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  • Creating SparseImages for Pivot

    - by John Conwell
    Learning how to programmatically make collections for Microsoft Live Labs Pivot has been a pretty interesting ride. There are very few examples out there, and the folks at MS Live Labs are often slow on any feedback.  But that is what Reflector is for, right? Well, I was creating these InfoCard images (similar to the Car images in the "New Cars" sample collection that that MS created for Pivot), and wanted to put a Tag Cloud into the info card.  The problem was the size of the tag cloud might vary in order for all the tags to fit into the tag cloud (often times being bigger than the info card itself).  This was because the varying word lengths and calculated font sizes. So, to fix this, I made the tag cloud its own separate image from the info card.  Then, I would create a sparse image out of the two images, where the tag cloud fit into a small section of the info card.  This would allow the user to see the info card, but then zoom into the tag cloud and see all the tags at a normal resolution.  Kind'a cool. But...I couldn't find one code example (not one!) of how to create a sparse image.  There is one page on the SeaDragon site (http://www.seadragon.com/developer/creating-content/deep-zoom-tools/) that gives over the API for creating images and collections, and it sparsely goes over how to create a sparse image, but unless you are familiar with the API already, the documentation doesn't help very much. The key is the Image.ViewportWidth and Image.ViewportOrigin properties of the image that is getting super imposed on the main image.  I'll walk through the code below.  I've setup a couple Point structs to represent the parent and sub image sizes, as well as where on the parent I want to position the sub image.  Next, create the parent image.  This is pretty straight forward.  Then I create the sub image.  Then I calculate several ratios; the height to width ratio of the sub image, the width ratio of the sub image to the parent image, the height ratio of the sub image to the parent image, then the X and Y coordinates on the parent image where I want the sub image to be placed represented as a ratio of the position to the parent image size. After all these ratios have been calculated, I use them to calculate the Image.ViewportWidth and Image.ViewportOrigin values, then pass the image objects into the SparseImageCreator and call Create. The key thing that was really missing from the API documentation page is that when setting up your sub images, everything is expressed in a ratio in relation to the main parent image.  If I had known this, it would have saved me a lot of trial and error time.  And how did I figure this out?  Reflector of course!  There is a tool called Deep Zoom Composer that came from MS Live Labs which can create a sparse image.  I just dug around the tool's code until I found the method that create sparse images.  But seriously...look at the API documentation from the SeaDragon size and look at the code below and tell me if the documentation would have helped you at all.  I don't think so!   public static void WriteDeepZoomSparseImage(string mainImagePath, string subImagePath, string destination) {     Point parentImageSize = new Point(720, 420);     Point subImageSize = new Point(490, 310);     Point subImageLocation = new Point(196, 17);     List<Image> images = new List<Image>();     //create main image     Image mainImage = new Image(mainImagePath);     mainImage.Size = parentImageSize;     images.Add(mainImage);     //create sub image     Image subImage = new Image(subImagePath);     double hwRatio = subImageSize.X/subImageSize.Y;            // height width ratio of the tag cloud     double nodeWidth = subImageSize.X/parentImageSize.X;        // sub image width to parent image width ratio     double nodeHeight = subImageSize.Y / parentImageSize.Y;    // sub image height to parent image height ratio     double nodeX = subImageLocation.X/parentImageSize.X;       //x cordinate position on parent / width of parent     double nodeY = subImageLocation.Y / parentImageSize.Y;     //y cordinate position on parent / height of parent     subImage.ViewportWidth = (nodeWidth < double.Epsilon) ? 1.0 : (1.0 / nodeWidth);     subImage.ViewportOrigin = new Point(         (nodeWidth < double.Epsilon) ? -1.0 : (-nodeX / nodeWidth),         (nodeHeight < double.Epsilon) ? -1.0 : ((-nodeY / nodeHeight) / hwRatio));     images.Add(subImage);     //create sparse image     SparseImageCreator creator = new SparseImageCreator();     creator.Create(images, destination); }

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  • Is there bug in the Matrix.RotateAt method for certain angles? .Net Winforms

    - by Jules
    Here's the code i'm using to rotate: Dim m As New System.Drawing.Drawing2D.Matrix Dim size = image.Size m.RotateAt(degreeAngle, New PointF(CSng(size.Width / 2), CSng(size.Height / 2))) Dim temp As New Bitmap(600, 600, Imaging.PixelFormat.Format32bppPArgb) Dim g As Graphics = Graphics.FromImage(temp) g.Transform = m g.DrawImage(image, 0, 0) (1) Disposals removed for brevity. (2) I test the code with a 200 x 200 rectangle. (3) Size 600,600 it just an arbitrary large value that I know will fit the right and bottom sides of the rotated image for testing purposes. (4) I know, with this code, the top and left edges will be clipped because I'm not transforming the orgin after the rotate. The problem only occurs at certain angles: (1) At 90, the right hand edge disappears completely. (2) At 180, the right and bottom edges are there, but very faded. (3) At 270, the bottom edge disappears completely. Is this a known bug? If I manually rotate the corners an draw the image by specifying an output rectangle, I don't get the same problem - though it is slightly slower than using RotateAt.

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  • DirectX Unproject troubles

    - by pivotnig
    I have an orthographic projection and I try to unproject a point from screen space. Following are the view and projection matrices: var w2 = ScreenWidthInPixels/2; var h2 = ScreenHeightInPixels/2; view = Matrix.LookAtLH(new Vector3(0, 0, -1), new Vector3(0, 0, 0), Vector3.UnitY); proj = Matrix.OrthoOffCenterLH(-w2, w2, -h2, h2, 0.1f, 10f); Here is how I unproject a Point p, the point is given in screen pixels: var m = Vector3.Unproject(p, 0, 0, ScreenWidthInPixels, ScreenHeightInPixels, 0.1f, 10f, // znear and zfar view *proj); My code doesn't work, the matrix m contains only Nan. When I try to invert view * proj I get back a Matrix with only zeros. So I suspect my problem has something to do with the orthographic projection matrix. Here are my questions: Could the problem be caused by an underflow due to the large values in the OrthoOffCenterLH projection? What parameters do I have to pass for x,y,width,height in Unproject(...)? What significance has the minZ and maxZ parameter in Unproject(...)? Does it matter what I pass for p.Z in Unproject(...)?

