| 1 | // Copyright (C) 2012-2013 ChaosForge / Kornel Kisielewicz
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| 2 | // http://chaosforge.org/
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| 3 | //
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| 4 | // This file is part of NV Libraries.
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| 5 | // For conditions of distribution and use, see copyright notice in nv.hh
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| 6 |
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| 7 | #include "nv/formats/md5_loader.hh"
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| 8 |
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| 9 | #include <glm/gtc/constants.hpp>
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| 10 | #include "nv/logging.hh"
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| 11 | #include "nv/io/std_stream.hh"
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| 12 | #include <cstring>
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| 13 |
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| 14 | using namespace nv;
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| 15 |
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| 16 | static void next_line( std::istream& stream )
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| 17 | {
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| 18 | stream.ignore( std::numeric_limits<std::streamsize>::max(), '\n' );
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| 19 | }
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| 20 |
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| 21 | static inline void discard( std::istream& stream, const std::string& token )
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| 22 | {
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| 23 | // stream.ignore( std::numeric_limits<std::streamsize>::max(), ' ' );
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| 24 | std::string discarded;
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| 25 | stream >> discarded;
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| 26 | assert( discarded == token );
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| 27 | }
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| 28 |
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| 29 | static void remove_quotes( std::string& str )
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| 30 | {
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| 31 | size_t n;
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| 32 | while ( ( n = str.find('\"') ) != std::string::npos ) str.erase(n,1);
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| 33 | }
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| 34 |
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| 35 | static void unit_quat_w( glm::quat& quat )
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| 36 | {
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| 37 | float t = 1.0f - ( quat.x * quat.x ) - ( quat.y * quat.y ) - ( quat.z * quat.z );
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| 38 | quat.w = ( t < 0.0f ? 0.0f : -sqrtf(t) );
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| 39 | }
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| 40 |
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| 41 | bool md5_loader::load( stream& source )
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| 42 | {
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| 43 | reset();
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| 44 | std_stream sstream( &source );
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| 45 | std::string command;
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| 46 | mesh_node_data* nodes = nullptr;
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| 47 | size_t num_joints = 0;
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| 48 |
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| 49 | // MESH data
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| 50 | dynamic_array< md5_weight > weights;
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| 51 | dynamic_array< md5_weight_info > weight_info;
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| 52 | size_t num_meshes = 0;
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| 53 |
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| 54 | // MESH data
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| 55 | std::vector<md5_joint_info> joint_infos;
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| 56 | std::vector<transform> base_frames;
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| 57 | size_t num_animated_components = 0;
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| 58 | size_t frame_rate = 0;
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| 59 | size_t num_frames = 0;
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| 60 |
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| 61 | sstream >> command;
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| 62 | while ( !sstream.eof() )
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| 63 | {
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| 64 | if ( command == "MD5Version" )
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| 65 | {
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| 66 | sstream >> m_md5_version;
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| 67 | assert( m_md5_version == 10 );
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| 68 | }
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| 69 | else if ( command == "commandline" )
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| 70 | {
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| 71 | next_line( sstream );
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| 72 | }
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| 73 | else if ( command == "numJoints" )
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| 74 | {
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| 75 | sstream >> num_joints;
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| 76 | next_line( sstream );
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| 77 | }
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| 78 | else if ( command == "numMeshes" )
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| 79 | {
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| 80 | assert( m_type == UNKNOWN );
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| 81 | m_type = MESH;
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| 82 | sstream >> num_meshes;
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| 83 | m_meshes.resize( num_meshes );
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| 84 | num_meshes = 0;
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| 85 | }
