assimp.assimp/code/OgreSkeleton.cpp

/*
Open Asset Import Library (assimp)
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*/

#include "AssimpPCH.h"

#ifndef ASSIMP_BUILD_NO_OGRE_IMPORTER

#include "OgreImporter.hpp"
#include "TinyFormatter.h"

using namespace std;

namespace Assimp
{
namespace Ogre
{

void OgreImporter::ReadSkeleton(const std::string &pFile, Assimp::IOSystem *pIOHandler, const aiScene *pScene,
							    const std::string &skeletonFile, vector<Bone> &Bones, vector<Animation> &Animations) const
{
	//most likely the skeleton file will only end with .skeleton
	//But this is a xml reader, so we need: .skeleton.xml
	string skeletonPath = skeletonFile + ".xml";

	DefaultLogger::get()->debug(string("Loading Skeleton: ")+skeletonFile);

	//Open the File:
	boost::scoped_ptr<IOStream> File(pIOHandler->Open(skeletonFile));
	if(NULL==File.get())
		throw DeadlyImportError("Failed to open skeleton file "+skeletonFile+".");

	//Read the Mesh File:
	boost::scoped_ptr<CIrrXML_IOStreamReader> mIOWrapper(new CIrrXML_IOStreamReader(File.get()));
	XmlReader* SkeletonFile = irr::io::createIrrXMLReader(mIOWrapper.get());
	if(!SkeletonFile)
		throw DeadlyImportError(string("Failed to create XML Reader for ")+skeletonFile);

	NextNode(SkeletonFile);
	if(string("skeleton")!=SkeletonFile->getNodeName())
		throw DeadlyImportError("No <skeleton> node in SkeletonFile: "+skeletonFile);



	//------------------------------------load bones-----------------------------------------
	NextNode(SkeletonFile);
	if(string("bones")!=SkeletonFile->getNodeName())
		throw DeadlyImportError("No bones node in skeleton "+skeletonFile);

	NextNode(SkeletonFile);

	while(string("bone")==SkeletonFile->getNodeName())
	{
		//TODO: Maybe we can have bone ids for the errrors, but normaly, they should never appear, so what....

		//read a new bone:
		Bone NewBone;
		NewBone.Id=GetAttribute<int>(SkeletonFile, "id");
		NewBone.Name=GetAttribute<string>(SkeletonFile, "name");

		//load the position:
		NextNode(SkeletonFile);
		if(string("position")!=SkeletonFile->getNodeName())
			throw DeadlyImportError("Position is not first node in Bone!");
		NewBone.Position.x=GetAttribute<float>(SkeletonFile, "x");
		NewBone.Position.y=GetAttribute<float>(SkeletonFile, "y");
		NewBone.Position.z=GetAttribute<float>(SkeletonFile, "z");

		//Rotation:
		NextNode(SkeletonFile);
		if(string("rotation")!=SkeletonFile->getNodeName())
			throw DeadlyImportError("Rotation is not the second node in Bone!");
		NewBone.RotationAngle=GetAttribute<float>(SkeletonFile, "angle");
		NextNode(SkeletonFile);
		if(string("axis")!=SkeletonFile->getNodeName())
			throw DeadlyImportError("No axis specified for bone rotation!");
		NewBone.RotationAxis.x=GetAttribute<float>(SkeletonFile, "x");
		NewBone.RotationAxis.y=GetAttribute<float>(SkeletonFile, "y");
		NewBone.RotationAxis.z=GetAttribute<float>(SkeletonFile, "z");

		//append the newly loaded bone to the bone list
		Bones.push_back(NewBone);

		//Proceed to the next bone:
		NextNode(SkeletonFile);
	}
	//The bones in the file a not neccesarly ordered by there id's so we do it now:
	std::sort(Bones.begin(), Bones.end());

	//now the id of each bone should be equal to its position in the vector:
	//so we do a simple check:
	{
		bool IdsOk=true;
		for(int i=0; i<static_cast<signed int>(Bones.size()); ++i)//i is signed, because all Id's are also signed!
		{
			if(Bones[i].Id!=i)
				IdsOk=false;
		}
		if(!IdsOk)
			throw DeadlyImportError("Bone Ids are not valid!"+skeletonFile);
	}
	DefaultLogger::get()->debug((Formatter::format(),"Number of bones: ",Bones.size()));
	//________________________________________________________________________________