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  • Android OpenGL ES 2 framebuffer not working properly

    - by user16547
    I'm trying to understand how framebuffers work. In order to achieve that, I want to draw a very basic triangle to a framebuffer texture and then draw the resulting texture to a quad on the default framebuffer. However, I only get a fraction of the triangle like below. LE: The triangle's coordinates should be (1) -0.5f, -0.5f, 0 (2) 0.5f, -0.5f, 0 (3) 0, 0.5f, 0 Here's the code to render: @Override public void onDrawFrame(GL10 gl) { renderNormalStuff(); renderFramebufferTexture(); } protected void renderNormalStuff() { GLES20.glViewport(0, 0, texWidth, texHeight); GLUtils.updateProjectionMatrix(mProjectionMatrix, texWidth, texHeight); GLES20.glBindFramebuffer(GLES20.GL_FRAMEBUFFER, fbo[0]); GLES20.glUseProgram(mProgram); GLES20.glClearColor(.5f, .5f, .5f, 1); GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_COLOR_BUFFER_BIT); Matrix.setIdentityM(mModelMatrix, 0); Matrix.multiplyMM(mMVPMatrix, 0, mViewMatrix, 0, mModelMatrix, 0); Matrix.multiplyMM(mMVPMatrix, 0, mProjectionMatrix, 0, mMVPMatrix, 0); GLES20.glUniformMatrix4fv(u_MVPMatrix, 1, false, mMVPMatrix, 0); GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo[0]); GLES20.glVertexAttribPointer(a_Position, 3, GLES20.GL_FLOAT, false, 12, 0); GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo[1]); GLES20.glVertexAttribPointer(a_Color, 4, GLES20.GL_FLOAT, false, 16, 0); GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, ibo[0]); GLES20.glDrawElements(GLES20.GL_TRIANGLES, indexBuffer.capacity(), GLES20.GL_UNSIGNED_BYTE, 0); GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0); GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, 0); GLES20.glUseProgram(0); } private void renderFramebufferTexture() { GLES20.glBindFramebuffer(GLES20.GL_FRAMEBUFFER, 0); GLES20.glUseProgram(fboProgram); GLES20.glClearColor(.0f, .5f, .25f, 1); GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT); GLES20.glViewport(0, 0, width, height); GLUtils.updateProjectionMatrix(mProjectionMatrix, width, height); Matrix.setIdentityM(mModelMatrix, 0); Matrix.multiplyMM(mMVPMatrix, 0, mViewMatrix, 0, mModelMatrix, 0); Matrix.multiplyMM(mMVPMatrix, 0, mProjectionMatrix, 0, mMVPMatrix, 0); GLES20.glUniformMatrix4fv(fbo_u_MVPMatrix, 1, false, mMVPMatrix, 0); //draw the texture GLES20.glActiveTexture(GLES20.GL_TEXTURE0); GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, texture[0]); GLES20.glUniform1i(fbo_u_Texture, 0); GLUtils.sendBufferData(fbo_a_Position, 3, quadPositionBuffer); GLUtils.sendBufferData(fbo_a_TexCoordinate, 2, quadTexCoordinate); GLES20.glDrawElements(GLES20.GL_TRIANGLES, quadIndexBuffer.capacity(), GLES20.GL_UNSIGNED_BYTE, quadIndexBuffer); GLES20.glUseProgram(0); }

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  • Reverse horizontal and vertical for a HTML table

    - by porton
    There is a two-dimensional array describing a HTML table. Each element of the array consists of: the cell content rowspan colspan Every row of this two dimensional array corresponds to <td> cells of a <tr> of the table which my software should generate. I need to "reverse" the array (interchange vertical and horizontal direction). Insofar I considered algorithm based on this idea: make a rectangular matrix of the size of the table and store in every element of this matrix the corresponding index of the element of the above mentioned array. (Note that two elements of the matrix may be identical due rowspan/colspan.) Then I could use this matrix to calculate rowspan/colspan for the inverted table. But this idea seems bad for me. Any other algorithms? Note that I program in PHP.

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  • Create dynamic buffer SharpDX

    - by fedab
    I want to set a buffer that is updated every frame but can't figure it out, what i have to do. The only working thing i have is this: mdexcription = new BufferDescription(Matrix.SizeInBytes * Matrices.Length, ResourceUsage.Dynamic, BindFlags.VertexBuffer, CpuAccessFlags.Write, ResourceOptionFlags.None, 0); instanceBuffer = SharpDX.Direct3D11.Buffer.Create(Device, Matrices, mdexcription); vBB = new VertexBufferBinding(instanceBuffer, Matrix.SizeInBytes, 0); DeviceContext.InputAssembler.SetVertexBuffers(1, vBB); Draw: //Change Matrices (Matrix[]) every frame... instanceBuffer.Dispose(); instanceBuffer = SharpDX.Direct3D11.Buffer.Create(Device, Matrices, mdexcription); vBB = new VertexBufferBinding(instanceBuffer, Matrix.SizeInBytes, 0); DeviceContext.InputAssembler.SetVertexBuffers(1, vBB); I guess Dispose() and creating a new buffer is slow and can be done much faster. I've read about DataStream but i do not know, how to set this up properly. What steps do i have to do to set up a DataStream to achieve fast every-frame update?

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  • Transform between two 3d cartesian coordinate systems

    - by Pris
    I'd like to know how to get the rotation matrix for the transformation from one cartesian coordinate system (X,Y,Z) to another one (X',Y',Z'). Both systems are defined with three orthogonal vectors as one would expect. No scaling or translation occurs. I'm using OpenSceneGraph and it offers a Matrix convenience class, if it makes finding the matrix easier: http://www.openscenegraph.org/documentation/OpenSceneGraphReferenceDocs/a00403.html.

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  • Orthographic Projection Issue

    - by Nick
    I have a problem with my Ortho Matrix. The engine uses the perspective projection fine but for some reason the Ortho matrix is messed up. (See screenshots below). Can anyone understand what is happening here? At the min I am taking the Projection matrix * Transform (Translate, rotate, scale) and passing to the Vertex shader to multiply the Vertices by it. VIDEO Shows the same scene, rotating on the Y axis. http://youtu.be/2feiZAIM9Y0 void Matrix4f::InitOrthoProjTransform(float left, float right, float top, float bottom, float zNear, float zFar) { m[0][0] = 2 / (right - left); m[0][1] = 0; m[0][2] = 0; m[0][3] = 0; m[1][0] = 0; m[1][1] = 2 / (top - bottom); m[1][2] = 0; m[1][3] = 0; m[2][0] = 0; m[2][1] = 0; m[2][2] = -1 / (zFar - zNear); m[2][3] = 0; m[3][0] = -(right + left) / (right - left); m[3][1] = -(top + bottom) / (top - bottom); m[3][2] = -zNear / (zFar - zNear); m[3][3] = 1; } This is what happens with Ortho Matrix: This is the Perspective Matrix:

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  • Shadows shimmer when camera moves