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| 86 | else if ( command == "numFrames" )
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| 87 | {
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| 88 | assert( m_type == UNKNOWN || m_type == ANIMATION );
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| 89 | m_type = ANIMATION;
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| 90 | sstream >> num_frames;
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| 91 | next_line( sstream );
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| 92 | }
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| 93 | else if ( command == "frameRate" )
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| 94 | {
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| 95 | assert( m_type == UNKNOWN || m_type == ANIMATION );
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| 96 | m_type = ANIMATION;
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| 97 | sstream >> frame_rate;
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| 98 | next_line( sstream );
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| 99 | }
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| 100 | else if ( command == "numAnimatedComponents" )
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| 101 | {
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| 102 | assert( m_type == UNKNOWN || m_type == ANIMATION );
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| 103 | m_type = ANIMATION;
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| 104 | sstream >> num_animated_components;
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| 105 | next_line( sstream );
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| 106 | }
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| 107 | else if ( command == "joints" )
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| 108 | {
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| 109 | assert( m_type == MESH );
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| 110 | assert( m_nodes == nullptr );
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| 111 | nodes = new mesh_node_data[ num_joints ];
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| 112 | m_nodes = new mesh_nodes_data( "md5_bones", num_joints, nodes );
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| 113 | discard( sstream, "{" );
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| 114 | for ( size_t i = 0; i < m_nodes->get_count(); ++i )
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| 115 | {
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| 116 | sstream >> nodes[i].name >> nodes[i].parent_id;
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| 117 | vec3 pos;
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| 118 | quat orient;
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| 119 | discard( sstream, "(" );
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| 120 | sstream >> pos.x >> pos.y >> pos.z;
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| 121 | discard( sstream, ")" );
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| 122 | discard( sstream, "(" );
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| 123 | sstream >> orient.x >> orient.y >> orient.z;
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| 124 | unit_quat_w( orient );
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| 125 | remove_quotes( nodes[i].name );
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| 126 | nodes[i].target_id = -1;
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| 127 | nodes[i].parent_id = -1;
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| 128 | nodes[i].transform = transform( pos, orient ).inverse().extract();
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| 129 | nodes[i].data = nullptr;
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| 130 | next_line( sstream );
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| 131 | }
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| 132 | discard( sstream, "}" );
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| 133 | }
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| 134 | else if ( command == "mesh" )
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| 135 | {
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| 136 | assert( m_type == MESH );
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| 137 | mesh_data* mesh = new mesh_data("md5_mesh");
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| 138 |
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| 139 | int num_verts = 0;
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| 140 | int num_tris = 0;
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| 141 | int num_weights = 0;
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| 142 |
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| 143 | discard( sstream, "{" );
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| 144 | sstream >> command;
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| 145 | while ( command != "}" )
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| 146 | {
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| 147 | if ( command == "shader" )
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| 148 | {
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| 149 | std::string shader;
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| 150 | sstream >> shader;
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| 151 | remove_quotes( shader );
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| 152 | next_line( sstream );
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| 153 | }
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| 154 | else if ( command == "numverts")
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| 155 | {
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| 156 | sstream >> num_verts;
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| 157 |
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| 158 | md5_vtx_t* tdata = nullptr;
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| 159 | {
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| 160 | mesh_raw_channel* ch_pnt = mesh_raw_channel::create<md5_vtx_pnt>( num_verts );
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| 161 | mesh_raw_channel* ch_t = mesh_raw_channel::create<md5_vtx_t>( num_verts );
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| 162 | mesh_raw_channel* ch_pntiw = mesh_raw_channel::create<md5_vtx_pntiw>( num_verts );
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| 163 | tdata = (md5_vtx_t*)ch_t->data;
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| 164 | mesh->add_channel( ch_pnt );
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| 165 | mesh->add_channel( ch_t );
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| 166 | // TODO: hack to prevent rendering
