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  • Designing for visually impaired gamers

    - by Aku
    Globally the number of people of all ages visually impaired is estimated to be 285 million, of whom 39 million are blind. — World Health Organisation, 2010. (That's 4.2% and 0.6% of the world population.) Most videogames put a strong emphasis on visuals in their content delivery. Visually impaired gamers are largely left out. How do I design a game to be accessible to visually impaired gamers?

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  • Noise Canceling Earphones

    - by Mark Treadwell
    I travel a lot. The hours spent droning through the sky can be made more tolerable with an MP3 player and a set of noise-cancelling headphones. Reducing the sound of the airflow and engines is a great relief. For a year or two, I used a pair of folding Sony MDR-NC5 Noise Canceling Headphones, the ear foam covers self-destructed. I replaced them with old washcloth material and was happy, but the DW thought it looked bad.  I switched to a new set of Sony MDR-NC6 Noise Canceling Headphones.  These worked equally well, although they did not fold as small as the MDR-NC5 headphones. Over four years of use, the MDR-NC6 headphones started cutting out and making popping noises.  This was not surprising considering the beating they took on travel in my backpack.  It looked like I needed another new set. The older MDR-NC5 headphones were still on the shelf with the hated washcloth covers.  A quick search online showed a vibrant business in selling replacement ear foams, often at exorbitant prices.  Nowhere did I see ear foam covers made for the oblong MDR-NC5.  I then realized that foam is stretchable and that the shape should not matter.  After another search and some consideration, I purchased 2-5/16" foam pad ear covers that were able to stretch over the MDR-NC5's strange shape.  Problem solved for less than $5.

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  • Great SharePoint Community Resources

    - by Enrique Lima
    3 sites that any person working with SharePoint should visit are: SharePoint Magazine SharePoint Magazine is an online magazine dedicated to the world of SharePoint and related Information Worker Technologies. End User SharePoint Community driven content, at this point in time the site is a historical archive of content released. Nothing But SharePoint I see this as the natural evolution of EndUserSharePoint.com Follows on the same great principle of community driven content, but expanding from the world of End User to the IT Pro and Developer realms.

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  • How SEO Consulting Services Can Help Your Business Grow

    There are a great number of SEO Consulting Services Available in the world today. On inspecting these elements as well as necessity by nearly relevant segment of population of the world, conventional million of websites host as well as can get online inside a number of benefits from results conventional. Everywhere it proves intricate which help in novel websites to compete having remaining websites which are already running as well as are various on each most excellent of each place in Google result pages.

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  • Conversion Optimization Part 1

    The world of search engine optimization is such that whoever enters the threshold of this world, enhances the volume and quality of traffic to their web page or web site. Unlike other forms of search engine marketing that primarily deal with paid inclusions; search engine optimization gives 100 percent organic (un-paid) search results.

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  • Want to Do SEO? Get Proper SEO Training

    Today's interconnected world, he who holds the power of information technology, rules the world. For your business, though old school marketing techniques may still prove viable, it is important to learn the value of Internet marketing as well. To learn SEO, means to get the proper SEO training as well.

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  • Website Hosting SEO Services That Deliver Impeccable Results

    Webmasters around the world have been seeking ways in which they can make the most of now by simply looking forward for a way in which they can help build a definite way in which they can formulate the development of Website Hosting SEO. There are a great number of services that are available in the modern world that are capable of helping create and develop one of a kind strategy. SEO is slowly becoming an outdated service as there are greater reasons for webmasters opting for website Hosting SEO.

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  • The Perils of Running Database Repair

    In a perfect world everyone has the right backups to be able to recover within the downtime and data-loss service level agreements when accidental data loss or corruption occurs. Unfortunately we don’t live in a perfect world and so many people find that they don’t have the backups they need to recover when faced with corruption. What are your servers really trying to tell you? Find out with new SQL Monitor 3.0, an easy-to-use tool built for no-nonsense database professionals.For effortless insights into SQL Server, download a free trial today.

