#include "model.hpp"
#include <iostream>
-#include <assimp/postprocess.h>
#include <assimp/quaternion.h>
#include <glm/gtc/type_ptr.hpp>
+#include <glm/gtx/closest_point.hpp>
+#include "util.hpp"
-glm::mat4 aiMatrixToMat4(aiMatrix4x4 from) {
- glm::mat4 to;
- for (int i = 0; i < 4; i++)
- for (int j = 0; j < 4; j++)
- to[i][j] = from[j][i];
- return to;
-}
-
-
-Model::Mesh::Mesh(const aiMesh *aiMesh, GLuint progId) {
-
+Model::Mesh::Mesh(const aiMesh *aiMesh, GLuint progId) : progId(progId), ai(*aiMesh) {
std::vector<glm::vec3> vertices, normals, tangents, bitangents;
std::vector<glm::vec2> texCoords;
normals.push_back(glm::vec3(v.x, v.y, v.z));
} else {
std::cerr << "Missing normals" << std::endl;
- exit(1);
+ abort();
}
// check for texture coord set 0
if (aiMesh->HasTextureCoords(0)) {
glGenVertexArrays(1, &vao);
glBindVertexArray(vao);
- GLuint vbos[6];
glGenBuffers(6, vbos);
- GLuint vertexVbo = vbos[0], normalVbo = vbos[1], texCoordVbo = vbos[2], indicesVbo = vbos[3];
+ GLuint posVbo = vbos[0], normalVbo = vbos[1], texCoordVbo = vbos[2], indicesVbo = vbos[3];
GLuint boneVbo = vbos[4];
GLuint posLoc = glGetAttribLocation(progId, "pos");
- glBindBuffer(GL_ARRAY_BUFFER, vertexVbo);
+ glBindBuffer(GL_ARRAY_BUFFER, posVbo);
glBufferData(GL_ARRAY_BUFFER, vertices.size() * sizeof(glm::vec3), &vertices[0], GL_STATIC_DRAW);
glEnableVertexAttribArray(posLoc);
glVertexAttribPointer(posLoc, 3, GL_FLOAT, GL_FALSE, 0, 0);
for (unsigned int i = 0; i < aiMesh->mNumBones; i++) {
aiBone *aiBone = aiMesh->mBones[i];
- boneMap[std::string(aiBone->mName.C_Str())] = std::pair(i + 1, aiMatrixToMat4(aiBone->mOffsetMatrix));
+ boneMap[std::string(aiBone->mName.C_Str())] = std::pair(i + 1, aiBone);
for (int j = 0; j < aiBone->mNumWeights; j++) {
aiVertexWeight vw = aiBone->mWeights[j];
- if (!boneWeightMap.count(vw.mVertexId)) boneWeightMap[vw.mVertexId] = std::vector<std::pair<unsigned int, float>>();
+ if (!boneWeightMap.count(vw.mVertexId))
+ boneWeightMap[vw.mVertexId] = std::vector<std::pair<unsigned int, float>>();
boneWeightMap[vw.mVertexId].push_back(std::pair(i + 1, vw.mWeight));
}
}
glVertexAttribPointer(boneWeightLoc, 4, GL_FLOAT, GL_FALSE, sizeof(VertBones), (const GLvoid *)sizeof(VertBones::ids));
}
-Model::Node::Node(const aiNode &node, GLuint progId, AnimMap *am): ai(node), progId(progId), animMap(am) {
+void Model::Mesh::updatePosBuffer() const {
+ GLuint posLoc = glGetAttribLocation(progId, "pos");
+ GLuint posVbo = vbos[0];
+ glBindBuffer(GL_ARRAY_BUFFER, posVbo);
+ glBufferData(GL_ARRAY_BUFFER, ai.mNumVertices * sizeof(aiVector3D), ai.mVertices, GL_STATIC_DRAW);
+ glEnableVertexAttribArray(posLoc);
+ glVertexAttribPointer(posLoc, 3, GL_FLOAT, GL_FALSE, 0, 0);
+}
+
+Model::Node::Node(aiNode &node, GLuint progId, AnimMap *am, std::set<std::string> allBones, Node *p): ai(node), parent(p), progId(progId), animMap(am), isBone(allBones.count(std::string(node.mName.C_Str())) > 0) {
for (int i = 0; i < node.mNumMeshes; i++) {
meshIndices.push_back(node.mMeshes[i]);
}
for (int i = 0; i < node.mNumChildren; i++) {
- const aiNode *child = node.mChildren[i];
- children.push_back(new Node(*child, progId, am));
+ aiNode *child = node.mChildren[i];