    - by Chad Layton
    I've implemented shadow maps in my simple block engine as an exercise. I'm using one directional light and using the view volume to create the shadow matrices. I'm experiencing some problems with the shadows shimmering when the camera moves and I'd like to know if it's an issue with my implementation or just an issue with basic/naive shadow mapping itself. Here's a video: http://www.youtube.com/watch?v=vyprATt5BBg&feature=youtu.be Here's the code I use to create the shadow matrices. The commented out code is my original attempt to perfectly fit the view frustum. You can also see my attempt to try clamping movement to texels in the shadow map which didn't seem to make any difference. Then I tried using a bounding sphere instead, also to no apparent effect. public void CreateViewProjectionTransformsToFit(Camera camera, out Matrix viewTransform, out Matrix projectionTransform, out Vector3 position) { BoundingSphere cameraViewFrustumBoundingSphere = BoundingSphere.CreateFromFrustum(camera.ViewFrustum); float lightNearPlaneDistance = 1.0f; Vector3 lookAt = cameraViewFrustumBoundingSphere.Center; float distanceFromLookAt = cameraViewFrustumBoundingSphere.Radius + lightNearPlaneDistance; Vector3 directionFromLookAt = -Direction * distanceFromLookAt; position = lookAt + directionFromLookAt; viewTransform = Matrix.CreateLookAt(position, lookAt, Vector3.Up); float lightFarPlaneDistance = distanceFromLookAt + cameraViewFrustumBoundingSphere.Radius; float diameter = cameraViewFrustumBoundingSphere.Radius * 2.0f; Matrix.CreateOrthographic(diameter, diameter, lightNearPlaneDistance, lightFarPlaneDistance, out projectionTransform); //Vector3 cameraViewFrustumCentroid = camera.ViewFrustum.GetCentroid(); //position = cameraViewFrustumCentroid - (Direction * (camera.FarPlaneDistance - camera.NearPlaneDistance)); //viewTransform = Matrix.CreateLookAt(position, cameraViewFrustumCentroid, Up); //Vector3[] cameraViewFrustumCornersWS = camera.ViewFrustum.GetCorners(); //Vector3[] cameraViewFrustumCornersLS = new Vector3[8]; //Vector3.Transform(cameraViewFrustumCornersWS, ref viewTransform, cameraViewFrustumCornersLS); //Vector3 min = cameraViewFrustumCornersLS[0]; //Vector3 max = cameraViewFrustumCornersLS[0]; //for (int i = 1; i < 8; i++) //{ // min = Vector3.Min(min, cameraViewFrustumCornersLS[i]); // max = Vector3.Max(max, cameraViewFrustumCornersLS[i]); //} //// Clamp to nearest texel //float texelSize = 1.0f / Renderer.ShadowMapSize; //min.X -= min.X % texelSize; //min.Y -= min.Y % texelSize; //min.Z -= min.Z % texelSize; //max.X -= max.X % texelSize; //max.Y -= max.Y % texelSize; //max.Z -= max.Z % texelSize; //// We just use an orthographic projection matrix. The sun is so far away that it's rays are essentially parallel. //Matrix.CreateOrthographicOffCenter(min.X, max.X, min.Y, max.Y, -max.Z, -min.Z, out projectionTransform); } And here's the relevant part of the shader: if (CastShadows) { float4 positionLightCS = mul(float4(position, 1.0f), LightViewProj); float2 texCoord = clipSpaceToScreen(positionLightCS) + 0.5f / ShadowMapSize; float shadowMapDepth = tex2D(ShadowMapSampler, texCoord).r; float distanceToLight = length(LightPosition - position); float bias = 0.2f; if (shadowMapDepth < (distanceToLight - bias)) { return float4(0.0f, 0.0f, 0.0f, 0.0f); } } The shimmer is slightly better if I drastically reduce the view volume but I think that's mostly just because the texels become smaller and it's harder to notice them flickering back and forth. I'd appreciate any insight, I'd very much like to understand what's going on before I try other techniques.

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  • Updating physics for animated models

    - by Mathias Hölzl
    For a new game we have do set up a scene with a minimum of 30 bone animated models.(shooter) The problem is that the update process for the animated models takes too long. Thats what I do: Each character has ~30 bones and for every update tick the animation gets calculated and every bone fires a event with the new matrix. The physics receives the event with the new matrix and updates the collision shape for that bone. The time that it takes to build the animation isn't that bad (0.2ms for 30 Bones - 6ms for 30 models). But the main problem is that the physic engine (Bullet) uses a diffrent matrix for transformation and so its necessary to convert it. Code for matrix conversion: (~0.005ms) btTransform CLEAR_PHYSICS_API Mat_to_btTransform( Mat mat ) { btMatrix3x3 bulletRotation; btVector3 bulletPosition; XMFLOAT4X4 matData = mat.GetStorage(); // copy rotation matrix for ( int row=0; row<3; ++row ) for ( int column=0; column<3; ++column ) bulletRotation[row][column] = matData.m[column][row]; for ( int column=0; column<3; ++column ) bulletPosition[column] = matData.m[3][column]; return btTransform( bulletRotation, bulletPosition ); } The function for updating the transform(Physic): void CLEAR_PHYSICS_API BulletPhysics::VKinematicMove(Mat mat, ActorId aid) { if ( btRigidBody * const body = FindActorBody( aid ) ) { btTransform tmp = Mat_to_btTransform( mat ); body->setWorldTransform( tmp ); } } The real problem is the function FindActorBody(id): ActorIDToBulletActorMap::const_iterator found = m_actorBodies.find( id ); if ( found != m_actorBodies.end() ) return found->second; All physic actors are stored in m_actorBodies and thats why the updating process takes to long. But I have no idea how I could avoid this. Friendly greedings, Mathias

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  • Vertex fog producing black artifacts

    - by Nick
    I originally posted this question on the XNA forums but got no replies, so maybe someone here can help: I am rendering a textured model using the XNA BasicEffect. When I enable fog, the model outline is still visible as many small black dots when it should be "in the fog". Why is this happening? Here's what it looks like for me -- http://tinypic.com/r/fnh440/6 Here is a minimal example showing my problem: (the ship model that this example uses is from the chase camera sample on this site -- http://xbox.create.msdn.com/en-US/education/catalog/sample/chasecamera -- in case anyone wants to try it out ;)) public class Game1 : Microsoft.Xna.Framework.Game { GraphicsDeviceManager graphics; SpriteBatch spriteBatch; Model model; public Game1() { graphics = new GraphicsDeviceManager(this); Content.RootDirectory = "Content"; } protected override void LoadContent() { // Create a new SpriteBatch, which can be used to draw textures. spriteBatch = new SpriteBatch(GraphicsDevice); // TODO: use this.Content to load your game content here model = Content.Load<Model>("ship"); foreach (ModelMesh mesh in model.Meshes) { foreach (BasicEffect be in mesh.Effects) { be.EnableDefaultLighting(); be.FogEnabled = true; be.FogColor = Color.CornflowerBlue.ToVector3(); be.FogStart = 10; be.FogEnd = 30; } } } protected override void Draw(GameTime gameTime) { GraphicsDevice.Clear(Color.CornflowerBlue); // TODO: Add your drawing code here model.Draw(Matrix.Identity * Matrix.CreateScale(0.01f) * Matrix.CreateRotationY(3 * MathHelper.PiOver4), Matrix.CreateLookAt(new Vector3(0, 0, 30), Vector3.Zero, Vector3.Up), Matrix.CreatePerspectiveFieldOfView(MathHelper.PiOver4, 16f/9f, 1, 100)); base.Draw(gameTime); } }

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  • how to make HLSL effect just for lighning without texture mapping?

