BREAKING CHANGE: aiQuaternion + / aiQuaternion to aiMatrix conversion does now conform to the 'usual' quaternion conventions. See the discussion at https://sourceforge.net/projects/assimp/forums/forum/817653/topic/3442128 for all the details.

git-svn-id: https://assimp.svn.sourceforge.net/svnroot/assimp/trunk@502 67173fc5-114c-0410-ac8e-9d2fd5bffc1f

code/3DSConverter.cpp

@@ -505,6 +505,12 @@ void Discreet3DSImporter::AddNodeToGraph(aiScene* pcSOut,aiNode* pcOut,
 	// Now build the transformation matrix of the node
 	// ROTATION
 	if (pcIn->aRotationKeys.size()){
+
+		// FIX to get to Assimp's quaternion conventions
+		for (std::vector<aiQuatKey>::iterator it = pcIn->aRotationKeys.begin(); it != pcIn->aRotationKeys.end(); ++it) {
+			(*it).mValue.w *= -1.f;
+		}
+
 		pcOut->mTransformation = aiMatrix4x4( pcIn->aRotationKeys[0].mValue.GetMatrix() );
 	}
 	else if (pcIn->aCameraRollKeys.size()) 
@@ -554,7 +560,9 @@ void Discreet3DSImporter::AddNodeToGraph(aiScene* pcSOut,aiNode* pcOut,
 				aiFloatKey& f = pcIn->aCameraRollKeys[i];
 
 				q.mTime  = f.mTime;
-				q.mValue = aiQuaternion(0.f,0.f,AI_DEG_TO_RAD(- f.mValue));
+
+				// FIX to get to Assimp quaternion conventions
+				q.mValue = aiQuaternion(0.f,0.f,AI_DEG_TO_RAD( /*-*/ f.mValue));
 			}
 		}
 #if 0

code/ASELoader.cpp

@@ -375,6 +375,9 @@ void ASEImporter::BuildAnimations()
 							q.mValue = cur.Normalize();
 						}
 						nd->mRotationKeys[a] = q; 
+
+						// need this to get to Assimp quaternion conventions
+						nd->mRotationKeys[a].mValue.w *= -1.f;
 					}
 				}
 				// copy scaling keys

code/LWOAnimation.cpp

@@ -507,6 +507,11 @@ void AnimResolver::ExtractAnimChannel(aiNodeAnim** out, unsigned int flags /*= 0
 {
 	*out = NULL;
 
+
+	//FIXME: crashes if more than one component is animated at different timings, to be resolved.
+	return;
+
+#if 0
 	// If we have no envelopes, return NULL
 	if (envelopes.empty()) {
 		return;
@@ -560,6 +565,7 @@ void AnimResolver::ExtractAnimChannel(aiNodeAnim** out, unsigned int flags /*= 0
 		anim->mScalingKeys = new aiVectorKey[ anim->mNumScalingKeys = keys.size() ];
 		std::copy(keys.begin(),keys.end(),anim->mScalingKeys);
 	}
+#endif
 }
 
 

code/MD5Loader.cpp

@@ -246,6 +246,9 @@ void MD5Importer::AttachChilds_Mesh(int iParentID,aiNode* piParent, BoneList& bo
 				aiQuaternion quat; 
 				MD5::ConvertQuaternion ( bones[i].mRotationQuat, quat );
 
+				// FIX to get to Assimp's quaternion conventions
+				quat.w *= -1.f;
+
 				bones[i].mTransform = aiMatrix4x4 ( quat.GetMatrix());
 				bones[i].mTransform.a4 = bones[i].mPositionXYZ.x;
 				bones[i].mTransform.b4 = bones[i].mPositionXYZ.y;
@@ -612,6 +615,9 @@ void MD5Importer::LoadMD5AnimFile ()
 
 					MD5::ConvertQuaternion(vTemp, qKey->mValue);
 					qKey->mTime = vKey->mTime = dTime;
+
+					// we need this to get to Assimp quaternion conventions
+					qKey->mValue.w *= -1.f;
 				}
 			}
 

code/XFileImporter.cpp

@@ -504,6 +504,7 @@ void XFileImporter::CreateAnimations( aiScene* pScene, const XFile::Scene* pData
 
 					nbone->mRotationKeys[c].mTime = bone->mRotKeys[c].mTime;
 					nbone->mRotationKeys[c].mValue = aiQuaternion( rotmat);
+					nbone->mRotationKeys[c].mValue.w *= -1.0f; // needs quat inversion
 				}
 