+ children.push_back(new Node(*child, progId, am, allBones, this));
}
}
-glm::mat4 lerp(const aiNodeAnim *anim, const float tick) {
-
+glm::mat4 lerpPosition(const aiNodeAnim *anim, const float tick) {
if (anim->mNumPositionKeys == 0) return glm::mat4(1.f);
int yIndex = -1;
}
}
aiVector3D lerpPos;
- if (yIndex < 1) {
+ if (yIndex == 0) {
lerpPos = anim->mPositionKeys[0].mValue;
+ } else if (yIndex == -1) {
+ lerpPos = anim->mPositionKeys[anim->mNumPositionKeys - 1].mValue;
} else {
auto X = anim->mPositionKeys[yIndex - 1];
auto Y = anim->mPositionKeys[yIndex];
aiQuaternion result;
if (yIndex < 1) {
result = anim->mRotationKeys[0].mValue;
+ } else if (yIndex == -1) {
+ result = anim->mRotationKeys[anim->mNumRotationKeys - 1].mValue;
} else {
auto X = anim->mRotationKeys[yIndex - 1];
return aiMatrixToMat4(result);
}
-void Model::Node::draw( const std::vector<Mesh> &meshes,
- const std::vector<Material> &materials,
- const Skybox skybox,
- const float tick,
- glm::mat4 parentTrans = glm::mat4(1),
- BoneTransforms boneTransforms = BoneTransforms()) const {
-
- GLuint modelLoc = glGetUniformLocation(progId, "model");
-
- glm::mat4 animTrans(1.f);
+glm::mat4 Model::Node::totalTrans(const glm::mat4 parentTrans, const float tick) const {
+ glm::mat4 aiTrans = aiMatrixToMat4(ai.mTransformation);
if (animMap->count(std::string(ai.mName.C_Str()))) {
for (const Animation anim: animMap->at(std::string(ai.mName.C_Str()))) {
+ // animations are *absolute*
+ // they replace aiNode.mTransformation!!
+ aiTrans = glm::mat4(1);
float t = fmod(tick, anim.duration);
for (const aiNodeAnim *nodeAnim: anim.nodeAnims) {
- animTrans *= lerp(nodeAnim, t);
- animTrans *= lerpRotation(nodeAnim, t);
- animTrans *= lerpScaling(nodeAnim, t);
+ aiTrans *= lerpPosition(nodeAnim, t);
+ aiTrans *= lerpRotation(nodeAnim, t);
+ aiTrans *= lerpScaling(nodeAnim, t);
}
}
- /* std::cerr << std::string(ai.mName.C_Str()) << animTrans[0][0] << std::endl; */
}
+ glm::mat4 m = parentTrans * aiTrans * transform;
+ return m;
+}
- glm::mat4 m = parentTrans * animTrans * aiMatrixToMat4(ai.mTransformation) * model;
-
- for (auto child: children) {
- //set to parent transforms
- boneTransforms[std::string(ai.mName.C_Str())] = m;
+const Model::Node &Model::Node::getRoot() const {
+ const Model::Node *rootPtr = this;
+ while (rootPtr->parent != nullptr)
+ rootPtr = rootPtr->parent;
+ const Model::Node &root = *rootPtr;
+ return root;
}
+void Model::Node::draw( const std::vector<Mesh> &meshes,
+ const std::vector<Material> &materials,
+ const Skybox skybox,
+ const float tick,
+ const BoneTransforms &boneTransforms,
+ glm::mat4 parentTrans = glm::mat4(1)) const {
+
+ GLuint modelLoc = glGetUniformLocation(progId, "model");
+ glm::mat4 m = totalTrans(parentTrans, tick);
+
+#ifdef DEBUG_NODES
+ if (isBone)
+ drawDebugNode(m, {0, 0.5, 1, 1});
+ else
+ drawDebugNode(m);
+#endif
+
for (unsigned int i: meshIndices) {
const Mesh &mesh = meshes[i];
glBindVertexArray(mesh.vao);
std::vector<glm::mat4> idBones(17, glm::mat4(1.f));
glUniformMatrix4fv(glGetUniformLocation(progId, "bones"), 17, GL_FALSE, glm::value_ptr(idBones[0]));
- for (std::pair<std::string, std::pair<unsigned int, glm::mat4>> pair: mesh.boneMap) {