    - by naprox
    I'm new to XNA, i created an effect and just want to use lightning but in default effect that XNA create we should do texture mapping or the model appears 'RED', because of this lines of code in the effect file: float4 PixelShaderFunction(VertexShaderOutput input) : COLOR0 { float4 output = float4(1,0,0,1); return output; } and if i want to see my model (appear like when i use basiceffect) must do texture mapping by UV coordinates. but my model does not have UV coordinates assigned or its UV coordinates is not exported. and if i do texture mapping i got error. (i do texture mapping by this line of code in vertexshaderfunction and other necessary codes) output.UV= input.UV i have many of this models and want to work with them.(my models are in .FBX format) when i use Bassiceffect i have no problem and model appears correctly. how can i use "just" lightnings in my custom effects? and don't do texture mapping (because i have no UV coordinates in my models) and my model be look like when i use BasicEffect? if you need my complete code Here it is: http://www.mediafire.com/?4jexhd4ulm2icm2 here is inside of my Model Using BasicEffect http://i.imgur.com/ygP2h.jpg?1 and this is my code for drawing with or without BasicEffect inside of my draw() method: Matrix baseWorld = Matrix.CreateScale(Scale) * Matrix.CreateFromYawPitchRoll(Rotation.Y, Rotation.X, Rotation.Z) * Matrix.CreateTranslation(Position); foreach(ModelMesh mesh in Model.Meshes) { Matrix localWorld = ModelTransforms[mesh.ParentBone.Index] * baseWorld; foreach(ModelMeshPart part in mesh.MeshParts) { Effect effect = part.Effect; if (effect is BasicEffect) { ((BasicEffect)effect).World = localWorld; ((BasicEffect)effect).View = View; ((BasicEffect)effect).Projection = Projection; ((BasicEffect)effect).EnableDefaultLighting(); } else { setEffectParameter(effect, "World", localWorld); setEffectParameter(effect, "View", View); setEffectParameter(effect, "Projection", Projection); setEffectParameter(effect, "CameraPosition", CameraPosition); } } mesh.Draw(); } setEffectParameter is another method that sets effect parameter if i use my custom effect.

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  • box2d resize bodies arround point

    - by philipp
    I have a compound object, consisting of a b2Body, vector-graphics and a list polygons which describe the b2body's shapes. This object has its own transformation matrix to centralize the storage of transformations. So far everything is working quiet fine, even scaling works, but not if i scale around a point. In the initialization phase of the object it is scaled around a point. This happens in this order: transform the main matrix transform the vector graphics and the polygons recreate the b2Body After this function ran, the shapes and all the graphics are exactly where they should be, BUT: after the first steps of the b2World the graphical stuff moves away from the body. When I ran the debugger I found out that the position of the body is 0/0 the red dot shows the center of scaling. the first image shows the basic setup and the second the final position of the graphics. This distance stays constant for the rest of the simulation. If I set the position via myBody.SetPosition( sx, sy ); the whole scenario just plays a bit more distant for the origin. Any Idea how to fix this? EDIT:: I came deeper down to the problem and it lies in the fact that i must not scale the transform matrix for the b2body shapes around the center, but set the b2body's position back to the point after scaling. But how can I calculate that point? EDIT 2 :: I came ever deeper down to it, even solved it, but this is a slow solution and i hope that there is somebody who understands what formula I need. assuming to have a set polygons relative to an origin as basis shapes for a b2body: scaling the whole object around a certain point is done in the following steps: i scale everything around the center except the polygons i create a clone of the polygons matrix i scale this clone around the point i calculate dx, dy as difference of clone.tx - original.tx and clone.ty - original.ty i scale the original polygon matrix NOT around the point i recreate the body i create the fixture i set the position of the body to dx and dy done! So what i an interested in is a formula for dx and dy without cloning matrices, scaling the clone around a point, getting dx and dy and finally scale the vertex matrix.

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  • Xna GS 4 Animation Sample bone transforms not copying correctly

    - by annonymously
    I have a person model that is animated and a suitcase model that is not. The person can pick up the suitcase and it should move to the location of the hand bone of the person model. Unfortunately the suitcase doesn't follow the animation correctly. it moves with the hand's animation but its position is under the ground and way too far to the right. I haven't scaled any of the models myself. Thank you. The source code (forgive the rough prototype code): Matrix[] tran = new Matrix[man.model.Bones.Count];// The absolute transforms from the animation player man.model.CopyAbsoluteBoneTransformsTo(tran); Vector3 suitcasePos, suitcaseScale, tempSuitcasePos = new Vector3();// Place holders for the Matrix Decompose Quaternion suitcaseRot = new Quaternion(); // The transformation of the right hand bone is decomposed tran[man.model.Bones["HPF_RightHand"].Index].Decompose(out suitcaseScale, out suitcaseRot, out tempSuitcasePos); suitcasePos = new Vector3(); suitcasePos.X = tempSuitcasePos.Z;// The axes are inverted for some reason suitcasePos.Y = -tempSuitcasePos.Y; suitcasePos.Z = -tempSuitcasePos.X; suitcase.Position = man.Position + suitcasePos;// The actual Suitcase properties suitcase.Rotation = man.Rotation + new Vector3(suitcaseRot.X, suitcaseRot.Y, suitcaseRot.Z); I am also copying the bone transforms from the animation player in the Person class like so: // The transformations from the AnimationPlayer Matrix[] skinTrans = new Matrix[model.Bones.Count]; skinTrans = player.GetBoneTransforms(); // copy each transformation to its corresponding bone for (int i = 0; i < skinTrans.Length; i++) { model.Bones[i].Transform = skinTrans[i]; }

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  • Question about BoundingSpheres and Ray intersections

    - by NDraskovic
    I'm working on a XNA project (not really a game) and I'm having some trouble with picking algorithm. I have a few types of 3D models that I draw to the screen, and one of them is a switch. So I'm trying to make a picking algorithm that would enable the user to click on the switch and that would trigger some other function. The problem is that the BoundingSphere.Intersect() method always returns null as result. This is the code I'm using: In the declaration section: ` //Basic matrices private Matrix world = Matrix.CreateTranslation(new Vector3(0, 0, 0)); private Matrix view = Matrix.CreateLookAt(new Vector3(10, 10, 10), new Vector3(0, 0, 0), Vector3.UnitY); private Matrix projection = Matrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(45), 800f / 600f, 0.01f, 100f); //Collision detection variables Viewport mainViewport; List<BoundingSphere> spheres = new List<BoundingSphere>(); Ray ControlRay; Vector3 nearPoint, farPoint, nearPlane, farPlane, direction; ` And then in the Update method: ` nearPlane = new Vector3((float)Mouse.GetState().X, (float)Mouse.GetState().Y, 0.0f); farPlane = new Vector3((float)Mouse.GetState().X, (float)Mouse.GetState().Y, 10.0f); nearPoint = GraphicsDevice.Viewport.Unproject(nearPlane, projection, view, world); farPoint = GraphicsDevice.Viewport.Unproject(farPlane, projection, view, world); direction = farPoint - nearPoint; direction.Normalize(); ControlRay = new Ray(nearPoint, direction); if (spheres.Count != 0) { for (int i = 0; i < spheres.Count; i++) { if (spheres[i].Intersects(ControlRay) != null) { Window.Title = spheres[i].Center.ToString(); } else { Window.Title = "Empty"; } } ` The "spheres" list gets filled when the 3D object data gets loaded (I read it from a .txt file). For every object marked as switch (I use simple numbers to determine which object is to be drawn), a BoundingSphere is created (center is on the coordinates of the 3D object, and the diameter is always the same), and added to the list. The objects are drawn normally (and spheres.Count is not 0), I can see them on the screen, but the Window title always says "Empty" (of course this is just for testing purposes, I will add the real function when I get positive results) meaning that there is no intersection between the ControlRay and any of the bounding spheres. I think that my basic matrices (world, view and projection) are making some problems, but I cant figure out what. Please help.

