0bd877780f
Basic skin support Various fixes - Fixes bind mount id and mesh index - Fixed duplicate nodes being created - Prevented leak when instances being freed during re-import. - Improved camera and light transform import - skeleton handling and technical debt removal - ASSIMP: bone nodes were unlinked from bones by this code - bone_add working can distinguish between armatutes - Updated transform to be the correct offset - Added safety for state.root node errors - Fixed memory leak with leaf bones - Implemented children re-parenting for mesh template - import_animation fixes to basic skeleton data - Adds some more debug messages - Fixed Godot import segfault - Fix build failing on mono - Clear resources we use which are no longer required after import - Fixed bone duplication issue - Working skeleton_bone_map which can lookup armatures properly now. - Fixed stack being used up when mesh swapped & Fixed bone ID Additional notes: We use a mesh template which is a fake node to instance the initial mesh nodes . This is to ensure the entire tree can be built. We replace mesh node templates with the real mesh after the skeleton is available, since this makes it ensure that the fully built skeleton exists with all bones, all nodes, etc. The bone stack is a stack which pops when it finds bones, this overcomes duplicate bones with the same names. FBX has lots of these because animation armature has bone names like bone001 and another armature will also have bone001 Fixed errors in node path assignment Simple explanation: - Every mesh uses a node from the stack - Node stack was empties before completed - Every time node not found, stack must be rebuilt to maintain correct armature order :) Additional fixes: - Fixes destructor in assimp - Implements aiNode* mArmature in bone data - Implements aiNode* mParent in bone data - Fixes parent ID on bones. Implemented skeleton assignment in generate_mesh_indicies This is the only place we can safely do a lookup for the skeleton for the mesh.h I used a pointer reference so we can pass this back out, since the skeleton assignment happens inside the function. Added mesh re-parenting to the armature node this is a permanent feature and must be enforced, just like GLTF2 specification. Fixed import_animation spawning tracks per skin
686 lines
24 KiB
C++
686 lines
24 KiB
C++
/*
|
|
---------------------------------------------------------------------------
|
|
Open Asset Import Library (assimp)
|
|
---------------------------------------------------------------------------
|
|
|
|
Copyright (c) 2006-2019, assimp team
|
|
|
|
All rights reserved.
|
|
|
|
Redistribution and use of this software in source and binary forms,
|
|
with or without modification, are permitted provided that the following
|
|
conditions are met:
|
|
|
|
* Redistributions of source code must retain the above
|
|
copyright notice, this list of conditions and the
|
|
following disclaimer.
|
|
|
|
* Redistributions in binary form must reproduce the above
|
|
copyright notice, this list of conditions and the
|
|
following disclaimer in the documentation and/or other
|
|
materials provided with the distribution.
|
|
|
|
* Neither the name of the assimp team, nor the names of its
