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/*
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* Contributor(s): Chingiz Dyussenov, Arystanbek Dyussenov, Nathan Letwory, Sukhitha jayathilake.
*
* ***** END GPL LICENSE BLOCK *****
*/
/** \file blender/collada/ArmatureImporter.cpp
* \ingroup collada
*/
/* COLLADABU_ASSERT, may be able to remove later */
#include "COLLADABUPlatform.h"
#include <algorithm>
#include "COLLADAFWUniqueId.h"
#include "BKE_action.h"
#include "BKE_depsgraph.h"
#include "BKE_object.h"
#include "BKE_armature.h"
#include "BLI_string.h"
#include "ED_armature.h"
#include "ArmatureImporter.h"
// use node name, or fall back to original id if not present (name is optional)
template<class T>
static const char *bc_get_joint_name(T *node)
{
const std::string& id = node->getName();
return id.size() ? id.c_str() : node->getOriginalId().c_str();
}
ArmatureImporter::ArmatureImporter(UnitConverter *conv, MeshImporterBase *mesh, AnimationImporterBase *anim, Scene *sce) :
TransformReader(conv), scene(sce), empty(NULL), mesh_importer(mesh), anim_importer(anim) {}
ArmatureImporter::~ArmatureImporter()
{
// free skin controller data if we forget to do this earlier
std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
it->second.free();
}
}
#if 0
JointData *ArmatureImporter::get_joint_data(COLLADAFW::Node *node);
{
const COLLADAFW::UniqueId& joint_id = node->getUniqueId();
if (joint_id_to_joint_index_map.find(joint_id) == joint_id_to_joint_index_map.end()) {
fprintf(stderr, "Cannot find a joint index by joint id for %s.\n",
node->getOriginalId().c_str());
return NULL;
}
int joint_index = joint_id_to_joint_index_map[joint_id];
return &joint_index_to_joint_info_map[joint_index];
}
#endif
void ArmatureImporter::create_unskinned_bone( COLLADAFW::Node *node, EditBone *parent, int totchild,
float parent_mat[][4], Object * ob_arm)
{
float mat[4][4];
float obmat[4][4];
// object-space
get_node_mat(obmat, node, NULL, NULL);
EditBone *bone = ED_armature_edit_bone_add((bArmature*)ob_arm->data, (char*)bc_get_joint_name(node));
totbone++;
bPoseChannel *pchan = get_pose_channel(ob_arm->pose, (char*)bc_get_joint_name(node));
if (parent) bone->parent = parent;
float angle = 0;
// get world-space
if (parent){
mul_m4_m4m4(mat, obmat, parent_mat);
}
else {
copy_m4_m4(mat, obmat);
}
float loc[3], size[3], rot[3][3];
mat4_to_loc_rot_size( loc, rot, size, obmat);
mat3_to_vec_roll(rot, NULL, &angle );
bone->roll=angle;
// set head
copy_v3_v3(bone->head, mat[3]);
// set tail, don't set it to head because 0-length bones are not allowed
float vec[3] = {0.0f, 0.5f, 0.0f};
add_v3_v3v3(bone->tail, bone->head, vec);
// set parent tail
if (parent && totchild == 1) {
copy_v3_v3(parent->tail, bone->head);
// not setting BONE_CONNECTED because this would lock child bone location with respect to parent
// bone->flag |= BONE_CONNECTED;
// XXX increase this to prevent "very" small bones?
