assimp/code/BVH/BVHLoader.cpp

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/** Implementation of the BVH loader */
/*
---------------------------------------------------------------------------
Open Asset Import Library (assimp)
---------------------------------------------------------------------------
2019-01-30 08:41:39 +00:00
Copyright (c) 2006-2019, assimp team
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All rights reserved.
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Redistribution and use of this software in source and binary forms,
with or without modification, are permitted provided that the following
conditions are met:
* Redistributions of source code must retain the above
copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other
materials provided with the distribution.
* Neither the name of the assimp team, nor the names of its
contributors may be used to endorse or promote products
derived from this software without specific prior
written permission of the assimp team.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
---------------------------------------------------------------------------
*/
#ifndef ASSIMP_BUILD_NO_BVH_IMPORTER
#include "BVHLoader.h"
#include <assimp/fast_atof.h>
#include <assimp/SkeletonMeshBuilder.h>
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#include <assimp/Importer.hpp>
#include <memory>
#include <assimp/TinyFormatter.h>
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#include <assimp/IOSystem.hpp>
#include <assimp/scene.h>
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#include <assimp/importerdesc.h>
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#include <map>
using namespace Assimp;
using namespace Assimp::Formatter;
static const aiImporterDesc desc = {
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"BVH Importer (MoCap)",
"",
"",
"",
aiImporterFlags_SupportTextFlavour,
0,
0,
0,
0,
"bvh"
};
// ------------------------------------------------------------------------------------------------
// Constructor to be privately used by Importer
BVHLoader::BVHLoader()
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: mLine(),
mAnimTickDuration(),
mAnimNumFrames(),
noSkeletonMesh()
{}
// ------------------------------------------------------------------------------------------------
// Destructor, private as well
BVHLoader::~BVHLoader()
{}
// ------------------------------------------------------------------------------------------------
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// Returns whether the class can handle the format of the given file.
bool BVHLoader::CanRead( const std::string& pFile, IOSystem* pIOHandler, bool cs) const
{
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// check file extension
const std::string extension = GetExtension(pFile);
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if( extension == "bvh")
return true;
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if ((!extension.length() || cs) && pIOHandler) {
const char* tokens[] = {"HIERARCHY"};
return SearchFileHeaderForToken(pIOHandler,pFile,tokens,1);
}
return false;
}
// ------------------------------------------------------------------------------------------------
void BVHLoader::SetupProperties(const Importer* pImp)
{
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noSkeletonMesh = pImp->GetPropertyInteger(AI_CONFIG_IMPORT_NO_SKELETON_MESHES,0) != 0;
}
// ------------------------------------------------------------------------------------------------
// Loader meta information
const aiImporterDesc* BVHLoader::GetInfo () const
{
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return &desc;
}
// ------------------------------------------------------------------------------------------------
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// Imports the given file into the given scene structure.
void BVHLoader::InternReadFile( const std::string& pFile, aiScene* pScene, IOSystem* pIOHandler)
{
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mFileName = pFile;
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// read file into memory
std::unique_ptr<IOStream> file( pIOHandler->Open( pFile));
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if( file.get() == NULL)
throw DeadlyImportError( "Failed to open file " + pFile + ".");
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size_t fileSize = file->FileSize();
if( fileSize == 0)
throw DeadlyImportError( "File is too small.");
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mBuffer.resize( fileSize);
file->Read( &mBuffer.front(), 1, fileSize);
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// start reading
mReader = mBuffer.begin();
mLine = 1;
ReadStructure( pScene);
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if (!noSkeletonMesh) {
// build a dummy mesh for the skeleton so that we see something at least
SkeletonMeshBuilder meshBuilder( pScene);
}
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// construct an animation from all the motion data we read
CreateAnimation( pScene);
}
// ------------------------------------------------------------------------------------------------
// Reads the file
