stuff

irr/include/IAnimatedMeshSceneNode.h

@@ -135,7 +135,7 @@ public:
 
 	//! animates the joints in the mesh based on the current frame.
 	/** Also takes in to account transitions. */
-	virtual void animateJoints(bool CalculateAbsolutePositions = true) = 0;
+	virtual void animateJoints() = 0;
 
 	//! render mesh ignoring its transformation.
 	/** Culling is unaffected. */

irr/include/IBoneSceneNode.h

@@ -28,15 +28,9 @@ public:
 	//! Returns the relative transformation of the scene node.
 	// virtual core::matrix4 getRelativeTransformation() const = 0;
 
-	//! The animation method.
-	void OnAnimate(u32 timeMs) override = 0;
-
 	//! The render method.
 	/** Does nothing as bones are not visible. */
 	void render() override {}
-
-	//! Updates the absolute position based on the relative and the parents position
-	virtual void updateAbsolutePositionOfAllChildren() = 0;
 };
 
 } // end namespace scene

irr/include/ISceneNode.h

@@ -94,16 +94,12 @@ public:
 	\param timeMs Current time in milliseconds. */
 	virtual void OnAnimate(u32 timeMs)
 	{
-		if (IsVisible) {
-			// update absolute position
-			updateAbsolutePosition();
+		if (!IsVisible && Children.empty())
+			return;
 
-			// perform the post render process on all children
-
-			ISceneNodeList::iterator it = Children.begin();
-			for (; it != Children.end(); ++it)
-				(*it)->OnAnimate(timeMs);
-		}
+		updateAbsolutePosition();
+		for (auto *child : Children)
+			child->OnAnimate(timeMs);
 	}
 
 	//! Renders the node.

irr/include/SkinnedMesh.h

@@ -8,11 +8,14 @@
 #include "ISceneManager.h"
 #include "SMeshBuffer.h"
 #include "SSkinMeshBuffer.h"
+#include "irrMath.h"
+#include "matrix4.h"
 #include "quaternion.h"
 #include "vector3d.h"
 
 #include <optional>
 #include <string>
+#include <variant>
 
 namespace irr
 {
@@ -314,8 +317,56 @@ public:
 		//! The name of this joint
 		std::optional<std::string> Name;
 
-		//! Local matrix of this joint
-		core::matrix4 LocalMatrix;
+		struct Transform {
+			core::vector3df translation;
+			core::quaternion rotation;
+			core::vector3df scale{1};
+
+			core::matrix4 buildMatrix() const {
+				core::matrix4 T;
+				T.setTranslation(translation);
+				core::matrix4 R;
+				rotation.getMatrix_transposed(R);
+				core::matrix4 S;
+				S.setScale(scale);
+				return T * R * S;
+			}
+		};
+
+		//! Local transformation to be set by loaders. Mutated by animation.
+		//! If a matrix is used, this joint **must not** be animated,
+		//! because then the unique decomposition into translation, rotation and scale need not exist!
+		std::variant<core::matrix4, Transform> transform = Transform{};
+
+		Transform &getAnimatableTransform() {
+			if (std::holds_alternative<Transform>(transform))
+				return std::get<Transform>(transform);
+			const auto &mat = std::get<core::matrix4>(transform);
+			Transform trs;
+			trs.translation = mat.getTranslation();
+			trs.scale = mat.getScale();
+			trs.rotation = core::quaternion(
+					mat.getRotationDegrees(trs.scale) * core::DEGTORAD);
+			transform = trs;
+			// TODO raise a warning if the recomposed matrix does not equal the decomposed.
+			return std::get<Transform>(transform);
+		}
+
+		void animate(f32 frame) {
+			if (keys.empty())
+				return;
+			auto &transform = getAnimatableTransform();
+			keys.updateTransform(frame,
+				transform.translation,
+				transform.rotation,
+				transform.scale);
+		}
+
+		core::matrix4 buildLocalMatrix() const {
+			if (std::holds_alternative<core::matrix4>(transform))
+				return std::get<core::matrix4>(transform);
+			return std::get<Transform>(transform).buildMatrix();
+		}
 
