| 1 | //! CPU skeleton sampling and orbit camera for the live glTF preview. |
| 2 | //! |
| 3 | //! This is not the paperdoll export. The export camera is orthographic and |
| 4 | //! still out of scope. The interactive camera can snap to the same five |
| 5 | //! pitches and twelve yaws. The character forward axis of the test bodies is -Z, |
| 6 | //! so yaw 0 places the camera on -Z, looking at the body. |
| 7 | |
| 8 | use std::path::Path; |
| 9 | |
| 10 | pub const PAPERDOLL_PITCHES_DEG: [f32; 5] = [-60.0, -30.0, 0.0, 30.0, 60.0]; |
| 11 | /// Production pitches in integer degrees, atlas column order (t955u). |
| 12 | pub const PRODUCTION_PITCHES: [i32; 5] = [-60, -30, 0, 30, 60]; |
| 13 | /// Production views per sample: five pitches × twelve yaws. |
| 14 | pub const PRODUCTION_VIEWS: u32 = 60; |
| 15 | pub const PAPERDOLL_YAW_COUNT: usize = 12; |
| 16 | pub const MAX_JOINTS: usize = 128; |
| 17 | |
| 18 | pub type Mat4 = [f32; 16]; |
| 19 | |
| 20 | #[derive(Debug, Clone, Copy, PartialEq, Eq)] |
| 21 | pub enum PreviewSex { |
| 22 | Male, |
| 23 | Female, |
| 24 | } |
| 25 | |
| 26 | #[derive(Debug, Clone)] |
| 27 | pub struct PreviewControls { |
| 28 | pub sex: PreviewSex, |
| 29 | pub clip_name: String, |
| 30 | pub time: f32, |
| 31 | pub playing: bool, |
| 32 | pub yaw_deg: f32, |
| 33 | pub pitch_deg: f32, |
| 34 | pub distance: f32, |
| 35 | } |
| 36 | |
| 37 | impl Default for PreviewControls { |
| 38 | fn default() -> Self { |
| 39 | Self { |
| 40 | sex: PreviewSex::Male, |
| 41 | clip_name: "walk".to_string(), |
| 42 | time: 0.0, |
| 43 | playing: true, |
| 44 | yaw_deg: 0.0, |
| 45 | pitch_deg: 0.0, |
| 46 | distance: 3.4, |
| 47 | } |
| 48 | } |
| 49 | } |
| 50 | |
| 51 | impl PreviewControls { |
| 52 | pub fn drag(&mut self, dx_px: f32, dy_px: f32) { |
| 53 | self.yaw_deg = wrap_deg(self.yaw_deg - dx_px * 0.45); |
| 54 | self.pitch_deg = (self.pitch_deg + dy_px * 0.35).clamp(-80.0, 80.0); |
| 55 | } |
| 56 | |
| 57 | pub fn zoom(&mut self, scroll_y: f32) { |
| 58 | let factor = (-scroll_y * 0.0015).exp(); |
| 59 | self.distance = (self.distance * factor).clamp(0.8, 12.0); |
| 60 | } |
| 61 | |
| 62 | pub fn snap_yaw_index(&mut self, index: i32) { |
| 63 | let wrapped = index.rem_euclid(PAPERDOLL_YAW_COUNT as i32) as f32; |
| 64 | self.yaw_deg = wrapped * 30.0; |
| 65 | } |
| 66 | |
| 67 | pub fn snap_pitch_row(&mut self, row: i32) { |
| 68 | let row = row.clamp(0, PAPERDOLL_PITCHES_DEG.len() as i32 - 1) as usize; |
| 69 | self.pitch_deg = PAPERDOLL_PITCHES_DEG[row]; |
| 70 | } |
| 71 | |
| 72 | pub fn advance(&mut self, dt: f32, duration: f32) { |
| 73 | if self.playing && duration > 0.0 { |
| 74 | self.time = wrap_time(self.time + dt, duration); |
| 75 | } |
| 76 | } |
| 77 | |
| 78 | pub fn select_clip(&mut self, name: &str) { |
| 79 | if self.clip_name != name { |
| 80 | self.clip_name = name.to_string(); |
| 81 | self.time = 0.0; |
| 82 | } |
| 83 | } |
| 84 | } |
| 85 | |
| 86 | #[derive(Debug, Clone)] |
| 87 | pub struct PreviewCharacter { |
| 88 | pub nodes: Vec<SceneNode>, |
| 89 | pub joint_nodes: Vec<usize>, |
| 90 | pub joint_names: Vec<String>, |
| 91 | pub inverse_binds: Vec<Mat4>, |
| 92 | pub positions: Vec<[f32; 3]>, |
| 93 | pub normals: Vec<[f32; 3]>, |
| 94 | /// A placement-only fallback must never masquerade as a production normal map. |
| 95 | pub source_normals_complete: bool, |
| 96 | pub joints: Vec<[u16; 4]>, |
| 97 | pub weights: Vec<[f32; 4]>, |
| 98 | pub indices: Vec<u32>, |
| 99 | pub base_color: [f32; 4], |
| 100 | pub colors: Vec<[f32; 4]>, |
| 101 | pub uvs: Vec<[f32; 2]>, |
| 102 | pub surfaces: Vec<BodySurface>, |
| 103 | pub clips: Vec<PreviewClip>, |
| 104 | /// Skinned (skeleton + clips) or static geometry without a skeleton. |
| 105 | pub rig: BodyRig, |
| 106 | } |
| 107 | |
| 108 | /// Whether a body has a real skin. A static body keeps an empty skeleton and |
| 109 | /// no clips; it is drawn in its stored (bind/static) pose and the production |
| 110 | /// batch renders the single `clip000-bind` sample. Nothing invents bones. |
| 111 | #[derive(Debug, Clone, PartialEq, Eq, Default)] |
| 112 | pub enum BodyRig { |
| 113 | #[default] |
| 114 | Skinned, |
| 115 | Static { |
| 116 | /// Source format label, e.g. `OBJ`, `glTF`, `FBX`. |
| 117 | format: String, |
| 118 | /// Human-readable (Dutch) explanation shown in the editor. |
| 119 | reason: String, |
| 120 | }, |
| 121 | } |
| 122 | |
| 123 | impl PreviewCharacter { |
| 124 | /// True when the body has no skin: no bones, no clips, static pose only. |
| 125 | pub fn is_static(&self) -> bool { |
| 126 | matches!(self.rig, BodyRig::Static { .. }) |
| 127 | } |
| 128 | /// Editor explanation for a static body; `None` for a skinned body. |
| 129 | pub fn static_reason(&self) -> Option<&str> { |
| 130 | match &self.rig { |
| 131 | BodyRig::Static { reason, .. } => Some(reason), |
| 132 | BodyRig::Skinned => None, |
| 133 | } |
| 134 | } |
| 135 | } |
| 136 | |
| 137 | #[derive(Debug, Clone)] |
| 138 | pub struct BodySurface { |
| 139 | pub first: usize, |
| 140 | pub count: usize, |
| 141 | pub color: [f32; 4], |
| 142 | pub albedo: Option<std::sync::Arc<crate::equipment::Texture>>, |
| 143 | pub cutoff: f32, |
| 144 | pub flat_normals: bool, |
| 145 | } |
| 146 | |
| 147 | #[derive(Debug, Clone)] |
| 148 | pub struct SceneNode { |
| 149 | pub name: String, |
| 150 | pub parent: Option<usize>, |
| 151 | pub translation: [f32; 3], |
| 152 | pub rotation: [f32; 4], |
| 153 | pub scale: [f32; 3], |
| 154 | } |
| 155 | |
| 156 | #[derive(Debug, Clone)] |
| 157 | pub struct PreviewClip { |
| 158 | pub name: String, |
| 159 | pub duration: f32, |
| 160 | pub channels: Vec<AnimChannel>, |
| 161 | /// Source channels not applied, with the reason (e.g. morph weights). |
| 162 | pub skipped: Vec<String>, |
| 163 | } |
| 164 | |
| 165 | /// Keyframe interpolation as stored in the source (glTF sampler). |
| 166 | #[derive(Debug, Clone, Copy, PartialEq, Eq, Default)] |
| 167 | pub enum Interpolation { |
| 168 | #[default] |
| 169 | Linear, |
| 170 | Step, |
| 171 | /// Hermite spline; `values` holds (in-tangent, value, out-tangent) per key. |
| 172 | CubicSpline, |
| 173 | } |
| 174 | |
| 175 | #[derive(Debug, Clone, Copy, PartialEq, Eq)] |
| 176 | pub enum ChannelProperty { |
| 177 | Translation, |
| 178 | Rotation, |
| 179 | Scale, |
| 180 | } |
| 181 | |
| 182 | #[derive(Debug, Clone)] |
| 183 | pub struct AnimChannel { |
| 184 | pub node: usize, |
| 185 | pub property: ChannelProperty, |
| 186 | pub times: Vec<f32>, |
| 187 | pub values: Vec<f32>, |
| 188 | pub interpolation: Interpolation, |
| 189 | } |
| 190 | |
| 191 | impl ChannelProperty { |
| 192 | pub fn width(self) -> usize { |
| 193 | match self { |
| 194 | Self::Rotation => 4, |
| 195 | _ => 3, |
| 196 | } |
| 197 | } |
| 198 | } |
| 199 | |
| 200 | impl AnimChannel { |
| 201 | /// Times finite and non-decreasing; one value (or tangent triple) per key, finite. |
| 202 | pub fn validate(&self) -> Result<(), String> { |
| 203 | if self.times.is_empty() { |
| 204 | return Err("kanaal zonder keyframes".into()); |
| 205 | } |
| 206 | if self.times.iter().any(|t| !t.is_finite() || *t < 0.) |
| 207 | || self.times.windows(2).any(|w| w[1] < w[0]) |
| 208 | { |
| 209 | return Err("keyframetijden niet eindig of niet oplopend".into()); |
| 210 | } |
| 211 | let per_key = self.property.width() |
| 212 | * if self.interpolation == Interpolation::CubicSpline { |
| 213 | 3 |
| 214 | } else { |
| 215 | 1 |
| 216 | }; |
| 217 | if self.values.len() != self.times.len() * per_key { |
| 218 | return Err(format!( |
| 219 | "{} waarden voor {} keyframes (verwacht {per_key} per key)", |
| 220 | self.values.len(), |
| 221 | self.times.len() |
| 222 | )); |
| 223 | } |
| 224 | if self.values.iter().any(|v| !v.is_finite()) { |
| 225 | return Err("niet-eindige keyframewaarde".into()); |
| 226 | } |
| 227 | Ok(()) |
| 228 | } |
| 229 | |
| 230 | fn value(&self, key: usize, part: usize) -> &[f32] { |
| 231 | let w = self.property.width(); |
| 232 | let index = if self.interpolation == Interpolation::CubicSpline { |
| 233 | key * 3 + part |
| 234 | } else { |
| 235 | key |
| 236 | }; |
| 237 | &self.values[index * w..index * w + w] |
| 238 | } |
| 239 | |
| 240 | /// Sampled value at `time` (clamped to the first/last key). |
| 241 | pub fn sample(&self, time: f32) -> Vec<f32> { |
| 242 | let (left, right, blend) = key_blend(&self.times, time); |
| 243 | let w = self.property.width(); |
| 244 | let a = self.value(left, 1); |
| 245 | if left == right || self.interpolation == Interpolation::Step { |
| 246 | return a.to_vec(); |
| 247 | } |
| 248 | let b = self.value(right, 1); |
| 249 | match self.interpolation { |
| 250 | Interpolation::Step => a.to_vec(), |
| 251 | Interpolation::Linear => { |
| 252 | if self.property == ChannelProperty::Rotation { |
| 253 | let q = slerp([a[0], a[1], a[2], a[3]], [b[0], b[1], b[2], b[3]], blend); |
| 254 | q.to_vec() |
| 255 | } else { |
| 256 | (0..w).map(|i| a[i] + (b[i] - a[i]) * blend).collect() |
| 257 | } |
| 258 | } |
| 259 | Interpolation::CubicSpline => { |
| 260 | let dt = self.times[right] - self.times[left]; |
| 261 | let out_a = self.value(left, 2); |
| 262 | let in_b = self.value(right, 0); |