void BVHLoader::ReadStructure( aiScene* pScene)
{
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// first comes hierarchy
std::string header = GetNextToken();
if( header != "HIERARCHY")
ThrowException( "Expected header string \"HIERARCHY\".");
ReadHierarchy( pScene);
// then comes the motion data
std::string motion = GetNextToken();
if( motion != "MOTION")
ThrowException( "Expected beginning of motion data \"MOTION\".");
ReadMotion( pScene);
}
// ------------------------------------------------------------------------------------------------
// Reads the hierarchy
void BVHLoader::ReadHierarchy( aiScene* pScene)
{
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std::string root = GetNextToken();
if( root != "ROOT")
ThrowException( "Expected root node \"ROOT\".");
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// Go read the hierarchy from here
pScene->mRootNode = ReadNode();
}
// ------------------------------------------------------------------------------------------------
// Reads a node and recursively its childs and returns the created node;
aiNode* BVHLoader::ReadNode()
{
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// first token is name
std::string nodeName = GetNextToken();
if( nodeName.empty() || nodeName == "{")
ThrowException( format() << "Expected node name, but found \"" << nodeName << "\"." );
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// then an opening brace should follow
std::string openBrace = GetNextToken();
if( openBrace != "{")
ThrowException( format() << "Expected opening brace \"{\", but found \"" << openBrace << "\"." );
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// Create a node
aiNode* node = new aiNode( nodeName);
std::vector<aiNode*> childNodes;
// and create an bone entry for it
mNodes.push_back( Node( node));
Node& internNode = mNodes.back();
// now read the node's contents
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std::string siteToken;
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while( 1)
{
std::string token = GetNextToken();
// node offset to parent node
if( token == "OFFSET")
ReadNodeOffset( node);
else if( token == "CHANNELS")
ReadNodeChannels( internNode);
else if( token == "JOINT")
{
// child node follows
aiNode* child = ReadNode();
child->mParent = node;
childNodes.push_back( child);
}
else if( token == "End")
{
// The real symbol is "End Site". Second part comes in a separate token
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siteToken.clear();
siteToken = GetNextToken();
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if( siteToken != "Site")
ThrowException( format() << "Expected \"End Site\" keyword, but found \"" << token << " " << siteToken << "\"." );
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aiNode* child = ReadEndSite( nodeName);
child->mParent = node;
childNodes.push_back( child);
}
else if( token == "}")
{
// we're done with that part of the hierarchy
break;
} else
{
// everything else is a parse error
ThrowException( format() << "Unknown keyword \"" << token << "\"." );
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}
}
// add the child nodes if there are any
if( childNodes.size() > 0)
{
node->mNumChildren = static_cast<unsigned int>(childNodes.size());
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node->mChildren = new aiNode*[node->mNumChildren];
std::copy( childNodes.begin(), childNodes.end(), node->mChildren);
}
// and return the sub-hierarchy we built here
return node;
}
// ------------------------------------------------------------------------------------------------
// Reads an end node and returns the created node.
aiNode* BVHLoader::ReadEndSite( const std::string& pParentName)
{
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// check opening brace
std::string openBrace = GetNextToken();
if( openBrace != "{")
ThrowException( format() << "Expected opening brace \"{\", but found \"" << openBrace << "\".");
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// Create a node
aiNode* node = new aiNode( "EndSite_" + pParentName);
// now read the node's contents. Only possible entry is "OFFSET"
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std::string token;
while( 1) {
token.clear();
token = GetNextToken();
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// end node's offset
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if( token == "OFFSET") {
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ReadNodeOffset( node);
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} else if( token == "}") {
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// we're done with the end node
break;
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} else {
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// everything else is a parse error
ThrowException( format() << "Unknown keyword \"" << token << "\"." );
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}
}
// and return the sub-hierarchy we built here
return node;
}
// ------------------------------------------------------------------------------------------------
// Reads a node offset for the given node
void BVHLoader::ReadNodeOffset( aiNode* pNode)
{