 		//! List of child joints
 		std::vector<SJoint *> Children;
@@ -334,11 +385,6 @@ public:
 		core::matrix4 GlobalAnimatedMatrix;
 		core::matrix4 LocalAnimatedMatrix;
 
-		//! These should be set by loaders.
-		core::vector3df Animatedposition;
-		core::vector3df Animatedscale;
-		core::quaternion Animatedrotation;
-
 		// The .x and .gltf formats pre-calculate this
 		std::optional<core::matrix4> GlobalInversedMatrix;
 	private:

irr/src/CAnimatedMeshSceneNode.cpp

@@ -170,7 +170,11 @@ IMesh *CAnimatedMeshSceneNode::getMeshForCurrentFrame()
 		// Update the skinned mesh for the current joint transforms.
 		skinnedMesh->skinMesh();
 
-			skinnedMesh->updateBoundingBox();
+		skinnedMesh->updateBoundingBox();
+
+		Box = skinnedMesh->getBoundingBox();
+
+		setAutomaticCulling(EAC_OFF);
 
 		return skinnedMesh;
 	}
@@ -187,6 +191,10 @@ void CAnimatedMeshSceneNode::OnAnimate(u32 timeMs)
 	buildFrameNr(timeMs - LastTimeMs);
 	LastTimeMs = timeMs;
 
+	// This needs to be done on animate, which is called recursively *before*
+	// anything is rendered so that the transformations of children are up to date
+	animateJoints();
+
 	IAnimatedMeshSceneNode::OnAnimate(timeMs);
 }
 
@@ -204,15 +212,8 @@ void CAnimatedMeshSceneNode::render()
 	++PassCount;
 
 	scene::IMesh *m = getMeshForCurrentFrame();
-
-	if (m) {
-		Box = m->getBoundingBox();
-	} else {
-#ifdef _DEBUG
-		os::Printer::log("Animated Mesh returned no mesh to render.", ELL_WARNING);
-#endif
-		return;
-	}
+	_IRR_DEBUG_BREAK_IF(!m);
+	Box = m->getBoundingBox(); // HACK
 
 	driver->setTransform(video::ETS_WORLD, AbsoluteTransformation);
 
@@ -237,6 +238,7 @@ void CAnimatedMeshSceneNode::render()
 	driver->setTransform(video::ETS_WORLD, AbsoluteTransformation);
 
 	// for debug purposes only:
+	// DebugDataVisible = ~0;
 	if (DebugDataVisible && PassCount == 1) {
 		video::SMaterial debug_mat;
 		debug_mat.AntiAliasing = video::EAAM_OFF;
@@ -559,7 +561,7 @@ void CAnimatedMeshSceneNode::setRenderFromIdentity(bool enable)
 }
 
 //! updates the joint positions of this mesh
-void CAnimatedMeshSceneNode::animateJoints(bool CalculateAbsolutePositions)
+void CAnimatedMeshSceneNode::animateJoints()
 {
 	if (Mesh && Mesh->getMeshType() == EAMT_SKINNED) {
 		checkJoints();
@@ -614,15 +616,6 @@ void CAnimatedMeshSceneNode::animateJoints(bool CalculateAbsolutePositions)
 				//			TransitingBlend));
 			}
 		}
-
-		if (CalculateAbsolutePositions) {
-			//---slow---
-			for (u32 n = 0; n < JointChildSceneNodes.size(); ++n) {
-				if (JointChildSceneNodes[n]->getParent() == this) {
-					JointChildSceneNodes[n]->updateAbsolutePositionOfAllChildren(); // temp, should be an option
-				}
-			}
-		}
 	}
 }
 

irr/src/CAnimatedMeshSceneNode.h

@@ -117,12 +117,12 @@ public:
 	//! updates the absolute position based on the relative and the parents position
 	void updateAbsolutePosition() override;
 
-	//! Sets the transition time in seconds (note: This needs to enable joints, and setJointmode maybe set to 2)
+	//! Sets the transition time in seconds (note: This needs to enable joints)
 	//! you must call animateJoints(), or the mesh will not animate
 	void setTransitionTime(f32 Time) override;
 
 	//! updates the joint positions of this mesh
-	void animateJoints(bool CalculateAbsolutePositions = true) override;
+	void animateJoints() override;
 