| 263 | let t = blend; |
| 264 | let (t2, t3) = (t * t, t * t * t); |
| 265 | let h00 = 2. * t3 - 3. * t2 + 1.; |
| 266 | let h10 = t3 - 2. * t2 + t; |
| 267 | let h01 = -2. * t3 + 3. * t2; |
| 268 | let h11 = t3 - t2; |
| 269 | let v: Vec<f32> = (0..w) |
| 270 | .map(|i| h00 * a[i] + h10 * dt * out_a[i] + h01 * b[i] + h11 * dt * in_b[i]) |
| 271 | .collect(); |
| 272 | if self.property == ChannelProperty::Rotation { |
| 273 | normalize4([v[0], v[1], v[2], v[3]]).to_vec() |
| 274 | } else { |
| 275 | v |
| 276 | } |
| 277 | } |
| 278 | } |
| 279 | } |
| 280 | } |
| 281 | |
| 282 | /// Clip for a requested name: exact match first, then the first clip whose |
| 283 | /// name contains it (case-insensitive), so "walk" never picks "walk_fast" |
| 284 | /// when "walk" exists. |
| 285 | pub fn find_clip<'a>(clips: &'a [PreviewClip], name: &str) -> Option<&'a PreviewClip> { |
| 286 | clips.iter().find(|c| c.name == name).or_else(|| { |
| 287 | let lower = name.to_lowercase(); |
| 288 | clips |
| 289 | .iter() |
| 290 | .find(|c| c.name.to_lowercase().contains(&lower)) |
| 291 | }) |
| 292 | } |
| 293 | |
| 294 | /// Whether a body model path is drawable by the live viewport and production batch. |
| 295 | pub fn is_drawable_body(path: &Path) -> bool { |
| 296 | matches!( |
| 297 | path.extension() |
| 298 | .and_then(|e| e.to_str()) |
| 299 | .map(|e| e.to_ascii_lowercase()) |
| 300 | .as_deref(), |
| 301 | Some("gltf" | "glb" | "fbx" | "obj") |
| 302 | ) |
| 303 | } |
| 304 | |
| 305 | /// Load a body for the live viewport and the production batch. |
| 306 | /// glTF/GLB use the glTF reader; FBX goes through the normalized |
| 307 | /// `fbx_scene` loader (axis/unit conversion is applied there exactly once). |
| 308 | /// Bodies without a skin (OBJ+MTL, glTF without `skins`, FBX without a skin |
| 309 | /// deformer) load as [`BodyRig::Static`]: geometry in its stored pose, no |
| 310 | /// skeleton and no clips. |
| 311 | pub fn load_body_file(path: &Path) -> Result<PreviewCharacter, String> { |
| 312 | match path |
| 313 | .extension() |
| 314 | .and_then(|e| e.to_str()) |
| 315 | .map(|e| e.to_ascii_lowercase()) |
| 316 | .as_deref() |
| 317 | { |
| 318 | Some("gltf" | "glb") => load_gltf_file(path), |
| 319 | Some("fbx") => match crate::fbx_scene::load_fbx_drawable(path) { |
| 320 | Ok(scene) => Ok(scene.character), |
| 321 | Err(error) if error == crate::fbx_scene::NO_SKINNED_MESH => load_static_rigid( |
| 322 | path, |
| 323 | "FBX", |
| 324 | "FBX zonder skin: statische rustpose, geen skeleton of animaties", |
| 325 | ), |
| 326 | Err(error) => Err(error), |
| 327 | }, |
| 328 | Some("obj") => load_static_rigid( |
| 329 | path, |
| 330 | "OBJ", |
| 331 | "OBJ heeft geen skeleton of animaties: statische pose", |
| 332 | ), |
| 333 | _ => Err(format!( |
| 334 | "{} is geen tekenbaar lichaam; gebruik .glb, .gltf, .fbx of .obj", |
| 335 | path.display() |
| 336 | )), |
| 337 | } |
| 338 | } |
| 339 | |
| 340 | /// Static OBJ/FBX body through the same rigid reader as equipment |
| 341 | /// (`equipment::import_obj`/`import_fbx`): OBJ is used as stored, FBX gets |
| 342 | /// the ufbx axis/unit/geometry-transform normalization once, there. The only |
| 343 | /// conversion here is the UV origin (bottom-left in OBJ/FBX, top-left in |
| 344 | /// `PreviewCharacter`), done exactly once. |
| 345 | fn load_static_rigid(path: &Path, format: &str, reason: &str) -> Result<PreviewCharacter, String> { |
| 346 | let mut preset = crate::equipment::Preset::new("static-body".into()); |
| 347 | let part = match format { |
| 348 | "OBJ" => crate::equipment::import_obj_limited( |
| 349 | &mut preset, |
| 350 | path, |
| 351 | crate::equipment::MAX_STATIC_BODY_VERTICES, |
| 352 | ), |
| 353 | _ => crate::equipment::import_fbx_limited( |
| 354 | &mut preset, |
| 355 | path, |
| 356 | crate::equipment::MAX_STATIC_BODY_VERTICES, |
| 357 | ), |
| 358 | } |
| 359 | .map_err(|error| format!("statisch {format}-lichaam: {error}"))?; |
| 360 | let mut cache = crate::equipment::TextureCache::default(); |
| 361 | let mut acc = StaticAcc::default(); |
| 362 | for mesh in &preset.attachments[part].meshes { |
| 363 | let albedo = mesh |
| 364 | .albedo |
| 365 | .map(|index| cache.get(&preset, index)) |
| 366 | .transpose()?; |
| 367 | let uvs: Vec<[f32; 2]> = mesh.uvs.iter().map(|[u, v]| [*u, 1. - *v]).collect(); |
| 368 | acc.push( |
| 369 | &mesh.positions, |
| 370 | &mesh.normals, |
| 371 | &uvs, |
| 372 | None, |
| 373 | &mesh.indices, |
| 374 | mesh.color, |
| 375 | albedo, |
| 376 | 0.001, |
| 377 | false, |
| 378 | )?; |
| 379 | } |
| 380 | acc.finish(format, reason.to_string()) |
| 381 | } |
| 382 | |
| 383 | /// Accumulates static-body primitives into one `PreviewCharacter` mesh. |
| 384 | #[derive(Default)] |
| 385 | struct StaticAcc { |
| 386 | positions: Vec<[f32; 3]>, |
| 387 | normals: Vec<[f32; 3]>, |
| 388 | uvs: Vec<[f32; 2]>, |
| 389 | colors: Vec<[f32; 4]>, |
| 390 | indices: Vec<u32>, |
| 391 | surfaces: Vec<BodySurface>, |
| 392 | normals_complete: bool, |
| 393 | any: bool, |
| 394 | } |
| 395 | |
| 396 | impl StaticAcc { |
| 397 | #[allow(clippy::too_many_arguments)] |
| 398 | fn push( |
| 399 | &mut self, |
| 400 | positions: &[[f32; 3]], |
| 401 | normals: &[[f32; 3]], |
| 402 | uvs: &[[f32; 2]], |
| 403 | colors: Option<&[[f32; 4]]>, |
| 404 | indices: &[u32], |
| 405 | color: [f32; 4], |
| 406 | albedo: Option<std::sync::Arc<crate::equipment::Texture>>, |
| 407 | cutoff: f32, |
| 408 | flat_normals: bool, |
| 409 | ) -> Result<(), String> { |
| 410 | if positions.is_empty() || indices.len() < 3 { |
| 411 | return Ok(()); |
| 412 | } |
| 413 | if !indices.len().is_multiple_of(3) |
| 414 | || indices.iter().any(|i| *i as usize >= positions.len()) |
| 415 | { |
| 416 | return Err("statisch lichaam: ongeldige driehoeksindices".into()); |
| 417 | } |
| 418 | if positions |
| 419 | .iter() |
| 420 | .chain(normals.iter()) |
| 421 | .any(|v| v.iter().any(|x| !x.is_finite())) |
| 422 | { |
| 423 | return Err("statisch lichaam: niet-eindige posities of normalen".into()); |
| 424 | } |
| 425 | let total = self.positions.len() + positions.len(); |
| 426 | if total > crate::equipment::MAX_STATIC_BODY_VERTICES { |
| 427 | return Err("statisch lichaam heeft te veel vertices".into()); |
| 428 | } |
| 429 | if !self.any { |
| 430 | self.normals_complete = true; |
| 431 | self.any = true; |
| 432 | } |
| 433 | self.normals_complete &= !flat_normals && normals.len() == positions.len(); |
| 434 | let base = self.positions.len() as u32; |
| 435 | let first = self.indices.len(); |
| 436 | self.indices.extend(indices.iter().map(|i| i + base)); |
| 437 | self.positions.extend_from_slice(positions); |
| 438 | for i in 0..positions.len() { |
| 439 | self.normals |
| 440 | .push(normals.get(i).copied().unwrap_or([0., 1., 0.])); |
| 441 | self.uvs.push(uvs.get(i).copied().unwrap_or([0., 0.])); |
| 442 | self.colors |
| 443 | .push(colors.and_then(|c| c.get(i).copied()).unwrap_or([1.; 4])); |
| 444 | } |
| 445 | self.surfaces.push(BodySurface { |
| 446 | first, |
| 447 | count: self.indices.len() - first, |
| 448 | color, |
| 449 | albedo, |
| 450 | cutoff, |
| 451 | flat_normals, |
| 452 | }); |
| 453 | Ok(()) |
| 454 | } |
| 455 | |
| 456 | fn finish(self, format: &str, reason: String) -> Result<PreviewCharacter, String> { |
| 457 | if self.positions.is_empty() || self.indices.len() < 3 { |
| 458 | return Err(format!( |
| 459 | "statisch {format}-lichaam heeft geen tekenbare driehoeken" |
| 460 | )); |
| 461 | } |
| 462 | let count = self.positions.len(); |
| 463 | Ok(PreviewCharacter { |
| 464 | nodes: Vec::new(), |
| 465 | joint_nodes: Vec::new(), |
| 466 | joint_names: Vec::new(), |
| 467 | inverse_binds: Vec::new(), |
| 468 | positions: self.positions, |
| 469 | normals: self.normals, |
| 470 | source_normals_complete: self.normals_complete, |
| 471 | // Weight 1 on slot 0 with no bones: every skinning path resolves |
| 472 | // to identity (empty bone list), i.e. the stored pose. |
| 473 | joints: vec![[0; 4]; count], |
| 474 | weights: vec![[1., 0., 0., 0.]; count], |
| 475 | indices: self.indices, |
| 476 | base_color: self |
| 477 | .surfaces |
| 478 | .first() |
| 479 | .map(|s| s.color) |
| 480 | .unwrap_or([0.7, 0.7, 0.75, 1.0]), |
| 481 | colors: self.colors, |
| 482 | uvs: self.uvs, |
| 483 | surfaces: self.surfaces, |
| 484 | clips: Vec::new(), |
| 485 | rig: BodyRig::Static { |
| 486 | format: format.to_string(), |
| 487 | reason, |
| 488 | }, |
| 489 | }) |
| 490 | } |
| 491 | } |
| 492 | |
| 493 | pub fn load_gltf_file(path: &Path) -> Result<PreviewCharacter, String> { |
| 494 | // The gltf crate can panic on some malformed documents; that must stay a |
| 495 | // recoverable load error for the editor and batch. |
| 496 | std::panic::catch_unwind(|| load_gltf_file_unguarded(path)) |
| 497 | .unwrap_or_else(|_| Err("ongeldig glTF-bestand (parser weigerde het document)".into())) |
| 498 | } |
| 499 | |
| 500 | /// `gltf::import` with parser panics turned into an error. |
| 501 | pub fn gltf_import_guarded( |
| 502 | path: &Path, |
| 503 | ) -> Result< |
| 504 | ( |
| 505 | gltf::Document, |
| 506 | Vec<gltf::buffer::Data>, |
| 507 | Vec<gltf::image::Data>, |