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  • 2D scene graph not transforming relative to parent

    - by Dr.Denis McCracleJizz
    I am currently in the process of coding my own 2D Scene graph, which is basically a port of flash's render engine. The problem I have right now is my rendering doesn't seem to be working properly. This code creates the localTransform property for each DisplayObject. Matrix m_transform = Matrix.CreateRotationZ(rotation) * Matrix.CreateScale(scaleX, scaleY, 1) * Matrix.CreateTranslation(new Vector3(x, y, z)); This is my render code. float dRotation; Vector2 dPosition, dScale; Matrix transform; transform = this.localTransform; if (parent != null) transform = localTransform * parent.localTransform; DecomposeMatrix(ref transform, out dPosition, out dRotation, out dScale); spriteBatch.Draw(this.texture, dPosition, null, Color.White, dRotation, new Vector2(originX, originY), dScale, SpriteEffects.None, 0.0f); Here is the result when I try to add the Stage then to the stage a First DisplayObjectContainer and then a second one. It may look fine but the problem lies in the fact that I add a first DisplayObjectContainer at (400,400) and the second one within it (that's the smallest one) at position (0,0). So he should be right over its parent but he gets render within the parent at the same position the parent has (400, 400) for some reason. It's just as if I double the parent's localMatrix and then render the second cat there. This is the code i use to loop through every childs. base.Draw(spriteBatch); foreach (DisplayObject childs in _childs) { childs.Draw(spriteBatch); }

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  • JavaScript 3D space ship rotation

    - by user36202
    I am working with a fairly low-level JavaScript 3D API (not Three.js) which uses euler angles for rotation. In most cases, euler angles work quite well for doing things like aligning buildings, operating a hovercraft, or looking around in the first-person. However, in space there is no up or down. I want to control the ship's roll, pitch, and yaw. To do that, some people would use a local coordinate system or a permenant matrix or quaternion or whatever to represent the ship's angle. However, since I am not most people and am using a library that deals exclusively in euler angles, I will be using relative angles to represent how to rotate the ship in space and getting the resulting non-relative euler angles. For you math nerds, that means I need to convert 3 euler angles (with Y being the vertical axis, X representing the pitch, and Z representing a roll which is unaffected by the other angles, left-handed system) into a 3x3 orientation matrix, do something fancy with the matrix, and convert it back into the 3 euler angles. Euler to matrix to euler. Somebody has posted something similar to this on SO (http://stackoverflow.com/questions/1217775/rotating-a-spaceship-model-for-a-space-simulator-game) but he ended up just working with a matrix. This will not do for me. Also, I am using JavaScript, not C++. What I want essentially are the functions do_roll, do_pitch, and do_yaw which only take in and put out euler angles. Many thanks.

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  • Optimizing drawing of cubes

    - by Christian Frantz
    After googling for hours I've come to a few conclusions, I need to either rewrite my whole cube class, or figure out how to use hardware instancing. I can draw up to 2500 cubes with little lag, but after that my fps drops. Is there a way I can use my class for hardware instancing? Or would I be better off rewriting my class for optimization? public class Cube { public GraphicsDevice device; public VertexBuffer cubeVertexBuffer; public Cube(GraphicsDevice graphicsDevice) { device = graphicsDevice; var vertices = new List<VertexPositionTexture>(); BuildFace(vertices, new Vector3(0, 0, 0), new Vector3(0, 1, 1)); BuildFace(vertices, new Vector3(0, 0, 1), new Vector3(1, 1, 1)); BuildFace(vertices, new Vector3(1, 0, 1), new Vector3(1, 1, 0)); BuildFace(vertices, new Vector3(1, 0, 0), new Vector3(0, 1, 0)); BuildFaceHorizontal(vertices, new Vector3(0, 1, 0), new Vector3(1, 1, 1)); BuildFaceHorizontal(vertices, new Vector3(0, 0, 1), new Vector3(1, 0, 0)); cubeVertexBuffer = new VertexBuffer(device, VertexPositionTexture.VertexDeclaration, vertices.Count, BufferUsage.WriteOnly); cubeVertexBuffer.SetData<VertexPositionTexture>(vertices.ToArray()); } private void BuildFace(List<VertexPositionTexture> vertices, Vector3 p1, Vector3 p2) { vertices.Add(BuildVertex(p1.X, p1.Y, p1.Z, 1, 0)); vertices.Add(BuildVertex(p1.X, p2.Y, p1.Z, 1, 1)); vertices.Add(BuildVertex(p2.X, p2.Y, p2.Z, 0, 1)); vertices.Add(BuildVertex(p2.X, p2.Y, p2.Z, 0, 1)); vertices.Add(BuildVertex(p2.X, p1.Y, p2.Z, 0, 0)); vertices.Add(BuildVertex(p1.X, p1.Y, p1.Z, 1, 0)); } private void BuildFaceHorizontal(List<VertexPositionTexture> vertices, Vector3 p1, Vector3 p2) { vertices.Add(BuildVertex(p1.X, p1.Y, p1.Z, 0, 1)); vertices.Add(BuildVertex(p2.X, p1.Y, p1.Z, 1, 1)); vertices.Add(BuildVertex(p2.X, p2.Y, p2.Z, 1, 0)); vertices.Add(BuildVertex(p1.X, p1.Y, p1.Z, 0, 1)); vertices.Add(BuildVertex(p2.X, p2.Y, p2.Z, 1, 0)); vertices.Add(BuildVertex(p1.X, p1.Y, p2.Z, 0, 0)); } private VertexPositionTexture BuildVertex(float x, float y, float z, float u, float v) { return new VertexPositionTexture(new Vector3(x, y, z), new Vector2(u, v)); } public void Draw(BasicEffect effect) { foreach (EffectPass pass in effect.CurrentTechnique.Passes) { pass.Apply(); device.SetVertexBuffer(cubeVertexBuffer); device.DrawPrimitives(PrimitiveType.TriangleList, 0, cubeVertexBuffer.VertexCount / 3); } } } The following class is a list that draws the cubes. public class DrawableList<T> : DrawableGameComponent { private BasicEffect effect; private ThirdPersonCam camera; private class Entity { public Vector3 Position { get; set; } public Matrix Orientation { get; set; } public Texture2D Texture { get; set; } } private Cube cube; private List<Entity> entities = new List<Entity>(); public DrawableList(Game game, ThirdPersonCam camera, BasicEffect effect) : base(game) { this.effect = effect; cube = new Cube(game.GraphicsDevice); this.camera = camera; } public void Add(Vector3 position, Matrix orientation, Texture2D texture) { entities.Add(new Entity() { Position = position, Orientation = orientation, Texture = texture }); } public override void Draw(GameTime gameTime) { foreach (var item in entities) { effect.VertexColorEnabled = false; effect.TextureEnabled = true; effect.Texture = item.Texture; Matrix center = Matrix.CreateTranslation(new Vector3(-0.5f, -0.5f, -0.5f)); Matrix scale = Matrix.CreateScale(1f); Matrix translate = Matrix.CreateTranslation(item.Position); effect.World = center * scale * translate; effect.View = camera.view; effect.Projection = camera.proj; effect.FogEnabled = true; effect.FogColor = Color.CornflowerBlue.ToVector3(); effect.FogStart = 1.0f; effect.FogEnd = 50.0f; cube.Draw(effect); } base.Draw(gameTime); } } } There are probably many reasons that my fps is so slow, but I can't seem to figure out how to fix it. I've looked at techcraft as well, but what I have is too specific to what I want the outcome to be to just rewrite everything from scratch