+ // bonemap: map from bone nodes to bone ids and aiBones
+ for (auto pair: mesh.boneMap) {
- std::string nodeName = pair.first;
- unsigned int boneId = pair.second.first;
- glm::mat4 boneOffset = pair.second.second;
-
- glm::mat4 boneTrans(1.f);
- if (boneTransforms.count(nodeName)) boneTrans = boneTransforms[nodeName];
- int j = 0;
- for (const Animation anim: animMap->at(nodeName)) {
- float t = fmod(tick, anim.duration);
- for (const aiNodeAnim *nodeAnim: anim.nodeAnims) {
- boneTrans = boneTrans * lerp(nodeAnim, t);
- boneTrans = boneTrans * lerpRotation(nodeAnim, t);
- /* boneTrans = boneTrans * lerpScaling(nodeAnim, t); */
- j++;
- }
- }
- assert(j == 1);
+ std::string boneName = pair.first;
+ unsigned int boneId = pair.second.first;
+ aiBone *bone = pair.second.second;
+ // This is actually an inverse-bind matrix
+ // i.e. transforms bone space -> mesh space
+ // so no need to inverse again!
+ // https://github.com/assimp/assimp/pull/1803/files
+ glm::mat4 boneOffset = aiMatrixToMat4(bone->mOffsetMatrix);
- boneTrans = boneTrans * glm::inverse(boneOffset);
+ if (!boneTransforms.count(boneName)) abort();
+ glm::mat4 boneTrans = boneTransforms.at(boneName);
+ boneTrans = boneTrans * boneOffset;
std::string boneLocStr = "bones[" + std::to_string(boneId) + "]";
GLuint boneLoc = glGetUniformLocation(progId, boneLocStr.c_str());
glDrawElements(GL_TRIANGLES, mesh.numIndices, GL_UNSIGNED_INT, 0);
}
- for (Node *child: children) child->draw(meshes, materials, skybox, tick, m, boneTransforms);
+ for (Node *child: children) child->draw(meshes, materials, skybox, tick, boneTransforms, m);
}
-Model::Model(const std::string &path, Program p): program(p) {
- glUseProgram(p.progId);
-
- const aiScene *scene = importer.ReadFile(path,
- aiProcess_Triangulate | aiProcess_CalcTangentSpace | aiProcess_GenNormals | aiProcess_FlipUVs);
- if (!scene) {
- std::cerr << importer.GetErrorString() << std::endl;
- exit(1);
+void printHierarchy(aiNode *n, int indent = 0) {
+ for (int i = 0; i < indent; i++)
+ fprintf(stderr, "\t");
+ fprintf(stderr,"%s\n", n->mName.C_Str());
+ printMatrix4x4(n->mTransformation);
+ for (int i = 0; i < n->mNumChildren; i++)
+ printHierarchy(n->mChildren[i], indent + 1);
}
+Model::Model(const aiScene *scene, Program p): program(p) {
+ glUseProgram(p.progId);
+
+ std::set<std::string> allBones;
for (int i = 0; i < scene->mNumMeshes; i++) {
const aiMesh *mesh = scene->mMeshes[i];
meshes.push_back(Mesh(mesh, p.progId));
+ for (int j = 0; j < mesh->mNumBones; j++)
+ allBones.insert(std::string(mesh->mBones[j]->mName.C_Str()));
}
- // TODO: handle default material inserted at the end by assimp
- for (unsigned int i = 0; i < scene->mNumMaterials - 1; i++) {
+ for (unsigned int i = 0; i < scene->mNumMaterials; i++) {
const aiMaterial &material = *scene->mMaterials[i];
- materials.push_back(Material(material, p.progId));
+ materials.push_back(Material(material, *scene, p.progId));
}
- AnimMap *animMap = new AnimMap();
for (int i = 0; i < scene->mNumAnimations; i++) {
const aiAnimation *aiAnim = scene->mAnimations[i];
for (std::pair<std::string, std::vector<const aiNodeAnim*>> pair: nodeAnims) {