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| 167 | ch_pntiw->count = 0;
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| 168 | mesh->add_channel( ch_pntiw );
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| 169 | }
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| 170 | weight_info.resize( num_verts );
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| 171 |
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| 172 | next_line( sstream );
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| 173 | std::string line;
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| 174 | for ( int i = 0; i < num_verts; ++i )
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| 175 | {
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| 176 | size_t weight_count;
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| 177 | size_t start_weight;
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| 178 | vec2 texcoord;
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| 179 |
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| 180 | std::getline( sstream, line );
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| 181 | sscanf( line.c_str(), "%*s %*u ( %f %f ) %u %u", &(texcoord.x), &(texcoord.y), &(start_weight), &(weight_count) );
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| 182 | weight_info[i].start_weight = start_weight;
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| 183 | weight_info[i].weight_count = weight_count;
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| 184 | tdata[i].texcoord = texcoord;
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| 185 | }
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| 186 | }
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| 187 | else if ( command == "numtris" )
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| 188 | {
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| 189 | sstream >> num_tris;
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| 190 |
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| 191 | mesh_raw_channel* ch_i = mesh_raw_channel::create_index<uint32>( num_tris * 3 );
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| 192 | uint32* vtx_i = (uint32*)ch_i->data;
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| 193 | uint32 idx = 0;
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| 194 | mesh->add_channel( ch_i );
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| 195 |
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| 196 | next_line( sstream );
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| 197 | std::string line;
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| 198 | for ( int i = 0; i < num_tris; ++i )
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| 199 | {
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| 200 | size_t ti0;
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| 201 | size_t ti1;
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| 202 | size_t ti2;
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| 203 |
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| 204 | std::getline( sstream, line );
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| 205 | sscanf( line.c_str(), "%*s %*u %u %u %u )", &(ti0), &(ti1), &(ti2));
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| 206 |
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| 207 | vtx_i[idx++] = (uint32)ti0;
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| 208 | vtx_i[idx++] = (uint32)ti1;
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| 209 | vtx_i[idx++] = (uint32)ti2;
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| 210 | }
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| 211 | }
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| 212 | else if ( command == "numweights" )
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| 213 | {
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| 214 | sstream >> num_weights;
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| 215 | weights.resize( num_weights );
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| 216 | next_line( sstream );
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| 217 | std::string line;
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| 218 | for ( int i = 0; i < num_weights; ++i )
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| 219 | {
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| 220 | md5_weight weight;
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| 221 |
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| 222 | std::getline( sstream, line );
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| 223 | sscanf( line.c_str(), "%*s %*u %u %f ( %f %f %f )", &(weight.joint_id), &(weight.bias), &(weight.pos.x), &(weight.pos.y), &(weight.pos.z));
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| 224 | weights[i] = weight;
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| 225 | }
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| 226 | }
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| 227 | else
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| 228 | {
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| 229 | next_line( sstream );
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| 230 | }
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| 231 |
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| 232 | sstream >> command;
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| 233 | }
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| 234 |
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| 235 | prepare_mesh( nodes, weight_info.size(), mesh, weights.data(), weight_info.data() );
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| 236 |
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| 237 | m_meshes[ num_meshes ] = mesh;
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| 238 | num_meshes++;
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| 239 | } // mesh
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| 240 | else if ( command == "hierarchy" )
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| 241 | {
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| 242 | assert( m_type == ANIMATION );
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| 243 | assert( nodes == nullptr );
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| 244 | nodes = new mesh_node_data[ num_joints ];
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| 245 | m_nodes = new mesh_nodes_data( "md5_animation", num_joints, nodes, (nv::uint16)frame_rate, (float)num_frames, true );
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| 246 | joint_infos.resize( num_joints );
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| 247 |
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| 248 | discard( sstream, "{" );