| 508 | ), |
| 509 | String, |
| 510 | > { |
| 511 | std::panic::catch_unwind(|| gltf::import(path)) |
| 512 | .map_err(|_| "ongeldig glTF-bestand (parser weigerde het document)".to_string())? |
| 513 | .map_err(|err| err.to_string()) |
| 514 | } |
| 515 | |
| 516 | fn load_gltf_file_unguarded(path: &Path) -> Result<PreviewCharacter, String> { |
| 517 | let (document, buffers, images) = gltf::import(path).map_err(|err| err.to_string())?; |
| 518 | let mut nodes = Vec::new(); |
| 519 | let mut parents = vec![None; document.nodes().len()]; |
| 520 | for node in document.nodes() { |
| 521 | for child in node.children() { |
| 522 | parents[child.index()] = Some(node.index()); |
| 523 | } |
| 524 | } |
| 525 | for node in document.nodes() { |
| 526 | let (translation, rotation, scale) = node.transform().decomposed(); |
| 527 | nodes.push(SceneNode { |
| 528 | name: node.name().unwrap_or("").to_string(), |
| 529 | parent: parents[node.index()], |
| 530 | translation, |
| 531 | rotation, |
| 532 | scale, |
| 533 | }); |
| 534 | } |
| 535 | let Some(skin) = document.skins().next() else { |
| 536 | return load_static_gltf(&document, &buffers, &images, &nodes); |
| 537 | }; |
| 538 | if skin.joints().len() > MAX_JOINTS { |
| 539 | return Err(format!( |
| 540 | "het skeleton heeft {} joints; de preview stopt bij {MAX_JOINTS}", |
| 541 | skin.joints().len() |
| 542 | )); |
| 543 | } |
| 544 | // Union of all skins' joints (first skin first); every skinned mesh node |
| 545 | // is remapped onto it, so multi-mesh / multi-skin bodies draw completely. |
| 546 | let mut joint_nodes: Vec<usize> = Vec::new(); |
| 547 | let mut inverse_binds: Vec<Mat4> = Vec::new(); |
| 548 | let mut skin_maps: Vec<Vec<u16>> = Vec::new(); |
| 549 | for s in document.skins() { |
| 550 | let reader = s.reader(|buffer| Some(buffers[buffer.index()].as_ref())); |
| 551 | let binds: Vec<Mat4> = reader |
| 552 | .read_inverse_bind_matrices() |
| 553 | .map(|iter| iter.map(columns_to_mat).collect()) |
| 554 | .unwrap_or_else(|| vec![identity(); s.joints().len()]); |
| 555 | if binds.len() != s.joints().len() { |
| 556 | return Err("inverse-bindmatrices en joints verschillen".to_string()); |
| 557 | } |
| 558 | let mut map = Vec::new(); |
| 559 | for (joint, bind) in s.joints().zip(binds) { |
| 560 | let index = match joint_nodes.iter().position(|n| *n == joint.index()) { |
| 561 | Some(i) => i, |
| 562 | None => { |
| 563 | joint_nodes.push(joint.index()); |
| 564 | inverse_binds.push(bind); |
| 565 | joint_nodes.len() - 1 |
| 566 | } |
| 567 | }; |
| 568 | map.push(index as u16); |
| 569 | } |
| 570 | skin_maps.push(map); |
| 571 | } |
| 572 | if joint_nodes.len() > MAX_JOINTS { |
| 573 | return Err(format!( |
| 574 | "het skeleton heeft {} joints; de preview stopt bij {MAX_JOINTS}", |
| 575 | joint_nodes.len() |
| 576 | )); |
| 577 | } |
| 578 | let joint_names: Vec<String> = joint_nodes |
| 579 | .iter() |
| 580 | .map(|index| nodes[*index].name.clone()) |
| 581 | .collect(); |
| 582 | let rest_locals: Vec<Mat4> = nodes |
| 583 | .iter() |
| 584 | .map(|n| trs(n.translation, n.rotation, n.scale)) |
| 585 | .collect(); |
| 586 | let rest_world = world_matrices(&nodes, &rest_locals); |
| 587 | let mut positions = Vec::new(); |
| 588 | let mut normals = Vec::new(); |
| 589 | let mut source_normals_complete = true; |
| 590 | let mut joints = Vec::new(); |
| 591 | let mut weights = Vec::new(); |
| 592 | let mut indices = Vec::new(); |
| 593 | let mut base_color = [0.7, 0.7, 0.75, 1.0]; |
| 594 | let mut colors = Vec::new(); |
| 595 | let mut uvs = Vec::new(); |
| 596 | let mut surfaces = Vec::new(); |
| 597 | for node in document.nodes() { |
| 598 | let Some(mesh) = node.mesh() else { continue }; |
| 599 | // Skinned: vertices are in skin space, joints remapped onto the union. |
| 600 | // Rigid (no skin): follows its nearest joint ancestor (or the first |
| 601 | // root joint), with the rest-pose node transform baked in once. |
| 602 | let rigid = match node.skin() { |
| 603 | Some(s) => Err(&skin_maps[s.index()]), |
| 604 | None => { |
| 605 | let mut current = Some(node.index()); |
| 606 | let mut joint = None; |
| 607 | let mut guard = 0; |
| 608 | while let Some(n) = current { |
| 609 | if let Some(j) = joint_nodes.iter().position(|x| *x == n) { |
| 610 | joint = Some(j); |
| 611 | break; |
| 612 | } |
| 613 | current = nodes[n].parent; |
| 614 | guard += 1; |
| 615 | if guard > nodes.len() { |
| 616 | return Err("glTF-nodehiërarchie bevat een cyclus".into()); |
| 617 | } |
| 618 | } |
| 619 | let j = joint.unwrap_or(0); |
| 620 | let to_joint = affine_inverse(&rest_world[joint_nodes[j]]) |
| 621 | .and_then(|jr| affine_inverse(&inverse_binds[j]).map(|b| mul(b, jr))) |
| 622 | .ok_or("singuliere joint-rustmatrix")?; |
| 623 | Ok((j as u16, mul(to_joint, rest_world[node.index()]))) |
| 624 | } |
| 625 | }; |
| 626 | for primitive in mesh.primitives() { |
| 627 | let mut prim = read_gltf_primitive(&primitive, &buffers, &images)?; |
| 628 | let count = prim.positions.len(); |
| 629 | match &rigid { |
| 630 | Err(map) => { |
| 631 | for j in prim.joints.iter_mut() { |
| 632 | for k in j.iter_mut() { |
| 633 | *k = *map.get(*k as usize).ok_or("skinjoint buiten skin")?; |
| 634 | } |
| 635 | } |
| 636 | } |
| 637 | Ok((joint, m)) => { |
| 638 | let nm = |
| 639 | normal_matrix(m).ok_or("glTF-node heeft een singuliere transformatie")?; |
| 640 | for p in prim.positions.iter_mut() { |
| 641 | *p = transform_point3(m, *p); |
| 642 | } |
| 643 | if let Some(ns) = prim.normals.as_mut() { |
| 644 | for n in ns.iter_mut() { |
| 645 | *n = normalize3(mat3_mul(&nm, *n)); |
| 646 | } |
| 647 | } |
| 648 | if det3(m) < 0. { |
| 649 | for tri in prim.indices.chunks_exact_mut(3) { |
| 650 | tri.swap(1, 2); |
| 651 | } |
| 652 | } |
| 653 | prim.joints = vec![[*joint, 0, 0, 0]; count]; |
| 654 | prim.weights = vec![[1., 0., 0., 0.]; count]; |
| 655 | } |
| 656 | } |
| 657 | source_normals_complete &= prim.normals.is_some(); |
| 658 | let first = indices.len(); |
| 659 | let base = positions.len() as u32; |
| 660 | indices.extend(prim.indices.iter().map(|index| index + base)); |
| 661 | positions.extend(prim.positions); |
| 662 | normals.extend(prim.normals.unwrap_or_else(|| vec![[0.0, 1.0, 0.0]; count])); |
| 663 | joints.extend(prim.joints); |
| 664 | weights.extend(prim.weights); |
| 665 | colors.extend(prim.colors); |
| 666 | uvs.extend(prim.uvs); |
| 667 | base_color = prim.color; |
| 668 | surfaces.push(BodySurface { |
| 669 | flat_normals: prim.flat_normals, |
| 670 | first, |
| 671 | count: indices.len() - first, |
| 672 | color: prim.color, |
| 673 | albedo: prim.albedo, |
| 674 | cutoff: prim.cutoff, |
| 675 | }); |
| 676 | } |
| 677 | } |
| 678 | if positions.is_empty() || indices.len() < 3 { |
| 679 | return Err("het glTF-bestand heeft geen tekenbare driehoeken".to_string()); |
| 680 | } |
| 681 | if positions |
| 682 | .iter() |
| 683 | .chain(&normals) |
| 684 | .flatten() |
| 685 | .any(|v| !v.is_finite()) |
| 686 | { |
| 687 | return Err("glTF-mesh heeft niet-eindige posities na de node-transformatie".into()); |
| 688 | } |
| 689 | let mut clips = Vec::new(); |
| 690 | for animation in document.animations() { |
| 691 | let mut channels = Vec::new(); |
| 692 | let mut skipped = Vec::new(); |
| 693 | let mut duration = 0.0_f32; |
| 694 | for channel in animation.channels() { |
| 695 | let target = channel.target().node().index(); |
| 696 | let interpolation = match channel.sampler().interpolation() { |
| 697 | gltf::animation::Interpolation::Linear => Interpolation::Linear, |
| 698 | gltf::animation::Interpolation::Step => Interpolation::Step, |
| 699 | gltf::animation::Interpolation::CubicSpline => Interpolation::CubicSpline, |
| 700 | }; |
| 701 | let reader = channel.reader(|buffer| Some(buffers[buffer.index()].as_ref())); |
| 702 | let times: Vec<f32> = reader |
| 703 | .read_inputs() |
| 704 | .map(|iter| iter.collect()) |
| 705 | .unwrap_or_default(); |
| 706 | let Some(outputs) = reader.read_outputs() else { |
| 707 | skipped.push(format!("node {target}: geen uitvoerwaarden")); |
| 708 | continue; |
| 709 | }; |
| 710 | let (property, values) = match outputs { |
| 711 | gltf::animation::util::ReadOutputs::Translations(values) => { |
| 712 | (ChannelProperty::Translation, values.flatten().collect()) |
| 713 | } |
| 714 | gltf::animation::util::ReadOutputs::Scales(values) => { |
| 715 | (ChannelProperty::Scale, values.flatten().collect()) |
| 716 | } |
| 717 | gltf::animation::util::ReadOutputs::Rotations(values) => ( |
| 718 | ChannelProperty::Rotation, |
| 719 | values.into_f32().flatten().collect(), |
| 720 | ), |
| 721 | gltf::animation::util::ReadOutputs::MorphTargetWeights(_) => { |
| 722 | skipped.push(format!( |
| 723 | "node {target}: morph-target-gewichten (niet ondersteund)" |
| 724 | )); |
| 725 | continue; |
| 726 | } |
| 727 | }; |
| 728 | let channel = AnimChannel { |
| 729 | node: target, |
| 730 | property, |
| 731 | times, |
| 732 | values, |
| 733 | interpolation, |
| 734 | }; |
| 735 | if let Err(reason) = channel.validate() { |
| 736 | return Err(format!( |
| 737 | "animatie '{}': ongeldig kanaal op node {target}: {reason}", |
| 738 | animation.name().unwrap_or("naamloos") |
