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[Hgengine-cvs] SF.net SVN: hgengine:[538] Mercury2/tools/collada2hgmdl/ColladaConvert.cpp
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From: <cn...@us...> - 2009-09-04 06:11:36
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Revision: 538
http://hgengine.svn.sourceforge.net/hgengine/?rev=538&view=rev
Author: cnlohr
Date: 2009-09-04 06:11:23 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
more progress... The weights are still busted, as though they don't line up to the verts in the model... weird?
Modified Paths:
--------------
Mercury2/tools/collada2hgmdl/ColladaConvert.cpp
Modified: Mercury2/tools/collada2hgmdl/ColladaConvert.cpp
===================================================================
--- Mercury2/tools/collada2hgmdl/ColladaConvert.cpp 2009-09-04 06:09:46 UTC (rev 537)
+++ Mercury2/tools/collada2hgmdl/ColladaConvert.cpp 2009-09-04 06:11:23 UTC (rev 538)
@@ -5,13 +5,25 @@
Model mout;
+#define m00 fd[0]
+#define m01 fd[1]
+#define m02 fd[2]
+
+#define m10 fd[4]
+#define m11 fd[5]
+#define m12 fd[6]
+
+#define m20 fd[8]
+#define m21 fd[9]
+#define m22 fd[10]
+
int FindBone( vector< Bone > & bl, const string & sName )
{
for( unsigned i = 0; i < bl.size(); i++ )
if( bl[i].sName == sName )
return i;
- fprintf( stderr, "Warning: Could not find bone with name \"%s\".", sName.c_str() );
+// fprintf( stderr, "Warning: Could not find bone with name \"%s\".", sName.c_str() );
return -1;
}
@@ -68,7 +80,6 @@
bl[oThis].iParentIndex = oParent;
bl[oThis].iAssociatedMesh = -1;
-
//Setup all children bones.
for( unsigned i = 0; i < tc->children.size(); i++ )
{
@@ -79,15 +90,55 @@
string sMatrix = tc->children[i].payload;
vector< float > fd;
FloatParse( sMatrix, fd );
+
bl[oThis].pJointPos.x = fd[3];
bl[oThis].pJointPos.y = fd[7];
bl[oThis].pJointPos.z = fd[11];
- bl[oThis].qJointRot.w = sqrtf( 1.0 + fd[0] + fd[5] + fd[10] );
- float w4 = ( 4.0 * bl[oThis].qJointRot.w );
- bl[oThis].qJointRot.x = (fd[6] - fd[9]) / w4;
- bl[oThis].qJointRot.y = (fd[8] - fd[2]) / w4;
- bl[oThis].qJointRot.z = (fd[1] - fd[4]) / w4;
+
+//http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
+ float qw, qx, qy, qz;
+ float tr = m00 + m11 + m22;
+
+ if (tr > 0) {
+ float S = sqrt(tr+1.0) * 2; // S=4*qw
+ qw = 0.25 * S;
+ qx = (m21 - m12) / S;
+ qy = (m02 - m20) / S;
+ qz = (m10 - m01) / S;
+ } else if ((m00 > m11)&(m00 > m22)) {
+ float S = sqrt(1.0 + m00 - m11 - m22) * 2; // S=4*qx
+ qw = (m21 - m12) / S;
+ qx = 0.25 * S;
+ qy = (m01 + m10) / S;
+ qz = (m02 + m20) / S;
+ } else if (m11 > m22) {
+ float S = sqrt(1.0 + m11 - m00 - m22) * 2; // S=4*qy
+ qw = (m02 - m20) / S;
+ qx = (m01 + m10) / S;
+ qy = 0.25 * S;
+ qz = (m12 + m21) / S;
+ } else {
+ float S = sqrt(1.0 + m22 - m00 - m11) * 2; // S=4*qz
+ qw = (m10 - m01) / S;
+ qx = (m02 + m20) / S;
+ qy = (m12 + m21) / S;
+ qz = 0.25 * S;
+ }
+
+ bl[oThis].qJointRot.w = qw;
+ bl[oThis].qJointRot.x = qx;
+ bl[oThis].qJointRot.y = qy;
+ bl[oThis].qJointRot.z = qz;
+
+// for( unsigned i = 0; i < 4; i++ )
+// printf( "%f %f %f %f\n", fd[i*4+0], fd[i*4+1], fd[i*4+2], fd[i*4+3] );
+//
+// printf( "Bone: %s : %f %f %f %f %f %f %f\n",
+// tc->leaves["name"].c_str(), bl[oThis].pJointPos.x,
+// bl[oThis].pJointPos.y, bl[oThis].pJointPos.z,
+// bl[oThis].qJointRot.w, bl[oThis].qJointRot.x,
+// bl[oThis].qJointRot.y, bl[oThis].qJointRot.z );
}
}
}
@@ -384,7 +435,7 @@
if( lcontrol != -1 )
{
XMLCog & skin = c.children[lcontrol].children[0].children[0];
- XMLCog & lv = c.children[lvscenes].children[0].children[0];
+ XMLCog & lv = c.children[lvscenes].children[0];
//Setup all the bones now...