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  • How to send multiple MVP matrices to a vertex shader in OpenGL ES 2.0

    - by Carbon Crystal
    I'm working my way through optimizing the rendering of sprites in a 2D game using OpenGL ES and I've hit the limit of my knowledge when it comes to GLSL and vertex shaders. I have two large float buffers containing my vertex coordinates and texture coordinates (eventually this will be one buffer) for multiple sprites in order to perform a single glDrawArrays call. This works but I've hit a snag when it comes to passing the transformation matrix into the vertex shader. My shader code is: uniform mat4 u_MVPMatrix; attribute vec4 a_Position; attribute vec2 a_TexCoordinate; varying vec2 v_TexCoordinate; void main() { v_TexCoordinate = a_TexCoordinate; gl_Position = u_MVPMatrix * a_Position; } In Java (Android) I am using a FloatBuffer to store the vertex/texture data and this is provided to the shader like so: mGlEs20.glVertexAttribPointer(mVertexHandle, Globals.GL_POSITION_VERTEX_COUNT, GLES20.GL_FLOAT, false, 0, mVertexCoordinates); mGlEs20.glVertexAttribPointer(mTextureCoordinateHandle, Globals.GL_TEXTURE_VERTEX_COUNT, GLES20.GL_FLOAT, false, 0, mTextureCoordinates); (The Globals.GL_POSITION_VERTEX_COUNT etc are just integers with the value of 2 right now) And I'm passing the MVP (Model/View/Projection) matrix buffer like this: GLES20.glUniformMatrix4fv(mMVPMatrixHandle, 1, false, mModelCoordinates); (mModelCoordinates is a FloatBuffer containing 16-float sequences representing the MVP matrix for each sprite) This renders my scene but all the sprites share the same transformation, so it's obviously only picking the first 16 elements from the buffer which makes sense since I am passing in "1" as the second parameter. The documentation for this method says: "This should be 1 if the targeted uniform variable is not an array of matrices, and 1 or more if it is an array of matrices." So I tried modifying the shader with a fixed size array large enough to accomodate most of my scenarios: uniform mat4 u_MVPMatrix[1000]; But this lead to an error in the shader: cannot convert from 'uniform array of 4X4 matrix of float' to 'Position 4-component vector of float' This just seems wrong anyway as it's not clear to me how the shader would know when to transition to the next matrix anyway. Anyone have an idea how I can get my shader to pick up a different MVP matrix (i.e. the NEXT 16 floats) from my MVP buffer for every 4 vertices it encounters? (I am using GL_TRIANGLE_STRIP so each sprite has 4 vertices). Thanks!

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  • Do I need the 'w' component in my Vector class?

    - by bobobobo
    Assume you're writing matrix code that handles rotation, translation etc for 3d space. Now the transformation matrices have to be 4x4 to fit the translation component in. However, you don't actually need to store a w component in the vector do you? Even in perspective division, you can simply compute and store w outside of the vector, and perspective divide before returning from the method. For example: // post multiply vec2=matrix*vector Vector operator*( const Matrix & a, const Vector& v ) { Vector r ; // do matrix mult r.x = a._11*v.x + a._12*v.y ... real w = a._41*v.x + a._42*v.y ... // perspective divide r /= w ; return r ; } Is there a point in storing w in the Vector class?

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  • Why RenderTarget2D overwrites other objects when trying to put some text in a model?

    - by cad
    I am trying to draw an object composited by two cubes (A & B) (one on top of the other, but for now I have them a little bit more open). I am able to do it and this is the result. (Cube A is the blue and Cube B is the one with brown text that comes from a png texture) But I want to have any text as parameter in the cube B. I have tried what @alecnash suggested in his question, but for some reason when I try to draw cube B, cube A dissapears and everything turns purple. This is my draw code: public void Draw(GraphicsDevice graphicsDevice, SpriteBatch spriteBatch, Matrix viewMatrix, Matrix projectionMatrix) { graphicsDevice.BlendState = BlendState.Opaque; graphicsDevice.DepthStencilState = DepthStencilState.Default; graphicsDevice.RasterizerState = RasterizerState.CullCounterClockwise; graphicsDevice.SamplerStates[0] = SamplerState.LinearClamp; // CUBE A basicEffect.View = viewMatrix; basicEffect.Projection = projectionMatrix; basicEffect.World = Matrix.CreateTranslation(ModelPosition); basicEffect.VertexColorEnabled = true; foreach (EffectPass pass in basicEffect.CurrentTechnique.Passes) { pass.Apply(); drawCUBE_TOP(graphicsDevice); drawCUBE_Floor(graphicsDevice); DrawFullSquareStripesFront(graphicsDevice, _numStrips, Color.Red, Color.Blue, _levelPercentage); DrawFullSquareStripesLeft(graphicsDevice, _numStrips, Color.Red, Color.Blue, _levelPercentage); DrawFullSquareStripesRight(graphicsDevice, _numStrips, Color.Red, Color.Blue, _levelPercentage); DrawFullSquareStripesBack(graphicsDevice, _numStrips, Color.Red, Color.Blue, _levelPercentage); } // CUBE B // Set the World matrix which defines the position of the cube texturedCubeEffect.World = Matrix.CreateTranslation(ModelPosition); // Set the View matrix which defines the camera and what it's looking at texturedCubeEffect.View = viewMatrix; // Set the Projection matrix which defines how we see the scene (Field of view) texturedCubeEffect.Projection = projectionMatrix; // Enable textures on the Cube Effect. this is necessary to texture the model texturedCubeEffect.TextureEnabled = true; Texture2D a = SpriteFontTextToTexture(graphicsDevice, spriteBatch, arialFont, "TEST ", Color.Black, Color.GhostWhite); texturedCubeEffect.Texture = a; //texturedCubeEffect.Texture = cubeTexture; // Enable some pretty lights texturedCubeEffect.EnableDefaultLighting(); // apply the effect and render the cube foreach (EffectPass pass in texturedCubeEffect.CurrentTechnique.Passes) { pass.Apply(); cubeToDraw.RenderToDevice(graphicsDevice); } } private Texture2D SpriteFontTextToTexture(GraphicsDevice graphicsDevice, SpriteBatch spriteBatch, SpriteFont font, string text, Color backgroundColor, Color textColor) { Vector2 Size = font.MeasureString(text); RenderTarget2D renderTarget = new RenderTarget2D(graphicsDevice, (int)Size.X, (int)Size.Y); graphicsDevice.SetRenderTarget(renderTarget); graphicsDevice.Clear(Color.Transparent); spriteBatch.Begin(); //have to redo the ColorTexture //spriteBatch.Draw(ColorTexture.Create(graphicsDevice, 1024, 1024, backgroundColor), Vector2.Zero, Color.White); spriteBatch.DrawString(font, text, Vector2.Zero, textColor); spriteBatch.End(); graphicsDevice.SetRenderTarget(null); return renderTarget; } The way I generate texture with dynamic text is: Texture2D a = SpriteFontTextToTexture(graphicsDevice, spriteBatch, arialFont, "TEST ", Color.Black, Color.GhostWhite); After commenting several parts to see what caused the problem, it seems to be located in this line graphicsDevice.SetRenderTarget(renderTarget);

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  • World orientation in OpenGLES clarification

    - by Dev2rights
    I have a 3d tile map made up of individual billboards in OpenGLES. Each is a 2 triangles mesh and has a 3D Vector to determine its position and another defining its rotation from the origin at (0,0,0). Im trying to work out how to rotate the entire tile map around a point be that the origin or some arbitrary point in space. Im guessing i need to set up a Model Matrix instead for each tile. Then set up a world matrix for the world. Then on updating i would translate the world matrix and change the orientation and multiply it with each model matrix before rendering. Is this correct ?