const float epsilon = 0.000001f;
// derive leaf bone length
float length = len_v3v3(parent->head, parent->tail);
if ((length < leaf_bone_length || totbone == 0) && length > epsilon) {
leaf_bone_length = length;
}
// treat zero-sized bone like a leaf bone
if (length <= epsilon) {
add_leaf_bone(parent_mat, parent, node);
}
}
COLLADAFW::NodePointerArray& children = node->getChildNodes();
for (unsigned int i = 0; i < children.getCount(); i++) {
create_unskinned_bone( children[i], bone, children.getCount(), mat, ob_arm);
}
// in second case it's not a leaf bone, but we handle it the same way
if (!children.getCount() || children.getCount() > 1) {
add_leaf_bone(mat, bone, node);
}
}
void ArmatureImporter::create_bone(SkinInfo& skin, COLLADAFW::Node *node, EditBone *parent, int totchild,
float parent_mat[][4], bArmature *arm)
{
float joint_inv_bind_mat[4][4];
// JointData* jd = get_joint_data(node);
float mat[4][4];
// TODO rename from Node "name" attrs later
EditBone *bone = ED_armature_edit_bone_add(arm, (char*)bc_get_joint_name(node));
totbone++;
if (skin.get_joint_inv_bind_matrix(joint_inv_bind_mat, node)) {
// get original world-space matrix
invert_m4_m4(mat, joint_inv_bind_mat);
}
// create a bone even if there's no joint data for it (i.e. it has no influence)
else {
float obmat[4][4];
// object-space
get_node_mat(obmat, node, NULL, NULL);
// get world-space
if (parent)
mul_m4_m4m4(mat, obmat, parent_mat);
else
copy_m4_m4(mat, obmat);
/*float loc[3], size[3], rot[3][3] , angle;
mat4_to_loc_rot_size( loc, rot, size, obmat);
mat3_to_vec_roll(rot, NULL, &angle );
bone->roll=angle;*/
}
if (parent) bone->parent = parent;
// set head
copy_v3_v3(bone->head, mat[3]);
// set tail, don't set it to head because 0-length bones are not allowed
float vec[3] = {0.0f, 0.5f, 0.0f};
add_v3_v3v3(bone->tail, bone->head, vec);
// set parent tail
if (parent && totchild == 1) {
copy_v3_v3(parent->tail, bone->head);
// not setting BONE_CONNECTED because this would lock child bone location with respect to parent
// bone->flag |= BONE_CONNECTED;
// XXX increase this to prevent "very" small bones?
const float epsilon = 0.000001f;
// derive leaf bone length
float length = len_v3v3(parent->head, parent->tail);
if ((length < leaf_bone_length || totbone == 0) && length > epsilon) {
leaf_bone_length = length;
}
// treat zero-sized bone like a leaf bone
if (length <= epsilon) {
add_leaf_bone(parent_mat, parent, node);
}
/*
#if 0
// and which row in mat is bone direction
float vec[3];
sub_v3_v3v3(vec, parent->tail, parent->head);
#ifdef COLLADA_DEBUG
print_v3("tail - head", vec);
print_m4("matrix", parent_mat);
#endif
for (int i = 0; i < 3; i++) {
#ifdef COLLADA_DEBUG
char *axis_names[] = {"X", "Y", "Z"};
printf("%s-axis length is %f\n", axis_names[i], len_v3(parent_mat[i]));
#endif
float angle = angle_v2v2(vec, parent_mat[i]);
if (angle < min_angle) {
#ifdef COLLADA_DEBUG
print_v3("picking", parent_mat[i]);
printf("^ %s axis of %s's matrix\n", axis_names[i], get_dae_name(node));
#endif
bone_direction_row = i;
min_angle = angle;
}
}
#endif
*/
}
COLLADAFW::NodePointerArray& children = node->getChildNodes();
for (unsigned int i = 0; i < children.getCount(); i++) {
create_bone(skin, children[i], bone, children.getCount(), mat, arm);
}
// in second case it's not a leaf bone, but we handle it the same way