 	//! render mesh ignoring its transformation. Used with ragdolls. (culling is unaffected)
 	void setRenderFromIdentity(bool On) override;

irr/src/CB3DMeshFileLoader.cpp

@@ -143,31 +143,25 @@ bool CB3DMeshFileLoader::readChunkNODE(SkinnedMesh::SJoint *inJoint)
 	os::Printer::log(logStr.c_str(), joint->Name.value_or("").c_str(), ELL_DEBUG);
 #endif
 
-	f32 position[3], scale[3], rotation[4];
+	SkinnedMesh::SJoint::Transform transform;
+	{
+		f32 t[3], s[3], r[4];
 
-	readFloats(position, 3);
-	readFloats(scale, 3);
-	readFloats(rotation, 4);
+		readFloats(t, 3);
+		readFloats(s, 3);
+		readFloats(r, 4);
 
-	joint->Animatedposition = core::vector3df(position[0], position[1], position[2]);
-	joint->Animatedscale = core::vector3df(scale[0], scale[1], scale[2]);
-	joint->Animatedrotation = core::quaternion(rotation[1], rotation[2], rotation[3], rotation[0]);
-
-	// Build LocalMatrix:
-
-	core::matrix4 positionMatrix;
-	positionMatrix.setTranslation(joint->Animatedposition);
-	core::matrix4 scaleMatrix;
-	scaleMatrix.setScale(joint->Animatedscale);
-	core::matrix4 rotationMatrix;
-	joint->Animatedrotation.getMatrix_transposed(rotationMatrix);
-
-	joint->LocalMatrix = positionMatrix * rotationMatrix * scaleMatrix;
+		joint->transform = transform = {
+			{t[0], t[1], t[2]},
+			{r[1], r[2], r[3], r[0]},
+			{s[0], s[1], s[2]},
+		};
+	}
 
 	if (inJoint)
-		joint->GlobalMatrix = inJoint->GlobalMatrix * joint->LocalMatrix;
+		joint->GlobalMatrix = inJoint->GlobalMatrix * joint->buildLocalMatrix();
 	else
-		joint->GlobalMatrix = joint->LocalMatrix;
+		joint->GlobalMatrix = joint->buildLocalMatrix();
 
 	while (B3dStack.getLast().startposition + B3dStack.getLast().length > B3DFile->getPos()) // this chunk repeats
 	{

irr/src/CBoneSceneNode.cpp

@@ -1,43 +0,0 @@
-// Copyright (C) 2002-2012 Nikolaus Gebhardt
-// This file is part of the "Irrlicht Engine".
-// For conditions of distribution and use, see copyright notice in irrlicht.h
-
-#include "CBoneSceneNode.h"
-
-#include <optional>
-
-namespace irr
-{
-namespace scene
-{
-
-void CBoneSceneNode::OnAnimate(u32 timeMs)
-{
-	if (IsVisible) {
-		// update absolute position
-		// updateAbsolutePosition();
-
-		// perform the post render process on all children
-		ISceneNodeList::iterator it = Children.begin();
-		for (; it != Children.end(); ++it)
-			(*it)->OnAnimate(timeMs);
-	}
-}
-
-void CBoneSceneNode::helper_updateAbsolutePositionOfAllChildren(ISceneNode *Node)
-{
-	Node->updateAbsolutePosition();
-
-	ISceneNodeList::const_iterator it = Node->getChildren().begin();
-	for (; it != Node->getChildren().end(); ++it) {
-		helper_updateAbsolutePositionOfAllChildren((*it));
-	}
-}
-
-void CBoneSceneNode::updateAbsolutePositionOfAllChildren()
-{
-	helper_updateAbsolutePositionOfAllChildren(this);
-}
-
-} // namespace scene
-} // namespace irr

irr/src/CBoneSceneNode.h

@@ -40,13 +40,6 @@ public:
 		return Box;
 	}
 
-	void OnAnimate(u32 timeMs) override;
-
-	void updateAbsolutePositionOfAllChildren() override;
-
-private:
-	void helper_updateAbsolutePositionOfAllChildren(ISceneNode *Node);
-
 	const u32 BoneIndex;
 
 	// Bogus box; bone scene nodes are not rendered anyways.

