public static Assimp.Matrix4x4 AssimpCalculateInverseMatrix(STBone bone)
{
Assimp.Matrix4x4 transf;
//Get parent transform for a smooth matrix
if (bone.Parent != null && bone.Parent is STBone)
{
transf = AssimpCalculateInverseMatrix((STBone)bone.Parent);
}
else
{
transf = Assimp.Matrix4x4.Identity;
}
//Now calculate the matrix with TK matrices
var trans = Assimp.Matrix4x4.FromTranslation(new Vector3D(bone.position[0], bone.position[1], bone.position[2]));
var scale = Assimp.Matrix4x4.FromScaling(new Vector3D(bone.scale[0], bone.scale[1], bone.scale[2]));
var rotX = Assimp.Matrix4x4.FromRotationX(bone.rotation[0]);
var rotY = Assimp.Matrix4x4.FromRotationY(bone.rotation[1]);
var rotZ = Assimp.Matrix4x4.FromRotationZ(bone.rotation[2]);
var result = scale * (rotX * rotY * rotZ) * trans;
result.Inverse();
return(transf);
}
public static Matrix4x4 GetBoneMatrix(STBone bone)
{
var pos = Matrix4x4.FromTranslation(new Vector3D(bone.position[0], bone.position[1], bone.position[2]));
var rotx = Matrix4x4.FromRotationX(bone.rotation[0]);
var roty = Matrix4x4.FromRotationY(bone.rotation[1]);
var rotz = Matrix4x4.FromRotationZ(bone.rotation[2]);
var sca = Matrix4x4.FromScaling(new Vector3D(bone.scale[0], bone.scale[1], bone.scale[2]));
return(sca * (rotx * roty * rotz) * pos);
}
private void SaveBones(Node parentBone, STBone bone, STSkeleton skeleton)
{
Node boneNode = new Node(bone.Text);
parentBone.Children.Add(boneNode);
boneNode.Transform = AssimpHelper.GetBoneMatrix(bone);
foreach (STBone child in bone.GetChildren())
{
SaveBones(boneNode, child, skeleton);
}
}
public void update(bool reset = false)
{
Updated = true;
List <STBone> nodesToProcess = new List <STBone>();
// Add all root nodes from the VBN
foreach (STBone b in bones)
{
if (b.Parent == null)
{
nodesToProcess.Add(b);
}
}
// some special processing for the root bones before we start
foreach (STBone b in nodesToProcess)
{
b.transform = Matrix4.CreateScale(b.sca) * Matrix4.CreateFromQuaternion(b.rot) * Matrix4.CreateTranslation(b.pos);
// scale down the model in its entirety only when mid-animation (i.e. reset == false)
if (!reset)
{
b.transform *= Matrix4.CreateScale(1);
}
}
// Process as a tree from the root node's children and beyond. These
// all use the same processing, unlike the root nodes.
