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Bug 5199 - IQM joint matrices wrong, patch by James Canete
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1 changed files with 34 additions and 49 deletions
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@ -92,30 +92,26 @@ static void JointToMatrix( vec4_t rot, vec3_t scale, vec3_t trans,
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mat[10] = scale[2] * (1.0f - (xx + yy));
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mat[11] = trans[2];
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}
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static void JointToMatrixInverse( vec4_t rot, vec3_t scale, vec3_t trans,
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float *mat ) {
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float xx = 2.0f * rot[0] * rot[0];
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float yy = 2.0f * rot[1] * rot[1];
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float zz = 2.0f * rot[2] * rot[2];
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float xy = 2.0f * rot[0] * rot[1];
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float xz = 2.0f * rot[0] * rot[2];
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float yz = 2.0f * rot[1] * rot[2];
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float wx = 2.0f * rot[3] * rot[0];
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float wy = 2.0f * rot[3] * rot[1];
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float wz = 2.0f * rot[3] * rot[2];
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static void Matrix34Invert( float *inMat, float *outMat )
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{
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vec3_t trans;
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float invSqrLen, *v;
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mat[ 0] = scale[0] * (1.0f - (yy + zz));
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mat[ 1] = scale[0] * (xy + wz);
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mat[ 2] = scale[2] * (xz - wy);
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mat[ 3] = -DotProduct((mat + 0), trans);
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mat[ 4] = scale[0] * (xy - wz);
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mat[ 5] = scale[1] * (1.0f - (xx + zz));
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mat[ 6] = scale[2] * (yz + wx);
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mat[ 7] = -DotProduct((mat + 4), trans);
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mat[ 8] = scale[0] * (xz + wy);
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mat[ 9] = scale[1] * (yz - wx);
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mat[10] = scale[2] * (1.0f - (xx + yy));
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mat[11] = -DotProduct((mat + 8), trans);
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outMat[ 0] = inMat[ 0]; outMat[ 1] = inMat[ 4]; outMat[ 2] = inMat[ 8];
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outMat[ 4] = inMat[ 1]; outMat[ 5] = inMat[ 5]; outMat[ 6] = inMat[ 9];
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outMat[ 8] = inMat[ 2]; outMat[ 9] = inMat[ 6]; outMat[10] = inMat[10];
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v = outMat + 0; invSqrLen = 1.0f / DotProduct(v, v); VectorScale(v, invSqrLen, v);
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v = outMat + 4; invSqrLen = 1.0f / DotProduct(v, v); VectorScale(v, invSqrLen, v);
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v = outMat + 8; invSqrLen = 1.0f / DotProduct(v, v); VectorScale(v, invSqrLen, v);
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trans[0] = inMat[ 3];
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trans[1] = inMat[ 7];
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trans[2] = inMat[11];
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outMat[ 3] = -DotProduct(outMat + 0, trans);
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outMat[ 7] = -DotProduct(outMat + 4, trans);
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outMat[11] = -DotProduct(outMat + 8, trans);
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}
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/*
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@ -473,36 +469,25 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na
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mat = jointMats;
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joint = (iqmJoint_t *)((byte *)header + header->ofs_joints);
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for( i = 0; i < header->num_joints; i++, joint++ ) {
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float tmpMat[12];
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float baseFrame[12], invBaseFrame[12];
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JointToMatrix( joint->rotate, joint->scale, joint->translate,
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tmpMat );
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JointToMatrix( joint->rotate, joint->scale, joint->translate, baseFrame );
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Matrix34Invert( baseFrame, invBaseFrame );
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if( joint->parent >= 0 ) {
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// premultiply with parent-matrix
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Matrix34Multiply( jointMats + 2 * 12 * joint->parent,
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tmpMat, mat);
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} else {
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Com_Memcpy( mat, tmpMat, sizeof(tmpMat) );
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if ( joint->parent >= 0 )
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{
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Matrix34Multiply( jointMats + 2 * 12 * joint->parent, baseFrame, mat );
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mat += 12;
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Matrix34Multiply( invBaseFrame, jointMats + 2 * 12 * joint->parent + 12, mat );
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mat += 12;
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}
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mat += 12;
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// compute the inverse matrix by combining the
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// inverse scale, rotation and translation
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JointToMatrixInverse( joint->rotate, joint->scale,
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joint->translate, tmpMat );
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if( joint->parent >= 0 ) {
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// premultiply with inverse parent-matrix
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Matrix34Multiply( tmpMat,
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jointMats + 2 * 12 * joint->parent + 12,
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mat);
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} else {
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Com_Memcpy( mat, tmpMat, sizeof(tmpMat) );
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else
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{
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Com_Memcpy( mat, baseFrame, sizeof(baseFrame) );
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mat += 12;
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Com_Memcpy( mat, invBaseFrame, sizeof(invBaseFrame) );
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mat += 12;
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}
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mat += 12;
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}
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// calculate pose matrices
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