51 lines
2 KiB
GLSL
Executable file
51 lines
2 KiB
GLSL
Executable file
// Geometric Skinning with Approximate Dual Quaternion Blending, Kavan
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// Based on https://github.com/tcoppex/aer-engine/blob/master/demos/aura/data/shaders/Skinning.glsl
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uniform float skinBones[skinMaxBones * 8];
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void getSkinningDualQuat(const ivec4 bone, vec4 weight, out vec4 A, inout vec4 B) {
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// Retrieve the real and dual part of the dual-quaternions
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mat4 matA, matB;
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matA[0][0] = skinBones[bone.x * 8 + 0];
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matA[0][1] = skinBones[bone.x * 8 + 1];
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matA[0][2] = skinBones[bone.x * 8 + 2];
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matA[0][3] = skinBones[bone.x * 8 + 3];
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matB[0][0] = skinBones[bone.x * 8 + 4];
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matB[0][1] = skinBones[bone.x * 8 + 5];
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matB[0][2] = skinBones[bone.x * 8 + 6];
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matB[0][3] = skinBones[bone.x * 8 + 7];
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matA[1][0] = skinBones[bone.y * 8 + 0];
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matA[1][1] = skinBones[bone.y * 8 + 1];
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matA[1][2] = skinBones[bone.y * 8 + 2];
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matA[1][3] = skinBones[bone.y * 8 + 3];
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matB[1][0] = skinBones[bone.y * 8 + 4];
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matB[1][1] = skinBones[bone.y * 8 + 5];
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matB[1][2] = skinBones[bone.y * 8 + 6];
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matB[1][3] = skinBones[bone.y * 8 + 7];
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matA[2][0] = skinBones[bone.z * 8 + 0];
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matA[2][1] = skinBones[bone.z * 8 + 1];
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matA[2][2] = skinBones[bone.z * 8 + 2];
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matA[2][3] = skinBones[bone.z * 8 + 3];
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matB[2][0] = skinBones[bone.z * 8 + 4];
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matB[2][1] = skinBones[bone.z * 8 + 5];
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matB[2][2] = skinBones[bone.z * 8 + 6];
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matB[2][3] = skinBones[bone.z * 8 + 7];
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matA[3][0] = skinBones[bone.w * 8 + 0];
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matA[3][1] = skinBones[bone.w * 8 + 1];
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matA[3][2] = skinBones[bone.w * 8 + 2];
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matA[3][3] = skinBones[bone.w * 8 + 3];
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matB[3][0] = skinBones[bone.w * 8 + 4];
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matB[3][1] = skinBones[bone.w * 8 + 5];
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matB[3][2] = skinBones[bone.w * 8 + 6];
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matB[3][3] = skinBones[bone.w * 8 + 7];
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// Handles antipodality by sticking joints in the same neighbourhood
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// weight.xyz *= sign(matA[3] * mat3x4(matA)).xyz;
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weight.xyz *= sign(matA[3] * matA).xyz;
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// Apply weights
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A = matA * weight; // Real part
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B = matB * weight; // Dual part
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// Normalize
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float invNormA = 1.0 / length(A);
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A *= invNormA;
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B *= invNormA;
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}
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