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  • China's Search Engines

    As the Internet becomes an increasingly valuable tool for reaching people around the world, businesses can use the Internet and search engines to target an audience in one of the world's biggest economies: China. Recently, there has been great changes in search engines in the Chinese market.

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  • What is the Need of Website Development?

    In the corporate world, the danger of not having a strong web presence cannot be imagined by the businesses. Every business needs to be up to date, to be successful and boost up their business; it needs to have a place in the World Wide Web.

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  • How an SEO Company Can Push Your Business Higher

    You would get desired results if you choose a Toronto SEO company to do your search engine optimization (SEO) work for you. Toronto is one of most popular cities in the world that houses around 3 million people and millions around the world surf the internet for information on events, businesses, and tourist spots.

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  • How an SEO Company Can Push Your Business Higher

    You would get desired results if you choose a Toronto SEO company to do your search engine optimization (SEO) work for you. Toronto is one of most popular cities in the world that houses around 3 million people and millions around the world surf the internet for information on events, businesses, and tourist spots.

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  • Why SEO Services Are Rising

    When we write www that means world wide website, the internet has connected the whole world through websites. Everything is available on internet, products, information, services and lot more. It does not matter where you are located but your address starts from www. These three alphabets have changed the lives of many people.

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  • SEO Hosting Reseller

    There are a number of reasons why SEO Hosting Reseller Accounts have become the most sought after tools in the webmasters hosting world. Making the most of them is the basis of knowing where and when they can be manipulated in the world.

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  • 3D Graphics with XNA Game Studio 4.0 bug in light map?

