fix

moar fix

optimize cool guy texture

irr/include/SkinnedMesh.h

@@ -10,6 +10,7 @@
 #include "SSkinMeshBuffer.h"
 #include "aabbox3d.h"
 #include "irrMath.h"
+#include "irrTypes.h"
 #include "matrix4.h"
 #include "quaternion.h"
 #include "vector3d.h"
@@ -70,8 +71,11 @@ public:
 	void setAnimationSpeed(f32 fps) override;
 
 	//! **Must not be called**.
-	//! TODO refactor Irrlicht so that we need not implement this.
+	IMesh *getMesh(f32) override {
-	IMesh *getMesh(f32) override { assert(false); };
+		// TODO refactor Irrlicht so that we need not implement this.
+		_IRR_DEBUG_BREAK_IF(true);
+		return nullptr;
+	};
 
 	//! Turns the given array of local matrices into an array of global matrices
 	//! by multiplying with respective parent matrices.

irr/src/CAnimatedMeshSceneNode.cpp

@@ -9,6 +9,7 @@
 #include "ISceneManager.h"
 #include "S3DVertex.h"
 #include "Transform.h"
+#include "irrTypes.h"
 #include "matrix4.h"
 #include "os.h"
 #include "SkinnedMesh.h"
@@ -549,7 +550,7 @@ void CAnimatedMeshSceneNode::addJoints()
 		ISceneNode *parent = this;
 		if (joint->ParentJointID)
 			parent = PerJoint.SceneNodes.at(*joint->ParentJointID); // exists because of topo. order
-		assert(parent);
+		_IRR_DEBUG_BREAK_IF(!parent);
 		const auto *matrix = std::get_if<core::matrix4>(&joint->transform);
 		PerJoint.SceneNodes.push_back(new CBoneSceneNode(
 				parent, SceneManager, 0, i, joint->Name,

irr/src/CXMeshFileLoader.cpp

@@ -555,13 +555,7 @@ bool CXMeshFileLoader::parseDataObjectFrame(SkinnedMesh::SJoint *Parent)
 			core::matrix4 matrix;
 			if (!parseDataObjectTransformationMatrix(matrix))
 				return false;
-			auto transform = core::Transform::decompose(matrix);
+			joint->transform = matrix;
-			// Try to decompose. If the recomposed matrix equals the old one with a liberal tolerance, use that.
-			if (transform.buildMatrix().equals(matrix, 1e-5)) {
-				joint->transform = transform;
-			} else {
-				joint->transform = matrix;
-			}
 		} else if (objectName == "Mesh") {
 			/*
 			frame.Meshes.push_back(SXMesh());

irr/src/SkinnedMesh.cpp

@@ -412,7 +412,7 @@ void SkinnedMesh::topoSortJoints()
 {
 	size_t n = AllJoints.size();
 
-	std::vector<u16> new_to_old_id; // new id -> old id
+	std::vector<u16> new_to_old_id;
 
 	std::vector<std::vector<u16>> children(n);
 	for (u16 i = 0; i < n; ++i) {
@@ -429,7 +429,6 @@ void SkinnedMesh::topoSortJoints()
 				children[new_to_old_id[i]].end());
 	}
 
-	// old id -> new id
 	std::vector<u16> old_to_new_id(n);
 	for (u16 i = 0; i < n; ++i)
 		old_to_new_id[new_to_old_id[i]] = i;

src/unittest/test_irr_gltf_mesh_loader.cpp

@@ -394,22 +394,20 @@ SECTION("simple skin")
 	const auto joints = csm->getAllJoints();
 	REQUIRE(joints.size() == 3);
 
-	const auto findJoint = [&](const std::function<bool(SkinnedMesh::SJoint*)> &predicate) {
+	const auto findJoint = [&](const std::function<bool(const SkinnedMesh::SJoint*)> &predicate) {
-		for (std::size_t i = 0; i < joints.size(); ++i) {
+		for (const auto *joint : joints) {
-			if (predicate(joints[i])) {
+			if (predicate(joint)) {
-				return joints[i];
+				return joint;
 			}
 		}
 		throw std::runtime_error("joint not found");
 	};
 
 	// Check the node hierarchy
-	const auto *parent = findJoint([](auto *joint) {
-		return !joint->ParentJointID;
-	});
 	const auto child = findJoint([&](auto *joint) {
-		return joint->ParentJointID && *joint->ParentJointID == parent->JointID;
+		return !!joint->ParentJointID;
 	});
+	const auto *parent = joints.at(*child->ParentJointID);
 
 	SECTION("transformations are correct")
 	{