292 lines
9.9 KiB
C#
292 lines
9.9 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using System.Threading.Tasks;
|
|
using Assimp;
|
|
using OpenTK;
|
|
using SN = System.Numerics;
|
|
|
|
namespace Toolbox.Library
|
|
{
|
|
public static class AssimpHelper
|
|
{
|
|
public static Matrix4x4 GetBoneMatrix(STBone bone)
|
|
{
|
|
var pos = Matrix4x4.FromTranslation(new Vector3D(bone.position[0], bone.position[1], bone.position[2]));
|
|
var rotx = Matrix4x4.FromRotationX(bone.rotation[0]);
|
|
var roty = Matrix4x4.FromRotationY(bone.rotation[1]);
|
|
var rotz = Matrix4x4.FromRotationZ(bone.rotation[2]);
|
|
var sca = Matrix4x4.FromScaling(new Vector3D(bone.scale[0], bone.scale[1], bone.scale[2]));
|
|
|
|
return sca * (rotx * roty * rotz) * pos;
|
|
}
|
|
|
|
public static string GetSaveFilter()
|
|
{
|
|
return "Supported Formats|*.dae;*.stl;*.obj; *.ply; *.x;*.3ds;*.json;|" +
|
|
"DAE |*.dae|" +
|
|
"OBJ |*.obj|" +
|
|
"STL |*.stl|" +
|
|
"PLY |*.ply|" +
|
|
"X |*.x|" +
|
|
"3DS |*.3ds|" +
|
|
"JSON WebGL |*.json|" +
|
|
"All files(*.*)|*.*";
|
|
}
|
|
|
|
public static Syroot.Maths.Matrix3x4 CalculateInverseMatrix(STBone bone)
|
|
{
|
|
return FromAssimpMatrix(AssimpCalculateInverseMatrix(bone));
|
|
}
|
|
|
|
public static Syroot.Maths.Matrix3x4 FromAssimpMatrix(Assimp.Matrix4x4 mat)
|
|
{
|
|
|
|
var mat4 = new Syroot.Maths.Matrix3x4();
|
|
mat4.M11 = mat.A1;
|
|
mat4.M12 = mat.A2;
|
|
mat4.M13 = mat.A3;
|
|
mat4.M14 = mat.A4;
|
|
mat4.M21 = mat.B1;
|
|
mat4.M22 = mat.B2;
|
|
mat4.M23 = mat.B3;
|
|
mat4.M24 = mat.B4;
|
|
mat4.M31 = mat.C1;
|
|
mat4.M32 = mat.C2;
|
|
mat4.M33 = mat.C3;
|
|
mat4.M34 = mat.C4;
|
|
/* mat4.M41 = mat.D1;
|
|
mat4.M42 = mat.D2;
|
|
mat4.M43 = mat.D3;
|
|
mat4.M44 = mat.D4;*/
|
|
|
|
return mat4;
|
|
}
|
|
|
|
public static Assimp.Matrix4x4 AssimpCalculateInverseMatrix(STBone bone)
|
|
{
|
|
Assimp.Matrix4x4 transf;
|
|
|
|
//Get parent transform for a smooth matrix
|
|
if (bone.Parent != null && bone.Parent is STBone)
|
|
transf = AssimpCalculateInverseMatrix((STBone)bone.Parent);
|
|
else
|
|
transf = Assimp.Matrix4x4.Identity;
|
|
|
|
//Now calculate the matrix with TK matrices
|
|
var trans = Assimp.Matrix4x4.FromTranslation(new Vector3D(bone.position[0], bone.position[1], bone.position[2]));
|
|
var scale = Assimp.Matrix4x4.FromScaling(new Vector3D(bone.scale[0], bone.scale[1], bone.scale[2]));
|
|
var rotX = Assimp.Matrix4x4.FromRotationX(bone.rotation[0]);
|
|
var rotY = Assimp.Matrix4x4.FromRotationY(bone.rotation[1]);
|
|
var rotZ = Assimp.Matrix4x4.FromRotationZ(bone.rotation[2]);
|
|
|
|
var result = scale * (rotX * rotY * rotZ) * trans;
|
|
result.Inverse();
|
|
|
|
return transf;
|
|
|
|
}
|
|
|
|
public static Vector3 FromVector(Vector3D vec)
|
|
{
|
|
Vector3 v;
|
|
v.X = vec.X;
