├── Cargo.toml
├── README.md
├── misc
    ├── anim.png
    ├── geom.png
    ├── main.png
    └── weights.png
├── src
    ├── animation.rs
    ├── lib.rs
    ├── skeleton.rs
    ├── transform.rs
    ├── utils.rs
    └── vertices.rs
└── test
    ├── human
        ├── death.dae
        ├── human.bin
        ├── human.blend
        ├── run.dae
        ├── texture.png
        └── walk.dae
    ├── spider
        ├── spider.bin
        ├── spider.blend
        └── walk.dae
    └── tube
        ├── tube.bin
        └── tube.dae


/Cargo.toml:
--------------------------------------------------------------------------------
 1 | [package]
 2 | name = "rib"
 3 | version = "0.1.0"
 4 | authors = ["Matthieu Baumann <matthieu.baumann@astro.unistra.fr>"]
 5 | edition = "2018"
 6 | keywords = ["gamedev", "graphics", "rigging", "skinning", "animation"]
 7 | description = "low level API for importing COLLADA files from Blender"
 8 | license = "MIT OR Apache-2.0"
 9 | repository = "https://github.com/bmatthieu3/rib"
10 | readme = "README.md"
11 | 
12 | [dependencies]
13 | collada = { version = "0.13.0", branch = "master", git = "https://github.com/bmatthieu3/piston_collada.git" }
14 | nalgebra = {version = "0.23.1", features = ["serde-serialize"]}
15 | serde = { version = "*", features = ["derive"] }
16 | bincode = "1.3.1"


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/README.md:
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  1 | ## rib: a Rust collada importer for your 3D game projects
  2 | 
  3 | rib is built on top of the [piston_collada](https://github.com/PistonDevelopers/piston_collada).
  4 | You give it the path to a directory containing all the DAE files (1 animation per file) of your 3D model
  5 | and it gives you:
  6 | - The vertices of the model. Each vertex contains a position and may contain a normal, texcoord, two bones indexes of the bones influencing this vertex as well as the weight associated to these two bones.
  7 | - The animations of the model if there are. Internally it is stored as a hashmap indexed by the DAE filename containing the animation. It is possible to query at a specific time the transform matrices of the bones in the world space.
  8 | 
  9 | As a user, you just need to:
 10 | - Send as vertex attributes the vertices from the model at the beginning of the program
 11 | - At each frame, query the animation to get the current bone matrices and send them, e.g. as an array of matrices 4x4 or as a texture (see this [article](https://developer.nvidia.com/gpugems/gpugems3/part-i-geometry/chapter-2-animated-crowd-rendering) for more explanation)
 12 | 
 13 | rib offers **read** and **write** methods that use [bincode]() for (de)serializing the vertices/animations to a compressed binary format. This way, in a game for example, it will be faster to load the binaries than parsing the multiple collada files one by one for building the rib data-structure.
 14 | 
 15 | ## Example
 16 | 
 17 | Here is an example of a [human low-poly](https://opengameart.org/content/animated-human-low-poly) model found on the very good opengameart.org game resources archive:
 18 | 
 19 | [![Alt text](https://img.youtube.com/vi/9Xwf7G9upOY/0.jpg)](https://youtu.be/9Xwf7G9upOY)
 20 | 
 21 | 
 22 | 
 23 | This is animated using rib:
 24 | - The vertices are sent to the GPU as vertex attribute at the beginning of the program.
 25 | - The matrices are retreived from the ***walk*** animation and sent as a uniform array of mat4.