    - by Eibis
    i'm following the tutorials on 3D Graphics with XNA Game Studio 4.0 and I came up with an horrible effect when I tried to implement the Light Map http://i.stack.imgur.com/BUWvU.jpg this effect shows up when I look towards the center of the house (and it moves with me). it has this shape because I'm using a sphere to represent light; using other light shapes gives different results. I'm using a class PreLightingRenderer: using System; using System.Collections.Generic; using System.Linq; using System.Text; using Microsoft.Xna.Framework; using Microsoft.Xna.Framework.Graphics; using Dhpoware; using Microsoft.Xna.Framework.Content; namespace XNAFirstPersonCamera { public class PrelightingRenderer { // Normal, depth, and light map render targets RenderTarget2D depthTarg; RenderTarget2D normalTarg; RenderTarget2D lightTarg; // Depth/normal effect and light mapping effect Effect depthNormalEffect; Effect lightingEffect; // Point light (sphere) mesh Model lightMesh; // List of models, lights, and the camera public List<CModel> Models { get; set; } public List<PPPointLight> Lights { get; set; } public FirstPersonCamera Camera { get; set; } GraphicsDevice graphicsDevice; int viewWidth = 0, viewHeight = 0; public PrelightingRenderer(GraphicsDevice GraphicsDevice, ContentManager Content) { viewWidth = GraphicsDevice.Viewport.Width; viewHeight = GraphicsDevice.Viewport.Height; // Create the three render targets depthTarg = new RenderTarget2D(GraphicsDevice, viewWidth, viewHeight, false, SurfaceFormat.Single, DepthFormat.Depth24); normalTarg = new RenderTarget2D(GraphicsDevice, viewWidth, viewHeight, false, SurfaceFormat.Color, DepthFormat.Depth24); lightTarg = new RenderTarget2D(GraphicsDevice, viewWidth, viewHeight, false, SurfaceFormat.Color, DepthFormat.Depth24); // Load effects depthNormalEffect = Content.Load<Effect>(@"Effects\PPDepthNormal"); lightingEffect = Content.Load<Effect>(@"Effects\PPLight"); // Set effect parameters to light mapping effect lightingEffect.Parameters["viewportWidth"].SetValue(viewWidth); lightingEffect.Parameters["viewportHeight"].SetValue(viewHeight); // Load point light mesh and set light mapping effect to it lightMesh = Content.Load<Model>(@"Models\PPLightMesh"); lightMesh.Meshes[0].MeshParts[0].Effect = lightingEffect; this.graphicsDevice = GraphicsDevice; } public void Draw() { drawDepthNormalMap(); drawLightMap(); prepareMainPass(); } void drawDepthNormalMap() { // Set the render targets to 'slots' 1 and 2 graphicsDevice.SetRenderTargets(normalTarg, depthTarg); // Clear the render target to 1 (infinite depth) graphicsDevice.Clear(Color.White); // Draw each model with the PPDepthNormal effect foreach (CModel model in Models) { model.CacheEffects(); model.SetModelEffect(depthNormalEffect, false); model.Draw(Camera.ViewMatrix, Camera.ProjectionMatrix, Camera.Position); model.RestoreEffects(); } // Un-set the render targets graphicsDevice.SetRenderTargets(null); } void drawLightMap() { // Set the depth and normal map info to the effect lightingEffect.Parameters["DepthTexture"].SetValue(depthTarg); lightingEffect.Parameters["NormalTexture"].SetValue(normalTarg); // Calculate the view * projection matrix Matrix viewProjection = Camera.ViewMatrix * Camera.ProjectionMatrix; // Set the inverse of the view * projection matrix to the effect Matrix invViewProjection = Matrix.Invert(viewProjection); lightingEffect.Parameters["InvViewProjection"].SetValue(invViewProjection); // Set the render target to the graphics device graphicsDevice.SetRenderTarget(lightTarg); // Clear the render target to black (no light) graphicsDevice.Clear(Color.Black); // Set render states to additive (lights will add their influences) graphicsDevice.BlendState = BlendState.Additive; graphicsDevice.DepthStencilState = DepthStencilState.None; foreach (PPPointLight light in Lights) { // Set the light's parameters to the effect light.SetEffectParameters(lightingEffect); // Calculate the world * view * projection matrix and set it to // the effect Matrix wvp = (Matrix.CreateScale(light.Attenuation) * Matrix.CreateTranslation(light.Position)) * viewProjection; lightingEffect.Parameters["WorldViewProjection"].SetValue(wvp); // Determine the distance between the light and camera float dist = Vector3.Distance(Camera.Position, light.Position); // If the camera is inside the light-sphere, invert the cull mode // to draw the inside of the sphere instead of the outside if (dist < light.Attenuation) graphicsDevice.RasterizerState = RasterizerState.CullClockwise; // Draw the point-light-sphere lightMesh.Meshes[0].Draw(); // Revert the cull mode graphicsDevice.RasterizerState = RasterizerState.CullCounterClockwise; } // Revert the blending and depth render states graphicsDevice.BlendState = BlendState.Opaque; graphicsDevice.DepthStencilState = DepthStencilState.Default; // Un-set the render target graphicsDevice.SetRenderTarget(null); } void prepareMainPass() { foreach (CModel model in Models) foreach (ModelMesh mesh in model.Model.Meshes) foreach (ModelMeshPart part in mesh.MeshParts) { // Set the light map and viewport parameters to each model's effect if (part.Effect.Parameters["LightTexture"] != null) part.Effect.Parameters["LightTexture"].SetValue(lightTarg); if (part.Effect.Parameters["viewportWidth"] != null) part.Effect.Parameters["viewportWidth"].SetValue(viewWidth); if (part.Effect.Parameters["viewportHeight"] != null) part.Effect.Parameters["viewportHeight"].SetValue(viewHeight); } } } } that uses three effect: PPDepthNormal.fx float4x4 World; float4x4 View; float4x4 Projection; struct VertexShaderInput { float4 Position : POSITION0; float3 Normal : NORMAL0; }; struct VertexShaderOutput { float4 Position : POSITION0; float2 Depth : TEXCOORD0; float3 Normal : TEXCOORD1; }; VertexShaderOutput VertexShaderFunction(VertexShaderInput input) { VertexShaderOutput output; float4x4 viewProjection = mul(View, Projection); float4x4 worldViewProjection = mul(World, viewProjection); output.Position = mul(input.Position, worldViewProjection); output.Normal = mul(input.Normal, World); // Position's z and w components correspond to the distance // from camera and distance of the far plane respectively output.Depth.xy = output.Position.zw; return output; } // We render to two targets simultaneously, so we can't // simply return a float4 from the pixel shader struct PixelShaderOutput { float4 Normal : COLOR0; float4 Depth : COLOR1; }; PixelShaderOutput PixelShaderFunction(VertexShaderOutput input) { PixelShaderOutput output; // Depth is stored as distance from camera / far plane distance // to get value between 0 and 1 output.Depth = input.Depth.x / input.Depth.y; // Normal map simply stores X, Y and Z components of normal // shifted from (-1 to 1) range to (0 to 1) range output.Normal.xyz = (normalize(input.Normal).xyz / 2) + .5; // Other components must be initialized to compile output.Depth.a = 1; output.Normal.a = 1; return output; } technique Technique1 { pass Pass1 { VertexShader = compile vs_1_1 VertexShaderFunction(); PixelShader = compile ps_2_0 PixelShaderFunction(); } } PPLight.fx float4x4 WorldViewProjection; float4x4 InvViewProjection; texture2D DepthTexture; texture2D NormalTexture; sampler2D depthSampler = sampler_state { texture = ; minfilter = point; magfilter = point; mipfilter = point; }; sampler2D normalSampler = sampler_state { texture = ; minfilter = point; magfilter = point; mipfilter = point; }; float3 LightColor; float3 LightPosition; float LightAttenuation; // Include shared functions #include "PPShared.vsi" struct VertexShaderInput { float4 Position : POSITION0; }; struct VertexShaderOutput { float4 Position : POSITION0; float4 LightPosition : TEXCOORD0; }; VertexShaderOutput VertexShaderFunction(VertexShaderInput input) { VertexShaderOutput output; output.Position = mul(input.Position, WorldViewProjection); output.LightPosition = output.Position; return output; } float4 PixelShaderFunction(VertexShaderOutput input) : COLOR0 { // Find the pixel coordinates of the input position in the depth // and normal textures float2 texCoord = postProjToScreen(input.LightPosition) + halfPixel(); // Extract the depth for this pixel from the depth map float4 depth = tex2D(depthSampler, texCoord); // Recreate the position with the UV coordinates and depth value float4 position; position.x = texCoord.x * 2 - 1; position.y = (1 - texCoord.y) * 2 - 1; position.z = depth.r; position.w = 1.0f; // Transform position from screen space to world space position = mul(position, InvViewProjection); position.xyz /= position.w; // Extract the normal from the normal map and move from // 0 to 1 range to -1 to 1 range float4 normal = (tex2D(normalSampler, texCoord) - .5) * 2; // Perform the lighting calculations for a point light float3 lightDirection = normalize(LightPosition - position); float lighting = clamp(dot(normal, lightDirection), 0, 1); // Attenuate the light to simulate a point light float d = distance(LightPosition, position); float att = 1 - pow(d / LightAttenuation, 6); return float4(LightColor * lighting * att, 1); } technique Technique1 { pass Pass1 { VertexShader = compile vs_1_1 VertexShaderFunction(); PixelShader = compile ps_2_0 PixelShaderFunction(); } } PPShared.vsi has some common functions: float viewportWidth; float viewportHeight; // Calculate the 2D screen position of a 3D position float2 postProjToScreen(float4 position) { float2 screenPos = position.xy / position.w; return 0.5f * (float2(screenPos.x, -screenPos.y) + 1); } // Calculate the size of one half of a pixel, to convert // between texels and pixels float2 halfPixel() { return 0.5f / float2(viewportWidth, viewportHeight); } and finally from the Game class I set up in LoadContent with: effect = Content.Load(@"Effects\PPModel"); models[0] = new CModel(Content.Load(@"Models\teapot"), new Vector3(-50, 80, 0), new Vector3(0, 0, 0), 1f, Content.Load(@"Textures\prova_texture_autocad"), GraphicsDevice); house = new CModel(Content.Load(@"Models\house"), new Vector3(0, 0, 0), new Vector3((float)-Math.PI / 2, 0, 0), 35.0f, Content.Load(@"Textures\prova_texture_autocad"), GraphicsDevice); models[0].SetModelEffect(effect, true); house.SetModelEffect(effect, true); renderer = new PrelightingRenderer(GraphicsDevice, Content); renderer.Models = new List(); renderer.Models.Add(house); renderer.Models.Add(models[0]); renderer.Lights = new List() { new PPPointLight(new Vector3(0, 120, 0), Color.White * .85f, 2000) }; where PPModel.fx is: float4x4 World; float4x4 View; float4x4 Projection; texture2D BasicTexture; sampler2D basicTextureSampler = sampler_state { texture = ; addressU = wrap; addressV = wrap; minfilter = anisotropic; magfilter = anisotropic; mipfilter = linear; }; bool TextureEnabled = true; texture2D LightTexture; sampler2D lightSampler = sampler_state { texture = ; minfilter = point; magfilter = point; mipfilter = point; }; float3 AmbientColor = float3(0.15, 0.15, 0.15); float3 DiffuseColor; #include "PPShared.vsi" struct VertexShaderInput { float4 Position : POSITION0; float2 UV : TEXCOORD0; }; struct VertexShaderOutput { float4 Position : POSITION0; float2 UV : TEXCOORD0; float4 PositionCopy : TEXCOORD1; }; VertexShaderOutput VertexShaderFunction(VertexShaderInput input) { VertexShaderOutput output; float4x4 worldViewProjection = mul(World, mul(View, Projection)); output.Position = mul(input.Position, worldViewProjection); output.PositionCopy = output.Position; output.UV = input.UV; return output; } float4 PixelShaderFunction(VertexShaderOutput input) : COLOR0 { // Sample model's texture float3 basicTexture = tex2D(basicTextureSampler, input.UV); if (!TextureEnabled) basicTexture = float4(1, 1, 1, 1); // Extract lighting value from light map float2 texCoord = postProjToScreen(input.PositionCopy) + halfPixel(); float3 light = tex2D(lightSampler, texCoord); light += AmbientColor; return float4(basicTexture * DiffuseColor * light, 1); } technique Technique1 { pass Pass1 { VertexShader = compile vs_1_1 VertexShaderFunction(); PixelShader = compile ps_2_0 PixelShaderFunction(); } } I don't have any idea on what's wrong... googling the web I found that this tutorial may have some bug but I don't know if it's the LightModel fault (the sphere) or in a shader or in the class PrelightingRenderer. Any help is very appreciated, thank you for reading!