irr/src/CGLTFMeshFileLoader.cpp

@@ -539,34 +539,25 @@ static core::matrix4 loadTransform(const tiniergltf::Node::Matrix &m, SkinnedMes
 		mat[i] = static_cast<f32>(m[i]);
 	mat = convertHandedness(mat);
 
-	// Decompose the matrix into translation, scale, and rotation.
-	joint->Animatedposition = mat.getTranslation();
-
-	auto scale = mat.getScale();
-	joint->Animatedscale = scale;
-	joint->Animatedrotation = mat.getRotationRadians(scale);
-	// Invert the rotation because it is applied using `getMatrix_transposed`,
-	// which again inverts.
-	joint->Animatedrotation.makeInverse();
-
+	// Note: "When a node is targeted for animation [...],
+	// only TRS properties MAY be present; matrix MUST NOT be present."
+	// Thus we MUST NOT do any decomposition, which in general need not exist.
+	joint->transform = mat;
 	return mat;
 }
 
 static core::matrix4 loadTransform(const tiniergltf::Node::TRS &trs, SkinnedMesh::SJoint *joint)
 {
-	const auto &trans = trs.translation;
-	const auto &rot = trs.rotation;
-	const auto &scale = trs.scale;
-	core::matrix4 transMat;
-	joint->Animatedposition = convertHandedness(core::vector3df(trans[0], trans[1], trans[2]));
-	transMat.setTranslation(joint->Animatedposition);
-	core::matrix4 rotMat;
-	joint->Animatedrotation = convertHandedness(core::quaternion(rot[0], rot[1], rot[2], rot[3]));
-	core::quaternion(joint->Animatedrotation).getMatrix_transposed(rotMat);
-	joint->Animatedscale = core::vector3df(scale[0], scale[1], scale[2]);
-	core::matrix4 scaleMat;
-	scaleMat.setScale(joint->Animatedscale);
-	return transMat * rotMat * scaleMat;
+	const auto &t = trs.translation;
+	const auto &r = trs.rotation;
+	const auto &s = trs.scale;
+	SkinnedMesh::SJoint::Transform transform{
+		convertHandedness(core::vector3df(t[0], t[1], t[2])),
+		convertHandedness(core::quaternion(r[0], r[1], r[2], r[3])),
+		core::vector3df(s[0], s[1], s[2]),
+	};
+	joint->transform = transform;
+	return transform.buildMatrix();
 }
 
 static core::matrix4 loadTransform(std::optional<std::variant<tiniergltf::Node::Matrix, tiniergltf::Node::TRS>> transform,
@@ -584,8 +575,7 @@ void SelfType::MeshExtractor::loadNode(
 	const auto &node = m_gltf_model.nodes->at(nodeIdx);
 	auto *joint = m_irr_model->addJoint(parent);
 	const core::matrix4 transform = loadTransform(node.transform, joint);
-	joint->LocalMatrix = transform;
-	joint->GlobalMatrix = parent ? parent->GlobalMatrix * joint->LocalMatrix : joint->LocalMatrix;
+	joint->GlobalMatrix = parent ? parent->GlobalMatrix * transform : transform;
 	if (node.name.has_value()) {
 		joint->Name = node.name->c_str();
 	}

irr/src/CMakeLists.txt

@@ -320,7 +320,6 @@ set(IRRMESHLOADER
 
 add_library(IRRMESHOBJ OBJECT
 	SkinnedMesh.cpp
-	CBoneSceneNode.cpp
 	CMeshSceneNode.cpp
 	CAnimatedMeshSceneNode.cpp
 	${IRRMESHLOADER}

irr/src/CXMeshFileLoader.cpp

@@ -552,12 +552,9 @@ bool CXMeshFileLoader::parseDataObjectFrame(SkinnedMesh::SJoint *Parent)
 			if (!parseDataObjectFrame(joint))
 				return false;
 		} else if (objectName == "FrameTransformMatrix") {
-			if (!parseDataObjectTransformationMatrix(joint->LocalMatrix))
+			joint->transform = core::matrix4();
+			if (!parseDataObjectTransformationMatrix(std::get<core::matrix4>(joint->transform)))
 				return false;
-
-			// joint->LocalAnimatedMatrix
-			// joint->LocalAnimatedMatrix.makeInverse();
-			// joint->LocalMatrix=tmp*joint->LocalAnimatedMatrix;
 		} else if (objectName == "Mesh") {
 			/*
 			frame.Meshes.push_back(SXMesh());

irr/src/SkinnedMesh.cpp

@@ -7,7 +7,11 @@
 #include "CBoneSceneNode.h"
 #include "IAnimatedMeshSceneNode.h"
 #include "SSkinMeshBuffer.h"
+#include "irrMath.h"
+#include "matrix4.h"
 #include "os.h"
+#include "vector3d.h"
+#include <variant>
 #include <vector>
 #include <cassert>
 