|
|
contributors may be used to endorse or promote products
|
|
derived from this software without specific prior
|
|
written permission of the assimp team.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
|
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
|
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
|
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
|
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
|
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
|
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
---------------------------------------------------------------------------
|
|
*/
|
|
|
|
/** @file matrix4x4.inl
|
|
* @brief Inline implementation of the 4x4 matrix operators
|
|
*/
|
|
#pragma once
|
|
#ifndef AI_MATRIX4X4_INL_INC
|
|
#define AI_MATRIX4X4_INL_INC
|
|
|
|
#ifdef __cplusplus
|
|
|
|
#include "matrix4x4.h"
|
|
#include "matrix3x3.h"
|
|
#include "quaternion.h"
|
|
#include "MathFunctions.h"
|
|
|
|
#include <algorithm>
|
|
#include <limits>
|
|
#include <cmath>
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
aiMatrix4x4t<TReal>::aiMatrix4x4t() AI_NO_EXCEPT :
|
|
a1(1.0f), a2(), a3(), a4(),
|
|
b1(), b2(1.0f), b3(), b4(),
|
|
c1(), c2(), c3(1.0f), c4(),
|
|
d1(), d2(), d3(), d4(1.0f)
|
|
{
|
|
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
aiMatrix4x4t<TReal>::aiMatrix4x4t (TReal _a1, TReal _a2, TReal _a3, TReal _a4,
|
|
TReal _b1, TReal _b2, TReal _b3, TReal _b4,
|
|
TReal _c1, TReal _c2, TReal _c3, TReal _c4,
|
|
TReal _d1, TReal _d2, TReal _d3, TReal _d4) :
|
|
a1(_a1), a2(_a2), a3(_a3), a4(_a4),
|
|
b1(_b1), b2(_b2), b3(_b3), b4(_b4),
|
|
c1(_c1), c2(_c2), c3(_c3), c4(_c4),
|
|
d1(_d1), d2(_d2), d3(_d3), d4(_d4)
|
|
{
|
|
|
|
}
|
|
|
|
// ------------------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
template <typename TOther>
|
|
aiMatrix4x4t<TReal>::operator aiMatrix4x4t<TOther> () const
|
|
{
|
|
return aiMatrix4x4t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3),static_cast<TOther>(a4),
|
|
static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3),static_cast<TOther>(b4),
|
|
static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3),static_cast<TOther>(c4),
|
|
static_cast<TOther>(d1),static_cast<TOther>(d2),static_cast<TOther>(d3),static_cast<TOther>(d4));
|
|
}
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m)
|
|
{
|
|
a1 = m.a1; a2 = m.a2; a3 = m.a3; a4 = static_cast<TReal>(0.0);
|
|
b1 = m.b1; b2 = m.b2; b3 = m.b3; b4 = static_cast<TReal>(0.0);
|
|
c1 = m.c1; c2 = m.c2; c3 = m.c3; c4 = static_cast<TReal>(0.0);
|
|
d1 = static_cast<TReal>(0.0); d2 = static_cast<TReal>(0.0); d3 = static_cast<TReal>(0.0); d4 = static_cast<TReal>(1.0);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation, const aiVector3t<TReal>& position)
|
|
{
|
|
// build a 3x3 rotation matrix
|
|
aiMatrix3x3t<TReal> m = rotation.GetMatrix();
|
|
|
|
a1 = m.a1 * scaling.x;
|
|
a2 = m.a2 * scaling.x;
|
|
a3 = m.a3 * scaling.x;
|
|
a4 = position.x;
|
|
|
|
b1 = m.b1 * scaling.y;
|
|
b2 = m.b2 * scaling.y;
|
|
b3 = m.b3 * scaling.y;
|
|
b4 = position.y;
|
|
|
|
c1 = m.c1 * scaling.z;
|
|
c2 = m.c2 * scaling.z;
|
|
c3 = m.c3 * scaling.z;
|
|
c4= position.z;
|
|
|
|
d1 = static_cast<TReal>(0.0);
|