//Enumerate All Bones
@@ -418,7 +469,7 @@
printf( "Bones found: %d\n", bl.size() );
- for( unsigned i = 0; i < lv.children.size(); i++ )
+ for( unsigned i = 0; i < lv.children.size(); i++ )
{
if( lv.children[i].data == "node" && lv.children[i].leaves["type"] == "JOINT" )
{
@@ -426,7 +477,8 @@
}
}
- map< string, vector< int > > sources;
+ map< string, vector< float > > sources;
+ string sTransforms = "";
for( unsigned i = 0; i < skin.children.size(); i++ )
{
@@ -454,10 +506,70 @@
}
}
}
+ if( sid.data == "technique_common" )
+ {
+ string sPName = sid.children[0].children[0].leaves["name"];
+ if( sPName == "TRANSFORM" )
+ {
+ sTransforms = sName;
+ }
+ }
}
}
}
+/*
+ //Try setting up bones here...
+ if( sources[sTransforms].size() == 0 )
+ {
+ fprintf( stderr, "Error: You do not appear to have any bone matrices that are valid.\n" );
+ exit( -3 );
+ }
+ for( unsigned i = 0; i < bl.size(); i++ )
+ {
+ float * fd = &sources[sTransforms][i*16];
+ Bone & tk = bl[i];
+
+ tk.pJointPos.x = fd[3];
+ tk.pJointPos.y = fd[7];
+ tk.pJointPos.z = fd[11];
+
+ float qw, qx, qy, qz;
+ float tr = m00 + m11 + m22;
+
+ if (tr > 0) {
+ float S = sqrt(tr+1.0) * 2; // S=4*qw
+ qw = 0.25 * S;
+ qx = (m21 - m12) / S;
+ qy = (m02 - m20) / S;
+ qz = (m10 - m01) / S;
+ } else if ((m00 > m11)&(m00 > m22)) {
+ float S = sqrt(1.0 + m00 - m11 - m22) * 2; // S=4*qx
+ qw = (m21 - m12) / S;
+ qx = 0.25 * S;
+ qy = (m01 + m10) / S;
+ qz = (m02 + m20) / S;
+ } else if (m11 > m22) {
+ float S = sqrt(1.0 + m11 - m00 - m22) * 2; // S=4*qy
+ qw = (m02 - m20) / S;
+ qx = (m01 + m10) / S;
+ qy = 0.25 * S;
+ qz = (m12 + m21) / S;
+ } else {
+ float S = sqrt(1.0 + m22 - m00 - m11) * 2; // S=4*qz
+ qw = (m10 - m01) / S;
+ qx = (m02 + m20) / S;
+ qy = (m12 + m21) / S;
+ qz = 0.25 * S;
+ }
+
+ tk.qJointRot.w = qw;
+ tk.qJointRot.x = qx;
+ tk.qJointRot.y = qy;
+ tk.qJointRot.z = qz;
+ }
+*/
+
//Sources is now filled out, go find the vertex weight
for( unsigned i = 0; i < skin.children.size(); i++ )
{
@@ -505,7 +617,7 @@
if( vcount[iCurVertex] < iTC )
{
iCurVertex++;
- iTC = 0;
+ iTC = 1;
}
int iJoint = vs[i*2+jido];
@@ -521,6 +633,7 @@
bl[iJoint].vAssignments[bl[iJoint].vAssignments.size()-1].iMesh = 0;
bl[iJoint].vAssignments[bl[iJoint].vAssignments.size()-1].iVertex = iCurVertex;
bl[iJoint].vAssignments[bl[iJoint].vAssignments.size()-1].fWeight = sources[wid][iWeight];
+ printf( "(%d) %s - %d %f\n", iCurVertex, bl[iJoint].sName.c_str(), iJoint, sources[wid][iWeight] );
}
}
}
@@ -551,17 +664,20 @@
sAnimation += bt.leaves["id"].c_str()[i];
}
- printf( "Animation: %s : ", sAnimation.c_str() );
- if( FindBone( bl, sAnimation ) == -1 )
+ int boneid = 0;
+// printf( "Animation: %s : ", sAnimation.c_str() );
+ if( ( boneid = FindBone( bl, sAnimation ) ) == -1 )