@@ -73,13 +77,8 @@ void SkinnedMesh::animateMesh(f32 frame)
 	LastAnimatedFrame = frame;
 	SkinnedLastFrame = false;
 
-	for (auto *joint : AllJoints) {
-		// The joints can be animated here with no input from their parents
-		joint->keys.updateTransform(frame,
-				joint->Animatedposition,
-				joint->Animatedrotation,
-				joint->Animatedscale);
-	}
+	for (auto *joint : AllJoints)
+		joint->animate(frame);
 
 	// Note:
 	// LocalAnimatedMatrix needs to be built at some point, but this function may be called lots of times for
@@ -98,56 +97,7 @@ void SkinnedMesh::buildAllLocalAnimatedMatrices()
 {
 	for (auto *joint : AllJoints) {
 		// Could be faster:
-
-		if (!joint->keys.empty()) {
-			// IRR_TEST_BROKEN_QUATERNION_USE: TODO - switched to getMatrix_transposed instead of getMatrix for downward compatibility.
-			//								   Not tested so far if this was correct or wrong before quaternion fix!
-			// Note that using getMatrix_transposed inverts the rotation.
-			joint->Animatedrotation.getMatrix_transposed(joint->LocalAnimatedMatrix);
-
-			// --- joint->LocalAnimatedMatrix *= joint->Animatedrotation.getMatrix() ---
-			f32 *m1 = joint->LocalAnimatedMatrix.pointer();
-			core::vector3df &Pos = joint->Animatedposition;
-			m1[0] += Pos.X * m1[3];
-			m1[1] += Pos.Y * m1[3];
-			m1[2] += Pos.Z * m1[3];
-			m1[4] += Pos.X * m1[7];
-			m1[5] += Pos.Y * m1[7];
-			m1[6] += Pos.Z * m1[7];
-			m1[8] += Pos.X * m1[11];
-			m1[9] += Pos.Y * m1[11];
-			m1[10] += Pos.Z * m1[11];
-			m1[12] += Pos.X * m1[15];
-			m1[13] += Pos.Y * m1[15];
-			m1[14] += Pos.Z * m1[15];
-			// -----------------------------------
-
-			if (!joint->keys.scale.empty()) {
-				/*
-				core::matrix4 scaleMatrix;
-				scaleMatrix.setScale(joint->Animatedscale);
-				joint->LocalAnimatedMatrix *= scaleMatrix;
-				*/
-
-				// -------- joint->LocalAnimatedMatrix *= scaleMatrix -----------------
-				core::matrix4 &mat = joint->LocalAnimatedMatrix;
-				mat[0] *= joint->Animatedscale.X;
-				mat[1] *= joint->Animatedscale.X;
-				mat[2] *= joint->Animatedscale.X;
-				mat[3] *= joint->Animatedscale.X;
-				mat[4] *= joint->Animatedscale.Y;
-				mat[5] *= joint->Animatedscale.Y;
-				mat[6] *= joint->Animatedscale.Y;
-				mat[7] *= joint->Animatedscale.Y;
-				mat[8] *= joint->Animatedscale.Z;
-				mat[9] *= joint->Animatedscale.Z;
-				mat[10] *= joint->Animatedscale.Z;
-				mat[11] *= joint->Animatedscale.Z;
-				// -----------------------------------
-			}
-		} else {
-			joint->LocalAnimatedMatrix = joint->LocalMatrix;
-		}
+		joint->LocalAnimatedMatrix = joint->buildLocalMatrix();
 	}
 	SkinnedLastFrame = false;
 }
@@ -396,12 +346,13 @@ void SkinnedMesh::calculateGlobalMatrices(SJoint *joint, SJoint *parentJoint)
 		return;
 	}
 