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| 249 | for ( size_t i = 0; i < m_nodes->get_count(); ++i )
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| 250 | {
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| 251 | std::string name;
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| 252 | sstream >> nodes[i].name >> nodes[i].parent_id >> joint_infos[i].flags >> joint_infos[i].start_index;
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| 253 | remove_quotes( name );
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| 254 | nodes[i].transform = mat4();
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| 255 | nodes[i].target_id = -1;
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| 256 | nodes[i].data = new key_data;
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| 257 | nodes[i].data->add_channel( key_raw_channel::create< md5_key_t >( num_frames ) );
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| 258 | next_line( sstream );
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| 259 | }
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| 260 | discard( sstream, "}" );
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| 261 | }
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| 262 | else if ( command == "bounds" )
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| 263 | {
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| 264 | assert( m_type == ANIMATION );
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| 265 | discard( sstream, "{" );
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| 266 | next_line( sstream );
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| 267 | for ( size_t i = 0; i < num_frames; ++i )
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| 268 | {
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| 269 | // vec3 min;
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| 270 | // vec3 max;
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| 271 | // discard( sstream, "(" );
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| 272 | // sstream >> min.x >> min.y >> min.z;
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| 273 | // discard( sstream, ")" );
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| 274 | // discard( sstream, "(" );
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| 275 | // sstream >> max.x >> max.y >> max.z;
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| 276 | // m_bounds.push_back( bound );
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| 277 | next_line( sstream );
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| 278 | }
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| 279 |
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| 280 | discard( sstream, "}" );
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| 281 | next_line( sstream );
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| 282 | }
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| 283 | else if ( command == "baseframe" )
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| 284 | {
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| 285 | assert( m_type == ANIMATION );
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| 286 | discard( sstream, "{" );
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| 287 | next_line( sstream );
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| 288 |
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| 289 | for ( size_t i = 0; i < m_nodes->get_count(); ++i )
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| 290 | {
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| 291 | transform base_frame;
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| 292 | vec3 pos;
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| 293 | quat orient;
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| 294 | discard( sstream, "(" );
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| 295 | sstream >> pos.x >> pos.y >> pos.z;
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| 296 | discard( sstream, ")" );
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| 297 | discard( sstream, "(" );
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| 298 | sstream >> orient.x >> orient.y >> orient.z;
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| 299 | next_line( sstream );
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| 300 |
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| 301 | base_frames.emplace_back( pos, orient );
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| 302 | }
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| 303 | discard( sstream, "}" );
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| 304 | next_line( sstream );
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| 305 | }
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| 306 | else if ( command == "frame" )
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| 307 | {
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| 308 | std::vector<float> frame;
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| 309 | uint32 frame_id;
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| 310 | sstream >> frame_id;
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| 311 | discard( sstream, "{" );
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| 312 | next_line( sstream );
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| 313 |
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| 314 | frame.reserve( num_animated_components );
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| 315 | char buf[50];
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| 316 | for ( size_t i = 0; i < num_animated_components; ++i )
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| 317 | {
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| 318 | sstream >> buf;
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| 319 | frame.push_back((float)atof(buf));
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| 320 | }
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| 321 |
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| 322 | build_frame_skeleton( nodes, frame_id, joint_infos, base_frames, frame );
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| 323 |
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| 324 | discard( sstream, "}" );
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| 325 | next_line( sstream );
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| 326 | }
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| 327 |
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| 328 | sstream >> command;
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| 329 | }
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| 330 |
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| 331 | return true;
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| 332 | }