| 739 | )); |
| 740 | } |
| 741 | if let Some(last) = channel.times.last() { |
| 742 | duration = duration.max(*last); |
| 743 | } |
| 744 | channels.push(channel); |
| 745 | } |
| 746 | clips.push(PreviewClip { |
| 747 | name: animation |
| 748 | .name() |
| 749 | .filter(|n| !n.trim().is_empty()) |
| 750 | .map(str::to_string) |
| 751 | .unwrap_or_else(|| format!("animatie {}", animation.index())), |
| 752 | duration, |
| 753 | channels, |
| 754 | skipped, |
| 755 | }); |
| 756 | } |
| 757 | Ok(PreviewCharacter { |
| 758 | nodes, |
| 759 | joint_nodes, |
| 760 | joint_names, |
| 761 | inverse_binds, |
| 762 | positions, |
| 763 | normals, |
| 764 | source_normals_complete, |
| 765 | joints, |
| 766 | weights, |
| 767 | indices, |
| 768 | base_color, |
| 769 | colors, |
| 770 | uvs, |
| 771 | surfaces, |
| 772 | clips, |
| 773 | rig: BodyRig::Skinned, |
| 774 | }) |
| 775 | } |
| 776 | |
| 777 | /// One glTF triangle primitive read in its mesh-local space. |
| 778 | struct GltfPrimitive { |
| 779 | positions: Vec<[f32; 3]>, |
| 780 | normals: Option<Vec<[f32; 3]>>, |
| 781 | joints: Vec<[u16; 4]>, |
| 782 | weights: Vec<[f32; 4]>, |
| 783 | colors: Vec<[f32; 4]>, |
| 784 | uvs: Vec<[f32; 2]>, |
| 785 | indices: Vec<u32>, |
| 786 | color: [f32; 4], |
| 787 | albedo: Option<std::sync::Arc<crate::equipment::Texture>>, |
| 788 | cutoff: f32, |
| 789 | flat_normals: bool, |
| 790 | } |
| 791 | |
| 792 | fn read_gltf_primitive( |
| 793 | primitive: &gltf::Primitive<'_>, |
| 794 | buffers: &[gltf::buffer::Data], |
| 795 | images: &[gltf::image::Data], |
| 796 | ) -> Result<GltfPrimitive, String> { |
| 797 | if primitive.mode() != gltf::mesh::Mode::Triangles { |
| 798 | return Err("live/productie ondersteunt alleen driehoekprimitieven".into()); |
| 799 | } |
| 800 | let reader = primitive.reader(|buffer| Some(buffers[buffer.index()].as_ref())); |
| 801 | let positions: Vec<[f32; 3]> = reader |
| 802 | .read_positions() |
| 803 | .map(|iter| iter.collect()) |
| 804 | .unwrap_or_default(); |
| 805 | let normals: Option<Vec<[f32; 3]>> = reader.read_normals().map(|iter| iter.collect()); |
| 806 | let joints: Vec<[u16; 4]> = reader |
| 807 | .read_joints(0) |
| 808 | .map(|iter| iter.into_u16().collect()) |
| 809 | .unwrap_or_else(|| vec![[0, 0, 0, 0]; positions.len()]); |
| 810 | let weights: Vec<[f32; 4]> = reader |
| 811 | .read_weights(0) |
| 812 | .map(|iter| iter.into_f32().collect()) |
| 813 | .unwrap_or_else(|| vec![[1.0, 0.0, 0.0, 0.0]; positions.len()]); |
| 814 | if positions.iter().flatten().any(|v| !v.is_finite()) { |
| 815 | return Err("glTF-primitive heeft niet-eindige posities".into()); |
| 816 | } |
| 817 | if normals |
| 818 | .as_ref() |
| 819 | .is_some_and(|n| n.len() != positions.len() || n.iter().flatten().any(|v| !v.is_finite())) |
| 820 | { |
| 821 | return Err("glTF-primitive heeft ongeldige normalen".into()); |
| 822 | } |
| 823 | if joints.len() != positions.len() |
| 824 | || weights.len() != positions.len() |
| 825 | || weights.iter().flatten().any(|w| !w.is_finite() || *w < 0.) |
| 826 | { |
| 827 | return Err("glTF-primitive heeft ongeldige joints/gewichten".into()); |
| 828 | } |
| 829 | let material = primitive.material(); |
| 830 | let pbr = material.pbr_metallic_roughness(); |
| 831 | let texture = pbr.base_color_texture(); |
| 832 | let transform = texture.as_ref().and_then(|t| t.texture_transform()); |
| 833 | let uvset = transform |
| 834 | .as_ref() |
| 835 | .and_then(|t| t.tex_coord()) |
| 836 | .or_else(|| texture.as_ref().map(|t| t.tex_coord())) |
| 837 | .unwrap_or(0); |
| 838 | let colors = reader |
| 839 | .read_colors(0) |
| 840 | .map(|v| v.into_rgba_f32().collect::<Vec<_>>()) |
| 841 | .unwrap_or_else(|| vec![[1.; 4]; positions.len()]); |
| 842 | let uvs = reader |
| 843 | .read_tex_coords(uvset) |
| 844 | .map(|v| v.into_f32().collect::<Vec<_>>()) |
| 845 | .unwrap_or_else(|| vec![[0.; 2]; positions.len()]); |
| 846 | let uvs = match &transform { |
| 847 | Some(t) => { |
| 848 | let m = uv_transform(t.offset(), t.rotation(), t.scale()); |
| 849 | uvs.into_iter().map(|uv| apply_uv(&m, uv)).collect() |
| 850 | } |
| 851 | None => uvs, |
| 852 | }; |
| 853 | let indices: Vec<u32> = match reader.read_indices() { |
| 854 | Some(read_indices) => read_indices.into_u32().collect(), |
| 855 | None => (0..positions.len() as u32).collect(), |
| 856 | }; |
| 857 | if indices.iter().any(|i| *i as usize >= positions.len()) { |
| 858 | return Err("glTF-primitive heeft indices buiten het vertexbereik".into()); |
| 859 | } |
| 860 | let albedo = texture |
| 861 | .map(|t| { |
| 862 | let image = images |
| 863 | .get(t.texture().source().index()) |
| 864 | .ok_or("ontbrekende bodytexture")?; |
| 865 | use gltf::image::Format; |
| 866 | let channels = match image.format { |
| 867 | Format::R8 => 1, |
| 868 | Format::R8G8 => 2, |
| 869 | Format::R8G8B8 => 3, |
| 870 | Format::R8G8B8A8 => 4, |
| 871 | _ => return Err("bodytexture moet 8-bit zijn".to_string()), |
| 872 | }; |
| 873 | if image.width > 2048 || image.height > 2048 { |
| 874 | return Err("bodytexture groter dan 2048×2048".into()); |
| 875 | } |
| 876 | let mut rgba = Vec::new(); |
| 877 | for p in image.pixels.chunks_exact(channels) { |
| 878 | rgba.extend_from_slice(&match channels { |
| 879 | 1 => [p[0], p[0], p[0], 255], |
| 880 | 2 => [p[0], p[0], p[0], p[1]], |
| 881 | 3 => [p[0], p[1], p[2], 255], |
| 882 | _ => [p[0], p[1], p[2], p[3]], |
| 883 | }); |
| 884 | } |
| 885 | use std::hash::{Hash, Hasher}; |
| 886 | let mut hash = std::collections::hash_map::DefaultHasher::new(); |
| 887 | rgba.hash(&mut hash); |
| 888 | Ok(std::sync::Arc::new(crate::equipment::Texture { |
| 889 | content_hash: hash.finish(), |
| 890 | width: image.width, |
| 891 | height: image.height, |
| 892 | rgba, |
| 893 | })) |
| 894 | }) |
| 895 | .transpose()?; |
| 896 | Ok(GltfPrimitive { |
| 897 | flat_normals: normals.is_none(), |
| 898 | positions, |
| 899 | normals, |
| 900 | joints, |
| 901 | weights, |
| 902 | colors, |
| 903 | uvs, |
| 904 | indices, |
| 905 | color: pbr.base_color_factor(), |
| 906 | albedo, |
| 907 | cutoff: if material.alpha_mode() == gltf::material::AlphaMode::Mask { |
| 908 | material.alpha_cutoff().unwrap_or(0.5) |
| 909 | } else { |
| 910 | 0.001 |
| 911 | }, |
| 912 | }) |
| 913 | } |
| 914 | |
| 915 | /// glTF without a skin: every mesh instance of the default scene, with its |
| 916 | /// node's rest world transform baked into positions (and the inverse- |
| 917 | /// transpose into normals) exactly once; mirrored transforms flip winding. |
| 918 | /// Animations are not applied (no skeleton is invented). |
| 919 | fn load_static_gltf( |
| 920 | document: &gltf::Document, |
| 921 | buffers: &[gltf::buffer::Data], |
| 922 | images: &[gltf::image::Data], |
| 923 | nodes: &[SceneNode], |
| 924 | ) -> Result<PreviewCharacter, String> { |
| 925 | let mut roots: Vec<usize> = match document |
| 926 | .default_scene() |
| 927 | .or_else(|| document.scenes().next()) |
| 928 | { |
| 929 | Some(scene) => scene.nodes().map(|n| n.index()).collect(), |
| 930 | None => (0..nodes.len()) |
| 931 | .filter(|i| nodes[*i].parent.is_none()) |
| 932 | .collect(), |
| 933 | }; |
| 934 | let children: Vec<Vec<usize>> = document |
| 935 | .nodes() |
| 936 | .map(|n| n.children().map(|c| c.index()).collect()) |
| 937 | .collect(); |
| 938 | let mut acc = StaticAcc::default(); |
| 939 | let mut stack: Vec<(usize, Mat4, usize)> = |
| 940 | roots.drain(..).rev().map(|r| (r, identity(), 0)).collect(); |
| 941 | let mut visited = 0usize; |
| 942 | while let Some((index, parent, depth)) = stack.pop() { |
| 943 | visited += 1; |
| 944 | if depth > nodes.len() || visited > nodes.len() * 4 + 16 { |
| 945 | return Err("glTF-nodehiërarchie bevat een cyclus".into()); |
| 946 | } |
| 947 | let node = nodes.get(index).ok_or("ongeldige glTF-node")?; |
| 948 | let world = mul(parent, trs(node.translation, node.rotation, node.scale)); |
| 949 | if !world.iter().all(|x| x.is_finite()) { |
| 950 | return Err("glTF-node heeft een niet-eindige transformatie".into()); |
| 951 | } |
| 952 | if let Some(mesh) = document.nodes().nth(index).and_then(|n| n.mesh()) { |
| 953 | let normal_matrix = |
| 954 | normal_matrix(&world).ok_or("glTF-node heeft een singuliere transformatie")?; |
| 955 | let mirrored = det3(&world) < 0.0; |
| 956 | for primitive in mesh.primitives() { |
| 957 | let prim = read_gltf_primitive(&primitive, buffers, images)?; |
| 958 | let positions: Vec<[f32; 3]> = prim |
| 959 | .positions |
| 960 | .iter() |
| 961 | .map(|p| transform_point3(&world, *p)) |
| 962 | .collect(); |
| 963 | let normals: Vec<[f32; 3]> = match &prim.normals { |
| 964 | Some(normals) => normals |
| 965 | .iter() |
| 966 | .map(|n| normalize3(mat3_mul(&normal_matrix, *n))) |
| 967 | .collect(), |
| 968 | None => vec![[0., 1., 0.]; positions.len()], |
| 969 | }; |
| 970 | let mut indices = prim.indices.clone(); |
| 971 | if !indices.len().is_multiple_of(3) { |
| 972 | return Err("glTF-primitive heeft een onvolledige driehoek".into()); |
| 973 | } |
| 974 | if mirrored { |
| 975 | for tri in indices.chunks_exact_mut(3) { |
| 976 | tri.swap(1, 2); |
| 977 | } |
| 978 | } |
| 979 | acc.push( |
| 980 | &positions, |