+	const auto local_matrix = joint->buildLocalMatrix();
 	if (!parentJoint)
-		joint->GlobalMatrix = joint->LocalMatrix;
+		joint->GlobalMatrix = local_matrix;
 	else
-		joint->GlobalMatrix = parentJoint->GlobalMatrix * joint->LocalMatrix;
+		joint->GlobalMatrix = parentJoint->GlobalMatrix * local_matrix;
 
-	joint->LocalAnimatedMatrix = joint->LocalMatrix;
+	joint->LocalAnimatedMatrix = local_matrix;
 	joint->GlobalAnimatedMatrix = joint->GlobalMatrix;
 
 	if (!joint->GlobalInversedMatrix.has_value()) { // might be pre calculated
@@ -689,7 +640,7 @@ void SkinnedMesh::recoverJointsFromMesh(std::vector<IBoneSceneNode *> &jointChil
 		node->setRotation(joint->LocalAnimatedMatrix.getRotationDegrees());
 		node->setScale(joint->LocalAnimatedMatrix.getScale());
 
-		node->updateAbsolutePosition();
+		node->updateAbsolutePosition(); // WTF
 	}
 }
 

lib/tiniergltf/tiniergltf.hpp

@@ -916,12 +916,7 @@ struct Node {
 	std::optional<std::size_t> skin;
 	std::optional<std::vector<double>> weights;
 	Node(const Json::Value &o)
-		: transform(Matrix {
-			1, 0, 0, 0,
-			0, 1, 0, 0,
-			0, 0, 1, 0,
-			0, 0, 0, 1
-		})
+		: transform(TRS{})
 	{
 		check(o.isObject());
 		if (o.isMember("camera")) {

src/client/content_cao.cpp

@@ -1401,6 +1401,8 @@ void GenericCAO::updateBones(f32 dtime)
 	if (m_bone_override.empty())
 		return;
 
+	// FIXME these need to be applied at a different point in time
+	// in order to be relative to the animated bone positions of the current frame
 	for (auto &it : m_bone_override) {
 		std::string bone_name = it.first;
 		scene::IBoneSceneNode* bone = m_animated_meshnode->getJointNode(bone_name.c_str());

src/unittest/test_irr_gltf_mesh_loader.cpp

@@ -413,17 +413,23 @@ SECTION("simple skin")
 
 	SECTION("transformations are correct")
 	{
-		CHECK(parent->Animatedposition == v3f(0, 0, 0));
-		CHECK(parent->Animatedrotation == irr::core::quaternion());
-		CHECK(parent->Animatedscale == v3f(1, 1, 1));
-		CHECK(parent->GlobalInversedMatrix == irr::core::matrix4());
-		const v3f childTranslation(0, 1, 0);
-		CHECK(child->Animatedposition == childTranslation);
-		CHECK(child->Animatedrotation == irr::core::quaternion());
-		CHECK(child->Animatedscale == v3f(1, 1, 1));
-		irr::core::matrix4 inverseBindMatrix;
-		inverseBindMatrix.setTranslation(-childTranslation);
-		CHECK(child->GlobalInversedMatrix == inverseBindMatrix);
+		{
+			const auto &transform = std::get<SkinnedMesh::SJoint::Transform>(parent->transform);
+			CHECK(transform.translation == v3f(0, 0, 0));
+			CHECK(transform.rotation == irr::core::quaternion());
+			CHECK(transform.scale == v3f(1, 1, 1));
+			CHECK(parent->GlobalInversedMatrix == irr::core::matrix4());
+		}
+		{
+			const auto &transform = std::get<SkinnedMesh::SJoint::Transform>(child->transform);
+			const v3f translation(0, 1, 0);
+			CHECK(transform.translation == translation);
+			CHECK(transform.rotation == irr::core::quaternion());
+			CHECK(transform.scale == v3f(1, 1, 1));
+			irr::core::matrix4 inverseBindMatrix;
+			inverseBindMatrix.setTranslation(-translation);
+			CHECK(child->GlobalInversedMatrix == inverseBindMatrix);
+		}
 	}
 
 	SECTION("weights are correct")