if (!children.getCount() || children.getCount() > 1) {
add_leaf_bone(mat, bone , node);
}
}
void ArmatureImporter::add_leaf_bone(float mat[][4], EditBone *bone, COLLADAFW::Node * node)
{
LeafBone leaf;
leaf.bone = bone;
copy_m4_m4(leaf.mat, mat);
BLI_strncpy(leaf.name, bone->name, sizeof(leaf.name));
float vec[3];
TagsMap::iterator etit;
ExtraTags *et = 0;
etit = uid_tags_map.find(node->getUniqueId().toAscii());
if(etit != uid_tags_map.end())
{
et = etit->second;
//else return;
float x,y,z;
et->setData("tip_x",&x);
et->setData("tip_y",&y);
et->setData("tip_z",&z);
float vec[3] = {x,y,z};
copy_v3_v3(leaf.bone->tail, leaf.bone->head);
add_v3_v3v3(leaf.bone->tail, leaf.bone->head, vec);
}else
leaf_bones.push_back(leaf);
}
void ArmatureImporter::fix_leaf_bones( )
{
// just setting tail for leaf bones here
std::vector<LeafBone>::iterator it;
for (it = leaf_bones.begin(); it != leaf_bones.end(); it++) {
LeafBone& leaf = *it;
// pointing up
float vec[3] = {0.0f, 0.0f, 1.0f};
//mul_v3_fl(vec, leaf_bone_length);
copy_v3_v3(leaf.bone->tail, leaf.bone->head);
add_v3_v3v3(leaf.bone->tail, leaf.bone->head, vec);
}
}
#if 0
void ArmatureImporter::set_leaf_bone_shapes(Object *ob_arm)
{
bPose *pose = ob_arm->pose;
std::vector<LeafBone>::iterator it;
for (it = leaf_bones.begin(); it != leaf_bones.end(); it++) {
LeafBone& leaf = *it;
bPoseChannel *pchan = get_pose_channel(pose, leaf.name);
if (pchan) {
pchan->custom = get_empty_for_leaves();
}
else {
fprintf(stderr, "Cannot find a pose channel for leaf bone %s\n", leaf.name);
}
}
}
void ArmatureImporter::set_euler_rotmode()
{
// just set rotmode = ROT_MODE_EUL on pose channel for each joint
std::map<COLLADAFW::UniqueId, COLLADAFW::Node*>::iterator it;
for (it = joint_by_uid.begin(); it != joint_by_uid.end(); it++) {
COLLADAFW::Node *joint = it->second;
std::map<COLLADAFW::UniqueId, SkinInfo>::iterator sit;
for (sit = skin_by_data_uid.begin(); sit != skin_by_data_uid.end(); sit++) {
SkinInfo& skin = sit->second;
if (skin.uses_joint_or_descendant(joint)) {
bPoseChannel *pchan = skin.get_pose_channel_from_node(joint);
if (pchan) {
pchan->rotmode = ROT_MODE_EUL;
}
else {
fprintf(stderr, "Cannot find pose channel for %s.\n", get_joint_name(joint));
}
break;
}
}
}
}
#endif
Object *ArmatureImporter::get_empty_for_leaves()
{
if (empty) return empty;
empty = add_object(scene, OB_EMPTY);
empty->empty_drawtype = OB_EMPTY_SPHERE;
return empty;
}
#if 0
Object *ArmatureImporter::find_armature(COLLADAFW::Node *node)
{
JointData* jd = get_joint_data(node);
if (jd) return jd->ob_arm;
COLLADAFW::NodePointerArray& children = node->getChildNodes();
for (int i = 0; i < children.getCount(); i++) {
Object *ob_arm = find_armature(children[i]);
if (ob_arm) return ob_arm;
}
return NULL;
}
ArmatureJoints& ArmatureImporter::get_armature_joints(Object *ob_arm)
{
// try finding it
std::vector<ArmatureJoints>::iterator it;
for (it = armature_joints.begin(); it != armature_joints.end(); it++) {
if ((*it).ob_arm == ob_arm) return *it;
}
// not found, create one
ArmatureJoints aj;
aj.ob_arm = ob_arm;
armature_joints.push_back(aj);
return armature_joints.back();
}
#endif
void ArmatureImporter::create_armature_bones( )
{
std::vector<COLLADAFW::Node*>::iterator ri;
//if there is an armature created for root_joint next root_joint