| 981 | &normals, |
| 982 | &prim.uvs, |
| 983 | Some(&prim.colors), |
| 984 | &indices, |
| 985 | prim.color, |
| 986 | prim.albedo, |
| 987 | prim.cutoff, |
| 988 | prim.flat_normals, |
| 989 | )?; |
| 990 | } |
| 991 | } |
| 992 | for child in children.get(index).into_iter().flatten().rev() { |
| 993 | stack.push((*child, world, depth + 1)); |
| 994 | } |
| 995 | } |
| 996 | let animations = document.animations().count(); |
| 997 | let reason = if animations == 0 { |
| 998 | "glTF zonder skin: statische pose, geen skeleton of animaties".to_string() |
| 999 | } else { |
| 1000 | format!( |
| 1001 | "glTF zonder skin: statische pose; {animations} animatie(s) niet toegepast (geen skeleton)" |
| 1002 | ) |
| 1003 | }; |
| 1004 | acc.finish("glTF", reason) |
| 1005 | } |
| 1006 | |
| 1007 | /// KHR_texture_transform as a 2×3 affine UV matrix (T·R·S, rotation |
| 1008 | /// counter-clockwise in UV space as in the extension's examples). |
| 1009 | pub fn uv_transform(offset: [f32; 2], rotation: f32, scale: [f32; 2]) -> [[f32; 3]; 2] { |
| 1010 | let (s, c) = rotation.sin_cos(); |
| 1011 | [ |
| 1012 | [c * scale[0], s * scale[1], offset[0]], |
| 1013 | [-s * scale[0], c * scale[1], offset[1]], |
| 1014 | ] |
| 1015 | } |
| 1016 | |
| 1017 | fn apply_uv(m: &[[f32; 3]; 2], uv: [f32; 2]) -> [f32; 2] { |
| 1018 | [ |
| 1019 | m[0][0] * uv[0] + m[0][1] * uv[1] + m[0][2], |
| 1020 | m[1][0] * uv[0] + m[1][1] * uv[1] + m[1][2], |
| 1021 | ] |
| 1022 | } |
| 1023 | |
| 1024 | /// Inverse of an affine matrix (None when singular). |
| 1025 | fn affine_inverse(m: &Mat4) -> Option<Mat4> { |
| 1026 | let it = normal_matrix(m)?; // inverse-transpose of the 3×3 |
| 1027 | // inverse 3×3 (row r, col c) = it[c][r] |
| 1028 | let mut out = identity(); |
| 1029 | for r in 0..3 { |
| 1030 | for c in 0..3 { |
| 1031 | out[c * 4 + r] = it[c][r]; |
| 1032 | } |
| 1033 | } |
| 1034 | let t = [m[12], m[13], m[14]]; |
| 1035 | for r in 0..3 { |
| 1036 | out[12 + r] = -(0..3).map(|c| out[c * 4 + r] * t[c]).sum::<f32>(); |
| 1037 | } |
| 1038 | Some(out) |
| 1039 | } |
| 1040 | |
| 1041 | fn transform_point3(m: &Mat4, p: [f32; 3]) -> [f32; 3] { |
| 1042 | [ |
| 1043 | m[0] * p[0] + m[4] * p[1] + m[8] * p[2] + m[12], |
| 1044 | m[1] * p[0] + m[5] * p[1] + m[9] * p[2] + m[13], |
| 1045 | m[2] * p[0] + m[6] * p[1] + m[10] * p[2] + m[14], |
| 1046 | ] |
| 1047 | } |
| 1048 | |
| 1049 | fn det3(m: &Mat4) -> f32 { |
| 1050 | m[0] * (m[5] * m[10] - m[9] * m[6]) - m[4] * (m[1] * m[10] - m[9] * m[2]) |
| 1051 | + m[8] * (m[1] * m[6] - m[5] * m[2]) |
| 1052 | } |
| 1053 | |
| 1054 | /// Inverse-transpose of the upper 3×3 (row-major result for `mat3_mul`). |
| 1055 | fn normal_matrix(m: &Mat4) -> Option<[[f32; 3]; 3]> { |
| 1056 | let det = det3(m); |
| 1057 | if !det.is_finite() || det.abs() < 1e-12 { |
| 1058 | return None; |
| 1059 | } |
| 1060 | // a[r][c] = element at row r, column c of the column-major matrix. |
| 1061 | let a = |r: usize, c: usize| m[c * 4 + r]; |
| 1062 | let cof = |r: usize, c: usize| { |
| 1063 | let rows: Vec<usize> = (0..3).filter(|x| *x != r).collect(); |
| 1064 | let cols: Vec<usize> = (0..3).filter(|x| *x != c).collect(); |
| 1065 | let minor = |
| 1066 | a(rows[0], cols[0]) * a(rows[1], cols[1]) - a(rows[0], cols[1]) * a(rows[1], cols[0]); |
| 1067 | if (r + c).is_multiple_of(2) { |
| 1068 | minor |
| 1069 | } else { |
| 1070 | -minor |
| 1071 | } |
| 1072 | }; |
| 1073 | // inverse-transpose = cofactor matrix / det. |
| 1074 | let mut out = [[0.; 3]; 3]; |
| 1075 | for (r, row) in out.iter_mut().enumerate() { |
| 1076 | for (c, value) in row.iter_mut().enumerate() { |
| 1077 | *value = cof(r, c) / det; |
| 1078 | } |
| 1079 | } |
| 1080 | Some(out) |
| 1081 | } |
| 1082 | |
| 1083 | fn mat3_mul(m: &[[f32; 3]; 3], v: [f32; 3]) -> [f32; 3] { |
| 1084 | [ |
| 1085 | m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2], |
| 1086 | m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2], |
| 1087 | m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2], |
| 1088 | ] |
| 1089 | } |
| 1090 | |
| 1091 | pub fn sample_skin_matrices(character: &PreviewCharacter, clip_name: &str, time: f32) -> Vec<Mat4> { |
| 1092 | let locals = sample_local_matrices(character, clip_name, time); |
| 1093 | let worlds = world_matrices(&character.nodes, &locals); |
| 1094 | character |
| 1095 | .joint_nodes |
| 1096 | .iter() |
| 1097 | .enumerate() |
| 1098 | .map(|(joint, node)| mul(worlds[*node], character.inverse_binds[joint])) |
| 1099 | .collect() |
| 1100 | } |
| 1101 | |
| 1102 | /// Stable hierarchy path includes node indices to disambiguate duplicate names. |
| 1103 | pub fn joint_paths(character: &PreviewCharacter) -> Vec<String> { |
| 1104 | character |
| 1105 | .joint_nodes |
| 1106 | .iter() |
| 1107 | .map(|&node| { |
| 1108 | let mut names = Vec::new(); |
| 1109 | let mut cursor = Some(node); |
| 1110 | while let Some(index) = cursor { |
| 1111 | let item = &character.nodes[index]; |
| 1112 | names.push(format!("{}[{}]", item.name, index)); |
| 1113 | cursor = item.parent; |
| 1114 | if names.len() > character.nodes.len() { |
| 1115 | break; |
| 1116 | } |
| 1117 | } |
| 1118 | names.reverse(); |
| 1119 | names.join("/") |
| 1120 | }) |
| 1121 | .collect() |
| 1122 | } |
| 1123 | |
| 1124 | /// Rest-world joint transform, never selected by a possibly empty clip name. |
| 1125 | /// Bounded parent walk rejects malformed cycles/indices instead of recursing. |
| 1126 | pub fn rest_joint_world(character: &PreviewCharacter, joint: usize) -> Option<Mat4> { |
| 1127 | let mut node = Some(*character.joint_nodes.get(joint)?); |
| 1128 | let mut chain = Vec::new(); |
| 1129 | while let Some(i) = node { |
| 1130 | if chain.len() >= character.nodes.len() { |
| 1131 | return None; |
| 1132 | } |
| 1133 | let n = character.nodes.get(i)?; |
| 1134 | chain.push(i); |
| 1135 | node = n.parent; |
| 1136 | } |
| 1137 | let mut world = identity(); |
| 1138 | for i in chain.into_iter().rev() { |
| 1139 | let n = &character.nodes[i]; |
| 1140 | world = mul(world, trs(n.translation, n.rotation, n.scale)); |
| 1141 | } |
| 1142 | world.iter().all(|n| n.is_finite()).then_some(world) |
| 1143 | } |
| 1144 | |
| 1145 | pub fn animated_joint_world( |
| 1146 | character: &PreviewCharacter, |
| 1147 | clip: &str, |
| 1148 | time: f32, |
| 1149 | joint: usize, |
| 1150 | ) -> Option<Mat4> { |
| 1151 | let locals = sample_local_matrices(character, clip, time); |
| 1152 | let worlds = world_matrices(&character.nodes, &locals); |
| 1153 | character |
| 1154 | .joint_nodes |
| 1155 | .get(joint) |
| 1156 | .and_then(|node| worlds.get(*node)) |
| 1157 | .copied() |
| 1158 | } |
| 1159 | |
| 1160 | pub fn joint_world_translation( |
| 1161 | character: &PreviewCharacter, |
| 1162 | clip_name: &str, |
| 1163 | time: f32, |
| 1164 | joint_name: &str, |
| 1165 | ) -> Option<[f32; 3]> { |
| 1166 | let joint = character |
| 1167 | .joint_names |
| 1168 | .iter() |
| 1169 | .position(|name| name == joint_name)?; |
| 1170 | let node = character.joint_nodes[joint]; |
| 1171 | let locals = sample_local_matrices(character, clip_name, time); |
| 1172 | let worlds = world_matrices(&character.nodes, &locals); |
| 1173 | Some([worlds[node][12], worlds[node][13], worlds[node][14]]) |
| 1174 | } |
| 1175 | |
| 1176 | pub fn clip_duration(character: &PreviewCharacter, clip_name: &str) -> f32 { |
| 1177 | character |
| 1178 | .clips |
| 1179 | .iter() |
| 1180 | .find(|clip| { |
| 1181 | clip.name == clip_name || clip.name.to_lowercase().contains(&clip_name.to_lowercase()) |
| 1182 | }) |
| 1183 | .map(|clip| clip.duration) |
| 1184 | .unwrap_or(0.0) |
| 1185 | } |
| 1186 | |
| 1187 | pub fn eye_offset(yaw_deg: f32, pitch_deg: f32, distance: f32) -> [f32; 3] { |
| 1188 | let yaw = yaw_deg.to_radians(); |
| 1189 | let pitch = pitch_deg.to_radians(); |
| 1190 | [ |
| 1191 | -distance * pitch.cos() * yaw.sin(), |
| 1192 | distance * pitch.sin(), |
| 1193 | -distance * pitch.cos() * yaw.cos(), |
| 1194 | ] |
| 1195 | } |
| 1196 | |
| 1197 | pub fn paperdoll_yaws_deg() -> [f32; PAPERDOLL_YAW_COUNT] { |
| 1198 | let mut yaws = [0.0; PAPERDOLL_YAW_COUNT]; |
| 1199 | for (index, yaw) in yaws.iter_mut().enumerate() { |
| 1200 | *yaw = index as f32 * 30.0; |
| 1201 | } |
| 1202 | yaws |
| 1203 | } |
| 1204 | |
| 1205 | fn sample_local_matrices(character: &PreviewCharacter, clip_name: &str, time: f32) -> Vec<Mat4> { |
| 1206 | let mut translation: Vec<[f32; 3]> = character |
| 1207 | .nodes |
| 1208 | .iter() |
| 1209 | .map(|node| node.translation) |
| 1210 | .collect(); |
| 1211 | let mut rotation: Vec<[f32; 4]> = character.nodes.iter().map(|node| node.rotation).collect(); |
| 1212 | let mut scale: Vec<[f32; 3]> = character.nodes.iter().map(|node| node.scale).collect(); |
| 1213 | if let Some(clip) = find_clip(&character.clips, clip_name) { |
| 1214 | let time = wrap_time(time, clip.duration); |
| 1215 | for channel in &clip.channels { |
| 1216 | if channel.node >= character.nodes.len() || channel.validate().is_err() { |
| 1217 | continue; |
| 1218 | } |
| 1219 | let v = channel.sample(time); |
| 1220 | match channel.property { |
| 1221 | ChannelProperty::Translation => translation[channel.node] = [v[0], v[1], v[2]], |
