AddRange(normalMaps);
var emissiveMaps = LoadMaterialTextures(material, TextureType.Emissive, "texture_emissive");
textures.AddRange(emissiveMaps);
if (specularMaps.Count == 0)
{
textures.Add(Texture.LoadFromData(new[]
{
(byte)(material.ColorEmissive.R * 255),
(byte)(material.ColorEmissive.G * 255),
(byte)(material.ColorEmissive.B * 255),
(byte)(material.ColorEmissive.A * 255)
}, 1, 1, 4, "texture_emissive"));
}
var unknownMaps = LoadMaterialTextures(material, TextureType.Unknown, "texture_unknown"); // includes roughness
textures.AddRange(unknownMaps);
}
var oglTransform = new System.Numerics.Matrix4x4(
transform.A1, transform.A2, transform.A3, transform.A4,
transform.B1, transform.B2, transform.B3, transform.B4,
transform.C1, transform.C2, transform.C3, transform.C4,
transform.D1, transform.D2, transform.D3, transform.D4
);
return(new Mesh(vertices, indices, textures, oglTransform));
}
public static Math3d.Matrix4x4 ToMath3D(this Assimp.Matrix4x4 m)
=> new Math3d.Matrix4x4(
m.A1, m.A2, m.A3, m.A4,
m.B1, m.B2, m.B3, m.B4,
m.C1, m.C2, m.C3, m.C4,
m.D1, m.D2, m.D3, m.D4);