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fix: bad gltf node rotations in export

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This commit is contained in:
Jan Laupetin
2025-08-09 17:01:08 +01:00
parent 98fe3ed6f7
commit 84409a975a
1 changed files with 28 additions and 34 deletions
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62
src/ObjWriting/XModel/Gltf/GltfWriter.cpp
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@@ -10,6 +10,7 @@
#include <algorithm>
#include <format>
#include <numbers>
using namespace gltf;
using namespace nlohmann;
@@ -34,33 +35,17 @@ namespace
coords[2] = -two[1];
}
void LhcToRhcCoordinates(std::array<float, 3>& coords)
{
float two[3]{coords[0], coords[1], coords[2]};
LhcToRhcCoordinates(two);
coords[0] = two[0];
coords[1] = two[1];
coords[2] = two[2];
}
void LhcToRhcQuaternion(float (&quat)[4])
{
const float two[4]{quat[0], quat[1], quat[2], quat[3]};
Eigen::Quaternionf eigenQuat(quat[3], quat[0], quat[1], quat[2]);
const Eigen::Quaternionf eigenRotationQuat(Eigen::AngleAxisf(-std::numbers::pi_v<float> / 2.f, Eigen::Vector3f::UnitX()));
quat[0] = two[0];
quat[1] = two[2];
quat[2] = -two[1];
quat[3] = two[3];
}
eigenQuat = eigenRotationQuat * eigenQuat;
void LhcToRhcQuaternion(std::array<float, 4>& quat)
{
float two[4]{quat[0], quat[1], quat[2], quat[3]};
LhcToRhcQuaternion(two);
quat[0] = two[0];
quat[1] = two[1];
quat[2] = two[2];
quat[3] = two[3];
quat[0] = eigenQuat.x();
quat[1] = eigenQuat.y();
quat[2] = eigenQuat.z();
quat[3] = eigenQuat.w();
}
void LhcToRhcIndices(unsigned short* indices)
@@ -298,18 +283,30 @@ namespace
JsonNode boneNode;
const auto& bone = common.m_bones[boneIndex];
Eigen::Vector3f translation(bone.globalOffset[0], bone.globalOffset[1], bone.globalOffset[2]);
Eigen::Quaternionf rotation(bone.globalRotation.w, bone.globalRotation.x, bone.globalRotation.y, bone.globalRotation.z);
float globalTranslationData[3]{bone.globalOffset[0], bone.globalOffset[1], bone.globalOffset[2]};
LhcToRhcCoordinates(globalTranslationData);
Eigen::Vector3f translation(globalTranslationData[0], globalTranslationData[1], globalTranslationData[2]);
float globalRotationData[4]{bone.globalRotation.x, bone.globalRotation.y, bone.globalRotation.z, bone.globalRotation.w};
LhcToRhcQuaternion(globalRotationData);
Eigen::Quaternionf rotation(globalRotationData[3], globalRotationData[0], globalRotationData[1], globalRotationData[2]);
if (bone.parentIndex)
{
const auto& parentBone = common.m_bones[*bone.parentIndex];
const auto inverseParentRotation =
Eigen::Quaternionf(parentBone.globalRotation.w, parentBone.globalRotation.x, parentBone.globalRotation.y, parentBone.globalRotation.z)
.normalized()
.inverse()
.normalized();
translation -= Eigen::Vector3f(parentBone.globalOffset[0], parentBone.globalOffset[1], parentBone.globalOffset[2]);
float parentGlobalTranslationData[3]{parentBone.globalOffset[0], parentBone.globalOffset[1], parentBone.globalOffset[2]};
LhcToRhcCoordinates(parentGlobalTranslationData);
const Eigen::Vector3f parentTranslation(parentGlobalTranslationData[0], parentGlobalTranslationData[1], parentGlobalTranslationData[2]);
float parentGlobalRotationData[4]{
parentBone.globalRotation.x, parentBone.globalRotation.y, parentBone.globalRotation.z, parentBone.globalRotation.w};
LhcToRhcQuaternion(parentGlobalRotationData);
const Eigen::Quaternionf parentRotation(
parentGlobalRotationData[3], parentGlobalRotationData[0], parentGlobalRotationData[1], parentGlobalRotationData[2]);
const auto inverseParentRotation = parentRotation.inverse();
translation -= parentTranslation;
translation = inverseParentRotation * translation;
rotation = inverseParentRotation * rotation;
}
@@ -318,10 +315,7 @@ namespace
boneNode.name = bone.name;
boneNode.translation = std::to_array({translation.x(), translation.y(), translation.z()});
LhcToRhcCoordinates(*boneNode.translation);
boneNode.rotation = std::to_array({rotation.x(), rotation.y(), rotation.z(), rotation.w()});
LhcToRhcQuaternion(*boneNode.rotation);
std::vector<unsigned> children;
for (auto maybeChildIndex = 0u; maybeChildIndex < boneCount; maybeChildIndex++)