	//----------------------------load bonehierarchy--------------------------------
	if(string("bonehierarchy")!=SkeletonFile->getNodeName())
		throw DeadlyImportError("no bonehierarchy node in "+skeletonFile);

	DefaultLogger::get()->debug("loading bonehierarchy...");
	NextNode(SkeletonFile);
	while(string("boneparent")==SkeletonFile->getNodeName())
	{
		string Child, Parent;
		Child=GetAttribute<string>(SkeletonFile, "bone");
		Parent=GetAttribute<string>(SkeletonFile, "parent");

		unsigned int ChildId, ParentId;
		ChildId=find(Bones.begin(), Bones.end(), Child)->Id;
		ParentId=find(Bones.begin(), Bones.end(), Parent)->Id;

		Bones[ChildId].ParentId=ParentId;
		Bones[ParentId].Children.push_back(ChildId);

		NextNode(SkeletonFile);
	}
	//_____________________________________________________________________________


	//--------- Calculate the WorldToBoneSpace Matrix recursively for all bones: ------------------
	BOOST_FOREACH(Bone &theBone, Bones)
	{
		if(-1==theBone.ParentId) //the bone is a root bone
		{
			theBone.CalculateBoneToWorldSpaceMatrix(Bones);
		}
	}
	//_______________________________________________________________________
	

	//---------------------------load animations-----------------------------
	if(string("animations")==SkeletonFile->getNodeName())//animations are optional values
	{
		DefaultLogger::get()->debug("Loading Animations");
		NextNode(SkeletonFile);
		while(string("animation")==SkeletonFile->getNodeName())
		{
			Animation NewAnimation;
			NewAnimation.Name=GetAttribute<string>(SkeletonFile, "name");
			NewAnimation.Length=GetAttribute<float>(SkeletonFile, "length");
			
			//Load all Tracks
			NextNode(SkeletonFile);
			if(string("tracks")!=SkeletonFile->getNodeName())
				throw DeadlyImportError("no tracks node in animation");
			NextNode(SkeletonFile);
			while(string("track")==SkeletonFile->getNodeName())
			{
				Track NewTrack;
				NewTrack.BoneName=GetAttribute<string>(SkeletonFile, "bone");

				//Load all keyframes;
				NextNode(SkeletonFile);
				if(string("keyframes")!=SkeletonFile->getNodeName())
					throw DeadlyImportError("no keyframes node!");
				NextNode(SkeletonFile);
				while(string("keyframe")==SkeletonFile->getNodeName())
				{
					KeyFrame NewKeyframe;
					NewKeyframe.Time=GetAttribute<float>(SkeletonFile, "time");

					//loop over the attributes:
					
					while(true) //will quit, if a Node is not a animationkey
					{
						NextNode(SkeletonFile);

						//If any property doesn't show up, it will keep its initialization value

						//Position:
						if(string("translate")==SkeletonFile->getNodeName())
						{
							NewKeyframe.Position.x=GetAttribute<float>(SkeletonFile, "x");
							NewKeyframe.Position.y=GetAttribute<float>(SkeletonFile, "y");
							NewKeyframe.Position.z=GetAttribute<float>(SkeletonFile, "z");
						}

						//Rotation:
						else if(string("rotate")==SkeletonFile->getNodeName())
						{
							float RotationAngle=GetAttribute<float>(SkeletonFile, "angle");
							aiVector3D RotationAxis;
							NextNode(SkeletonFile);
							if(string("axis")!=SkeletonFile->getNodeName())
								throw DeadlyImportError("No axis for keyframe rotation!");
							RotationAxis.x=GetAttribute<float>(SkeletonFile, "x");
							RotationAxis.y=GetAttribute<float>(SkeletonFile, "y");
							RotationAxis.z=GetAttribute<float>(SkeletonFile, "z");

							if(0==RotationAxis.x && 0==RotationAxis.y && 0==RotationAxis.z)//we have an invalid rotation axis
							{
								RotationAxis.x=1.0f;
								if(0!=RotationAngle)//if we don't rotate at all, the axis does not matter
								{
									DefaultLogger::get()->warn("Invalid Rotation Axis in KeyFrame!");
								}
							}
							NewKeyframe.Rotation=aiQuaternion(RotationAxis, RotationAngle);
						}

