pre applying ibm is hard

1 files changed, 22 insertions, 16 deletions

diff --git a/world/src/animation.rs b/world/src/animation.rs
index cb10123..3473371 100644
--- a/world/src/animation.rs
+++ b/world/src/animation.rs
@@ -15,6 +15,7 @@
     along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 use anyhow::Result;
+use glam::Quat;
 use gltf::{
     Animation,
     animation::{Property, util::ReadOutputs},
@@ -43,23 +44,28 @@ pub fn import_animation<'a>(
         let node = c.target().node().index();
         let reader = c.reader(|i| Some(&buffers[i.index()].0));
         let inputs: Vec<f32> = reader.read_inputs().unwrap().collect::<Vec<f32>>();
-        let outputs: Vec<f32> = if let Some(_ibm) = joint_index_to_ibm.get(&node) {
+        let outputs: Vec<f32> = if let Some(ibm) = joint_index_to_ibm.get(&node) {
             debug!("pre-applying inverse bind matricies");
-            // let ibm =
-            // match reader.read_outputs().unwrap() {
-            //     // ReadOutputs::Translations(iter) => iter
-            //     //     .flat_map(|[x, y, z]| (ibm.matrix3 * vec3a(x, y, z)).to_array())
-            //     //     .collect(),
-            //     ReadOutputs::Rotations(iter) => iter.into_f32().map(|[a,b,c,d]| {
-
-            //     }).flatten().collect(),
-            //     // ReadOutputs::Scales(iter) => iter
-            //     //     .flat_map(|[x, y, z]| (ibm.matrix3 * vec3a(x, y, z)).to_array())
-            //     //     .collect(),
-            //     ReadOutputs::MorphTargetWeights(iter) => iter.into_f32().collect(),
-            //     _ => continue,
-            // }
-            todo!()
+            let ibm = ibm.inverse();
+            // eprintln!("{:#?}", ibm);
+            let (_, ibm_rot, _) = ibm.to_scale_rotation_translation();
+            match reader.read_outputs().unwrap() {
+                // ReadOutputs::Translations(iter) => iter
+                //     .flat_map(|[x, y, z]| (ibm.matrix3 * vec3a(x, y, z)).to_array())
+                //     .collect(),
+                ReadOutputs::Rotations(iter) => iter
+                    .into_f32()
+                    .map(Quat::from_array)
+                    .map(|q| ibm_rot.mul_quat(q))
+                    .map(|q| q.to_array())
+                    .flatten()
+                    .collect(),
+                // ReadOutputs::Scales(iter) => iter
+                //     .flat_map(|[x, y, z]| (ibm.matrix3 * vec3a(x, y, z)).to_array())
+                //     .collect(),
+                ReadOutputs::MorphTargetWeights(iter) => iter.into_f32().collect(),
+                _ => continue,
+            }
         } else {
             match reader.read_outputs().unwrap() {
                 ReadOutputs::Translations(iter) => iter.flatten().collect(),