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  • Cannot run "Automation Anywhere" exe files from console (session 0) on Windows Server 2003 64 bit

    - by Tyler
    I have a simple exe created from an Automation Anywhere task that displays a message box saying hello world. I created this simple exe just for debugging the following issue. When I log in to the console (session 0), and run the Automation Anywhere created executable, it starts to run the task, it shows up in the applications and processes list in the task manager and it shows the two "loading..." windows briefly on the screen, just like normal. But after that, nothing happens... the "hello world" message does not show up. The exe is done and is removed from the application and process list in the task manager. The user I am logged in as, has admin rights and the machine uses "autologin" to automatically log in using this profile when it starts up. If I right click on the exe and "run as" another admin user, the exe runs properly, showing the "hello world" message. Also, if I log into the server in a new session, with the original user (the one that has the problems in session 0), and then run the exe, it runs properly and shows the "hello world". It works fine in any session other than the console session. There is something about the console session that is causing the exe not to run properly... even though it does appear to start running the exe. I should also mention that everything was working fine until Monday at midnight, after which none of the executables could be run successfully. Nothing was changed on the server and no updates were installed. I have since installed windows updates, but that didn't change anything. Looking for some advice on how to get these executables working in the console session again. Thanks!

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  • How do I make rsync also check ctime?

    - by Benoît
    rsync detects files modification by comparing size and mtime. However, if for any reason, the mtime is unchanged, rsync won't detect the change, although it's possible to spot it by looking at the ctime. Of course, I can tell rsync do compare the whole files' contents, but that's very very expensive. Is there a way to make rsync smarter, for example by checking mtime+size are the same AND that ctime isn't newer than mtime (on both source and destination) ? Or should I open a feature request ? Here's an example: Create 2 files, same content and atime/mtime benoit@debian:~$ mkdir d1 && cd d1 benoit@debian:~/d1$ echo Hello > a benoit@debian:~/d1$ cp -a a b Rsync them to another (non-exisiting) directory: benoit@debian:~/d1$ cd .. benoit@debian:~$ rsync -av d1/ d2 sending incremental file list created directory d2 ./ a b sent 164 bytes received 53 bytes 434.00 bytes/sec total size is 12 speedup is 0.06 OK, everything is synced benoit@debian:~$ grep . d*/* d1/a:Hello d1/b:Hello d2/a:Hello d2/b:Hello Update file 'b', same size and then reset its atime/mtime benoit@debian:~$ echo World > d1/b benoit@debian:~$ touch -r d1/a d1/b Attempt to rsync again: benoit@debian:~$ rsync -av d1/ d2 sending incremental file list sent 63 bytes received 12 bytes 150.00 bytes/sec total size is 12 speedup is 0.16 Nope, rsync missed the change. benoit@debian:~$ grep . d*/* d1/a:Hello d1/b:World d2/a:Hello d2/b:Hello Tell rsync the compare the file content benoit@debian:~$ rsync -acv d1/ d2 sending incremental file list b sent 144 bytes received 31 bytes 350.00 bytes/sec total size is 12 speedup is 0.07 Gives the correct result: benoit@debian:~$ grep . d*/* d1/a:Hello d1/b:World d2/a:Hello d2/b:World

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  • Performance-optimizing Oracle 10g on a server that is also a Tomcat JSP app server?

    - by PKHunter
    I have inherited a simple RedHat 5 - 64bit platform. It has SCSI disks on RAID1, with 16GB of RAM. Double Core CPU. Oracle 10g, Release 2. This would be a decent platform for running the DB only, perhaps, but the same server in an "A-A mode" clustering (very simple) also runs Tomcat and there are several Java servlets running on this. Sadly there is no caching platform etc. We only use an external CDN for some html caching. I am personally more familiar with web environments on the LAMPP platform (apache, php, mysql, postgresql). PROBLEM: Because the server has both Tomcat JSP/Java and Oracle 10g running on the same server, with no caching, I have some issues of the server going down. Often, sadly. QUESTION: What are my options in terms of improving performance of all these different apps? Connection Pooling? Example, in Postgresql world we have PgBouncer, which really helps things. Does Oracle have something similar? Or is there a famous Java-based external pooler that people use in production environments? (I'm not familiar with Java) Any "SQL cache" as in the MySQL and Postgresql world? Any other kind of application cache, as "APC" or "eAccelarator" in the PHP world? The "OSCache" stuff from the Java world (JSP thingie I found on Google: http://onjava.com/pub/a/onjava/2005/01/05/jspcache.html?page=2) ... What else? Sorry if this is a noob question. I have googled and googled, but problem is I don't know what to google for, other than the broad general concepts above. So if not full answers, I would even appreciate basic pointers and I am happy to JFGI myself. Thanks!

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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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