|
d2 = static_cast<TReal>(0.0);
|
|
d3 = static_cast<TReal>(0.0);
|
|
d4 = static_cast<TReal>(1.0);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t<TReal>& m)
|
|
{
|
|
*this = aiMatrix4x4t<TReal>(
|
|
m.a1 * a1 + m.b1 * a2 + m.c1 * a3 + m.d1 * a4,
|
|
m.a2 * a1 + m.b2 * a2 + m.c2 * a3 + m.d2 * a4,
|
|
m.a3 * a1 + m.b3 * a2 + m.c3 * a3 + m.d3 * a4,
|
|
m.a4 * a1 + m.b4 * a2 + m.c4 * a3 + m.d4 * a4,
|
|
m.a1 * b1 + m.b1 * b2 + m.c1 * b3 + m.d1 * b4,
|
|
m.a2 * b1 + m.b2 * b2 + m.c2 * b3 + m.d2 * b4,
|
|
m.a3 * b1 + m.b3 * b2 + m.c3 * b3 + m.d3 * b4,
|
|
m.a4 * b1 + m.b4 * b2 + m.c4 * b3 + m.d4 * b4,
|
|
m.a1 * c1 + m.b1 * c2 + m.c1 * c3 + m.d1 * c4,
|
|
m.a2 * c1 + m.b2 * c2 + m.c2 * c3 + m.d2 * c4,
|
|
m.a3 * c1 + m.b3 * c2 + m.c3 * c3 + m.d3 * c4,
|
|
m.a4 * c1 + m.b4 * c2 + m.c4 * c3 + m.d4 * c4,
|
|
m.a1 * d1 + m.b1 * d2 + m.c1 * d3 + m.d1 * d4,
|
|
m.a2 * d1 + m.b2 * d2 + m.c2 * d3 + m.d2 * d4,
|
|
m.a3 * d1 + m.b3 * d2 + m.c3 * d3 + m.d3 * d4,
|
|
m.a4 * d1 + m.b4 * d2 + m.c4 * d3 + m.d4 * d4);
|
|
return *this;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const TReal& aFloat) const
|
|
{
|
|
aiMatrix4x4t<TReal> temp(
|
|
a1 * aFloat,
|
|
a2 * aFloat,
|
|
a3 * aFloat,
|
|
a4 * aFloat,
|
|
b1 * aFloat,
|
|
b2 * aFloat,
|
|
b3 * aFloat,
|
|
b4 * aFloat,
|
|
c1 * aFloat,
|
|
c2 * aFloat,
|
|
c3 * aFloat,
|
|
c4 * aFloat,
|
|
d1 * aFloat,
|
|
d2 * aFloat,
|
|
d3 * aFloat,
|
|
d4 * aFloat);
|
|
return temp;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator+ (const aiMatrix4x4t<TReal>& m) const
|
|
{
|
|
aiMatrix4x4t<TReal> temp(
|
|
m.a1 + a1,
|
|
m.a2 + a2,
|
|
m.a3 + a3,
|
|
m.a4 + a4,
|
|
m.b1 + b1,
|
|
m.b2 + b2,
|
|
m.b3 + b3,
|
|
m.b4 + b4,
|
|
m.c1 + c1,
|
|
m.c2 + c2,
|
|
m.c3 + c3,
|
|
m.c4 + c4,
|
|
m.d1 + d1,
|
|
m.d2 + d2,
|
|
m.d3 + d3,
|
|
m.d4 + d4);
|
|
return temp;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const aiMatrix4x4t<TReal>& m) const
|
|
{
|
|
aiMatrix4x4t<TReal> temp( *this);
|
|
temp *= m;
|
|
return temp;
|
|
}
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose()
|
|
{
|
|
// (TReal&) don't remove, GCC complains cause of packed fields
|
|
std::swap( (TReal&)b1, (TReal&)a2);
|
|
std::swap( (TReal&)c1, (TReal&)a3);
|
|
std::swap( (TReal&)c2, (TReal&)b3);
|
|
std::swap( (TReal&)d1, (TReal&)a4);
|
|
std::swap( (TReal&)d2, (TReal&)b4);
|
|
std::swap( (TReal&)d3, (TReal&)c4);
|
|
return *this;
|
|
}
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline TReal aiMatrix4x4t<TReal>::Determinant() const
|
|
{
|
|
return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4
|
|
+ a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4
|
|
- a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3
|
|
+ a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2
|
|
+ a3*b2*c4*d1 - a3*b2*c1*d4 - a4*b1*c2*d3 + a4*b1*c3*d2
|
|
- a4*b2*c3*d1 + a4*b2*c1*d3 - a4*b3*c1*d2 + a4*b3*c2*d1;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse()
|
|
{
|
|
// Compute the reciprocal determinant
|
|
const TReal det = Determinant();
|
|
if(det == static_cast<TReal>(0.0))
|
|
{
|
|
// Matrix not invertible. Setting all elements to nan is not really
|
|
// correct in a mathematical sense but it is easy to debug for the
|
|
// programmer.