 				// scaling

include/aiQuaternion.h

@@ -120,9 +120,9 @@ inline aiQuaternion::aiQuaternion( const aiMatrix3x3 &pRotMatrix)
 	if( t > 0.001f)
 	{
 		float s = sqrt( t) * 2.0f;
-		x = (pRotMatrix.b3 - pRotMatrix.c2) / s;
+		x = (pRotMatrix.c2 - pRotMatrix.b3) / s;
-		y = (pRotMatrix.c1 - pRotMatrix.a3) / s;
+		y = (pRotMatrix.a3 - pRotMatrix.c1) / s;
-		z = (pRotMatrix.a2 - pRotMatrix.b1) / s;
+		z = (pRotMatrix.b1 - pRotMatrix.a2) / s;
 		w = 0.25f * s;
 	} // else we have to check several cases
 	else if( pRotMatrix.a1 > pRotMatrix.b2 && pRotMatrix.a1 > pRotMatrix.c3 )  
@@ -130,26 +130,26 @@ inline aiQuaternion::aiQuaternion( const aiMatrix3x3 &pRotMatrix)
     // Column 0: 
 		float s = sqrt( 1.0f + pRotMatrix.a1 - pRotMatrix.b2 - pRotMatrix.c3) * 2.0f;
 		x = 0.25f * s;
-		y = (pRotMatrix.a2 + pRotMatrix.b1) / s;
+		y = (pRotMatrix.b1 + pRotMatrix.a2) / s;
-		z = (pRotMatrix.c1 + pRotMatrix.a3) / s;
+		z = (pRotMatrix.a3 + pRotMatrix.c1) / s;
-		w = (pRotMatrix.b3 - pRotMatrix.c2) / s;
+		w = (pRotMatrix.c2 - pRotMatrix.b3) / s;
 	} 
 	else if( pRotMatrix.b2 > pRotMatrix.c3) 
 	{ 
     // Column 1: 
 		float s = sqrt( 1.0f + pRotMatrix.b2 - pRotMatrix.a1 - pRotMatrix.c3) * 2.0f;
-		x = (pRotMatrix.a2 + pRotMatrix.b1) / s;
+		x = (pRotMatrix.b1 + pRotMatrix.a2) / s;
 		y = 0.25f * s;
-		z = (pRotMatrix.b3 + pRotMatrix.c2) / s;
+		z = (pRotMatrix.c2 + pRotMatrix.b3) / s;
-		w = (pRotMatrix.c1 - pRotMatrix.a3) / s;
+		w = (pRotMatrix.a3 - pRotMatrix.c1) / s;
 	} else 
 	{ 
     // Column 2:
 		float s = sqrt( 1.0f + pRotMatrix.c3 - pRotMatrix.a1 - pRotMatrix.b2) * 2.0f;
-		x = (pRotMatrix.c1 + pRotMatrix.a3) / s;
+		x = (pRotMatrix.a3 + pRotMatrix.c1) / s;
-		y = (pRotMatrix.b3 + pRotMatrix.c2) / s;
+		y = (pRotMatrix.c2 + pRotMatrix.b3) / s;
 		z = 0.25f * s;
-		w = (pRotMatrix.a2 - pRotMatrix.b1) / s;
+		w = (pRotMatrix.b1 - pRotMatrix.a2) / s;
 	}
 }
 
@@ -177,13 +177,13 @@ inline aiMatrix3x3 aiQuaternion::GetMatrix() const
 {
 	aiMatrix3x3 resMatrix;
 	resMatrix.a1 = 1.0f - 2.0f * (y * y + z * z);
-	resMatrix.a2 = 2.0f * (x * y + z * w);
+	resMatrix.a2 = 2.0f * (x * y - z * w);
-	resMatrix.a3 = 2.0f * (x * z - y * w);
+	resMatrix.a3 = 2.0f * (x * z + y * w);
-	resMatrix.b1 = 2.0f * (x * y - z * w);
+	resMatrix.b1 = 2.0f * (x * y + z * w);
 	resMatrix.b2 = 1.0f - 2.0f * (x * x + z * z);
-	resMatrix.b3 = 2.0f * (y * z + x * w);
+	resMatrix.b3 = 2.0f * (y * z - x * w);
-	resMatrix.c1 = 2.0f * (x * z + y * w);
+	resMatrix.c1 = 2.0f * (x * z - y * w);
-	resMatrix.c2 = 2.0f * (y * z - x * w);
+	resMatrix.c2 = 2.0f * (y * z + x * w);
 	resMatrix.c3 = 1.0f - 2.0f * (x * x + y * y);
 
 	return resMatrix;

mkutil/revision.h

@@ -1 +1 @@
-#define SVNRevision  467 
+#define SVNRevision  501