for (ri = root_joints.begin(); ri != root_joints.end(); ri++) {
if ( get_armature_for_joint(*ri) != NULL ) continue;
//add armature object for current joint
//Object *ob_arm = add_object(scene, OB_ARMATURE);
Object *ob_arm = joint_parent_map[(*ri)->getUniqueId()];
//ob_arm->type = OB_ARMATURE;
ED_armature_to_edit(ob_arm);
// min_angle = 360.0f; // minimum angle between bone head-tail and a row of bone matrix
// create unskinned bones
/*
TODO:
check if bones have already been created for a given joint
*/
leaf_bone_length = FLT_MAX;
create_unskinned_bone(*ri, NULL, (*ri)->getChildNodes().getCount(), NULL, ob_arm);
fix_leaf_bones();
// exit armature edit mode
unskinned_armature_map[(*ri)->getUniqueId()] = ob_arm;
ED_armature_from_edit(ob_arm);
set_pose(ob_arm , *ri, NULL, NULL );
ED_armature_edit_free(ob_arm);
DAG_id_tag_update(&ob_arm->id, OB_RECALC_OB|OB_RECALC_DATA);
}
}
void ArmatureImporter::create_armature_bones(SkinInfo& skin)
{
// just do like so:
// - get armature
// - enter editmode
// - add edit bones and head/tail properties using matrices and parent-child info
// - exit edit mode
// - set a sphere shape to leaf bones
Object *ob_arm = NULL;
/*
* find if there's another skin sharing at least one bone with this skin
* if so, use that skin's armature
*/
/*
Pseudocode:
find_node_in_tree(node, root_joint)
skin::find_root_joints(root_joints):
std::vector root_joints;
for each root in root_joints:
for each joint in joints:
if find_node_in_tree(joint, root):
if (std::find(root_joints.begin(), root_joints.end(), root) == root_joints.end())
root_joints.push_back(root);
for (each skin B with armature) {
find all root joints for skin B
for each joint X in skin A:
for each root joint R in skin B:
if (find_node_in_tree(X, R)) {
shared = 1;
goto endloop;
}
}
endloop:
*/
SkinInfo *a = &skin;
Object *shared = NULL;
std::vector<COLLADAFW::Node*> skin_root_joints;
std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
SkinInfo *b = &it->second;
if (b == a || b->get_armature() == NULL)
continue;
skin_root_joints.clear();
b->find_root_joints(root_joints, joint_by_uid, skin_root_joints);
std::vector<COLLADAFW::Node*>::iterator ri;
for (ri = skin_root_joints.begin(); ri != skin_root_joints.end(); ri++) {
if (a->uses_joint_or_descendant(*ri)) {
shared = b->get_armature();
break;
}
}
if (shared != NULL)
break;
}
if (shared)
ob_arm = skin.set_armature(shared);
else
ob_arm = skin.create_armature(scene); //once for every armature
// enter armature edit mode
ED_armature_to_edit(ob_arm);
leaf_bones.clear();
totbone = 0;
// bone_direction_row = 1; // TODO: don't default to Y but use asset and based on it decide on default row
leaf_bone_length = FLT_MAX;
// min_angle = 360.0f; // minimum angle between bone head-tail and a row of bone matrix
// create bones
/*
TODO:
check if bones have already been created for a given joint
*/
std::vector<COLLADAFW::Node*>::iterator ri;
for (ri = root_joints.begin(); ri != root_joints.end(); ri++) {
// for shared armature check if bone tree is already created
if (shared && std::find(skin_root_joints.begin(), skin_root_joints.end(), *ri) != skin_root_joints.end())
continue;
// since root_joints may contain joints for multiple controllers, we need to filter
if (skin.uses_joint_or_descendant(*ri)) {