|
|
const TReal nan = std::numeric_limits<TReal>::quiet_NaN();
|
|
*this = aiMatrix4x4t<TReal>(
|
|
nan,nan,nan,nan,
|
|
nan,nan,nan,nan,
|
|
nan,nan,nan,nan,
|
|
nan,nan,nan,nan);
|
|
|
|
return *this;
|
|
}
|
|
|
|
const TReal invdet = static_cast<TReal>(1.0) / det;
|
|
|
|
aiMatrix4x4t<TReal> res;
|
|
res.a1 = invdet * (b2 * (c3 * d4 - c4 * d3) + b3 * (c4 * d2 - c2 * d4) + b4 * (c2 * d3 - c3 * d2));
|
|
res.a2 = -invdet * (a2 * (c3 * d4 - c4 * d3) + a3 * (c4 * d2 - c2 * d4) + a4 * (c2 * d3 - c3 * d2));
|
|
res.a3 = invdet * (a2 * (b3 * d4 - b4 * d3) + a3 * (b4 * d2 - b2 * d4) + a4 * (b2 * d3 - b3 * d2));
|
|
res.a4 = -invdet * (a2 * (b3 * c4 - b4 * c3) + a3 * (b4 * c2 - b2 * c4) + a4 * (b2 * c3 - b3 * c2));
|
|
res.b1 = -invdet * (b1 * (c3 * d4 - c4 * d3) + b3 * (c4 * d1 - c1 * d4) + b4 * (c1 * d3 - c3 * d1));
|
|
res.b2 = invdet * (a1 * (c3 * d4 - c4 * d3) + a3 * (c4 * d1 - c1 * d4) + a4 * (c1 * d3 - c3 * d1));
|
|
res.b3 = -invdet * (a1 * (b3 * d4 - b4 * d3) + a3 * (b4 * d1 - b1 * d4) + a4 * (b1 * d3 - b3 * d1));
|
|
res.b4 = invdet * (a1 * (b3 * c4 - b4 * c3) + a3 * (b4 * c1 - b1 * c4) + a4 * (b1 * c3 - b3 * c1));
|
|
res.c1 = invdet * (b1 * (c2 * d4 - c4 * d2) + b2 * (c4 * d1 - c1 * d4) + b4 * (c1 * d2 - c2 * d1));
|
|
res.c2 = -invdet * (a1 * (c2 * d4 - c4 * d2) + a2 * (c4 * d1 - c1 * d4) + a4 * (c1 * d2 - c2 * d1));
|
|
res.c3 = invdet * (a1 * (b2 * d4 - b4 * d2) + a2 * (b4 * d1 - b1 * d4) + a4 * (b1 * d2 - b2 * d1));
|
|
res.c4 = -invdet * (a1 * (b2 * c4 - b4 * c2) + a2 * (b4 * c1 - b1 * c4) + a4 * (b1 * c2 - b2 * c1));
|
|
res.d1 = -invdet * (b1 * (c2 * d3 - c3 * d2) + b2 * (c3 * d1 - c1 * d3) + b3 * (c1 * d2 - c2 * d1));
|
|
res.d2 = invdet * (a1 * (c2 * d3 - c3 * d2) + a2 * (c3 * d1 - c1 * d3) + a3 * (c1 * d2 - c2 * d1));
|
|
res.d3 = -invdet * (a1 * (b2 * d3 - b3 * d2) + a2 * (b3 * d1 - b1 * d3) + a3 * (b1 * d2 - b2 * d1));
|
|
res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1));
|
|
*this = res;
|
|
|
|
return *this;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) {
|
|
if (p_iIndex > 3) {
|
|
return NULL;
|
|
}
|
|
switch ( p_iIndex ) {
|
|
case 0:
|
|
return &a1;
|
|
case 1:
|
|
return &b1;
|
|
case 2:
|
|
return &c1;
|
|
case 3:
|
|
return &d1;
|
|
default:
|
|
break;
|
|
}
|
|
return &a1;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline const TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) const {
|
|
if (p_iIndex > 3) {
|
|
return NULL;
|
|
}
|
|
|
|
switch ( p_iIndex ) {
|
|
case 0:
|
|
return &a1;
|
|
case 1:
|
|
return &b1;
|
|
case 2:
|
|
return &c1;
|
|
case 3:
|
|
return &d1;
|
|
default:
|
|
break;
|
|
}
|
|
return &a1;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline bool aiMatrix4x4t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const
|
|
{
|
|
return (a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && a4 == m.a4 &&
|
|
b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && b4 == m.b4 &&
|
|
c1 == m.c1 && c2 == m.c2 && c3 == m.c3 && c4 == m.c4 &&
|
|
d1 == m.d1 && d2 == m.d2 && d3 == m.d3 && d4 == m.d4);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline bool aiMatrix4x4t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const
|
|
{
|
|
return !(*this == m);
|
|
}
|
|
|
|
// ---------------------------------------------------------------------------
