Merge branch 'main' into feature/vulkan

gradle/libs.versions.toml

@@ -1,13 +1,13 @@
 [versions]
 agp = "8.2.0"
-kotlin = "2.1.0"
+kotlin = "2.1.10"
 kotlin-coroutines = "1.10.1"
 kotlin-serialization = "1.8.0"
 kotlin-datetime = "0.6.1"
 kotlin-atomicfu = "0.27.0"
 kotlin-dokka = "2.0.0"
 lwjgl = "3.3.6"
-jsvg = "1.6.1"
+jsvg = "1.7.0"
 androidsvg = "1.4"
 physxjni = "2.5.0"
 physxjswebidl = "2.5.0"

kool-core/src/commonMain/kotlin/de/fabmax/kool/math/Quat.kt

@@ -2,9 +2,7 @@ package de.fabmax.kool.math
 
 import de.fabmax.kool.util.Float32Buffer
 import de.fabmax.kool.util.MixedBuffer
-import kotlin.math.cos
-import kotlin.math.sin
-import kotlin.math.sqrt
+import kotlin.math.*
 
 fun QuatF.toQuatD() = QuatD(x.toDouble(), y.toDouble(), z.toDouble(), w.toDouble())
 fun QuatF.toMutableQuatD(result: MutableQuatD = MutableQuatD()) = result.set(x.toDouble(), y.toDouble(), z.toDouble(), w.toDouble())
@@ -113,11 +111,31 @@ open class QuatF(open val x: Float, open val y: Float, open val z: Float, open v
      * [MutableVec4f]: result = that * weight + this * (1 - weight).
      */
     fun mix(that: QuatF, weight: Float, result: MutableQuatF = MutableQuatF()): MutableQuatF {
-        result.x = that.x * weight + x * (1f - weight)
-        result.y = that.y * weight + y * (1f - weight)
-        result.z = that.z * weight + z * (1f - weight)
-        result.w = that.w * weight + w * (1f - weight)
-        return result.norm()
+        val dot = x * that.x + y * that.y + z * that.z + w * that.w
+        val absCosom = abs(dot)
+
+        val scale0: Float
+        val scale1: Float
+
+        if (1.0f - absCosom > FUZZY_EQ_F) {
+            val sinSqr = 1.0f - absCosom * absCosom
+            val sinom = 1.0f / sqrt(sinSqr)
+            val omega = atan2(sqrt(sinSqr), absCosom)
+            scale0 = sin((1.0f - weight) * omega) * sinom
+            scale1 = sin(weight * omega) * sinom
+        } else {
+            scale0 = 1.0f - weight
+            scale1 = weight
+        }
+
+        val adjustedScale = if (dot >= 0.0f) scale1 else -scale1
+
+        result.x = scale0 * x + adjustedScale * that.x
+        result.y = scale0 * y + adjustedScale * that.y
+        result.z = scale0 * z + adjustedScale * that.z
+        result.w = scale0 * w + adjustedScale * that.w
+
+        return result
     }
 
     /**
@@ -434,11 +452,31 @@ open class QuatD(open val x: Double, open val y: Double, open val z: Double, ope
      * [MutableVec4d]: result = that * weight + this * (1 - weight).
      */
     fun mix(that: QuatD, weight: Double, result: MutableQuatD = MutableQuatD()): MutableQuatD {
-        result.x = that.x * weight + x * (1.0 - weight)
-        result.y = that.y * weight + y * (1.0 - weight)
-        result.z = that.z * weight + z * (1.0 - weight)
-        result.w = that.w * weight + w * (1.0 - weight)
-        return result.norm()
+        val dot = x * that.x + y * that.y + z * that.z + w * that.w
+        val absCosom = abs(dot)
+
+        val scale0: Double
+        val scale1: Double
+
+        if (1.0 - absCosom > FUZZY_EQ_D) {
+            val sinSqr = 1.0 - absCosom * absCosom
+            val sinom = 1.0 / sqrt(sinSqr)
+            val omega = atan2(sqrt(sinSqr), absCosom)
+            scale0 = sin((1.0 - weight) * omega) * sinom
+            scale1 = sin(weight * omega) * sinom
+        } else {
+            scale0 = 1.0 - weight
+            scale1 = weight
+        }
+
+        val adjustedScale = if (dot >= 0.0) scale1 else -scale1
+
+        result.x = scale0 * x + adjustedScale * that.x
+        result.y = scale0 * y + adjustedScale * that.y
+        result.z = scale0 * z + adjustedScale * that.z
+        result.w = scale0 * w + adjustedScale * that.w
+
+        return result
     }
 
     /**

kool-core/src/commonMain/kotlin/de/fabmax/kool/modules/gltf/GltfFile.kt

@@ -225,7 +225,7 @@ data class GltfFile(
                 val modelAnim = Animation(anim.name)
                 modelAnimations += modelAnim
 