std::string nodeName = pair.first;
- if (!animMap->count(nodeName)) (*animMap)[nodeName] = std::vector<const Animation>();
- (*animMap)[nodeName].push_back({ 7500, pair.second });
+ if (!animMap.count(nodeName)) animMap[nodeName] = std::vector<const Animation>();
+ animMap[nodeName].push_back({ aiAnim->mDuration, pair.second });
}
}
- root = new Node(*(scene->mRootNode), p.progId, animMap);
+ root = new Node(*(scene->mRootNode), p.progId, &animMap, allBones, nullptr);
+}
+
+
+std::map<std::string, glm::mat4> Model::calcBoneTransforms(const Node &n, const float tick, const std::set<std::string> bones, const glm::mat4 parentTrans = glm::mat4(1)) const {
+ std::string name = std::string(n.ai.mName.C_Str());
+
+ glm::mat4 m = n.totalTrans(parentTrans, tick);
+
+ BoneTransforms res;
+ if (bones.count(name) > 0)
+ res[std::string(n.ai.mName.C_Str())] = m; // take part in hierarchy
+ else
+ m = glm::mat4(1); // ignore this node transformation
+ for (const auto child: n.getChildren())
+ res.merge(calcBoneTransforms(*child, tick, bones, m));
+ return res;
}
void Model::draw(Skybox skybox, const float tick) const {
glUseProgram(program.progId);
- root->draw(meshes, materials, skybox, tick);
+
+ std::set<std::string> bones;
+ for (auto m: this->meshes) {
+ for (auto b: m.boneMap) {
+ bones.insert(b.first);
+ }
}
+ auto boneTransforms = calcBoneTransforms(*root, tick, bones);
-Model::Node* Model::find(const std::string &name) {
+ root->draw(meshes, materials, skybox, tick, boneTransforms);
+}
+
+Model::Node* Model::find(const std::string &name) const {
return find(aiString(name));
}
-Model::Node* Model::find(const aiString name) {
+Model::Node* Model::find(const aiString name) const {
const aiNode *node = root->ai.FindNode(name);
Model::Node* res = root->findNode(*node);
return res;
}
return nullptr;
}
+
+bool Model::Node::operator==(const Model::Node &rhs) const {
+ return &ai == &rhs.ai;
+}
+
+// Returns closest vertex in world space and distance
+// a and b define the line in 3d space
+Model::VertexLookup Model::closestVertex(Model::Node &n, glm::vec3 a, glm::vec3 b, glm::mat4 parentTrans) const {
+ Model::VertexLookup closest;
+ closest.distance = FLT_MAX;
+
+ for (int i = 0; i < n.ai.mNumMeshes; i++) {
+ int meshIdx = n.ai.mMeshes[i];
+ const aiMesh &mesh = meshes[meshIdx].ai;
+
+ for (int j = 0; j < mesh.mNumVertices; j++) {
+ if (mesh.HasNormals()) {
+ auto n = aiVector3DToVec3(mesh.mNormals[j]);
+ if (glm::dot(n, glm::normalize(b - a)) > 0)
+ continue;
+ }
+ glm::vec4 vPos = glm::vec4(aiVector3DToVec3(mesh.mVertices[j]), 1);
+ // Move from model space -> world space
+ vPos = parentTrans * aiMatrixToMat4(n.ai.mTransformation) * vPos;
+ float dist = glm::distance(glm::vec3(vPos),
+ glm::closestPointOnLine(glm::vec3(vPos), a, b));
+ if (dist < closest.distance) {
+ closest.pos = glm::vec3(vPos);
+ closest.distance = dist;
+ closest.meshIdx = i;
+ closest.vertIdx = j;
+ }
+ }
+ }
+
+ for (auto child: n.getChildren()) {
+ auto childRes = closestVertex(*child, a, b, parentTrans * aiMatrixToMat4(n.ai.mTransformation));
+ if (childRes.distance < closest.distance)
+ closest = childRes;
+ }
+
+ return closest;
+}
projects / opengl.git / blobdiff