int numRootNodes = nodesToProcess.Count;
for (int i = 0; i < numRootNodes; i++)
{
nodesToProcess.AddRange(nodesToProcess[0].GetChildren());
nodesToProcess.RemoveAt(0);
}
while (nodesToProcess.Count > 0)
{
// DFS
STBone currentBone = nodesToProcess[0];
nodesToProcess.RemoveAt(0);
nodesToProcess.AddRange(currentBone.GetChildren());
// Process this node
currentBone.transform = Matrix4.CreateScale(currentBone.sca) * Matrix4.CreateFromQuaternion(currentBone.rot) * Matrix4.CreateTranslation(currentBone.pos);
if (currentBone.Parent != null)
{
currentBone.transform = currentBone.transform * ((STBone)currentBone.Parent).transform;
}
}
}
public List <STBone> getBoneTreeOrder()
{
List <STBone> bone = new List <STBone>();
Queue <STBone> q = new Queue <STBone>();
q.Enqueue(bones[0]);
while (q.Count > 0)
{
STBone b = q.Dequeue();
foreach (STBone bo in b.GetChildren())
{
q.Enqueue(bo);
}
bone.Add(b);
}
return(bone);
}
public void SetKeyFromBone(float frame, STBone bone)
{
Vector3 rot = ANIM.quattoeul(bone.rot);
if (rot.X != bone.rotation[0] || rot.Y != bone.rotation[1] || rot.Z != bone.rotation[2])
{
XROT.GetKeyFrame(frame).Value = bone.rot.X;
YROT.GetKeyFrame(frame).Value = bone.rot.Y;
ZROT.GetKeyFrame(frame).Value = bone.rot.Z;
WROT.GetKeyFrame(frame).Value = bone.rot.W;
}
if (bone.pos.X != bone.position[0] || bone.pos.Y != bone.position[1] || bone.pos.Z != bone.position[2])
{
XPOS.GetKeyFrame(frame).Value = bone.pos.X;
YPOS.GetKeyFrame(frame).Value = bone.pos.Y;
ZPOS.GetKeyFrame(frame).Value = bone.pos.Z;
}
if (bone.sca.X != bone.scale[0] || bone.sca.Y != bone.scale[1] || bone.sca.Z != bone.scale[2])
{
XSCA.GetKeyFrame(frame).Value = bone.sca.X;
YSCA.GetKeyFrame(frame).Value = bone.sca.Y;
ZSCA.GetKeyFrame(frame).Value = bone.sca.Z;
}
}
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($"Duplicate node name found for bone {node.Name}!", Color.Red);
}
foreach (Node child in node.Children)
{
CreateByNode(child, skeleton, SmoothIndex, RigidIndex, false, ref rootTransform);
}
}
private Mesh SaveMesh(STGenericObject genericObj, int index, STSkeleton skeleton, List <int> NodeArray)
{
//Assimp is weird so use mesh_# for the name. We'll change it back after save
Mesh mesh = new Mesh($"mesh_{ index }", PrimitiveType.Triangle);
mesh.MaterialIndex = genericObj.MaterialIndex;
List <Vector3D> textureCoords0 = new List <Vector3D>();
List <Vector3D> textureCoords1 = new List <Vector3D>();
List <Vector3D> textureCoords2 = new List <Vector3D>();
List <Color4D> vertexColors = new List <Color4D>();
int vertexID = 0;
foreach (Vertex v in genericObj.vertices)
{
mesh.Vertices.Add(new Vector3D(v.pos.X, v.pos.Y, v.pos.Z));
mesh.Normals.Add(new Vector3D(v.nrm.X, v.nrm.Y, v.nrm.Z));
textureCoords0.Add(new Vector3D(v.uv0.X, v.uv0.Y, 0));
textureCoords1.Add(new Vector3D(v.uv1.X, v.uv1.Y, 0));
textureCoords2.Add(new Vector3D(v.uv2.X, v.uv2.Y, 0));
vertexColors.Add(new Color4D(v.col.X, v.col.Y, v.col.Z, v.col.W));
mesh.TextureCoordinateChannels[0] = textureCoords0;
mesh.TextureCoordinateChannels[1] = textureCoords1;
mesh.TextureCoordinateChannels[2] = textureCoords2;
mesh.VertexColorChannels[0] = vertexColors;
if (skeleton != null)
{
for (int j = 0; j < v.boneIds.Count; j++)
{
if (j < genericObj.VertexSkinCount)