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| 333 |
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| 334 | bool md5_loader::prepare_mesh( mesh_node_data* nodes, uint32 vtx_count, mesh_data* mdata, md5_weight* weights, md5_weight_info* weight_info )
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| 335 | {
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| 336 | assert( m_type == MESH );
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| 337 | md5_vtx_pnt* vtcs = (md5_vtx_pnt*)mdata->get_channel< md5_vtx_pnt >()->data;
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| 338 | md5_vtx_pntiw* vtx_data = (md5_vtx_pntiw*)mdata->get_channel< md5_vtx_pntiw >()->data;
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| 339 |
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| 340 | for ( uint32 i = 0; i < vtx_count; ++i )
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| 341 | {
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| 342 | size_t start_weight = weight_info[i].start_weight;
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| 343 | size_t weight_count = weight_info[i].weight_count;
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| 344 | md5_vtx_pntiw& vdata = vtx_data[i];
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| 345 | md5_vtx_pnt& vtc = vtcs[i];
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| 346 |
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| 347 | vtc.position = glm::vec3(0);
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| 348 | vtc.normal = glm::vec3(0);
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| 349 | vtc.tangent = glm::vec3(0);
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| 350 |
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| 351 | std::sort( weights + start_weight, weights + start_weight + weight_count, [](const md5_weight& a, const md5_weight& b) -> bool { return a.bias > b.bias; } );
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| 352 |
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| 353 | if ( weight_count > 4 )
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| 354 | {
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| 355 | float sum = 0.0f;
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| 356 | for ( size_t j = 0; j < 4; ++j )
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| 357 | {
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| 358 | sum += weights[start_weight + j].bias;
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| 359 | }
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| 360 | float ratio = 1.0f / sum;
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| 361 | for ( size_t j = 0; j < 4; ++j )
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| 362 | {
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| 363 | weights[start_weight + j].bias = ratio * weights[start_weight + j].bias;
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| 364 | }
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| 365 | weight_count = 4;
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| 366 | }
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| 367 |
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| 368 | for ( size_t j = 0; j < 4; ++j )
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| 369 | {
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| 370 | if ( j < weight_count )
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| 371 | {
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| 372 | vdata.boneindex[j] = weights[start_weight + j].joint_id;
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| 373 | vdata.boneweight[j] = weights[start_weight + j].bias;
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| 374 | }
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| 375 | else
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| 376 | {
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| 377 | vdata.boneindex[j] = 0;
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| 378 | vdata.boneweight[j] = 0.0f;
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| 379 | }
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| 380 | }
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| 381 |
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| 382 | for ( size_t j = 0; j < 4; ++j )
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| 383 | {
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| 384 | if ( j < weight_count )
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| 385 | {
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| 386 | md5_weight& weight = weights[start_weight + j];
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| 387 | const mesh_node_data& joint = nodes[weight.joint_id];
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| 388 | const transform tr = transform( joint.transform ).inverse();
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| 389 | glm::vec3 rot_pos = tr.get_orientation() * weight.pos;
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| 390 |
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| 391 | vtc.position += ( tr.get_position() + rot_pos ) * weight.bias;
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| 392 | }
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| 393 | }
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| 394 | }
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| 395 |
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| 396 | const uint32* idata = (uint32*)mdata->get_index_channel()->data;
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| 397 | const md5_vtx_t* tdata = mdata->get_channel_data<md5_vtx_t>();
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| 398 |
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| 399 | // Prepare normals
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| 400 | uint32 tri_count = mdata->get_count() / 3;
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| 401 | for ( unsigned int i = 0; i < tri_count; ++i )
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| 402 | {
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| 403 | uint32 ti0 = idata[ i * 3 ];
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| 404 | uint32 ti1 = idata[ i * 3 + 1 ];
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| 405 | uint32 ti2 = idata[ i * 3 + 2 ];
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| 406 |
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| 407 | glm::vec3 v1 = vtcs[ ti0 ].position;
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| 408 | glm::vec3 v2 = vtcs[ ti1 ].position;
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| 409 | glm::vec3 v3 = vtcs[ ti2 ].position;
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| 410 | glm::vec3 xyz1 = v3 - v1;
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| 411 | glm::vec3 xyz2 = v2 - v1;