|
|
template<typename TReal>
|
|
inline bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon) const {
|
|
return
|
|
std::abs(a1 - m.a1) <= epsilon &&
|
|
std::abs(a2 - m.a2) <= epsilon &&
|
|
std::abs(a3 - m.a3) <= epsilon &&
|
|
std::abs(a4 - m.a4) <= epsilon &&
|
|
std::abs(b1 - m.b1) <= epsilon &&
|
|
std::abs(b2 - m.b2) <= epsilon &&
|
|
std::abs(b3 - m.b3) <= epsilon &&
|
|
std::abs(b4 - m.b4) <= epsilon &&
|
|
std::abs(c1 - m.c1) <= epsilon &&
|
|
std::abs(c2 - m.c2) <= epsilon &&
|
|
std::abs(c3 - m.c3) <= epsilon &&
|
|
std::abs(c4 - m.c4) <= epsilon &&
|
|
std::abs(d1 - m.d1) <= epsilon &&
|
|
std::abs(d2 - m.d2) <= epsilon &&
|
|
std::abs(d3 - m.d3) <= epsilon &&
|
|
std::abs(d4 - m.d4) <= epsilon;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
|
|
#define ASSIMP_MATRIX4_4_DECOMPOSE_PART \
|
|
const aiMatrix4x4t<TReal>& _this = *this;/* Create alias for conveniance. */ \
|
|
\
|
|
/* extract translation */ \
|
|
pPosition.x = _this[0][3]; \
|
|
pPosition.y = _this[1][3]; \
|
|
pPosition.z = _this[2][3]; \
|
|
\
|
|
/* extract the columns of the matrix. */ \
|
|
aiVector3t<TReal> vCols[3] = { \
|
|
aiVector3t<TReal>(_this[0][0],_this[1][0],_this[2][0]), \
|
|
aiVector3t<TReal>(_this[0][1],_this[1][1],_this[2][1]), \
|
|
aiVector3t<TReal>(_this[0][2],_this[1][2],_this[2][2]) \
|
|
}; \
|
|
\
|
|
/* extract the scaling factors */ \
|
|
pScaling.x = vCols[0].Length(); \
|
|
pScaling.y = vCols[1].Length(); \
|
|
pScaling.z = vCols[2].Length(); \
|
|
\
|
|
/* and the sign of the scaling */ \
|
|
if (Determinant() < 0) pScaling = -pScaling; \
|
|
\
|
|
/* and remove all scaling from the matrix */ \
|
|
if(pScaling.x) vCols[0] /= pScaling.x; \
|
|
if(pScaling.y) vCols[1] /= pScaling.y; \
|
|
if(pScaling.z) vCols[2] /= pScaling.z; \
|
|
\
|
|
do {} while(false)
|
|
|
|
|
|
|
|
|
|
template <typename TReal>
|
|
inline void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& pScaling, aiQuaterniont<TReal>& pRotation,
|
|
aiVector3t<TReal>& pPosition) const
|
|
{
|
|
ASSIMP_MATRIX4_4_DECOMPOSE_PART;
|
|
|
|
// build a 3x3 rotation matrix
|
|
aiMatrix3x3t<TReal> m(vCols[0].x,vCols[1].x,vCols[2].x,
|
|
vCols[0].y,vCols[1].y,vCols[2].y,
|
|
vCols[0].z,vCols[1].z,vCols[2].z);
|
|
|
|
// and generate the rotation quaternion from it
|
|
pRotation = aiQuaterniont<TReal>(m);
|
|
}
|
|
|
|
template <typename TReal>
|
|
inline
|
|
void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const {
|
|
ASSIMP_MATRIX4_4_DECOMPOSE_PART;
|
|
|
|
/*
|
|
assuming a right-handed coordinate system
|
|
and post-multiplication of column vectors,
|
|
the rotation matrix for an euler XYZ rotation is M = Rz * Ry * Rx.
|
|
combining gives:
|
|
|
|
| CE BDE-AF ADE+BF 0 |
|
|
M = | CF BDF+AE ADF-BE 0 |
|
|
| -D CB AC 0 |
|
|
| 0 0 0 1 |
|
|
|
|
where
|
|
A = cos(angle_x), B = sin(angle_x);
|
|
C = cos(angle_y), D = sin(angle_y);
|
|
E = cos(angle_z), F = sin(angle_z);
|
|
*/
|
|
|
|
// Use a small epsilon to solve floating-point inaccuracies
|
|
const TReal epsilon = Assimp::Math::getEpsilon<TReal>();
|
|
|
|
pRotation.y = std::asin(-vCols[0].z);// D. Angle around oY.
|
|
|
|
TReal C = std::cos(pRotation.y);
|
|
|
|
if(std::fabs(C) > epsilon)
|
|
{
|
|
// Finding angle around oX.