{
//Get the bone via the node array and bone index from the vertex
STBone STbone = skeleton.bones[NodeArray[v.boneIds[j]]];
//Find the index of a bone. If it doesn't exist then we add it
int boneInd = mesh.Bones.FindIndex(x => x.Name == STbone.Text);
if (boneInd == -1)
{
var matrices = Switch_Toolbox.Library.IO.MatrixExenstion.CalculateInverseMatrix(STbone);
//Set the inverse matrix
Matrix4x4 transform = matrices.inverse.FromNumerics();
//Create a new assimp bone
Bone bone = new Bone();
bone.Name = STbone.Text;
bone.OffsetMatrix = STbone.invert.ToMatrix4x4();
mesh.Bones.Add(bone);
BoneNames.Add(bone.Name);
boneInd = mesh.Bones.IndexOf(bone); //Set the index of the bone for the vertex weight
}
int MinWeightAmount = 0;
//Check if the max amount of weights is higher than the current bone id
if (v.boneWeights.Count > j && v.boneWeights[j] > MinWeightAmount)
{
if (v.boneWeights[j] <= 1)
{
mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, v.boneWeights[j]));
}
else
{
mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, 1));
}
}
else if (v.boneWeights.Count == 0 || v.boneWeights[j] > MinWeightAmount)
{
mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, 1));
}
}
}
}
vertexID++;
}
List <int> faces = genericObj.lodMeshes[genericObj.DisplayLODIndex].faces;
for (int f = 0; f < faces.Count; f++)
{
mesh.Faces.Add(new Face(new int[] { faces[f++], faces[f++], faces[f] }));
}
mesh.TextureCoordinateChannels.SetValue(textureCoords0, 0);
return(mesh);
}
public void NextFrame(STSkeleton skeleton, bool isChild = false)
{
if (Frame >= FrameCount)
{
return;
}
if (Frame == 0 && !isChild)
{
skeleton.reset();
}
foreach (object child in Children)
{
if (child is Animation)
{
((Animation)child).SetFrame(Frame);
((Animation)child).NextFrame(skeleton, isChild: true);
}
}
bool Updated = false; // no need to update skeleton of animations that didn't change
foreach (KeyNode node in Bones)
{
// Get Skeleton Node
STBone b = null;
b = skeleton.getBone(node.Text);
if (b == null)
{
continue;
}
Updated = true;
b.pos.X = node.XPOS.GetValue(Frame);
b.pos.Y = node.YPOS.GetValue(Frame);
b.pos.Z = node.ZPOS.GetValue(Frame);
if (node.XSCA.HasAnimation())
{
b.sca.X = node.XSCA.GetValue(Frame);
}
else
{
b.sca.X = 1;
}
if (node.YSCA.HasAnimation())
{
b.sca.Y = node.YSCA.GetValue(Frame);
}
else
{
b.sca.Y = 1;
}
if (node.ZSCA.HasAnimation())
{
b.sca.Z = node.ZSCA.GetValue(Frame);
}
else
{
b.sca.Z = 1;
}
if (node.XROT.HasAnimation() || node.YROT.HasAnimation() || node.ZROT.HasAnimation())
{
if (node.RotType == RotationType.QUATERNION)
{
KeyFrame[] x = node.XROT.GetFrame(Frame);
KeyFrame[] y = node.YROT.GetFrame(Frame);
KeyFrame[] z = node.ZROT.GetFrame(Frame);
KeyFrame[] w = node.WROT.GetFrame(Frame);
Quaternion q1 = new Quaternion(x[0].Value, y[0].Value, z[0].Value, w[0].Value);
Quaternion q2 = new Quaternion(x[1].Value, y[1].Value, z[1].Value, w[1].Value);
if (x[0].Frame == Frame)
{
b.rot = q1;
}
else
if (x[1].Frame == Frame)
{
b.rot = q2;
}
else
{
b.rot = Quaternion.Slerp(q1, q2, (Frame - x[0].Frame) / (x[1].Frame - x[0].Frame));
}
}
else
if (node.RotType == RotationType.EULER)
{
float x = node.XROT.HasAnimation() ? node.XROT.GetValue(Frame) : b.rotation[0];