|
|
v.Y = vec.Y;
|
|
v.Z = vec.Z;
|
|
return v;
|
|
}
|
|
|
|
public static Matrix4x4 ToMatrix4x4(this OpenTK.Matrix4 mat4)
|
|
{
|
|
Matrix4x4 outMat = new Matrix4x4(
|
|
mat4.M11, mat4.M12, mat4.M13, mat4.M14,
|
|
mat4.M21, mat4.M22, mat4.M23, mat4.M24,
|
|
mat4.M31, mat4.M32, mat4.M33, mat4.M34,
|
|
mat4.M41, mat4.M42, mat4.M43, mat4.M44);
|
|
|
|
outMat.Transpose();
|
|
return outMat;
|
|
}
|
|
|
|
public static OpenTK.Matrix4 TKMatrix(Assimp.Matrix4x4 input)
|
|
{
|
|
return new OpenTK.Matrix4(input.A1, input.B1, input.C1, input.D1,
|
|
input.A2, input.B2, input.C2, input.D2,
|
|
input.A3, input.B3, input.C3, input.D3,
|
|
input.A4, input.B4, input.C4, input.D4);
|
|
}
|
|
|
|
public static Vector3 ToEulerAngles(OpenTK.Quaternion q)
|
|
{
|
|
Matrix4 mat = Matrix4.CreateFromQuaternion(q);
|
|
float x, y, z;
|
|
y = (float)Math.Asin(Clamp(mat.M13, -1, 1));
|
|
|
|
if (Math.Abs(mat.M13) < 0.99999)
|
|
{
|
|
x = (float)Math.Atan2(-mat.M23, mat.M33);
|
|
z = (float)Math.Atan2(-mat.M12, mat.M11);
|
|
}
|
|
else
|
|
{
|
|
x = (float)Math.Atan2(mat.M32, mat.M22);
|
|
z = 0;
|
|
}
|
|
return new Vector3(x, y, z) * -1;
|
|
}
|
|
private static float Clamp(float v, float min, float max)
|
|
{
|
|
if (v < min) return min;
|
|
if (v > max) return max;
|
|
return v;
|
|
}
|
|
public static OpenTK.Quaternion TKQuaternion(Assimp.Quaternion rot)
|
|
{
|
|
OpenTK.Quaternion quat = new OpenTK.Quaternion();
|
|
quat.X = rot.X;
|
|
quat.Y = rot.Y;
|
|
quat.Z = rot.Z;
|
|
quat.W = rot.W;
|
|
return quat;
|
|
}
|
|
|
|
public static Matrix4x4 AssimpFromTKMatrix(Matrix4 tkMatrix)
|
|
{
|
|
Matrix4x4 m = new Matrix4x4();
|
|
m.A1 = tkMatrix.M11;
|
|
m.A2 = tkMatrix.M12;
|
|
m.A3 = tkMatrix.M13;
|
|
m.A4 = tkMatrix.M14;
|
|
|
|
m.B1 = tkMatrix.M21;
|
|
m.B2 = tkMatrix.M22;
|
|
m.B3 = tkMatrix.M23;
|
|
m.B4 = tkMatrix.M24;
|
|
|
|
m.C1 = tkMatrix.M31;
|
|
m.C2 = tkMatrix.M32;
|
|
m.C3 = tkMatrix.M33;
|
|
m.C4 = tkMatrix.M34;
|
|
|
|
m.D1 = tkMatrix.M41;
|
|
m.D2 = tkMatrix.M42;
|
|
m.D3 = tkMatrix.M43;
|
|
m.D4 = tkMatrix.M44;
|
|
|
|
return m;
|
|
}
|
|
|
|
public static void ToNumerics(this Assimp.Matrix4x4 matIn, out SN.Matrix4x4 matOut)
|
|
{
|
|
//Assimp matrices are column vector, so X,Y,Z axes are columns 1-3 and 4th column is translation.
|
|
//Columns => Rows to make it compatible with numerics
|
|
matOut = new System.Numerics.Matrix4x4(matIn.A1, matIn.B1, matIn.C1, matIn.D1, //X
|
|
matIn.A2, matIn.B2, matIn.C2, matIn.D2, //Y
|
|
matIn.A3, matIn.B3, matIn.C3, matIn.D3, //Z
|
|
matIn.A4, matIn.B4, matIn.C4, matIn.D4); //Translation
|
|
}
|
|
|
|
public static void FromNumerics(this SN.Matrix4x4 matIn, out Assimp.Matrix4x4 matOut)
|
|
{
|
|
//Numerics matrix are row vector, so X,Y,Z axes are rows 1-3 and 4th row is translation.