|
|
TReal tan_x = vCols[2].z / C;// A
|
|
TReal tan_y = vCols[1].z / C;// B
|
|
|
|
pRotation.x = std::atan2(tan_y, tan_x);
|
|
// Finding angle around oZ.
|
|
tan_x = vCols[0].x / C;// E
|
|
tan_y = vCols[0].y / C;// F
|
|
pRotation.z = std::atan2(tan_y, tan_x);
|
|
}
|
|
else
|
|
{// oY is fixed.
|
|
pRotation.x = 0;// Set angle around oX to 0. => A == 1, B == 0, C == 0, D == 1.
|
|
|
|
// And finding angle around oZ.
|
|
TReal tan_x = vCols[1].y;// BDF+AE => E
|
|
TReal tan_y = -vCols[1].x;// BDE-AF => F
|
|
|
|
pRotation.z = std::atan2(tan_y, tan_x);
|
|
}
|
|
}
|
|
|
|
#undef ASSIMP_MATRIX4_4_DECOMPOSE_PART
|
|
|
|
template <typename TReal>
|
|
inline void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle,
|
|
aiVector3t<TReal>& pPosition) const
|
|
{
|
|
aiQuaterniont<TReal> pRotation;
|
|
|
|
Decompose(pScaling, pRotation, pPosition);
|
|
pRotation.Normalize();
|
|
|
|
TReal angle_cos = pRotation.w;
|
|
TReal angle_sin = std::sqrt(1.0f - angle_cos * angle_cos);
|
|
|
|
pRotationAngle = std::acos(angle_cos) * 2;
|
|
|
|
// Use a small epsilon to solve floating-point inaccuracies
|
|
const TReal epsilon = 10e-3f;
|
|
|
|
if(std::fabs(angle_sin) < epsilon) angle_sin = 1;
|
|
|
|
pRotationAxis.x = pRotation.x / angle_sin;
|
|
pRotationAxis.y = pRotation.y / angle_sin;
|
|
pRotationAxis.z = pRotation.z / angle_sin;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline void aiMatrix4x4t<TReal>::DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
|
|
aiVector3t<TReal>& position) const
|
|
{
|
|
const aiMatrix4x4t<TReal>& _this = *this;
|
|
|
|
// extract translation
|
|
position.x = _this[0][3];
|
|
position.y = _this[1][3];
|
|
position.z = _this[2][3];
|
|
|
|
// extract rotation
|
|
rotation = aiQuaterniont<TReal>((aiMatrix3x3t<TReal>)_this);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb)
|
|
{
|
|
return FromEulerAnglesXYZ(blubb.x,blubb.y,blubb.z);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(TReal x, TReal y, TReal z)
|
|
{
|
|
aiMatrix4x4t<TReal>& _this = *this;
|
|
|
|
TReal cx = std::cos(x);
|
|
TReal sx = std::sin(x);
|
|
TReal cy = std::cos(y);
|
|
TReal sy = std::sin(y);
|
|
TReal cz = std::cos(z);
|
|
TReal sz = std::sin(z);
|
|
|
|
// mz*my*mx
|
|
_this.a1 = cz * cy;
|
|
_this.a2 = cz * sy * sx - sz * cx;
|
|
_this.a3 = sz * sx + cz * sy * cx;
|
|
|
|
_this.b1 = sz * cy;
|
|
_this.b2 = cz * cx + sz * sy * sx;
|
|
_this.b3 = sz * sy * cx - cz * sx;
|
|
|
|
_this.c1 = -sy;
|
|
_this.c2 = cy * sx;
|
|
_this.c3 = cy * cx;
|
|
|
|
return *this;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline bool aiMatrix4x4t<TReal>::IsIdentity() const
|
|
{
|
|
// Use a small epsilon to solve floating-point inaccuracies
|
|
const static TReal epsilon = 10e-3f;
|
|
|
|
return (a2 <= epsilon && a2 >= -epsilon &&
|
|
a3 <= epsilon && a3 >= -epsilon &&
|
|
a4 <= epsilon && a4 >= -epsilon &&
|
|
b1 <= epsilon && b1 >= -epsilon &&
|
|
b3 <= epsilon && b3 >= -epsilon &&
|
|
b4 <= epsilon && b4 >= -epsilon &&
|
|
c1 <= epsilon && c1 >= -epsilon &&
|
|
c2 <= epsilon && c2 >= -epsilon &&
|
|
c4 <= epsilon && c4 >= -epsilon &&
|
|
d1 <= epsilon && d1 >= -epsilon &&