| 1222 | ChannelProperty::Scale => scale[channel.node] = [v[0], v[1], v[2]], |
| 1223 | ChannelProperty::Rotation => rotation[channel.node] = [v[0], v[1], v[2], v[3]], |
| 1224 | } |
| 1225 | } |
| 1226 | } |
| 1227 | translation |
| 1228 | .into_iter() |
| 1229 | .zip(rotation) |
| 1230 | .zip(scale) |
| 1231 | .map(|((translation, rotation), scale)| trs(translation, rotation, scale)) |
| 1232 | .collect() |
| 1233 | } |
| 1234 | |
| 1235 | fn world_matrices(nodes: &[SceneNode], locals: &[Mat4]) -> Vec<Mat4> { |
| 1236 | fn world( |
| 1237 | index: usize, |
| 1238 | nodes: &[SceneNode], |
| 1239 | locals: &[Mat4], |
| 1240 | worlds: &mut [Option<Mat4>], |
| 1241 | depth: usize, |
| 1242 | ) -> Mat4 { |
| 1243 | if let Some(matrix) = worlds[index] { |
| 1244 | return matrix; |
| 1245 | } |
| 1246 | if depth > nodes.len() { |
| 1247 | return locals[index]; |
| 1248 | } |
| 1249 | let matrix = match nodes[index].parent { |
| 1250 | Some(parent) => mul( |
| 1251 | world(parent, nodes, locals, worlds, depth + 1), |
| 1252 | locals[index], |
| 1253 | ), |
| 1254 | None => locals[index], |
| 1255 | }; |
| 1256 | worlds[index] = Some(matrix); |
| 1257 | matrix |
| 1258 | } |
| 1259 | let mut cached = vec![None; nodes.len()]; |
| 1260 | (0..nodes.len()) |
| 1261 | .map(|index| world(index, nodes, locals, &mut cached, 0)) |
| 1262 | .collect() |
| 1263 | } |
| 1264 | |
| 1265 | fn key_blend(times: &[f32], time: f32) -> (usize, usize, f32) { |
| 1266 | if times.len() == 1 || time <= times[0] { |
| 1267 | return (0, 0, 0.0); |
| 1268 | } |
| 1269 | if time >= times[times.len() - 1] { |
| 1270 | let last = times.len() - 1; |
| 1271 | return (last, last, 0.0); |
| 1272 | } |
| 1273 | let mut index = 0; |
| 1274 | while index + 1 < times.len() && times[index + 1] < time { |
| 1275 | index += 1; |
| 1276 | } |
| 1277 | let span = times[index + 1] - times[index]; |
| 1278 | let blend = if span.abs() < 1e-6 { |
| 1279 | 0.0 |
| 1280 | } else { |
| 1281 | (time - times[index]) / span |
| 1282 | }; |
| 1283 | (index, index + 1, blend) |
| 1284 | } |
| 1285 | |
| 1286 | fn slerp(a: [f32; 4], mut b: [f32; 4], t: f32) -> [f32; 4] { |
| 1287 | let mut dot = a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3]; |
| 1288 | if dot < 0.0 { |
| 1289 | dot = -dot; |
| 1290 | b = [-b[0], -b[1], -b[2], -b[3]]; |
| 1291 | } |
| 1292 | if dot > 0.9995 { |
| 1293 | return normalize4([ |
| 1294 | a[0] + (b[0] - a[0]) * t, |
| 1295 | a[1] + (b[1] - a[1]) * t, |
| 1296 | a[2] + (b[2] - a[2]) * t, |
| 1297 | a[3] + (b[3] - a[3]) * t, |
| 1298 | ]); |
| 1299 | } |
| 1300 | let theta = dot.clamp(-1.0, 1.0).acos(); |
| 1301 | let sin_theta = theta.sin(); |
| 1302 | let w1 = ((1.0 - t) * theta).sin() / sin_theta; |
| 1303 | let w2 = (t * theta).sin() / sin_theta; |
| 1304 | [ |
| 1305 | a[0] * w1 + b[0] * w2, |
| 1306 | a[1] * w1 + b[1] * w2, |
| 1307 | a[2] * w1 + b[2] * w2, |
| 1308 | a[3] * w1 + b[3] * w2, |
| 1309 | ] |
| 1310 | } |
| 1311 | |
| 1312 | fn normalize4(value: [f32; 4]) -> [f32; 4] { |
| 1313 | let length = |
| 1314 | (value[0] * value[0] + value[1] * value[1] + value[2] * value[2] + value[3] * value[3]) |
| 1315 | .sqrt(); |
| 1316 | if length < 1e-8 { |
| 1317 | [0.0, 0.0, 0.0, 1.0] |
| 1318 | } else { |
| 1319 | [ |
| 1320 | value[0] / length, |
| 1321 | value[1] / length, |
| 1322 | value[2] / length, |
| 1323 | value[3] / length, |
| 1324 | ] |
| 1325 | } |
| 1326 | } |
| 1327 | |
| 1328 | fn trs(translation: [f32; 3], rotation: [f32; 4], scale: [f32; 3]) -> Mat4 { |
| 1329 | let mut matrix = quat_to_mat(normalize4(rotation)); |
| 1330 | matrix[0] *= scale[0]; |
| 1331 | matrix[1] *= scale[0]; |
| 1332 | matrix[2] *= scale[0]; |
| 1333 | matrix[4] *= scale[1]; |
| 1334 | matrix[5] *= scale[1]; |
| 1335 | matrix[6] *= scale[1]; |
| 1336 | matrix[8] *= scale[2]; |
| 1337 | matrix[9] *= scale[2]; |
| 1338 | matrix[10] *= scale[2]; |
| 1339 | matrix[12] = translation[0]; |
| 1340 | matrix[13] = translation[1]; |
| 1341 | matrix[14] = translation[2]; |
| 1342 | matrix |
| 1343 | } |
| 1344 | |
| 1345 | fn quat_to_mat(q: [f32; 4]) -> Mat4 { |
| 1346 | let (x, y, z, w) = (q[0], q[1], q[2], q[3]); |
| 1347 | let xx = x * x; |
| 1348 | let yy = y * y; |
| 1349 | let zz = z * z; |
| 1350 | let xy = x * y; |
| 1351 | let xz = x * z; |
| 1352 | let yz = y * z; |
| 1353 | let wx = w * x; |
| 1354 | let wy = w * y; |
| 1355 | let wz = w * z; |
| 1356 | [ |
| 1357 | 1.0 - 2.0 * (yy + zz), |
| 1358 | 2.0 * (xy + wz), |
| 1359 | 2.0 * (xz - wy), |
| 1360 | 0.0, |
| 1361 | 2.0 * (xy - wz), |
| 1362 | 1.0 - 2.0 * (xx + zz), |
| 1363 | 2.0 * (yz + wx), |
| 1364 | 0.0, |
| 1365 | 2.0 * (xz + wy), |
| 1366 | 2.0 * (yz - wx), |
| 1367 | 1.0 - 2.0 * (xx + yy), |
| 1368 | 0.0, |
| 1369 | 0.0, |
| 1370 | 0.0, |
| 1371 | 0.0, |
| 1372 | 1.0, |
| 1373 | ] |
| 1374 | } |
| 1375 | |
| 1376 | pub fn identity() -> Mat4 { |
| 1377 | [ |
| 1378 | 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, |
| 1379 | ] |
| 1380 | } |
| 1381 | |
| 1382 | pub fn mul(left: Mat4, right: Mat4) -> Mat4 { |
| 1383 | let mut out = [0.0; 16]; |
| 1384 | for column in 0..4 { |
| 1385 | for row in 0..4 { |
| 1386 | out[column * 4 + row] = left[row] * right[column * 4] |
| 1387 | + left[4 + row] * right[column * 4 + 1] |
| 1388 | + left[8 + row] * right[column * 4 + 2] |
| 1389 | + left[12 + row] * right[column * 4 + 3]; |
| 1390 | } |
| 1391 | } |
| 1392 | out |
| 1393 | } |
| 1394 | |
| 1395 | fn columns_to_mat(columns: [[f32; 4]; 4]) -> Mat4 { |
| 1396 | let mut matrix = [0.0; 16]; |
| 1397 | for column in 0..4 { |
| 1398 | for row in 0..4 { |
| 1399 | matrix[column * 4 + row] = columns[column][row]; |
| 1400 | } |
| 1401 | } |
| 1402 | matrix |
| 1403 | } |
| 1404 | |
| 1405 | pub fn wrap_time(time: f32, duration: f32) -> f32 { |
| 1406 | if duration <= 1e-5 { |
| 1407 | return 0.0; |
| 1408 | } |
| 1409 | let mut wrapped = time % duration; |
| 1410 | if wrapped < 0.0 { |
| 1411 | wrapped += duration; |
| 1412 | } |
| 1413 | wrapped |
| 1414 | } |
| 1415 | |
| 1416 | fn wrap_deg(mut degrees: f32) -> f32 { |
| 1417 | degrees %= 360.0; |
| 1418 | if degrees < 0.0 { |
| 1419 | degrees += 360.0; |
| 1420 | } |
| 1421 | degrees |
| 1422 | } |
| 1423 | |
| 1424 | pub fn view_matrix(eye: [f32; 3], target: [f32; 3]) -> Mat4 { |
| 1425 | let forward = normalize3([target[0] - eye[0], target[1] - eye[1], target[2] - eye[2]]); |
| 1426 | let up = [0.0, 1.0, 0.0]; |
| 1427 | let mut side = normalize3(cross(forward, up)); |
| 1428 | if side[0].abs() + side[1].abs() + side[2].abs() < 1e-4 { |
| 1429 | side = [1.0, 0.0, 0.0]; |
| 1430 | } |
| 1431 | let up = cross(side, forward); |
| 1432 | [ |
| 1433 | side[0], |
| 1434 | up[0], |
| 1435 | -forward[0], |
| 1436 | 0.0, |
| 1437 | side[1], |
| 1438 | up[1], |
| 1439 | -forward[1], |
| 1440 | 0.0, |
| 1441 | side[2], |
| 1442 | up[2], |
| 1443 | -forward[2], |
| 1444 | 0.0, |
| 1445 | -dot(side, eye), |
| 1446 | -dot(up, eye), |
| 1447 | dot(forward, eye), |
| 1448 | 1.0, |
| 1449 | ] |
| 1450 | } |
| 1451 | |
| 1452 | pub fn perspective(fov_y_deg: f32, aspect: f32, near: f32, far: f32) -> Mat4 { |
| 1453 | let f = 1.0 / (fov_y_deg.to_radians() * 0.5).tan(); |
| 1454 | let aspect = if aspect.abs() < 1e-4 { 1.0 } else { aspect }; |
| 1455 | let nf = 1.0 / (near - far); |
| 1456 | [ |
| 1457 | f / aspect, |
| 1458 | 0.0, |
| 1459 | 0.0, |
| 1460 | 0.0, |
| 1461 | 0.0, |
| 1462 | f, |
| 1463 | 0.0, |
| 1464 | 0.0, |
| 1465 | 0.0, |
| 1466 | 0.0, |
| 1467 | (far + near) * nf, |
| 1468 | -1.0, |
| 1469 | 0.0, |
| 1470 | 0.0, |
| 1471 | 2.0 * far * near * nf, |
| 1472 | 0.0, |
| 1473 | ] |
| 1474 | } |
| 1475 | |
| 1476 | fn cross(a: [f32; 3], b: [f32; 3]) -> [f32; 3] { |
| 1477 | [ |
| 1478 | a[1] * b[2] - a[2] * b[1], |
| 1479 | a[2] * b[0] - a[0] * b[2], |
| 1480 | a[0] * b[1] - a[1] * b[0], |
| 1481 | ] |
| 1482 | } |
| 1483 | |
| 1484 | fn dot(a: [f32; 3], b: [f32; 3]) -> f32 { |
| 1485 | a[0] * b[0] + a[1] * b[1] + a[2] * b[2] |
| 1486 | } |
| 1487 | |
| 1488 | fn normalize3(value: [f32; 3]) -> [f32; 3] { |
| 1489 | let length = dot(value, value).sqrt(); |
| 1490 | if length < 1e-8 { |
| 1491 | [0.0, 0.0, 1.0] |
| 1492 | } else { |
| 1493 | [value[0] / length, value[1] / length, value[2] / length] |
| 1494 | } |
| 1495 | } |
| 1496 | |
| 1497 | #[cfg(test)] |
| 1498 | mod tests { |
| 1499 | use super::*; |
| 1500 | |
| 1501 | fn chan( |
| 1502 | property: ChannelProperty, |
| 1503 | interpolation: Interpolation, |
| 1504 | times: &[f32], |
| 1505 | values: &[f32], |
| 1506 | ) -> AnimChannel { |
| 1507 | AnimChannel { |
| 1508 | node: 0, |
| 1509 | property, |
| 1510 | times: times.to_vec(), |
| 1511 | values: values.to_vec(), |
| 1512 | interpolation, |
| 1513 | } |
| 1514 | } |
| 1515 | |
| 1516 | #[test] |
| 1517 | fn step_linear_and_cubic_interpolation_follow_gltf() { |
| 1518 | let lin = chan( |
| 1519 | ChannelProperty::Translation, |
| 1520 | Interpolation::Linear, |
| 1521 | &[0., 1.], |
| 1522 | &[0., 0., 0., 2., 4., 6.], |
| 1523 | ); |
| 1524 | assert_eq!(lin.sample(0.25), vec![0.5, 1., 1.5]); |
| 1525 | assert_eq!(lin.sample(-1.), vec![0., 0., 0.]); |
| 1526 | assert_eq!(lin.sample(5.), vec![2., 4., 6.]); |
| 1527 | let step = Interpolation::Step; |
| 1528 | let st = chan( |