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  • Efficient Multiple Linear Regression in C# / .Net

    - by mrnye
    Does anyone know of an efficient way to do multiple linear regression in C#, where the number of simultaneous equations may be in the 1000's (with 3 or 4 different inputs). After reading this article on multiple linear regression I tried implementing it with a matrix equation: Matrix y = new Matrix( new double[,]{{745}, {895}, {442}, {440}, {1598}}); Matrix x = new Matrix( new double[,]{{1, 36, 66}, {1, 37, 68}, {1, 47, 64}, {1, 32, 53}, {1, 1, 101}}); Matrix b = (x.Transpose() * x).Inverse() * x.Transpose() * y; for (int i = 0; i < b.Rows; i++) { Trace.WriteLine("INFO: " + b[i, 0].ToDouble()); } However it does not scale well to the scale of 1000's of equations due to the matrix inversion operation. I can call the R language and use that, however I was hoping there would be a pure .Net solution which will scale to these large sets. Any suggestions? EDIT #1: I have settled using R for the time being. By using statconn (downloaded here) I have found it to be both fast & relatively easy to use this method. I.e. here is a small code snippet, it really isn't much code at all to use the R statconn library (note: this is not all the code!). _StatConn.EvaluateNoReturn(string.Format("output <- lm({0})", equation)); object intercept = _StatConn.Evaluate("coefficients(output)['(Intercept)']"); parameters[0] = (double)intercept; for (int i = 0; i < xColCount; i++) { object parameter = _StatConn.Evaluate(string.Format("coefficients(output)['x{0}']", i)); parameters[i + 1] = (double)parameter; }

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  • how to export bind and keyframe bone poses from blender to use in OpenGL