|
|
d2 <= epsilon && d2 >= -epsilon &&
|
|
d3 <= epsilon && d3 >= -epsilon &&
|
|
a1 <= 1.f+epsilon && a1 >= 1.f-epsilon &&
|
|
b2 <= 1.f+epsilon && b2 >= 1.f-epsilon &&
|
|
c3 <= 1.f+epsilon && c3 >= 1.f-epsilon &&
|
|
d4 <= 1.f+epsilon && d4 >= 1.f-epsilon);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationX(TReal a, aiMatrix4x4t<TReal>& out)
|
|
{
|
|
/*
|
|
| 1 0 0 0 |
|
|
M = | 0 cos(A) -sin(A) 0 |
|
|
| 0 sin(A) cos(A) 0 |
|
|
| 0 0 0 1 | */
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.b2 = out.c3 = std::cos(a);
|
|
out.b3 = -(out.c2 = std::sin(a));
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationY(TReal a, aiMatrix4x4t<TReal>& out)
|
|
{
|
|
/*
|
|
| cos(A) 0 sin(A) 0 |
|
|
M = | 0 1 0 0 |
|
|
| -sin(A) 0 cos(A) 0 |
|
|
| 0 0 0 1 |
|
|
*/
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a1 = out.c3 = std::cos(a);
|
|
out.c1 = -(out.a3 = std::sin(a));
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationZ(TReal a, aiMatrix4x4t<TReal>& out)
|
|
{
|
|
/*
|
|
| cos(A) -sin(A) 0 0 |
|
|
M = | sin(A) cos(A) 0 0 |
|
|
| 0 0 1 0 |
|
|
| 0 0 0 1 | */
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a1 = out.b2 = std::cos(a);
|
|
out.a2 = -(out.b1 = std::sin(a));
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
// Returns a rotation matrix for a rotation around an arbitrary axis.
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix4x4t<TReal>& out)
|
|
{
|
|
TReal c = std::cos( a), s = std::sin( a), t = 1 - c;
|
|
TReal x = axis.x, y = axis.y, z = axis.z;
|
|
|
|
// Many thanks to MathWorld and Wikipedia
|
|
out.a1 = t*x*x + c; out.a2 = t*x*y - s*z; out.a3 = t*x*z + s*y;
|
|
out.b1 = t*x*y + s*z; out.b2 = t*y*y + c; out.b3 = t*y*z - s*x;
|
|
out.c1 = t*x*z - s*y; out.c2 = t*y*z + s*x; out.c3 = t*z*z + c;
|
|
out.a4 = out.b4 = out.c4 = static_cast<TReal>(0.0);
|
|
out.d1 = out.d2 = out.d3 = static_cast<TReal>(0.0);
|
|
out.d4 = static_cast<TReal>(1.0);
|
|
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Translation( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out)
|
|
{
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a4 = v.x;
|
|
out.b4 = v.y;
|
|
out.c4 = v.z;
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out)
|
|
{
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a1 = v.x;
|
|
out.b2 = v.y;
|
|
out.c3 = v.z;
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
/** A function for creating a rotation matrix that rotates a vector called
|
|
* "from" into another vector called "to".
|
|
* Input : from[3], to[3] which both must be *normalized* non-zero vectors
|
|
* Output: mtx[3][3] -- a 3x3 matrix in colum-major form
|
|
* Authors: Tomas Möller, John Hughes
|
|
* "Efficiently Building a Matrix to Rotate One Vector to Another"
|
|
* Journal of Graphics Tools, 4(4):1-4, 1999
|
|
*/
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from,
|
|
const aiVector3t<TReal>& to, aiMatrix4x4t<TReal>& mtx)
|
|
{
|
|
aiMatrix3x3t<TReal> m3;
|
|
aiMatrix3x3t<TReal>::FromToMatrix(from,to,m3);
|
|
mtx = aiMatrix4x4t<TReal>(m3);
|
|
return mtx;
|
|
}
|
|
|
|
#endif // __cplusplus
|
|
#endif // AI_MATRIX4X4_INL_INC
|