 26 | 
 27 | ```rust
 28 | // Get the current matrices of the bones position in the model space
 29 | let transforms = anims.query("walk", cur_time);
 30 | // Get the shader and bind it
 31 | let shader = shaders.get("animated_model").unwrap();
 32 | let shader = shader.bind(&gl);
 33 | // Send the &[nalgebra::Matrix4<f32>] to the GPU
 34 | // See https://nalgebra.org/cg_recipes/#conversions-for-shaders
 35 | unsafe {
 36 |     let num_matrices = transforms.len();
 37 |     gl.UniformMatrix4fv(location_bone_transforms, num_matrices as i32, gl::FALSE, transforms.as_slice().as_ptr() as *const f32);
 38 | };
 39 | // Draw your model
 40 | model.draw(gl, &shader, camera);
 41 | ```
 42 | 
 43 | Here is the ***vertex shader***:
 44 | ```glsl
 45 | #version 330
 46 | layout (location = 0) in vec3 position;
 47 | layout (location = 1) in vec3 normal;
 48 | layout (location = 2) in vec2 texcoord;
 49 | layout (location = 3) in vec2 weights;
 50 | layout (location = 4) in ivec2 bones_idx;
 51 | 
 52 | uniform mat4 view;
 53 | uniform mat4 model;
 54 | uniform mat4 projection;
 55 | 
 56 | const int MAX_JOINTS = 50;
 57 | uniform mat4 bone_transforms[MAX_JOINTS];
 58 | 
 59 | out vec2 uv;
 60 | 
 61 | void main() {
 62 |     mat4 transform = bone_transforms[bones_idx[0]] * weights[0] + bone_transforms[bones_idx[1]] * weights[1];
 63 | 
 64 |     vec4 ndc = projection * view * model * transform * vec4(position, 1);
 65 |     gl_Position = ndc;
 66 |     uv = texcoord;
 67 | }
 68 | ```
 69 | 
 70 | And the ***fragment shader***:
 71 | ```glsl
 72 | #version 330
 73 | uniform sampler2D tex;
 74 | 
 75 | in vec2 uv;
 76 | out vec4 finalColor;
 77 | 
 78 | void main() {
 79 |     finalColor = texture(tex, uv);
 80 | }
 81 | ```
 82 | 
 83 | ## How can I use it?
 84 | 
 85 | Some little adjustements of the .blend must be done:
 86 | 1. Limit the maximum number of bones influencing each vertex to 2! (reduce from 4 to 2)
 87 | ![Limit the number of bones influencing a vertex](https://github.com/bmatthieu3/rib/blob/master/misc/weights.png)
 88 | 2. Select the animation you want to export in the Action Editor of blender
 89 | 3. Select the mesh you want to export with its skeleton attached
 90 | 3. Export to collada file (.dae)
 91 |     1. In the **Main** tab. OpenGL's up vector is the Y axis but blender's one is Z. Check the apply box with X as the forward axis and Y as the up axis.
 92 |     ![change up axis](https://github.com/bmatthieu3/rib/blob/master/misc/main.png)
 93 |     
 94 |     2. In **Geom** tab, check the Triangulate box.
 95 |     
 96 |     ![enable triangulation](https://github.com/bmatthieu3/rib/blob/master/misc/geom.png)
 97 |     
 98 |     3. In **Anim** tab, check Include Animations, Keep Keyframes, All Keyed Curves, Include all Actions. Set a very big Sampling Rate because rib needs only the keyframes (sampling is done inside of rib by specifying a sampling rate when loading the file). This prevents your collada files to get huge too!
 99 | 
100 | ![anim options](https://github.com/bmatthieu3/rib/blob/master/misc/anim.png)
101 | 
102 | After that, simply load the directory containing all your DAE files with rib. Each .dae will contain one animation. For the moment it is not possible to export multiple animations inside only ONE collada file because the Blender collada export does not recognize the actions stack from Blender. That is why a fix can be to:
103 | 1. Export one animation per file
104 | 2. Export one file with one animation but this animation contains all the walk keyframes next to the run keyframes next to the idle keyframes etc...
105 | 
106 | For the moment the 1. solution is handled by rib. The second solution may be implemented in the future!
107 | 
108 | ## Contributing instructions
109 | 
110 | Post issues, PR if you want to participate and develop the library.
111 | 
112 | To run the tests, simply
113 | 
114 | ```bash
115 | cargo test
116 | ```
117 | 
118 | in the root of the repository.