|
|
//Rows => Columns to make it compatible with assimp
|
|
|
|
//X
|
|
matOut.A1 = matIn.M11;
|
|
matOut.B1 = matIn.M12;
|
|
matOut.C1 = matIn.M13;
|
|
matOut.D1 = matIn.M14;
|
|
|
|
//Y
|
|
matOut.A2 = matIn.M21;
|
|
matOut.B2 = matIn.M22;
|
|
matOut.C2 = matIn.M23;
|
|
matOut.D2 = matIn.M24;
|
|
|
|
//Z
|
|
matOut.A3 = matIn.M31;
|
|
matOut.B3 = matIn.M32;
|
|
matOut.C3 = matIn.M33;
|
|
matOut.D3 = matIn.M34;
|
|
|
|
//Translation
|
|
matOut.A4 = matIn.M41;
|
|
matOut.B4 = matIn.M42;
|
|
matOut.C4 = matIn.M43;
|
|
matOut.D4 = matIn.M44;
|
|
}
|
|
|
|
public static Matrix4x4 FromNumerics(this SN.Matrix4x4 matIn)
|
|
{
|
|
Matrix4x4 matOut = new Matrix4x4();
|
|
|
|
//Numerics matrix are row vector, so X,Y,Z axes are rows 1-3 and 4th row is translation.
|
|
//Rows => Columns to make it compatible with assimp
|
|
|
|
//X
|
|
matOut.A1 = matIn.M11;
|
|
matOut.B1 = matIn.M12;
|
|
matOut.C1 = matIn.M13;
|
|
matOut.D1 = matIn.M14;
|
|
|
|
//Y
|
|
matOut.A2 = matIn.M21;
|
|
matOut.B2 = matIn.M22;
|
|
matOut.C2 = matIn.M23;
|
|
matOut.D2 = matIn.M24;
|
|
|
|
//Z
|
|
matOut.A3 = matIn.M31;
|
|
matOut.B3 = matIn.M32;
|
|
matOut.C3 = matIn.M33;
|
|
matOut.D3 = matIn.M34;
|
|
|
|
//Translation
|
|
matOut.A4 = matIn.M41;
|
|
matOut.B4 = matIn.M42;
|
|
matOut.C4 = matIn.M43;
|
|
matOut.D4 = matIn.M44;
|
|
|
|
return matOut;
|
|
}
|
|
|
|
public static Vector3 ToEulerAngles(Assimp.Quaternion q)
|
|
{
|
|
float PI = (float)Math.PI;
|
|
// Store the Euler angles in radians
|
|
Vector3 pitchYawRoll = new Vector3();
|
|
|
|
double sqw = q.W * q.W;
|
|
double sqx = q.X * q.X;
|
|
double sqy = q.Y * q.Y;
|
|
double sqz = q.Z * q.Z;
|
|
|
|
// If quaternion is normalised the unit is one, otherwise it is the correction factor
|
|
double unit = sqx + sqy + sqz + sqw;
|
|
double test = q.X * q.Y + q.Z * q.W;
|
|
|
|
if (test > 0.499f * unit)
|
|
{
|
|
// Singularity at north pole
|
|
pitchYawRoll.Y = 2f * (float)Math.Atan2(q.X, q.W); // Yaw
|
|
pitchYawRoll.X = PI * 0.5f; // Pitch
|
|
pitchYawRoll.Z = 0f; // Roll
|
|
return pitchYawRoll;
|
|
}
|
|
else if (test < -0.499f * unit)
|
|
{
|
|
// Singularity at south pole
|
|
pitchYawRoll.Y = -2f * (float)Math.Atan2(q.X, q.W); // Yaw
|
|
pitchYawRoll.X = -PI * 0.5f; // Pitch
|
|
pitchYawRoll.Z = 0f; // Roll
|
|
return pitchYawRoll;
|
|
}
|
|
pitchYawRoll.Y = (float)Math.Atan2(2 * q.Y * q.W - 2 * q.X * q.Z, sqx - sqy - sqz + sqw); // Yaw
|
|
pitchYawRoll.X = (float)Math.Asin(2 * test / unit); // Pitch
|
|
pitchYawRoll.Z = (float)Math.Atan2(2 * q.X * q.W - 2 * q.Y * q.Z, -sqx + sqy - sqz + sqw); // Roll
|
|
return pitchYawRoll;
|
|
}
|
|
}
|
|
}
|