{
- printf( "Ignore.\n" );
+// printf( "Ignore.\n" );
continue;
}
else
{
- printf( "Use.\n" );
+// printf( "Use.\n" );
}
+ Bone & sourcebone = bl[boneid];
+
for( unsigned i = 0; i < bt.children.size(); i++ )
{
XMLCog & dt = bt.children[i];
@@ -589,23 +705,65 @@
vector< AnimationKey > & k = mKeys[sAnimation];
int keys = mvVals["TIME"].size();
k.resize( keys );
+
for( unsigned i = 0; i < keys; i++ )
{
- if( mvVals["TIME"][i] > fMaxTime )
- fMaxTime = mvVals["TIME"][i];
- float * fd = &mvVals["TRANSFORM"][i*12];
+ float * fd = &mvVals["TRANSFORM"][i*16];
AnimationKey & tk = k[i];
-
- tk.pPos.x = fd[3];
- tk.pPos.y = fd[7];
- tk.pPos.z = fd[11];
-
- tk.qRot.w = sqrtf( 1.0 + fd[0] + fd[5] + fd[10] );
- float w4 = ( 4.0 * tk.qRot.w );
- tk.qRot.x = (fd[6] - fd[9]) / w4;
- tk.qRot.y = (fd[8] - fd[2]) / w4;
- tk.qRot.z = (fd[1] - fd[4]) / w4;
- tk.fTime = mvVals["TIME"][i];
+
+ tk.pPos.x = fd[3] - sourcebone.pJointPos.x;
+ tk.pPos.y = fd[7] - sourcebone.pJointPos.y;
+ tk.pPos.z = fd[11] - sourcebone.pJointPos.z;
+
+ float qw, qx, qy, qz;
+ float tr = m00 + m11 + m22;
+
+ if (tr > 0) {
+ float S = sqrt(tr+1.0) * 2; // S=4*qw
+ qw = 0.25 * S;
+ qx = (m21 - m12) / S;
+ qy = (m02 - m20) / S;
+ qz = (m10 - m01) / S;
+ } else if ((m00 > m11)&(m00 > m22)) {
+ float S = sqrt(1.0 + m00 - m11 - m22) * 2; // S=4*qx
+ qw = (m21 - m12) / S;
+ qx = 0.25 * S;
+ qy = (m01 + m10) / S;
+ qz = (m02 + m20) / S;
+ } else if (m11 > m22) {
+ float S = sqrt(1.0 + m11 - m00 - m22) * 2; // S=4*qy
+ qw = (m02 - m20) / S;
+ qx = (m01 + m10) / S;
+ qy = 0.25 * S;
+ qz = (m12 + m21) / S;
+ } else {
+ float S = sqrt(1.0 + m22 - m00 - m11) * 2; // S=4*qz
+ qw = (m10 - m01) / S;
+ qx = (m02 + m20) / S;
+ qy = (m12 + m21) / S;
+ qz = 0.25 * S;
+ }
+
+ tk.qRot.w = qw;
+ tk.qRot.x = qx;
+ tk.qRot.y = qy;
+ tk.qRot.z = qz;
+
+ //We actually need to un-rotate tk around the original axis...
+// printf( "QOrig: %f %f %f %f\n", qw, qx, qy, qz );
+// printf( "QBone: %f %f %f %f\n", sourcebone.qJointRot.w, sourcebone.qJointRot.x, sourcebone.qJointRot.y, sourcebone.qJointRot.z );
+
+ MQuaternion tdiff = sourcebone.qJointRot.reciprocal();//SLERP( norotation, sourcebone.qJointRot, -1. );
+
+ tk.qRot = tdiff * tk.qRot;
+
+// printf( "QFinl: %f %f %f %f\n", tk.qRot.w, tk.qRot.x, tk.qRot.y, tk.qRot.z );
+
+ tk.fTime = mvVals["TIME"][i]*10.;
+
+ if( tk.fTime > fMaxTime )
+ fMaxTime = tk.fTime;
+
}
}
}
@@ -634,6 +792,14 @@
}
printf( "Animations found, animations are %f long.\n", fMaxTime );
}
+
+ //Move bones around...
+ bl[0].pJointPos.x+=0;
+ bl[0].pJointPos.y+=-13.5;
+ bl[0].pJointPos.z+=0;
+
+ for( unsigned i = 0; i < bl.size(); i++ )
+ printf( ": %s\n", bl[i].sName.c_str() );
}
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