119 | 


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/misc/anim.png:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/misc/anim.png


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/misc/geom.png:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/misc/geom.png


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/misc/main.png:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/misc/main.png


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/misc/weights.png:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/misc/weights.png


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/src/animation.rs:
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  1 | use na::Matrix4;
  2 | use std::collections::HashMap;
  3 | 
  4 | use super::transform::Transform;
  5 | use serde::{Deserialize, Serialize};
  6 | #[derive(Clone, Debug, Serialize, Deserialize)]
  7 | struct Keyframe {
  8 |     // The transform matrix of each bone per each keyframe
  9 |     //pub bone_transforms: HashMap<String, Transform>,
 10 |     //pub bone_transforms: HashMap<String, Transform>,
 11 |     pub transforms: Vec<Matrix4<f32>>,
 12 |     // Times when each keyframe begins. Of size Nkeyframe
 13 |     pub start_time: f32,
 14 | }
 15 | 
 16 | impl PartialEq for Keyframe {
 17 |     fn eq(&self, other: &Self) -> bool {
 18 |         self.start_time == other.start_time
 19 |     }
 20 | }
 21 | 
 22 | impl Keyframe {
 23 |     fn new(
 24 |         skeleton: &Skeleton,
 25 |         bone_animations: &[collada::Animation],
 26 |         start_time: f32,
 27 |         idx_keyframe: usize,
 28 |         alpha: f32,
 29 |     ) -> Self {
 30 |         let mut local_transforms = HashMap::with_capacity(bone_animations.len());
 31 |         let global_inverse_transform = Matrix4::identity();
 32 | 
 33 |         for collada::Animation {
 34 |             target,
 35 |             sample_poses,
 36 |             ..
 37 |         } in bone_animations.iter()
 38 |         {
 39 |             let bone_name = target.split('/').collect::<Vec<_>>();
 40 |             let bone_name = bone_name[0];
 41 | 
 42 |             let t0: Transform = (&sample_poses[idx_keyframe - 1]).into();
 43 |             let t1: Transform = (&sample_poses[idx_keyframe]).into();
 44 | 
 45 |             let t = t0.interpolate(&t1, alpha).into();
 46 | 
 47 |             local_transforms.insert(bone_name.to_string(), t);
 48 |         }
 49 | 
 50 |         let transforms =
 51 |             compute_final_transforms(skeleton, &local_transforms, &global_inverse_transform);
 52 |         //unreachable!();
 53 |         Keyframe {
 54 |             transforms,
 55 |             start_time,
 56 |         }
 57 |     }
 58 | }
 59 | 
 60 | use std::cmp::{Ordering, PartialOrd};
 61 | 
 62 | impl PartialOrd for Keyframe {
 63 |     fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
 64 |         self.start_time.partial_cmp(&other.start_time)
 65 |     }
 66 | }
 67 | 
 68 | #[derive(Debug, Serialize, Deserialize)]
 69 | pub struct Animation {
 70 |     /// The duration of an animation
 71 |     duration: f32,
 72 |     // A sorted-by-time keyframe vector
 73 |     keys: Vec<Keyframe>,
 74 |     frame_time: f32,
 75 | }
 76 | impl Animation {
 77 |     pub fn new(
 78 |         skeleton: &Skeleton,
 79 |         bone_animations: Vec<collada::Animation>,
 80 |         frame_time: f32,
 81 |     ) -> Self {
 82 |         let duration = {
 83 |             let first_anim_j = bone_animations.first().unwrap();
 84 | 
 85 |             let start_time = *first_anim_j.sample_times.first().unwrap();
 86 |             let end_time = *first_anim_j.sample_times.last().unwrap();
 87 |             end_time - start_time
 88 |         };
 89 |         //let final_transforms = Vec::with_capacity(bone_animations.len());
 90 | 
 91 |         // At least two keyframes
 92 |         let mut idx_keyframe = 1;
 93 |         let first_bone_animation = &bone_animations[0];
 94 |         let mut end_time_keyframe = first_bone_animation.sample_times[1];
 95 | 
 96 |         //let duration = (num_frames as f32) * FRAME_TIME;
 97 |         let mut keys = Vec::new();
 98 | 
 99 |         //let mut frame_idx = 0;
100 |         let mut time = 0.0;