create_bone(skin, *ri, NULL, (*ri)->getChildNodes().getCount(), NULL, (bArmature*)ob_arm->data);
if (joint_parent_map.find((*ri)->getUniqueId()) != joint_parent_map.end() && !skin.get_parent())
skin.set_parent(joint_parent_map[(*ri)->getUniqueId()]);
}
}
fix_leaf_bones();
// exit armature edit mode
ED_armature_from_edit(ob_arm);
ED_armature_edit_free(ob_arm);
DAG_id_tag_update(&ob_arm->id, OB_RECALC_OB|OB_RECALC_DATA);
// set_leaf_bone_shapes(ob_arm);
// set_euler_rotmode();
}
// root - if this joint is the top joint in hierarchy, if a joint
// is a child of a node (not joint), root should be true since
// this is where we build armature bones from
void ArmatureImporter::set_pose ( Object * ob_arm , COLLADAFW::Node * root_node , char *parentname, float parent_mat[][4])
{
char * bone_name = (char *) bc_get_joint_name ( root_node);
float mat[4][4];
float obmat[4][4];
bArmature * arm = (bArmature * ) ob_arm-> data ;
float ax[3];
float angle = NULL;
// object-space
get_node_mat(obmat, root_node, NULL, NULL);
//if(*edbone)
bPoseChannel * pchan = get_pose_channel(ob_arm -> pose , bone_name);
//else fprintf ( "",
// get world-space
if (parentname){
mul_m4_m4m4(mat, obmat, parent_mat);
bPoseChannel *parchan = get_pose_channel(ob_arm->pose, parentname);
mul_m4_m4m4(pchan->pose_mat, mat , parchan->pose_mat);
}
else {
copy_m4_m4(mat, obmat);
float invObmat[4][4];
invert_m4_m4(invObmat, ob_arm->obmat);
mul_m4_m4m4(pchan->pose_mat, mat, invObmat);
}
mat4_to_axis_angle(ax,&angle,mat);
pchan->bone->roll = angle;
COLLADAFW::NodePointerArray& children = root_node->getChildNodes();
for (unsigned int i = 0; i < children.getCount(); i++) {
set_pose(ob_arm, children[i], bone_name, mat);
}
}
void ArmatureImporter::add_joint(COLLADAFW::Node *node, bool root, Object *parent, Scene *sce)
{
joint_by_uid[node->getUniqueId()] = node;
if (root) {
root_joints.push_back(node);
if (parent) {
joint_parent_map[node->getUniqueId()] = parent;
}
}
}
#if 0
void ArmatureImporter::add_root_joint(COLLADAFW::Node *node)
{
// root_joints.push_back(node);
Object *ob_arm = find_armature(node);
if (ob_arm) {
get_armature_joints(ob_arm).root_joints.push_back(node);
}
#ifdef COLLADA_DEBUG
else {
fprintf(stderr, "%s cannot be added to armature.\n", get_joint_name(node));
}
#endif
}
#endif
// here we add bones to armatures, having armatures previously created in write_controller
void ArmatureImporter::make_armatures(bContext *C)
{
std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
SkinInfo& skin = it->second;
create_armature_bones(skin);
// link armature with a mesh object
Object *ob = mesh_importer->get_object_by_geom_uid(*get_geometry_uid(skin.get_controller_uid()));
if (ob)
skin.link_armature(C, ob, joint_by_uid, this);
else
fprintf(stderr, "Cannot find object to link armature with.\n");
// set armature parent if any
Object *par = skin.get_parent();
if (par)
bc_set_parent(skin.get_armature(), par, C, false);
// free memory stolen from SkinControllerData
skin.free();
}
//for bones without skins
//create_armature_bones();
}
#if 0
// link with meshes, create vertex groups, assign weights
void ArmatureImporter::link_armature(Object *ob_arm, const COLLADAFW::UniqueId& geom_id, const COLLADAFW::UniqueId& controller_data_id)
{
Object *ob = mesh_importer->get_object_by_geom_uid(geom_id);
if (!ob) {
fprintf(stderr, "Cannot find object by geometry UID.\n");