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// Offset consists of three floats to read
aiVector3D offset;
offset.x = GetNextTokenAsFloat();
offset.y = GetNextTokenAsFloat();
offset.z = GetNextTokenAsFloat();
// build a transformation matrix from it
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pNode->mTransformation = aiMatrix4x4( 1.0f, 0.0f, 0.0f, offset.x,
0.0f, 1.0f, 0.0f, offset.y,
0.0f, 0.0f, 1.0f, offset.z,
0.0f, 0.0f, 0.0f, 1.0f);
}
// ------------------------------------------------------------------------------------------------
// Reads the animation channels for the given node
void BVHLoader::ReadNodeChannels( BVHLoader::Node& pNode)
{
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// number of channels. Use the float reader because we're lazy
float numChannelsFloat = GetNextTokenAsFloat();
unsigned int numChannels = (unsigned int) numChannelsFloat;
for( unsigned int a = 0; a < numChannels; a++)
{
std::string channelToken = GetNextToken();
if( channelToken == "Xposition")
pNode.mChannels.push_back( Channel_PositionX);
else if( channelToken == "Yposition")
pNode.mChannels.push_back( Channel_PositionY);
else if( channelToken == "Zposition")
pNode.mChannels.push_back( Channel_PositionZ);
else if( channelToken == "Xrotation")
pNode.mChannels.push_back( Channel_RotationX);
else if( channelToken == "Yrotation")
pNode.mChannels.push_back( Channel_RotationY);
else if( channelToken == "Zrotation")
pNode.mChannels.push_back( Channel_RotationZ);
else
ThrowException( format() << "Invalid channel specifier \"" << channelToken << "\"." );
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}
}
// ------------------------------------------------------------------------------------------------
// Reads the motion data
void BVHLoader::ReadMotion( aiScene* /*pScene*/)
{
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// Read number of frames
std::string tokenFrames = GetNextToken();
if( tokenFrames != "Frames:")
ThrowException( format() << "Expected frame count \"Frames:\", but found \"" << tokenFrames << "\".");
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float numFramesFloat = GetNextTokenAsFloat();
mAnimNumFrames = (unsigned int) numFramesFloat;
// Read frame duration
std::string tokenDuration1 = GetNextToken();
std::string tokenDuration2 = GetNextToken();
if( tokenDuration1 != "Frame" || tokenDuration2 != "Time:")
ThrowException( format() << "Expected frame duration \"Frame Time:\", but found \"" << tokenDuration1 << " " << tokenDuration2 << "\"." );
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mAnimTickDuration = GetNextTokenAsFloat();
// resize value vectors for each node
for( std::vector<Node>::iterator it = mNodes.begin(); it != mNodes.end(); ++it)
it->mChannelValues.reserve( it->mChannels.size() * mAnimNumFrames);
// now read all the data and store it in the corresponding node's value vector
for( unsigned int frame = 0; frame < mAnimNumFrames; ++frame)
{
// on each line read the values for all nodes
for( std::vector<Node>::iterator it = mNodes.begin(); it != mNodes.end(); ++it)
{
// get as many values as the node has channels
for( unsigned int c = 0; c < it->mChannels.size(); ++c)
it->mChannelValues.push_back( GetNextTokenAsFloat());
}
// after one frame worth of values for all nodes there should be a newline, but we better don't rely on it
}
}
// ------------------------------------------------------------------------------------------------
// Retrieves the next token
std::string BVHLoader::GetNextToken()
{
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// skip any preceding whitespace
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while( mReader != mBuffer.end())
{
if( !isspace( *mReader))
break;
// count lines
if( *mReader == '\n')
mLine++;
++mReader;
}
// collect all chars till the next whitespace. BVH is easy in respect to that.
std::string token;
while( mReader != mBuffer.end())
{
if( isspace( *mReader))
break;
token.push_back( *mReader);
++mReader;
// little extra logic to make sure braces are counted correctly
if( token == "{" || token == "}")
break;
}
// empty token means end of file, which is just fine
return token;
}
// ------------------------------------------------------------------------------------------------
// Reads the next token as a float
float BVHLoader::GetNextTokenAsFloat()
{
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std::string token = GetNextToken();
if( token.empty())
ThrowException( "Unexpected end of file while trying to read a float");
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// check if the float is valid by testing if the atof() function consumed every char of the token
const char* ctoken = token.c_str();
float result = 0.0f;
ctoken = fast_atoreal_move<float>( ctoken, result);
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if( ctoken != token.c_str() + token.length())
ThrowException( format() << "Expected a floating point number, but found \"" << token << "\"." );
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return result;
}
// ------------------------------------------------------------------------------------------------
// Aborts the file reading with an exception
AI_WONT_RETURN void BVHLoader::ThrowException( const std::string& pError)