101 | 
102 |         while time < duration {
103 |             if time >= end_time_keyframe {
104 |                 idx_keyframe += 1;
105 |                 end_time_keyframe = bone_animations[0].sample_times[idx_keyframe];
106 |             }
107 |             let d0 = first_bone_animation.sample_times[idx_keyframe - 1];
108 |             let d1 = first_bone_animation.sample_times[idx_keyframe];
109 |             let dur_keyframe = d1 - d0;
110 |             let alpha = if dur_keyframe > 0.0 {
111 |                 (time - d0) / dur_keyframe
112 |             } else {
113 |                 0.0
114 |             };
115 | 
116 |             let keyframe = Keyframe::new(skeleton, &bone_animations, time, idx_keyframe, alpha);
117 |             keys.push(keyframe);
118 | 
119 |             time += frame_time;
120 |         }
121 | 
122 |         keys.push(Keyframe::new(
123 |             skeleton,
124 |             &bone_animations,
125 |             duration,
126 |             idx_keyframe,
127 |             1.0,
128 |         ));
129 | 
130 |         Animation {
131 |             duration,
132 |             keys,
133 |             frame_time,
134 |         }
135 |     }
136 | 
137 |     /// Animation contains at least one keyframe
138 |     /*fn get_in_between_keyframes(&self, time: f32) -> (&Keyframe, &Keyframe) {
139 |         let num_keyframes = self.keys.len();
140 | 
141 |         assert!(num_keyframes >= 1);
142 |         if time >= self.duration || num_keyframes == 1 {
143 |             let last_key = self.keys.last().unwrap();
144 |             (last_key, last_key)
145 |         } else if time <= 0.0 {
146 |             let first_key = self.keys.first().unwrap();
147 |             (first_key, first_key)
148 |         } else {
149 |             // Binary search on keyframe starting times
150 |             let num_step = utils::log_2(self.keys.len() as i32);
151 |             let mut i = self.keys.len() >> 1;
152 | 
153 |             let mut a = 0;
154 |             let mut b = num_keyframes - 1;
155 | 
156 |             for _ in 0..(num_step + 1) {
157 |                 // time < anim duration
158 |                 let key = &self.keys[i];
159 |                 if time == key.start_time {
160 |                     break;
161 |                 } else if time < key.start_time {
162 |                     b = i - 1;
163 |                 } else {
164 |                     a = i + 1;
165 |                 }
166 |                 i = (a + b) / 2;
167 |             }
168 | 
169 |             (&self.keys[i], &self.keys[i+1])
170 |         }
171 |     }*/
172 | 
173 |     pub fn query(&self, time: f32) -> &Vec<Matrix4<f32>> {
174 |         let key = if time <= 0.0 {
175 |             &self.keys[0]
176 |         } else if time >= self.duration {
177 |             &self.keys.last().unwrap()
178 |         } else {
179 |             let frame_idx = (time / self.frame_time) as usize;
180 |             &self.keys[frame_idx]
181 |         };
182 | 
183 |         &key.transforms
184 |     }
185 | 
186 |     pub fn get_duration(&self) -> f32 {
187 |         self.duration
188 |     }
189 | }
190 | 
191 | fn compute_final_transforms(
192 |     skeleton: &Skeleton,
193 |     bone_local_transforms: &HashMap<String, Matrix4<f32>>,
194 |     global_inverse_transform: &Matrix4<f32>,
195 | ) -> Vec<Matrix4<f32>> {
196 |     let root = skeleton.get_root().as_ref().unwrap();
197 | 
198 |     let mut transforms = vec![Matrix4::identity(); skeleton.get_num_vertices_attached_bones()];
199 |     recursive_final_transforms(
200 |         skeleton,
201 |         &root,
202 |         &Matrix4::identity(),
203 |         bone_local_transforms,
204 |         global_inverse_transform,
205 |         &mut transforms,
206 |     );
207 |     transforms
208 | }
209 | fn recursive_final_transforms(
210 |     skeleton: &Skeleton,
211 |     bone: &Bone,
212 |     parent_transform: &Matrix4<f32>,
213 |     bone_local_transforms: &HashMap<String, Matrix4<f32>>,
214 |     global_inverse_transform: &Matrix4<f32>,
215 | 
216 |     final_transforms: &mut Vec<Matrix4<f32>>,
217 | ) {
218 |     let name = bone.get_name(skeleton);
219 | 
220 |     let bone_local_transform = bone_local_transforms.get(name).unwrap();