float y = node.YROT.HasAnimation() ? node.YROT.GetValue(Frame) : b.rotation[1];
float z = node.ZROT.HasAnimation() ? node.ZROT.GetValue(Frame) : b.rotation[2];
b.rot = EulerToQuat(z, y, x);
}
}
}
Frame += 1f;
if (Frame >= FrameCount)
{
Frame = 0;
}
if (!isChild && Updated)
{
skeleton.update();
}
}
public static Syroot.Maths.Matrix3x4 CalculateInverseMatrix(STBone bone)
{
return(FromAssimpMatrix(AssimpCalculateInverseMatrix(bone)));
}
private void SaveMeshes(Scene scene, STGenericModel model, STSkeleton skeleton, string FileName, List <int> NodeArray)
{
int MeshIndex = 0;
foreach (var obj in model.Nodes[0].Nodes)
{
var genericObj = (STGenericObject)obj;
Mesh mesh = new Mesh(genericObj.Text, PrimitiveType.Triangle);
mesh.MaterialIndex = genericObj.MaterialIndex;
List <Vector3D> textureCoords0 = new List <Vector3D>();
List <Vector3D> textureCoords1 = new List <Vector3D>();
List <Vector3D> textureCoords2 = new List <Vector3D>();
List <Color4D> vertexColors = new List <Color4D>();
int vertexID = 0;
foreach (Vertex v in genericObj.vertices)
{
mesh.Vertices.Add(new Vector3D(v.pos.X, v.pos.Y, v.pos.Z));
mesh.Normals.Add(new Vector3D(v.nrm.X, v.nrm.Y, v.nrm.Z));
textureCoords0.Add(new Vector3D(v.uv0.X, v.uv0.Y, 0));
textureCoords1.Add(new Vector3D(v.uv1.X, v.uv1.Y, 0));
textureCoords2.Add(new Vector3D(v.uv2.X, v.uv2.Y, 0));
vertexColors.Add(new Color4D(v.col.X, v.col.Y, v.col.Z, v.col.W));
mesh.TextureCoordinateChannels[0] = textureCoords0;
mesh.TextureCoordinateChannels[1] = textureCoords1;
mesh.TextureCoordinateChannels[2] = textureCoords2;
mesh.VertexColorChannels[0] = vertexColors;
for (int j = 0; j < v.boneIds.Count; j++)
{
if (j < genericObj.VertexSkinCount)
{
//Get the bone via the node array and bone index from the vertex
STBone STbone = skeleton.bones[NodeArray[v.boneIds[j]]];
//Find the index of a bone. If it doesn't exist then we add it
int boneInd = mesh.Bones.FindIndex(x => x.Name == STbone.Text);
if (boneInd == -1)
{
var matrices = Switch_Toolbox.Library.IO.MatrixExenstion.CalculateInverseMatrix(STbone);
//Set the inverse matrix
Matrix4x4 transform = matrices.inverse.FromNumerics();
//Create a new assimp bone
Bone bone = new Bone();
bone.Name = STbone.Text;
bone.OffsetMatrix = transform;
mesh.Bones.Add(bone);
BoneNames.Add(bone.Name);
boneInd = mesh.Bones.IndexOf(bone); //Set the index of the bone for the vertex weight
}
//Check if the max amount of weights is higher than the current bone id
if (v.boneWeights.Count > j)
{
if (v.boneWeights[j] <= 1)
{
mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, v.boneWeights[j]));
}
else
{
mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, 1));
}
}
else
{
mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, 1));
}
}
}
vertexID++;
}
List <int> faces = genericObj.lodMeshes[genericObj.DisplayLODIndex].faces;
for (int f = 0; f < faces.Count; f++)
{
mesh.Faces.Add(new Face(new int[] { faces[f++], faces[f++], faces[f] }));
}
mesh.TextureCoordinateChannels.SetValue(textureCoords0, 0);
scene.Meshes.Add(mesh);
MeshIndex++;
}
Node geomNode = new Node(Path.GetFileNameWithoutExtension(FileName), scene.RootNode);
for (int ob = 0; ob < scene.MeshCount; ob++)
{
geomNode.MeshIndices.Add(ob);
}
scene.RootNode.Children.Add(geomNode);
}