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| 412 |
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| 413 | glm::vec3 normal = glm::cross( xyz1, xyz2 );
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| 414 |
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| 415 | vtcs[ ti0 ].normal += normal;
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| 416 | vtcs[ ti1 ].normal += normal;
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| 417 | vtcs[ ti2 ].normal += normal;
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| 418 |
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| 419 | const vec2& w1 = tdata[ ti0 ].texcoord;
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| 420 | const vec2& w2 = tdata[ ti1 ].texcoord;
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| 421 | const vec2& w3 = tdata[ ti2 ].texcoord;
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| 422 |
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| 423 | vec2 st1 = w3 - w1;
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| 424 | vec2 st2 = w2 - w1;
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| 425 |
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| 426 | float coef = 1.0f / (st1.x * st2.y - st2.x * st1.y);
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| 427 |
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| 428 | vec3 tangent = (( xyz1 * st2.y ) - ( xyz2 * st1.y )) * coef;
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| 429 |
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| 430 | vtcs[ ti0 ].tangent += tangent;
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| 431 | vtcs[ ti1 ].tangent += tangent;
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| 432 | vtcs[ ti2 ].tangent += tangent;
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| 433 | }
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| 434 |
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| 435 | for ( size_t i = 0; i < vtx_count; ++i )
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| 436 | {
|
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| 437 | md5_vtx_pntiw& vdata = vtx_data[i];
|
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| 438 |
|
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| 439 | glm::vec3 normal = glm::normalize( vtcs[i].normal );
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| 440 | glm::vec3 tangent = glm::normalize( vtcs[i].tangent );
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| 441 | vtcs[i].normal = normal;
|
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| 442 | vtcs[i].tangent = tangent;
|
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| 443 |
|
|---|
| 444 | vdata.position = vtcs[i].position;
|
|---|
| 445 | vdata.normal = glm::vec3(0);
|
|---|
| 446 | vdata.tangent = glm::vec3(0);
|
|---|
| 447 |
|
|---|
| 448 | for ( size_t j = 0; j < 4; ++j )
|
|---|
| 449 | {
|
|---|
| 450 | const mesh_node_data& joint = nodes[vdata.boneindex[j]];
|
|---|
| 451 | const transform tr = transform( joint.transform ).inverse();
|
|---|
| 452 | vdata.normal += ( normal * tr.get_orientation() ) * vdata.boneweight[j];
|
|---|
| 453 | vdata.tangent += ( tangent * tr.get_orientation() ) * vdata.boneweight[j];
|
|---|
| 454 | }
|
|---|
| 455 | }
|
|---|
| 456 |
|
|---|
| 457 | return true;
|
|---|
| 458 | }
|
|---|
| 459 |
|
|---|
| 460 | void md5_loader::build_frame_skeleton( mesh_node_data* nodes, uint32 index, const std::vector<md5_joint_info>& joint_infos, const std::vector<transform>& base_frames, const std::vector<float>& frame_data )
|
|---|
| 461 | {
|
|---|
| 462 | assert( m_type == ANIMATION );
|
|---|
| 463 | for ( unsigned int i = 0; i < joint_infos.size(); ++i )
|
|---|
| 464 | {
|
|---|
| 465 | unsigned int j = 0;
|
|---|
| 466 |
|
|---|
| 467 | const md5_joint_info& jinfo = joint_infos[i];
|
|---|
| 468 | mesh_node_data& joint = nodes[i];
|
|---|
| 469 | int parent_id = joint.parent_id;
|
|---|
| 470 |
|
|---|
| 471 | vec3 pos = base_frames[i].get_position();
|
|---|
| 472 | quat orient = base_frames[i].get_orientation();
|
|---|
| 473 | if ( jinfo.flags & 1 ) pos.x = frame_data[ jinfo.start_index + j++ ];
|
|---|
| 474 | if ( jinfo.flags & 2 ) pos.y = frame_data[ jinfo.start_index + j++ ];
|
|---|
| 475 | if ( jinfo.flags & 4 ) pos.z = frame_data[ jinfo.start_index + j++ ];
|
|---|
| 476 | if ( jinfo.flags & 8 ) orient.x = frame_data[ jinfo.start_index + j++ ];
|
|---|
| 477 | if ( jinfo.flags & 16 ) orient.y = frame_data[ jinfo.start_index + j++ ];
|
|---|
| 478 | if ( jinfo.flags & 32 ) orient.z = frame_data[ jinfo.start_index + j++ ];
|
|---|
| 479 | unit_quat_w( orient );
|
|---|
| 480 |
|
|---|
| 481 | if ( parent_id >= 0 ) // Has a parent joint
|
|---|
| 482 | {
|
|---|
| 483 | const mesh_node_data& pjoint = nodes[parent_id];
|
|---|
| 484 | const transform* ptv = (const transform*)pjoint.data->get_channel(0)->data;
|
|---|
| 485 | transform ptr;
|
|---|
| 486 | if ( pjoint.data->get_channel(0)->count > index ) ptr = ptv[ index ];
|
|---|
| 487 | glm::vec3 rot_pos = ptr.get_orientation() * pos;
|
|---|
| 488 |
|
|---|
| 489 | pos = ptr.get_position() + rot_pos;
|
|---|
| 490 | orient = ptr.get_orientation() * orient;
|
|---|
| 491 |
|
|---|
| 492 | orient = glm::normalize( orient );
|
|---|
| 493 | }
|
|---|
| 494 |
|
|---|
| 495 | ((transform*)joint.data->get_channel(0)->data)[index] = transform( pos, orient );
|
|---|
| 496 | }
|
|---|
| 497 | }
|
|---|
| 498 |
|
|---|
| 499 | mesh_data* nv::md5_loader::release_mesh_data( size_t index )
|
|---|
| 500 | {
|
|---|
| 501 | mesh_data* result = m_meshes[ index ];
|
|---|
| 502 | m_meshes[ index ] = nullptr;
|
|---|
| 503 | return result;
|
|---|
| 504 | }
|
|---|
| 505 |
|
|---|
| 506 | mesh_nodes_data* nv::md5_loader::release_mesh_nodes_data()
|
|---|
| 507 | {
|
|---|
| 508 | mesh_nodes_data* nodes = m_nodes;
|
|---|
| 509 | m_nodes = nullptr;
|
|---|
| 510 | return nodes;
|
|---|
| 511 | }
|
|---|
| 512 |
|
|---|
| 513 | mesh_data_pack* nv::md5_loader::release_mesh_data_pack()
|
|---|
| 514 | {
|
|---|
| 515 | uint32 size = m_meshes.size();
|
|---|
| 516 | mesh_data* meshes = new mesh_data[ size ];
|
|---|
| 517 | for ( uint32 i = 0; i < size; ++i )
|
|---|
| 518 | {
|
|---|
| 519 | m_meshes[i]->move_to( meshes[i] );
|
|---|
| 520 | delete m_meshes[i];
|
|---|
| 521 | m_meshes[i] = nullptr;
|
|---|
| 522 | }
|
|---|
| 523 | return new mesh_data_pack( size, meshes, release_mesh_nodes_data() );
|
|---|
| 524 | }
|
|---|
| 525 |
|
|---|
| 526 |
|
|---|
| 527 | nv::md5_loader::~md5_loader()
|
|---|
| 528 | {
|
|---|
| 529 | reset();
|
|---|
| 530 | }
|
|---|
| 531 |
|
|---|
| 532 | void nv::md5_loader::reset()
|
|---|
| 533 | {
|
|---|
| 534 | if ( m_nodes ) delete m_nodes;
|
|---|
| 535 | for ( auto m : m_meshes ) { if (m) delete m; }
|
|---|
| 536 | m_meshes.resize(0);
|
|---|
| 537 | m_nodes = nullptr;
|
|---|
| 538 | }
|
|---|
| 539 |
|
|---|