						//Scaling:
						else if(string("scale")==SkeletonFile->getNodeName())
						{
							NewKeyframe.Scaling.x=GetAttribute<float>(SkeletonFile, "x");
							NewKeyframe.Scaling.y=GetAttribute<float>(SkeletonFile, "y");
							NewKeyframe.Scaling.z=GetAttribute<float>(SkeletonFile, "z");
						}

						//we suppose, that we read all attributes and this is a new keyframe or the end of the animation
						else
							break;
					}

					NewTrack.Keyframes.push_back(NewKeyframe);
				}

				NewAnimation.Tracks.push_back(NewTrack);
			}

			Animations.push_back(NewAnimation);
		}
	}
	//_____________________________________________________________________________

}


void OgreImporter::CreateAssimpSkeleton(aiScene *pScene, const std::vector<Bone> &Bones, const std::vector<Animation> &/*Animations*/)
{
	if(!pScene->mRootNode)
		throw DeadlyImportError("No root node exists!!");
	if(0!=pScene->mRootNode->mNumChildren)
		throw DeadlyImportError("Root Node already has childnodes!");


	//Createt the assimp bone hierarchy
	vector<aiNode*> RootBoneNodes;
	BOOST_FOREACH(const Bone &theBone, Bones)
	{
		if(-1==theBone.ParentId) //the bone is a root bone
		{
			//which will recursily add all other nodes
			RootBoneNodes.push_back(CreateAiNodeFromBone(theBone.Id, Bones, pScene->mRootNode));
		}
	}
	
	if(RootBoneNodes.size() > 0)
	{
		pScene->mRootNode->mNumChildren=RootBoneNodes.size();	
		pScene->mRootNode->mChildren=new aiNode*[RootBoneNodes.size()];
		memcpy(pScene->mRootNode->mChildren, &RootBoneNodes[0], sizeof(aiNode*)*RootBoneNodes.size());
	}
}

void OgreImporter::PutAnimationsInScene(aiScene *pScene, const std::vector<Bone> &Bones, const std::vector<Animation> &Animations)
{
	// TODO: Auf nicht vorhandene Animationskeys achten!
	// @todo Pay attention to non-existing animation Keys (google translated from above german comment)

	if(Animations.size()>0)//Maybe the model had only a skeleton and no animations. (If it also has no skeleton, this function would'nt have been called
	{
		pScene->mNumAnimations=Animations.size();
		pScene->mAnimations=new aiAnimation*[Animations.size()];
		for(unsigned int i=0; i<Animations.size(); ++i)//create all animations
		{
			aiAnimation* NewAnimation=new aiAnimation();
			NewAnimation->mName=Animations[i].Name;
			NewAnimation->mDuration=Animations[i].Length;
			NewAnimation->mTicksPerSecond=1.0f;

			//Create all tracks in this animation
			NewAnimation->mNumChannels=Animations[i].Tracks.size();
			NewAnimation->mChannels=new aiNodeAnim*[Animations[i].Tracks.size()];
			for(unsigned int j=0; j<Animations[i].Tracks.size(); ++j)
			{
				aiNodeAnim* NewNodeAnim=new aiNodeAnim();
				NewNodeAnim->mNodeName=Animations[i].Tracks[j].BoneName;

				//we need this, to acces the bones default pose, which we need to make keys absolute to the default bone pose
				vector<Bone>::const_iterator CurBone=find(Bones.begin(), Bones.end(), NewNodeAnim->mNodeName);
				aiMatrix4x4 t0, t1;
				aiMatrix4x4 DefBonePose=aiMatrix4x4::Translation(CurBone->Position, t1)
									 *	aiMatrix4x4::Rotation(CurBone->RotationAngle, CurBone->RotationAxis, t0);
				