    - by SaldaVonSchwartz
    EDIT: I decided to reformulate the question in much simpler terms to see if someone can give me a hand with this. Basically, I'm exporting meshes, skeletons and actions from blender into an engine of sorts that I'm working on. But I'm getting the animations wrong. I can tell the basic motion paths are being followed but there's always an axis of translation or rotation which is wrong. I think the problem is most likely not in my engine code (OpenGL-based) but rather in either my misunderstanding of some part of the theory behind skeletal animation / skinning or the way I am exporting the appropriate joint matrices from blender in my exporter script. I'll explain the theory, the engine animation system and my blender export script, hoping someone might catch the error in either or all of these. The theory: (I'm using column-major ordering since that's what I use in the engine cause it's OpenGL-based) Assume I have a mesh made up of a single vertex v, along with a transformation matrix M which takes the vertex v from the mesh's local space to world space. That is, if I was to render the mesh without a skeleton, the final position would be gl_Position = ProjectionMatrix * M * v. Now assume I have a skeleton with a single joint j in bind / rest pose. j is actually another matrix. A transform from j's local space to its parent space which I'll denote Bj. if j was part of a joint hierarchy in the skeleton, Bj would take from j space to j-1 space (that is to its parent space). However, in this example j is the only joint, so Bj takes from j space to world space, like M does for v. Now further assume I have a a set of frames, each with a second transform Cj, which works the same as Bj only that for a different, arbitrary spatial configuration of join j. Cj still takes vertices from j space to world space but j is rotated and/or translated and/or scaled. Given the above, in order to skin vertex v at keyframe n. I need to: take v from world space to joint j space modify j (while v stays fixed in j space and is thus taken along in the transformation) take v back from the modified j space to world space So the mathematical implementation of the above would be: v' = Cj * Bj^-1 * v. Actually, I have one doubt here.. I said the mesh to which v belongs has a transform M which takes from model space to world space. And I've also read in a couple textbooks that it needs to be transformed from model space to joint space. But I also said in 1 that v needs to be transformed from world to joint space. So basically I'm not sure if I need to do v' = Cj * Bj^-1 * v or v' = Cj * Bj^-1 * M * v. Right now my implementation multiples v' by M and not v. But I've tried changing this and it just screws things up in a different way cause there's something else wrong. Finally, If we wanted to skin a vertex to a joint j1 which in turn is a child of a joint j0, Bj1 would be Bj0 * Bj1 and Cj1 would be Cj0 * Cj1. But Since skinning is defined as v' = Cj * Bj^-1 * v , Bj1^-1 would be the reverse concatenation of the inverses making up the original product. That is, v' = Cj0 * Cj1 * Bj1^-1 * Bj0^-1 * v Now on to the implementation (Blender side): Assume the following mesh made up of 1 cube, whose vertices are bound to a single joint in a single-joint skeleton: Assume also there's a 60-frame, 3-keyframe animation at 60 fps. The animation essentially is: keyframe 0: the joint is in bind / rest pose (the way you see it in the image). keyframe 30: the joint translates up (+z in blender) some amount and at the same time rotates pi/4 rad clockwise. keyframe 59: the joint goes back to the same configuration it was in keyframe 0. My first source of confusion on the blender side is its coordinate system (as opposed to OpenGL's default) and the different matrices accessible through the python api. Right now, this is what my export script does about translating blender's coordinate system to OpenGL's standard system: # World transform: Blender -> OpenGL worldTransform = Matrix().Identity(4) worldTransform *= Matrix.Scale(-1, 4, (0,0,1)) worldTransform *= Matrix.Rotation(radians(90), 4, "X") # Mesh (local) transform matrix file.write('Mesh Transform:\n') localTransform = mesh.matrix_local.copy() localTransform = worldTransform * localTransform for col in localTransform.col: file.write('{:9f} {:9f} {:9f} {:9f}\n'.format(col[0], col[1], col[2], col[3])) file.write('\n') So if you will, my "world" matrix is basically the act of changing blenders coordinate system to the default GL one with +y up, +x right and -z into the viewing volume. Then I also premultiply (in the sense that it's done by the time we reach the engine, not in the sense of post or pre in terms of matrix multiplication order) the mesh matrix M so that I don't need to multiply it again once per draw call in the engine. About the possible matrices to extract from Blender joints (bones in Blender parlance), I'm doing the following: For joint bind poses: def DFSJointTraversal(file, skeleton, jointList): for joint in jointList: bindPoseJoint = skeleton.data.bones[joint.name] bindPoseTransform = bindPoseJoint.matrix_local.inverted() file.write('Joint ' + joint.name + ' Transform {\n') translationV = bindPoseTransform.to_translation() rotationQ = bindPoseTransform.to_3x3().to_quaternion() scaleV = bindPoseTransform.to_scale() file.write('T {:9f} {:9f} {:9f}\n'.format(translationV[0], translationV[1], translationV[2])) file.write('Q {:9f} {:9f} {:9f} {:9f}\n'.format(rotationQ[1], rotationQ[2], rotationQ[3], rotationQ[0])) file.write('S {:9f} {:9f} {:9f}\n'.format(scaleV[0], scaleV[1], scaleV[2])) DFSJointTraversal(file, skeleton, joint.children) file.write('}\n') Note that I'm actually grabbing the inverse of what I think is the bind pose transform Bj. This is so I don't need to invert it in the engine. Also note I went for matrix_local, assuming this is Bj. The other option is plain "matrix", which as far as I can tell is the same only that not homogeneous. For joint current / keyframe poses: for kfIndex in keyframes: bpy.context.scene.frame_set(kfIndex) file.write('keyframe: {:d}\n'.format(int(kfIndex))) for i in range(0, len(skeleton.data.bones)): file.write('joint: {:d}\n'.format(i)) currentPoseJoint = skeleton.pose.bones[i] currentPoseTransform = currentPoseJoint.matrix translationV = currentPoseTransform.to_translation() rotationQ = currentPoseTransform.to_3x3().to_quaternion() scaleV = currentPoseTransform.to_scale() file.write('T {:9f} {:9f} {:9f}\n'.format(translationV[0], translationV[1], translationV[2])) file.write('Q {:9f} {:9f} {:9f} {:9f}\n'.format(rotationQ[1], rotationQ[2], rotationQ[3], rotationQ[0])) file.write('S {:9f} {:9f} {:9f}\n'.format(scaleV[0], scaleV[1], scaleV[2])) file.write('\n') Note that here I go for skeleton.pose.bones instead of data.bones and that I have a choice of 3 matrices: matrix, matrix_basis and matrix_channel. From the descriptions in the python API docs I'm not super clear which one I should choose, though I think it's the plain matrix. Also note I do not invert the matrix in this case. The implementation (Engine / OpenGL side): My animation subsystem does the following on each update (I'm omitting parts of the update loop where it's figured out which objects need update and time is hardcoded here for simplicity): static double time = 0; time = fmod((time + elapsedTime),1.); uint16_t LERPKeyframeNumber = 60 * time; uint16_t lkeyframeNumber = 0; uint16_t lkeyframeIndex = 0; uint16_t rkeyframeNumber = 0; uint16_t rkeyframeIndex = 0; for (int i = 0; i < aClip.keyframesCount; i++) { uint16_t keyframeNumber = aClip.keyframes[i].number; if (keyframeNumber <= LERPKeyframeNumber) { lkeyframeIndex = i; lkeyframeNumber = keyframeNumber; } else { rkeyframeIndex = i; rkeyframeNumber = keyframeNumber; break; } } double lTime = lkeyframeNumber / 60.; double rTime = rkeyframeNumber / 60.; double blendFactor = (time - lTime) / (rTime - lTime); GLKMatrix4 bindPosePalette[aSkeleton.jointsCount]; GLKMatrix4 currentPosePalette[aSkeleton.jointsCount]; for (int i = 0; i < aSkeleton.jointsCount; i++) { F3DETQSType& lPose = aClip.keyframes[lkeyframeIndex].skeletonPose.joints[i]; F3DETQSType& rPose = aClip.keyframes[rkeyframeIndex].skeletonPose.joints[i]; GLKVector3 LERPTranslation = GLKVector3Lerp(lPose.t, rPose.t, blendFactor); GLKQuaternion SLERPRotation = GLKQuaternionSlerp(lPose.q, rPose.q, blendFactor); GLKVector3 LERPScaling = GLKVector3Lerp(lPose.s, rPose.s, blendFactor); GLKMatrix4 currentTransform = GLKMatrix4MakeWithQuaternion(SLERPRotation); currentTransform = GLKMatrix4TranslateWithVector3(currentTransform, LERPTranslation); currentTransform = GLKMatrix4ScaleWithVector3(currentTransform, LERPScaling); GLKMatrix4 inverseBindTransform = GLKMatrix4MakeWithQuaternion(aSkeleton.joints[i].inverseBindTransform.q); inverseBindTransform = GLKMatrix4TranslateWithVector3(inverseBindTransform, aSkeleton.joints[i].inverseBindTransform.t); inverseBindTransform = GLKMatrix4ScaleWithVector3(inverseBindTransform, aSkeleton.joints[i].inverseBindTransform.s); if (aSkeleton.joints[i].parentIndex == -1) { bindPosePalette[i] = inverseBindTransform; currentPosePalette[i] = currentTransform; } else { bindPosePalette[i] = GLKMatrix4Multiply(inverseBindTransform, bindPosePalette[aSkeleton.joints[i].parentIndex]); currentPosePalette[i] = GLKMatrix4Multiply(currentPosePalette[aSkeleton.joints[i].parentIndex], currentTransform); } aSkeleton.skinningPalette[i] = GLKMatrix4Multiply(currentPosePalette[i], bindPosePalette[i]); } Finally, this is my vertex shader: #version 100 uniform mat4 modelMatrix; uniform mat3 normalMatrix; uniform mat4 projectionMatrix; uniform mat4 skinningPalette[6]; uniform lowp float skinningEnabled; attribute vec4 position; attribute vec3 normal; attribute vec2 tCoordinates; attribute vec4 jointsWeights; attribute vec4 jointsIndices; varying highp vec2 tCoordinatesVarying; varying highp float lIntensity; void main() { tCoordinatesVarying = tCoordinates; vec4 skinnedVertexPosition = vec4(0.); for (int i = 0; i < 4; i++) { skinnedVertexPosition += jointsWeights[i] * skinningPalette[int(jointsIndices[i])] * position; } vec4 skinnedNormal = vec4(0.); for (int i = 0; i < 4; i++) { skinnedNormal += jointsWeights[i] * skinningPalette[int(jointsIndices[i])] * vec4(normal, 0.); } vec4 finalPosition = mix(position, skinnedVertexPosition, skinningEnabled); vec4 finalNormal = mix(vec4(normal, 0.), skinnedNormal, skinningEnabled); vec3 eyeNormal = normalize(normalMatrix * finalNormal.xyz); vec3 lightPosition = vec3(0., 0., 2.); lIntensity = max(0.0, dot(eyeNormal, normalize(lightPosition))); gl_Position = projectionMatrix * modelMatrix * finalPosition; } The result is that the animation displays wrong in terms of orientation. That is, instead of bobbing up and down it bobs in and out (along what I think is the Z axis according to my transform in the export clip). And the rotation angle is counterclockwise instead of clockwise. If I try with a more than one joint, then it's almost as if the second joint rotates in it's own different coordinate space and does not follow 100% its parent's transform. Which I assume it should from my animation subsystem which I assume in turn follows the theory I explained for the case of more than one joint. Any thoughts?

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