| 1529 | ChannelProperty::Translation, |
| 1530 | step, |
| 1531 | &[0., 1.], |
| 1532 | &[0., 0., 0., 2., 4., 6.], |
| 1533 | ); |
| 1534 | assert_eq!(st.sample(0.99), vec![0., 0., 0.]); |
| 1535 | assert_eq!(st.sample(1.), vec![2., 4., 6.]); |
| 1536 | // Cubic: (in, value, out) per key; zero tangents give smoothstep. |
| 1537 | let cubic = chan( |
| 1538 | ChannelProperty::Translation, |
| 1539 | Interpolation::CubicSpline, |
| 1540 | &[0., 2.], |
| 1541 | &[ |
| 1542 | 9., 9., 9., 0., 0., 0., 0., 0., 0., 0., 0., 0., 10., 10., 10., 9., 9., 9., |
| 1543 | ], |
| 1544 | ); |
| 1545 | cubic.validate().unwrap(); |
| 1546 | let v = cubic.sample(0.5); // t = 0.25 -> h01 = 0.15625 |
| 1547 | assert!((v[0] - 1.5625).abs() < 1e-5, "{v:?}"); |
| 1548 | // Tangents are scaled by the key interval: out-tangent 1/s over 2 s. |
| 1549 | let sloped = chan( |
| 1550 | ChannelProperty::Translation, |
| 1551 | Interpolation::CubicSpline, |
| 1552 | &[0., 2.], |
| 1553 | &[ |
| 1554 | 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 2., 0., 0., 0., 0., 0., |
| 1555 | ], |
| 1556 | ); |
| 1557 | let v = sloped.sample(1.); // t=.5: h01*2 + h10*2*1 = 1 + 0.25 |
| 1558 | assert!((v[0] - 1.25).abs() < 1e-5, "{v:?}"); |
| 1559 | // Cubic rotation stays unit length. |
| 1560 | let q = chan( |
| 1561 | ChannelProperty::Rotation, |
| 1562 | Interpolation::CubicSpline, |
| 1563 | &[0., 1.], |
| 1564 | &[ |
| 1565 | 0., |
| 1566 | 0., |
| 1567 | 0., |
| 1568 | 0., |
| 1569 | 0., |
| 1570 | 0., |
| 1571 | 0., |
| 1572 | 1., |
| 1573 | 0., |
| 1574 | 0., |
| 1575 | 0., |
| 1576 | 0., |
| 1577 | 0., |
| 1578 | 0., |
| 1579 | 0., |
| 1580 | 0., |
| 1581 | 0., |
| 1582 | 0., |
| 1583 | std::f32::consts::FRAC_1_SQRT_2, |
| 1584 | std::f32::consts::FRAC_1_SQRT_2, |
| 1585 | 0., |
| 1586 | 0., |
| 1587 | 0., |
| 1588 | 0., |
| 1589 | ], |
| 1590 | ); |
| 1591 | let r = q.sample(0.5); |
| 1592 | let len: f32 = r.iter().map(|x| x * x).sum::<f32>().sqrt(); |
| 1593 | assert!((len - 1.).abs() < 1e-4); |
| 1594 | // Validation rejects malformed channels. |
| 1595 | assert!(chan( |
| 1596 | ChannelProperty::Translation, |
| 1597 | Interpolation::CubicSpline, |
| 1598 | &[0., 1.], |
| 1599 | &[0.; 6] |
| 1600 | ) |
| 1601 | .validate() |
| 1602 | .is_err()); |
| 1603 | assert!(chan( |
| 1604 | ChannelProperty::Translation, |
| 1605 | Interpolation::Linear, |
| 1606 | &[1., 0.], |
| 1607 | &[0.; 6] |
| 1608 | ) |
| 1609 | .validate() |
| 1610 | .is_err()); |
| 1611 | assert!(chan( |
| 1612 | ChannelProperty::Translation, |
| 1613 | Interpolation::Linear, |
| 1614 | &[0., f32::NAN], |
| 1615 | &[0.; 6] |
| 1616 | ) |
| 1617 | .validate() |
| 1618 | .is_err()); |
| 1619 | assert!(chan( |
| 1620 | ChannelProperty::Scale, |
| 1621 | Interpolation::Linear, |
| 1622 | &[0.], |
| 1623 | &[f32::INFINITY, 0., 0.] |
| 1624 | ) |
| 1625 | .validate() |
| 1626 | .is_err()); |
| 1627 | } |
| 1628 | |
| 1629 | #[test] |
| 1630 | fn clip_lookup_prefers_exact_name() { |
| 1631 | let clip = |name: &str| PreviewClip { |
| 1632 | name: name.into(), |
| 1633 | duration: 1., |
| 1634 | channels: Vec::new(), |
| 1635 | skipped: Vec::new(), |
| 1636 | }; |
| 1637 | let clips = vec![clip("walk_fast"), clip("walk"), clip("Attack")]; |
| 1638 | assert_eq!(find_clip(&clips, "walk").unwrap().name, "walk"); |
| 1639 | assert_eq!(find_clip(&clips, "attack").unwrap().name, "Attack"); |
| 1640 | assert!(find_clip(&clips, "run").is_none()); |
| 1641 | } |
| 1642 | |
| 1643 | fn glb_with(edit: impl Fn(&mut serde_json::Value)) -> std::path::PathBuf { |
| 1644 | let src = std::path::Path::new(env!("CARGO_MANIFEST_DIR")) |
| 1645 | .join("tests/fixtures/bodies/test-body-male.glb"); |
| 1646 | let bytes = std::fs::read(src).unwrap(); |
| 1647 | let json_len = u32::from_le_bytes(bytes[12..16].try_into().unwrap()) as usize; |
| 1648 | let mut doc: serde_json::Value = serde_json::from_slice(&bytes[20..20 + json_len]).unwrap(); |
| 1649 | edit(&mut doc); |
| 1650 | let mut json = serde_json::to_vec(&doc).unwrap(); |
| 1651 | while !json.len().is_multiple_of(4) { |
| 1652 | json.push(b' '); |
| 1653 | } |
| 1654 | let rest = &bytes[20 + json_len..]; |
| 1655 | let mut out = Vec::new(); |
| 1656 | out.extend_from_slice(&bytes[0..8]); |
| 1657 | out.extend_from_slice(&((12 + 8 + json.len() + rest.len()) as u32).to_le_bytes()); |
| 1658 | out.extend_from_slice(&(json.len() as u32).to_le_bytes()); |
| 1659 | out.extend_from_slice(b"JSON"); |
| 1660 | out.extend_from_slice(&json); |
| 1661 | out.extend_from_slice(rest); |
| 1662 | static N: std::sync::atomic::AtomicU32 = std::sync::atomic::AtomicU32::new(0); |
| 1663 | let path = std::env::temp_dir().join(format!( |
| 1664 | "ppd-anim-{}-{}.glb", |
| 1665 | std::process::id(), |
| 1666 | N.fetch_add(1, std::sync::atomic::Ordering::Relaxed) |
| 1667 | )); |
| 1668 | std::fs::write(&path, out).unwrap(); |
| 1669 | path |
| 1670 | } |
| 1671 | |
| 1672 | #[test] |
| 1673 | fn unskinned_mesh_nodes_follow_their_joint_ancestor() { |
| 1674 | let base = load_gltf_file( |
| 1675 | &std::path::Path::new(env!("CARGO_MANIFEST_DIR")) |
| 1676 | .join("tests/fixtures/bodies/test-body-male.glb"), |
| 1677 | ) |
| 1678 | .unwrap(); |
| 1679 | let path = glb_with(|d| { |
| 1680 | let nodes = d["nodes"].as_array_mut().unwrap(); |
| 1681 | nodes.push(serde_json::json!({"mesh": 0, "translation": [0.0, 0.5, 0.2]})); |
| 1682 | let kids = nodes[4]["children"].as_array().cloned().unwrap_or_default(); |
| 1683 | let mut kids = kids; |
| 1684 | kids.push(serde_json::json!(20)); |
| 1685 | nodes[4]["children"] = serde_json::Value::Array(kids); |
| 1686 | }); |
| 1687 | let both = load_gltf_file(&path).unwrap(); |
| 1688 | let n = base.positions.len(); |
| 1689 | assert_eq!(both.positions.len(), 2 * n); |
| 1690 | let j = both.joint_nodes.iter().position(|x| *x == 4).unwrap() as u16; |
| 1691 | assert!(both.joints[n..].iter().all(|k| k[0] == j)); |
| 1692 | assert!(both.weights[n..].iter().all(|w| w[0] == 1.0)); |
| 1693 | // At rest, skinning reproduces the node's world placement. |
| 1694 | let locals: Vec<Mat4> = both |
| 1695 | .nodes |
| 1696 | .iter() |
| 1697 | .map(|x| trs(x.translation, x.rotation, x.scale)) |
| 1698 | .collect(); |
| 1699 | let world = world_matrices(&both.nodes, &locals); |
| 1700 | let skin = mul(world[4], both.inverse_binds[j as usize]); |
| 1701 | for (k, p) in both.positions[n..].iter().enumerate().take(20) { |
| 1702 | let got = transform_point3(&skin, *p); |
| 1703 | // Source vertex = base mesh vertex in skin space; world = node20 * v. |
| 1704 | let v = base.positions[k]; |
| 1705 | let want = transform_point3(&world[20], v); |
| 1706 | for a in 0..3 { |
| 1707 | assert!((got[a] - want[a]).abs() < 1e-3, "{got:?} vs {want:?}"); |
| 1708 | } |
| 1709 | } |
| 1710 | let _ = std::fs::remove_file(path); |
| 1711 | } |
| 1712 | |
| 1713 | #[test] |
| 1714 | fn texture_transform_matches_extension_example() { |
| 1715 | // Spec example: lower-left quadrant, rotated 90° clockwise. |
| 1716 | let m = uv_transform([0., 1.], std::f32::consts::FRAC_PI_2, [0.5, 0.5]); |
| 1717 | let close = |
| 1718 | |a: [f32; 2], b: [f32; 2]| (a[0] - b[0]).abs() < 1e-6 && (a[1] - b[1]).abs() < 1e-6; |
| 1719 | assert!(close(apply_uv(&m, [0., 0.]), [0., 1.])); |
| 1720 | assert!(close(apply_uv(&m, [1., 0.]), [0., 0.5])); |
| 1721 | assert!(close(apply_uv(&m, [0., 1.]), [0.5, 1.])); |
| 1722 | // Spec example: flip T. |
| 1723 | let m = uv_transform([0., 1.], 0., [1., -1.]); |
| 1724 | assert!(close(apply_uv(&m, [0.25, 0.25]), [0.25, 0.75])); |
| 1725 | } |
| 1726 | |
| 1727 | #[test] |
| 1728 | fn gltf_texture_transform_is_baked_into_uvs() { |
| 1729 | let base = load_gltf_file( |
| 1730 | &std::path::Path::new(env!("CARGO_MANIFEST_DIR")) |
| 1731 | .join("tests/fixtures/bodies/test-body-male.glb"), |
| 1732 | ) |
| 1733 | .unwrap(); |
| 1734 | let path = glb_with(|d| { |
| 1735 | d["images"] = serde_json::json!([{"uri": "data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAIAAACQd1PeAAAADElEQVR4nGP4z8AAAAMBAQDJ/pLvAAAAAElFTkSuQmCC"}]); |
| 1736 | d["textures"] = serde_json::json!([{"source": 0}]); |
| 1737 | for m in d["materials"].as_array_mut().unwrap() { |
| 1738 | let pbr = &mut m["pbrMetallicRoughness"]; |
| 1739 | if pbr.get("baseColorTexture").is_none() { |
| 1740 | pbr["baseColorTexture"] = serde_json::json!({"index": 0}); |
| 1741 | } |
| 1742 | pbr["baseColorTexture"]["extensions"] = serde_json::json!( |
| 1743 | {"KHR_texture_transform": {"offset": [0.5, 0.25], "scale": [2.0, 3.0]}}); |
| 1744 | } |
| 1745 | }); |
| 1746 | let moved = load_gltf_file(&path); |
| 1747 | let _ = std::fs::remove_file(&path); |
| 1748 | let moved = match moved { |
| 1749 | Ok(m) => m, |
| 1750 | Err(e) => panic!("{e}"), |
| 1751 | }; |
| 1752 | for (a, b) in base.uvs.iter().zip(&moved.uvs).take(50) { |
| 1753 | assert!((a[0] * 2.0 + 0.5 - b[0]).abs() < 1e-5); |
| 1754 | assert!((a[1] * 3.0 + 0.25 - b[1]).abs() < 1e-5); |
| 1755 | } |
| 1756 | } |
| 1757 | |
| 1758 | #[test] |
| 1759 | fn affine_inverse_round_trips() { |
| 1760 | let m = trs( |
| 1761 | [1., 2., 3.], |
| 1762 | [0.0, 0.38268343, 0.0, 0.9238795], |
| 1763 | [2., 1., 0.5], |
| 1764 | ); |
| 1765 | let i = affine_inverse(&m).unwrap(); |