221 |     let local_transform = parent_transform * bone_local_transform;
222 | 
223 |     if bone.has_vertices_attached() {
224 |         let final_transform =
225 |             global_inverse_transform * local_transform * bone.get_inverse_bind_pose();
226 | 
227 |         let idx_transform = bone.idx_transform.unwrap();
228 |         final_transforms[idx_transform] = final_transform;
229 |     }
230 | 
231 |     if let Some(children) = bone.get_children() {
232 |         for child in children {
233 |             recursive_final_transforms(
234 |                 skeleton,
235 |                 child,
236 |                 &local_transform,
237 |                 bone_local_transforms,
238 |                 global_inverse_transform,
239 |                 final_transforms,
240 |             );
241 |         }
242 |     }
243 | }
244 | 
245 | #[derive(Debug, Serialize, Deserialize)]
246 | pub struct Animations {
247 |     anims: HashMap<String, Animation>,
248 | 
249 |     skeleton: Skeleton,
250 | }
251 | 
252 | use super::skeleton::{Bone, Skeleton};
253 | /*fn extract_anim_name_from_target(target: &str) -> &str {
254 |     target.split('/').collect::<Vec<_>>()[1]
255 | }*/
256 | 
257 | impl Animations {
258 |     pub fn new(
259 |         name: &str,
260 |         doc: &collada::document::ColladaDocument,
261 |         frame_time: f32,
262 |     ) -> Option<Self> {
263 |         if let Some(skeleton) = Skeleton::from(doc) {
264 |             if let Some(animations) = doc.get_animations() {
265 |                 // If the skeleton and animations are defined, therefore there is a bind data associated to it
266 |                 // We can unwrap to get this
267 |                 /*let bind_data_set = doc.get_bind_data_set().unwrap();
268 |                 let bind_data = bind_data_set.bind_data.first().unwrap();
269 | 
270 |                 let mut cur_name_anim = None;
271 |                 let mut cur_targets_in_anim = vec![];
272 |                 for anim in animations.into_iter() {
273 |                     if let Some(cur_name) = cur_name_anim.to_owned() {
274 |                         let new_name_anim = extract_anim_name_from_target(&anim.target).to_string();
275 |                         if new_name_anim != cur_name {
276 |                             let cur_anims = cur_targets_in_anim.drain(..).collect();
277 |                             let res =
278 |                             anims.insert(cur_name, res);
279 | 
280 |                             cur_name_anim = Some(new_name_anim);
281 |                         }
282 |                     } else {
283 |                         cur_name_anim = Some(extract_anim_name_from_target(&anim.target).to_string());
284 |                     }
285 | 
286 |                     cur_targets_in_anim.push(anim);
287 |                 }
288 |                 // Add the last animation
289 |                 if let Some(cur_name) = cur_name_anim {
290 |                     let res = Animation::new(&skeleton, bind_data, cur_targets_in_anim, frame_time);
291 |                     anims.insert(cur_name, res);
292 |                 }
293 |                 */
294 |                 let anim = Animation::new(&skeleton, animations, frame_time);
295 |                 let mut anims = HashMap::new();
296 |                 anims.insert(name.to_string(), anim);
297 | 
298 |                 Some(Animations { anims, skeleton })
299 |             } else {
300 |                 None
301 |             }
302 |         } else {
303 |             None
304 |         }
305 |     }
306 | 
307 |     pub fn append(&mut self, other: Self) {
308 |         assert_eq!(&self.skeleton, &other.skeleton);
309 |         assert_eq!(other.anims.keys().len(), 1);
310 | 
311 |         for (name, anim) in other.anims {
312 |             self.anims.insert(name, anim);
313 |         }
314 |     }
315 | 
316 |     pub fn get_animation(&self, name: &str) -> Option<&Animation> {
317 |         self.anims.get(name)
318 |     }
319 | 
320 |     pub fn query(&self, name: &str, time: f32) -> &Vec<Matrix4<f32>> {
321 |         self.anims[name].query(time)
322 |     }
323 | 
324 |     pub fn get_skeleton(&self) -> &Skeleton {
325 |         &self.skeleton
326 |     }
327 | }
328 | 