return;
}
if (skin_by_data_uid.find(controller_data_id) == skin_by_data_uid.end()) {
fprintf(stderr, "Cannot find skin info by controller data UID.\n");
return;
}
SkinInfo& skin = skin_by_data_uid[conroller_data_id];
// create vertex groups
}
#endif
bool ArmatureImporter::write_skin_controller_data(const COLLADAFW::SkinControllerData* data)
{
// at this stage we get vertex influence info that should go into me->verts and ob->defbase
// there's no info to which object this should be long so we associate it with skin controller data UID
// don't forget to call defgroup_unique_name before we copy
// controller data uid -> [armature] -> joint data,
// [mesh object]
//
SkinInfo skin(unit_converter);
skin.borrow_skin_controller_data(data);
// store join inv bind matrix to use it later in armature construction
const COLLADAFW::Matrix4Array& inv_bind_mats = data->getInverseBindMatrices();
for (unsigned int i = 0; i < data->getJointsCount(); i++) {
skin.add_joint(inv_bind_mats[i]);
}
skin_by_data_uid[data->getUniqueId()] = skin;
return true;
}
bool ArmatureImporter::write_controller(const COLLADAFW::Controller* controller)
{
// - create and store armature object
const COLLADAFW::UniqueId& skin_id = controller->getUniqueId();
if (controller->getControllerType() == COLLADAFW::Controller::CONTROLLER_TYPE_SKIN) {
COLLADAFW::SkinController *co = (COLLADAFW::SkinController*)controller;
// to be able to find geom id by controller id
geom_uid_by_controller_uid[skin_id] = co->getSource();
const COLLADAFW::UniqueId& data_uid = co->getSkinControllerData();
if (skin_by_data_uid.find(data_uid) == skin_by_data_uid.end()) {
fprintf(stderr, "Cannot find skin by controller data UID.\n");
return true;
}
skin_by_data_uid[data_uid].set_controller(co);
}
// morph controller
else {
// shape keys? :)
fprintf(stderr, "Morph controller is not supported yet.\n");
}
return true;
}
COLLADAFW::UniqueId *ArmatureImporter::get_geometry_uid(const COLLADAFW::UniqueId& controller_uid)
{
if (geom_uid_by_controller_uid.find(controller_uid) == geom_uid_by_controller_uid.end())
return NULL;
return &geom_uid_by_controller_uid[controller_uid];
}
Object *ArmatureImporter::get_armature_for_joint(COLLADAFW::Node *node)
{
std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
SkinInfo& skin = it->second;
if (skin.uses_joint_or_descendant(node))
return skin.get_armature();
}
std::map<COLLADAFW::UniqueId, Object*>::iterator arm;
for (arm = unskinned_armature_map.begin(); arm != unskinned_armature_map.end(); arm++) {
if(arm->first == node->getUniqueId() )
return arm->second;
}
return NULL;
}
void ArmatureImporter::set_tags_map(TagsMap & tagsMap)
{
this->uid_tags_map = tagsMap;
}
void ArmatureImporter::get_rna_path_for_joint(COLLADAFW::Node *node, char *joint_path, size_t count)
{
BLI_snprintf(joint_path, count, "pose.bones[\"%s\"]", bc_get_joint_name(node));
}
// gives a world-space mat
bool ArmatureImporter::get_joint_bind_mat(float m[][4], COLLADAFW::Node *joint)
{
std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
bool found = false;
for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
SkinInfo& skin = it->second;
if ((found = skin.get_joint_inv_bind_matrix(m, joint))) {
invert_m4(m);
break;
}
}
return found;
}
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