private void ImportJoints(int frameIdx, Dictionary <string, Quaternion> jointRotations, ref Vector3 rootTranslation, Node joint, Node parentJoint)
{
string jointName = joint.Name;
if (!inverseBindPosesByJointName.TryGetValue(jointName, out Matrix invBindPose))
{
return;
}
Matrix relAnimPose;
if (frameIdx < 0)
{
relAnimPose = ColladaUtils.MatrixFromString(joint.Matrix);
}
else
{
relAnimPose = animationPosesByJointName[jointName][frameIdx];
}
Matrix bindPose = bindPosesByJointName[jointName];
Matrix bindTranslation = Matrix.Translation(bindPose.TranslationVector);
Matrix invBindTranslation = Matrix.Translation(-bindPose.TranslationVector);
Matrix parentBindPose = parentJoint != null ? bindPosesByJointName[parentJoint.Name] : Matrix.Identity;
Matrix invBindPoseWithoutTranslation = invBindPose;
invBindPoseWithoutTranslation.TranslationVector = Vector3.Zero;
Matrix local = invBindPoseWithoutTranslation * relAnimPose * parentBindPose * invBindTranslation;
local.Decompose(out Vector3 localScale, out Quaternion localRotation, out Vector3 localTranslation);
if (!Vector3.NearEqual(localScale, Vector3.One, Epsilon))
{
throw new ArgumentException("local joint transform has a non-unity scale");
}
if (parentJoint != null)
{
if (!Vector3.NearEqual(localTranslation, Vector3.Zero, Epsilon))
{
throw new ArgumentException("local joint transform has a non-zero translation");
}
}
else
{
rootTranslation = localTranslation;
}
jointRotations[jointName] = localRotation;
foreach (Node child in joint.Nodes)
{
ImportJoints(frameIdx, jointRotations, ref rootTranslation, child, joint);
}
}
private void LoadAnimationPoses()
{
foreach (var animation in root.LibraryAnimations.Animations)
{
string jointName = animation.Name;
Matrix[] poses = ColladaUtils.MatricesFromString(animation.Sources.Single(s => s.Id.EndsWith("-output-transform")).FloatArray);
animationPosesByJointName[jointName] = poses;
}
}
private void LoadBindPoses()
{
//Assumes bind_shape_matrix is Identity
List <Source> controllerSources = root.ControllerLibrary.Controllers[0].Skin.Sources;
string[] jointNames = controllerSources.Find(s => s.Id.EndsWith("-Joints")).NameArray
.Split((char[])null, StringSplitOptions.RemoveEmptyEntries);
Matrix[] inverseBindPoses = ColladaUtils.MatricesFromString(controllerSources.Find(s => s.Id.EndsWith("-Matrices")).FloatArray);
if (inverseBindPoses.Length != jointNames.Length)
{
throw new InvalidOperationException("expected equal number of bind poses and weights");
}
for (int i = 0; i < jointNames.Length; ++i)
{
Matrix mat = inverseBindPoses[i];
inverseBindPosesByJointName[jointNames[i]] = mat;
mat.Invert();
bindPosesByJointName[jointNames[i]] = mat;
}
}