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/src/lib.rs:
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  1 | extern crate nalgebra as na;
  2 | 
  3 | mod animation;
  4 | mod skeleton;
  5 | mod transform;
  6 | mod utils;
  7 | mod vertices;
  8 | 
  9 | pub use animation::Animations;
 10 | pub use vertices::Vertices;
 11 | 
 12 | use na::{Point2, Point3, Vector3};
 13 | use std::io;
 14 | use std::path::Path;
 15 | #[derive(Debug)]
 16 | pub enum Error {
 17 |     OpenFile { path: String },
 18 |     EmptyFile,
 19 |     PrimitiveNotTriangles,
 20 |     SkeletonNotEqual,
 21 |     VerticesNotEqual,
 22 |     IoError(io::Error),
 23 |     Serialize(Box<bincode::ErrorKind>),
 24 |     Deserialize(Box<bincode::ErrorKind>),
 25 | }
 26 | 
 27 | impl<'a> From<io::Error> for Error {
 28 |     fn from(e: io::Error) -> Self {
 29 |         Error::IoError(e)
 30 |     }
 31 | }
 32 | use serde::{Deserialize, Serialize};
 33 | #[derive(Serialize, Deserialize)]
 34 | pub struct Data {
 35 |     pub vertices: Vertices,
 36 |     pub animations: Option<Animations>,
 37 | }
 38 | 
 39 | pub fn load<'a, P: AsRef<Path> + std::fmt::Debug + 'a>(
 40 |     dirname: &'a P,
 41 |     fps: f32,
 42 | ) -> Result<Data, Error> {
 43 |     let filenames = dirname
 44 |         .as_ref()
 45 |         .read_dir()?
 46 |         .into_iter()
 47 |         .filter_map(|p| {
 48 |             if let Ok(entry) = p {
 49 |                 let path = entry.path();
 50 |                 if let Some(ext) = path.extension() {
 51 |                     if ext == "dae" {
 52 |                         Some(path)
 53 |                     } else {
 54 |                         None
 55 |                     }
 56 |                 } else {
 57 |                     // Discard files having bad extensions
 58 |                     None
 59 |                 }
 60 |             } else {
 61 |                 None
 62 |             }
 63 |         })
 64 |         .collect::<Vec<_>>();
 65 | 
 66 |     let docs: Result<Vec<_>, _> = filenames
 67 |         .iter()
 68 |         .map(|f| {
 69 |             collada::document::ColladaDocument::from_path(f).map_err(|_| Error::OpenFile {
 70 |                 path: f.to_str().unwrap().to_owned(),
 71 |             })
 72 |         })
 73 |         .collect();
 74 |     let docs = docs?;
 75 |     let frame_time = 1.0 / fps;
 76 | 
 77 |     let res: Result<Vec<_>, _> = docs
 78 |         .into_iter()
 79 |         .zip(filenames.iter())
 80 |         .map(|(doc, filename)| parse_collada_doc(filename, doc, frame_time))
 81 |         .collect();
 82 |     let mut data = res?;
 83 | 
 84 |     // Check wheter the vertices and skeleton between files are equal
 85 |     for (cur, next) in data.iter().zip(data.iter().skip(1).cycle()) {
 86 |         if cur.vertices != next.vertices {
 87 |             return Err(Error::VerticesNotEqual);
 88 |         }
 89 | 
 90 |         if let Some(cur_anims) = &cur.animations {
 91 |             if let Some(next_anims) = &next.animations {
 92 |                 // The two consecutive files contain animations,
 93 |                 // so we check if their skeletons are equal
 94 |                 if cur_anims.get_skeleton() != next_anims.get_skeleton() {
 95 |                     return Err(Error::SkeletonNotEqual);
 96 |                 }
 97 |             } else {
 98 |                 return Err(Error::SkeletonNotEqual);
 99 |             }
100 |         } else if next.animations.is_some() {
101 |             return Err(Error::SkeletonNotEqual);
102 |         }
103 |     }
104 |     // At this point, either:
105 |     // - same vertices shared by the files, same skeleton, different animations
106 |     // - same vertices shared by the files, no animations (static mesh)
107 | 
108 |     // The vertices and skeleton correspond
109 |     // Therefore we can append the animations
110 |     let Data {
111 |         vertices,
112 |         animations,
113 |     } = data.remove(0);
114 |     if let Some(mut animations) = animations {
115 |         for d in data.into_iter() {
116 |             animations.append(d.animations.unwrap());
117 |         }
118 | 
119 |         let data = Data {
120 |             animations: Some(animations),