				//Create the keyframe arrays...
				unsigned int KeyframeCount=Animations[i].Tracks[j].Keyframes.size();
				NewNodeAnim->mNumPositionKeys=KeyframeCount;
				NewNodeAnim->mNumRotationKeys=KeyframeCount;
				NewNodeAnim->mNumScalingKeys =KeyframeCount;
				NewNodeAnim->mPositionKeys=new aiVectorKey[KeyframeCount];
				NewNodeAnim->mRotationKeys=new aiQuatKey[KeyframeCount];
				NewNodeAnim->mScalingKeys =new aiVectorKey[KeyframeCount];
				
				//...and fill them
				for(unsigned int k=0; k<KeyframeCount; ++k)
				{
					aiMatrix4x4 t2, t3;

					//Create a matrix to transfrom a vector from the bones default pose to the bone bones in this animation key
					aiMatrix4x4 PoseToKey=
									  aiMatrix4x4::Translation(Animations[i].Tracks[j].Keyframes[k].Position, t3)	//pos
									* aiMatrix4x4(Animations[i].Tracks[j].Keyframes[k].Rotation.GetMatrix())		//rot
									* aiMatrix4x4::Scaling(Animations[i].Tracks[j].Keyframes[k].Scaling, t2);		//scale
									

					//calculate the complete transformation from world space to bone space
					aiMatrix4x4 CompleteTransform=DefBonePose * PoseToKey;
					
					aiVector3D Pos;
					aiQuaternion Rot;
					aiVector3D Scale;

					CompleteTransform.Decompose(Scale, Rot, Pos);

					double Time=Animations[i].Tracks[j].Keyframes[k].Time;

					NewNodeAnim->mPositionKeys[k].mTime=Time;
					NewNodeAnim->mPositionKeys[k].mValue=Pos;
					
					NewNodeAnim->mRotationKeys[k].mTime=Time;
					NewNodeAnim->mRotationKeys[k].mValue=Rot;

					NewNodeAnim->mScalingKeys[k].mTime=Time;
					NewNodeAnim->mScalingKeys[k].mValue=Scale;
				}
				
				NewAnimation->mChannels[j]=NewNodeAnim;
			}

			pScene->mAnimations[i]=NewAnimation;
		}
	}
}


aiNode* OgreImporter::CreateAiNodeFromBone(int BoneId, const std::vector<Bone> &Bones, aiNode* ParentNode)
{
	//----Create the node for this bone and set its values-----
	aiNode* NewNode=new aiNode(Bones[BoneId].Name);
	NewNode->mParent=ParentNode;

	aiMatrix4x4 t0,t1;
	NewNode->mTransformation=
		aiMatrix4x4::Translation(Bones[BoneId].Position, t0)
		*aiMatrix4x4::Rotation(Bones[BoneId].RotationAngle, Bones[BoneId].RotationAxis, t1)
	;
	//__________________________________________________________


	//---------- recursivly create all children Nodes: ----------
	NewNode->mNumChildren=Bones[BoneId].Children.size();
	NewNode->mChildren=new aiNode*[Bones[BoneId].Children.size()];
	for(unsigned int i=0; i<Bones[BoneId].Children.size(); ++i)
	{
		NewNode->mChildren[i]=CreateAiNodeFromBone(Bones[BoneId].Children[i], Bones, NewNode);
	}
	//____________________________________________________


	return NewNode;
}


void Bone::CalculateBoneToWorldSpaceMatrix(vector<Bone> &Bones)
{
	//Calculate the matrix for this bone:

	aiMatrix4x4 t0,t1;
	aiMatrix4x4 Transf=	aiMatrix4x4::Rotation(-RotationAngle, RotationAxis, t1)
					*	aiMatrix4x4::Translation(-Position, t0);

	if(-1==ParentId)
	{
		BoneToWorldSpace=Transf;
	}
	else
	{
		BoneToWorldSpace=Transf*Bones[ParentId].BoneToWorldSpace;
	}
	

	//and recursivly for all children:
	BOOST_FOREACH(int theChildren, Children)
	{
		Bones[theChildren].CalculateBoneToWorldSpaceMatrix(Bones);
	}
}


}//namespace Ogre
}//namespace Assimp

#endif  // !! ASSIMP_BUILD_NO_OGRE_IMPORTER