-                val animNodes = mutableMapOf<Node, AnimationNode>()
+                val animNodes = mutableMapOf<Node, AnimatedTransformGroup>()
                 anim.channels.forEach { channel ->
                     val nodeGrp = modelNodes[channel.target.nodeRef]
                     if (nodeGrp != null) {
@@ -240,7 +240,7 @@ data class GltfFile(
             }
         }
 
-        private fun makeTranslationAnimation(animCh: GltfAnimation.Channel, animNd: AnimationNode, modelAnim: Animation) {
+        private fun makeTranslationAnimation(animCh: GltfAnimation.Channel, animNd: AnimatedTransformGroup, modelAnim: Animation) {
             val inputAcc = animCh.samplerRef.inputAccessorRef
             val outputAcc = animCh.samplerRef.outputAccessorRef
 
@@ -261,6 +261,7 @@ data class GltfFile(
             }
             modelAnim.channels += transChannel
 
+            val bindTranslation = animNd.initTranslation
             val inTime = FloatAccessor(inputAcc)
             val outTranslation = Vec3fAccessor(outputAcc)
             for (i in 0 until min(inputAcc.count, outputAcc.count)) {
@@ -269,16 +270,21 @@ data class GltfFile(
                     val startTan = outTranslation.next()
                     val point = outTranslation.next()
                     val endTan = outTranslation.next()
-                    CubicTranslationKey(t, point, startTan, endTan)
+                    CubicTranslationKey(
+                        t,
+                        point - bindTranslation,
+                        startTan - bindTranslation,
+                        endTan - bindTranslation
+                    )
                 } else {
-                    TranslationKey(t, outTranslation.next())
+                    TranslationKey(t, outTranslation.next() - bindTranslation)
                 }
                 transKey.interpolation = interpolation
                 transChannel.keys[t] = transKey
             }
         }
 
-        private fun makeRotationAnimation(animCh: GltfAnimation.Channel, animNd: AnimationNode, modelAnim: Animation) {
+        private fun makeRotationAnimation(animCh: GltfAnimation.Channel, animNd: AnimatedTransformGroup, modelAnim: Animation) {
             val inputAcc = animCh.samplerRef.inputAccessorRef
             val outputAcc = animCh.samplerRef.outputAccessorRef
 
@@ -299,6 +305,7 @@ data class GltfFile(
             }
             modelAnim.channels += rotChannel
 
+            val bindRotation = animNd.initRotation
             val inTime = FloatAccessor(inputAcc)
             val outRotation = Vec4fAccessor(outputAcc)
             for (i in 0 until min(inputAcc.count, outputAcc.count)) {
@@ -307,16 +314,21 @@ data class GltfFile(
                     val startTan = outRotation.next().toQuatF()
                     val point = outRotation.next().toQuatF()
                     val endTan = outRotation.next().toQuatF()
-                    CubicRotationKey(t, point, startTan, endTan)
+                    CubicRotationKey(
+                        t,
+                        bindRotation.inverted().mul(point),
+                        bindRotation.inverted().mul(startTan),
+                        bindRotation.inverted().mul(endTan)
+                    )
                 } else {
-                    RotationKey(t, outRotation.next().toQuatF())
+                    RotationKey(t, bindRotation.inverted().mul(outRotation.next().toQuatF()))
                 }
                 rotKey.interpolation = interpolation
                 rotChannel.keys[t] = rotKey
             }
         }
 
-        private fun makeScaleAnimation(animCh: GltfAnimation.Channel, animNd: AnimationNode, modelAnim: Animation) {
+        private fun makeScaleAnimation(animCh: GltfAnimation.Channel, animNd: AnimatedTransformGroup, modelAnim: Animation) {
             val inputAcc = animCh.samplerRef.inputAccessorRef
             val outputAcc = animCh.samplerRef.outputAccessorRef
 
@@ -337,6 +349,7 @@ data class GltfFile(
             }
             modelAnim.channels += scaleChannel
 
+            val bindScale = animNd.initScale
             val inTime = FloatAccessor(inputAcc)
             val outScale = Vec3fAccessor(outputAcc)
             for (i in 0 until min(inputAcc.count, outputAcc.count)) {
@@ -345,9 +358,9 @@ data class GltfFile(
                     val startTan = outScale.next()
                     val point = outScale.next()
                     val endTan = outScale.next()
-                    CubicScaleKey(t, point, startTan, endTan)
+                    CubicScaleKey(t, bindScale / point, bindScale / startTan, bindScale / endTan)
                 } else {
-                    ScaleKey(t, outScale.next())
+                    ScaleKey(t, bindScale / outScale.next())
                 }
                 scaleKey.interpolation = interpolation
                 scaleChannel.keys[t] = scaleKey

kool-core/src/commonMain/kotlin/de/fabmax/kool/scene/Model.kt

@@ -30,6 +30,10 @@ class Model(name: String? = null) : Node(name) {
     }
 
     fun applyAnimation(deltaT: Float) {
+        for (i in animations.indices) {
+            animations[i].reset()
+        }
+
         var firstActive = true
         for (i in animations.indices) {
             if (animations[i].weight > 0f) {