{
throw DeadlyImportError( format() << mFileName << ":" << mLine << " - " << pError);
}
// ------------------------------------------------------------------------------------------------
// Constructs an animation for the motion data and stores it in the given scene
void BVHLoader::CreateAnimation( aiScene* pScene)
{
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// create the animation
pScene->mNumAnimations = 1;
pScene->mAnimations = new aiAnimation*[1];
aiAnimation* anim = new aiAnimation;
pScene->mAnimations[0] = anim;
// put down the basic parameters
anim->mName.Set( "Motion");
anim->mTicksPerSecond = 1.0 / double( mAnimTickDuration);
anim->mDuration = double( mAnimNumFrames - 1);
// now generate the tracks for all nodes
anim->mNumChannels = static_cast<unsigned int>(mNodes.size());
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anim->mChannels = new aiNodeAnim*[anim->mNumChannels];
// FIX: set the array elements to NULL to ensure proper deletion if an exception is thrown
for (unsigned int i = 0; i < anim->mNumChannels;++i)
anim->mChannels[i] = NULL;
for( unsigned int a = 0; a < anim->mNumChannels; a++)
{
const Node& node = mNodes[a];
const std::string nodeName = std::string( node.mNode->mName.data );
aiNodeAnim* nodeAnim = new aiNodeAnim;
anim->mChannels[a] = nodeAnim;
nodeAnim->mNodeName.Set( nodeName);
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std::map<BVHLoader::ChannelType, int> channelMap;
//Build map of channels
for (unsigned int channel = 0; channel < node.mChannels.size(); ++channel)
{
channelMap[node.mChannels[channel]] = channel;
}
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// translational part, if given
if( node.mChannels.size() == 6)
{
nodeAnim->mNumPositionKeys = mAnimNumFrames;
nodeAnim->mPositionKeys = new aiVectorKey[mAnimNumFrames];
aiVectorKey* poskey = nodeAnim->mPositionKeys;
for( unsigned int fr = 0; fr < mAnimNumFrames; ++fr)
{
poskey->mTime = double( fr);
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// Now compute all translations
for(BVHLoader::ChannelType channel = Channel_PositionX; channel <= Channel_PositionZ; channel = (BVHLoader::ChannelType)(channel +1))
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{
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//Find channel in node
std::map<BVHLoader::ChannelType, int>::iterator mapIter = channelMap.find(channel);
if (mapIter == channelMap.end())
throw DeadlyImportError("Missing position channel in node " + nodeName);
else {
int channelIdx = mapIter->second;
switch (channel) {
case Channel_PositionX:
poskey->mValue.x = node.mChannelValues[fr * node.mChannels.size() + channelIdx];
break;
case Channel_PositionY:
poskey->mValue.y = node.mChannelValues[fr * node.mChannels.size() + channelIdx];
break;
case Channel_PositionZ:
poskey->mValue.z = node.mChannelValues[fr * node.mChannels.size() + channelIdx];
break;
default:
break;
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}
}
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}
++poskey;
}
} else
{
// if no translation part is given, put a default sequence
aiVector3D nodePos( node.mNode->mTransformation.a4, node.mNode->mTransformation.b4, node.mNode->mTransformation.c4);
nodeAnim->mNumPositionKeys = 1;
nodeAnim->mPositionKeys = new aiVectorKey[1];
nodeAnim->mPositionKeys[0].mTime = 0.0;
nodeAnim->mPositionKeys[0].mValue = nodePos;
}
// rotation part. Always present. First find value offsets
{
// Then create the number of rotation keys
nodeAnim->mNumRotationKeys = mAnimNumFrames;
nodeAnim->mRotationKeys = new aiQuatKey[mAnimNumFrames];
aiQuatKey* rotkey = nodeAnim->mRotationKeys;
for( unsigned int fr = 0; fr < mAnimNumFrames; ++fr)
{
aiMatrix4x4 temp;
aiMatrix3x3 rotMatrix;
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for (BVHLoader::ChannelType channel = Channel_RotationX; channel <= Channel_RotationZ; channel = (BVHLoader::ChannelType)(channel + 1))
{
//Find channel in node
std::map<BVHLoader::ChannelType, int>::iterator mapIter = channelMap.find(channel);
if (mapIter == channelMap.end())
throw DeadlyImportError("Missing rotation channel in node " + nodeName);
else {
int channelIdx = mapIter->second;
// translate ZXY euler angels into a quaternion
const float angle = node.mChannelValues[fr * node.mChannels.size() + channelIdx] * float(AI_MATH_PI) / 180.0f;
// Compute rotation transformations in the right order
switch (channel)
{
case Channel_RotationX:
aiMatrix4x4::RotationX(angle, temp); rotMatrix *= aiMatrix3x3(temp);
break;
case Channel_RotationY:
aiMatrix4x4::RotationY(angle, temp); rotMatrix *= aiMatrix3x3(temp);
break;
case Channel_RotationZ: aiMatrix4x4::RotationZ(angle, temp); rotMatrix *= aiMatrix3x3(temp);
break;
default:
break;
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}
}
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}
rotkey->mTime = double( fr);
rotkey->mValue = aiQuaternion( rotMatrix);
++rotkey;
}
}
// scaling part. Always just a default track
{
nodeAnim->mNumScalingKeys = 1;
nodeAnim->mScalingKeys = new aiVectorKey[1];
nodeAnim->mScalingKeys[0].mTime = 0.0;
nodeAnim->mScalingKeys[0].mValue.Set( 1.0f, 1.0f, 1.0f);
}
}
}
#endif // !! ASSIMP_BUILD_NO_BVH_IMPORTER