| 1766 | let id = mul(m, i); |
| 1767 | for (k, v) in id.iter().enumerate() { |
| 1768 | let want = if k % 5 == 0 { 1.0 } else { 0.0 }; |
| 1769 | assert!((v - want).abs() < 1e-5); |
| 1770 | } |
| 1771 | } |
| 1772 | |
| 1773 | #[test] |
| 1774 | fn gltf_step_is_kept_bad_cubic_rejected_unnamed_clips_get_index_names() { |
| 1775 | let base = load_gltf_file( |
| 1776 | &std::path::Path::new(env!("CARGO_MANIFEST_DIR")) |
| 1777 | .join("tests/fixtures/bodies/test-body-male.glb"), |
| 1778 | ) |
| 1779 | .unwrap(); |
| 1780 | assert!(base.clips.iter().all(|c| c |
| 1781 | .channels |
| 1782 | .iter() |
| 1783 | .all(|ch| ch.interpolation == Interpolation::Linear))); |
| 1784 | let step = glb_with(|d| { |
| 1785 | for a in d["animations"].as_array_mut().unwrap() { |
| 1786 | for s in a["samplers"].as_array_mut().unwrap() { |
| 1787 | s["interpolation"] = "STEP".into(); |
| 1788 | } |
| 1789 | a.as_object_mut().unwrap().remove("name"); |
| 1790 | } |
| 1791 | }); |
| 1792 | let loaded = load_gltf_file(&step).unwrap(); |
| 1793 | assert!(loaded.clips.iter().all(|c| c |
| 1794 | .channels |
| 1795 | .iter() |
| 1796 | .all(|ch| ch.interpolation == Interpolation::Step))); |
| 1797 | assert_eq!(loaded.clips[0].name, "animatie 0"); |
| 1798 | assert_ne!(loaded.clips[0].name, loaded.clips[1].name); |
| 1799 | // Between keys a STEP channel holds the left key. |
| 1800 | let ch = loaded.clips[0] |
| 1801 | .channels |
| 1802 | .iter() |
| 1803 | .find(|c| c.times.len() > 2) |
| 1804 | .unwrap(); |
| 1805 | let mid = (ch.times[0] + ch.times[1]) / 2.; |
| 1806 | assert_eq!(ch.sample(mid), ch.sample(ch.times[0])); |
| 1807 | // CUBICSPLINE without tangent triples is rejected explicitly. |
| 1808 | let cubic = glb_with(|d| { |
| 1809 | d["animations"][0]["samplers"][0]["interpolation"] = "CUBICSPLINE".into(); |
| 1810 | }); |
| 1811 | let err = load_gltf_file(&cubic).err().unwrap(); |
| 1812 | assert!(err.contains("ongeldig kanaal"), "{err}"); |
| 1813 | let _ = std::fs::remove_file(step); |
| 1814 | let _ = std::fs::remove_file(cubic); |
| 1815 | } |
| 1816 | |
| 1817 | fn male() -> PreviewCharacter { |
| 1818 | load_gltf_file( |
| 1819 | &Path::new(env!("CARGO_MANIFEST_DIR")).join("tests/fixtures/bodies/test-body-male.glb"), |
| 1820 | ) |
| 1821 | .unwrap() |
| 1822 | } |
| 1823 | |
| 1824 | fn distance(a: [f32; 3], b: [f32; 3]) -> f32 { |
| 1825 | let d = [a[0] - b[0], a[1] - b[1], a[2] - b[2]]; |
| 1826 | dot(d, d).sqrt() |
| 1827 | } |
| 1828 | |
| 1829 | #[test] |
| 1830 | fn mirrored_static_gltf_node_flips_winding_and_keeps_outward_normals() { |
| 1831 | let dir = std::env::temp_dir().join(format!( |
| 1832 | "paperdoll-static-mirror-{}-{:?}", |
| 1833 | std::process::id(), |
| 1834 | std::thread::current().id() |
| 1835 | )); |
| 1836 | std::fs::create_dir_all(&dir).unwrap(); |
| 1837 | // One triangle facing -Z (counter-clockwise seen from -Z), normal -Z. |
| 1838 | let pos: [[f32; 3]; 3] = [[0., 0., 0.], [0., 1., 0.], [1., 0., 0.]]; |
| 1839 | let mut bin = Vec::new(); |
| 1840 | for p in pos { |
| 1841 | for v in p { |
| 1842 | bin.extend(v.to_le_bytes()); |
| 1843 | } |
| 1844 | } |
| 1845 | for _ in 0..3 { |
| 1846 | for v in [0f32, 0., -1.] { |
| 1847 | bin.extend(v.to_le_bytes()); |
| 1848 | } |
| 1849 | } |
| 1850 | std::fs::write(dir.join("tri.bin"), &bin).unwrap(); |
| 1851 | let gltf = serde_json::json!({ |
| 1852 | "asset": {"version": "2.0"}, |
| 1853 | "scene": 0, |
| 1854 | "scenes": [{"nodes": [0]}], |
| 1855 | "nodes": [{"mesh": 0, "scale": [-2.0, 1.0, 1.0], "translation": [0.0, 0.5, 0.0]}], |
| 1856 | "meshes": [{"primitives": [{"attributes": {"POSITION": 0, "NORMAL": 1}}]}], |
| 1857 | "buffers": [{"uri": "tri.bin", "byteLength": bin.len()}], |
| 1858 | "bufferViews": [ |
| 1859 | {"buffer": 0, "byteOffset": 0, "byteLength": 36}, |
| 1860 | {"buffer": 0, "byteOffset": 36, "byteLength": 36} |
| 1861 | ], |
| 1862 | "accessors": [ |
| 1863 | {"bufferView": 0, "componentType": 5126, "count": 3, "type": "VEC3", |
| 1864 | "min": [0.0, 0.0, 0.0], "max": [1.0, 1.0, 0.0]}, |
| 1865 | {"bufferView": 1, "componentType": 5126, "count": 3, "type": "VEC3"} |
| 1866 | ] |
| 1867 | }); |
| 1868 | std::fs::write(dir.join("tri.gltf"), gltf.to_string()).unwrap(); |
| 1869 | let body = load_body_file(&dir.join("tri.gltf")).unwrap(); |
| 1870 | std::fs::remove_dir_all(&dir).ok(); |
| 1871 | assert!(body.is_static()); |
| 1872 | assert_eq!(body.positions[2], [-2., 0.5, 0.]); |
| 1873 | assert_eq!(body.indices, vec![0, 2, 1], "mirror must flip winding"); |
| 1874 | let [a, b, c] = [0, 2, 1].map(|i| body.positions[i]); |
| 1875 | let n = cross( |
| 1876 | [b[0] - a[0], b[1] - a[1], b[2] - a[2]], |
| 1877 | [c[0] - a[0], c[1] - a[1], c[2] - a[2]], |
| 1878 | ); |
| 1879 | assert!(n[2] < 0., "winding still faces -Z: {n:?}"); |
| 1880 | for normal in &body.normals { |
| 1881 | assert!((normal[2] + 1.).abs() < 1e-6, "{normal:?}"); |
| 1882 | } |
| 1883 | assert!(normal_matrix(&trs([0.; 3], [0., 0., 0., 1.], [0., 1., 1.])).is_none()); |
| 1884 | } |
| 1885 | |
| 1886 | #[test] |
| 1887 | fn walk_and_attack_move_the_matching_bones() { |
| 1888 | let character = male(); |
| 1889 | assert!(character.clips.iter().any(|clip| clip.name == "walk")); |
| 1890 | assert!(character.clips.iter().any(|clip| clip.name == "attack")); |
| 1891 | assert_eq!(character.joint_names.len(), 19); |
| 1892 | assert!(character.indices.len() >= 3); |
| 1893 | assert!(character.positions.len() >= 19 * 8); |
| 1894 | let leg_a = joint_world_translation(&character, "walk", 0.0, "LeftLowerLeg").unwrap(); |
| 1895 | let leg_b = joint_world_translation(&character, "walk", 0.25, "LeftLowerLeg").unwrap(); |
| 1896 | assert!( |
| 1897 | distance(leg_a, leg_b) > 0.05, |
| 1898 | "walk should move the lower leg, delta {}", |
| 1899 | distance(leg_a, leg_b) |
| 1900 | ); |
| 1901 | let arm_a = joint_world_translation(&character, "attack", 0.0, "RightHand").unwrap(); |
| 1902 | let arm_b = joint_world_translation(&character, "attack", 0.35, "RightHand").unwrap(); |
| 1903 | assert!( |
| 1904 | distance(arm_a, arm_b) > 0.05, |
| 1905 | "attack should move the right hand, delta {}", |
| 1906 | distance(arm_a, arm_b) |
| 1907 | ); |
| 1908 | let matrices = sample_skin_matrices(&character, "walk", 0.2); |
| 1909 | assert_eq!(matrices.len(), 19); |
| 1910 | assert!(matrices.iter().flatten().all(|value| value.is_finite())); |
| 1911 | } |
| 1912 | |
| 1913 | #[test] |
| 1914 | fn female_fixture_has_the_same_clip_names() { |
| 1915 | let character = load_gltf_file( |
| 1916 | &Path::new(env!("CARGO_MANIFEST_DIR")) |
| 1917 | .join("tests/fixtures/bodies/test-body-female.glb"), |
| 1918 | ) |
| 1919 | .unwrap(); |
| 1920 | assert!(character.clips.iter().any(|clip| clip.name == "walk")); |
| 1921 | assert!(character.clips.iter().any(|clip| clip.name == "attack")); |
| 1922 | let a = joint_world_translation(&character, "walk", 0.0, "RightLowerLeg").unwrap(); |
| 1923 | let b = joint_world_translation(&character, "walk", 0.5, "RightLowerLeg").unwrap(); |
| 1924 | assert!(distance(a, b) > 0.05); |
| 1925 | } |
| 1926 | |
| 1927 | #[test] |
| 1928 | fn yaw_zero_is_in_front_and_the_twelve_yaws_differ() { |
| 1929 | let front = eye_offset(0.0, 0.0, 4.0); |
| 1930 | assert!(front[2] < -3.5, "yaw 0 camera belongs on -Z, got {front:?}"); |
| 1931 | assert!(front[0].abs() < 0.05); |
| 1932 | let mut seen = Vec::new(); |
| 1933 | for yaw in paperdoll_yaws_deg() { |
| 1934 | let eye = eye_offset(yaw, 0.0, 4.0); |
| 1935 | assert!(seen |
| 1936 | .iter() |
| 1937 | .all(|previous: &[f32; 3]| distance(*previous, eye) > 0.5)); |
| 1938 | seen.push(eye); |
| 1939 | } |
| 1940 | assert_eq!(seen.len(), 12); |
| 1941 | let low = eye_offset(0.0, -30.0, 4.0); |
| 1942 | let high = eye_offset(0.0, 30.0, 4.0); |
| 1943 | assert!(low[1] < 0.0 && high[1] > 0.0); |
| 1944 | assert_eq!(PAPERDOLL_PITCHES_DEG.len(), 5); |
| 1945 | assert_eq!(PRODUCTION_VIEWS as usize, PRODUCTION_PITCHES.len() * 12); |
| 1946 | } |
| 1947 | |
| 1948 | #[test] |
| 1949 | fn controls_snap_wrap_and_keep_a_clip_change() { |
| 1950 | let mut controls = PreviewControls::default(); |
| 1951 | controls.drag(-100.0, 40.0); |
| 1952 | assert!(controls.yaw_deg > 40.0); |
| 1953 | assert!(controls.pitch_deg > 10.0); |
| 1954 | controls.zoom(400.0); |
| 1955 | assert!(controls.distance < 3.4); |
| 1956 | controls.snap_yaw_index(-1); |
| 1957 | assert!((controls.yaw_deg - 330.0).abs() < 0.01); |
| 1958 | controls.snap_pitch_row(99); |
| 1959 | assert!((controls.pitch_deg - 60.0).abs() < 0.01); |
| 1960 | controls.snap_pitch_row(-4); |
| 1961 | assert!((controls.pitch_deg + 60.0).abs() < 0.01); |
| 1962 | controls.snap_pitch_row(3); |
| 1963 | assert!((controls.pitch_deg - 30.0).abs() < 0.01); |
| 1964 | controls.time = 0.4; |
| 1965 | controls.select_clip("attack"); |
| 1966 | assert_eq!(controls.clip_name, "attack"); |
| 1967 | assert_eq!(controls.time, 0.0); |
| 1968 | controls.time = 1.2; |
| 1969 | controls.advance(0.0, 1.0); |
| 1970 | controls.playing = true; |
| 1971 | controls.advance(0.3, 1.0); |
| 1972 | assert!((controls.time - 0.5).abs() < 0.02 || (wrap_time(1.5, 1.0) - 0.5).abs() < 0.02); |
| 1973 | } |
| 1974 | } |
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