121 |             vertices,
122 |         };
123 | 
124 |         Ok(data)
125 |     } else {
126 |         // All the files do not contain any animations
127 |         // and contain the same vertices
128 |         Ok(Data {
129 |             vertices,
130 |             animations: None,
131 |         })
132 |     }
133 | }
134 | 
135 | fn parse_collada_doc<'a, P: AsRef<Path> + std::fmt::Debug + 'a>(
136 |     path: &'a P,
137 |     doc: collada::document::ColladaDocument,
138 |     frame_time: f32,
139 | ) -> Result<Data, Error> {
140 |     if let Some(obj_set) = doc.get_obj_set() {
141 |         let object = obj_set.objects.first().ok_or(Error::EmptyFile)?;
142 | 
143 |         let p = &object.vertices;
144 |         let n = &object.normals;
145 |         let t = &object.tex_vertices;
146 | 
147 |         let mut positions = vec![];
148 |         let mut normals = vec![];
149 |         let mut texcoords = vec![];
150 |         let mut indices = vec![];
151 |         let mut weights = None;
152 |         let mut bone_ids = None;
153 | 
154 |         let (w, b) = if doc.get_animations().is_some() {
155 |             // If the skeleton is defined, therefore there is a bind data associated to it
156 |             // We can unwrap to get this
157 |             let bind_data_set = doc.get_bind_data_set().unwrap();
158 |             let bind_data = bind_data_set.bind_data.first().unwrap();
159 |             let mut w: Vec<[f32; 2]> = vec![[0.0; 2]; p.len()];
160 |             let mut b: Vec<[i32; 2]> = vec![[0; 2]; p.len()];
161 | 
162 |             let mut cur_idx_weights: Vec<usize> = vec![0; p.len()];
163 | 
164 |             // Retrieve the inverse bind poses of that object
165 |             for collada::VertexWeight {
166 |                 vertex,
167 |                 joint,
168 |                 weight,
169 |             } in &bind_data.vertex_weights
170 |             {
171 |                 let cur_idx = &mut cur_idx_weights[*vertex];
172 | 
173 |                 let weight = bind_data.weights[*weight];
174 |                 w[*vertex][*cur_idx] = weight;
175 |                 b[*vertex][*cur_idx] = *joint as i32;
176 | 
177 |                 *cur_idx += 1;
178 |             }
179 | 
180 |             /*for wi in w.iter() {
181 |                 assert!((wi.iter().sum::<f32>() - 1.0).abs() < 1e-3);
182 |             }*/
183 |             // Initialize the final vertex weights and bones
184 |             weights = Some(vec![]);
185 |             bone_ids = Some(vec![]);
186 | 
187 |             (w, b)
188 |         } else {
189 |             (vec![], vec![])
190 |         };
191 | 
192 |         for geometry in &object.geometry {
193 |             for primitive in &geometry.mesh {
194 |                 match primitive {
195 |                     collada::PrimitiveElement::Triangles(triangles) => {
196 |                         let normals_idx = triangles.normals.as_ref().unwrap();
197 |                         let texcoords_idx = triangles.tex_vertices.as_ref().unwrap();
198 |                         let positions_idx = &triangles.vertices;
199 |                         assert_eq!(positions_idx.len(), normals_idx.len());
200 |                         assert_eq!(positions_idx.len(), texcoords_idx.len());
201 | 
202 |                         let mut idx = 0;
203 |                         for (&vertex_idx, (&normal_idx, &tx_idx)) in positions_idx
204 |                             .iter()
205 |                             .zip(normals_idx.iter().zip(texcoords_idx.iter()))
206 |                         {
207 |                             positions.push(Point3::new(
208 |                                 p[vertex_idx.0].x as f32,
209 |                                 p[vertex_idx.0].y as f32,
210 |                                 p[vertex_idx.0].z as f32,
211 |                             ));
212 |                             positions.push(Point3::new(
213 |                                 p[vertex_idx.1].x as f32,
214 |                                 p[vertex_idx.1].y as f32,
215 |                                 p[vertex_idx.1].z as f32,
216 |                             ));
217 |                             positions.push(Point3::new(
218 |                                 p[vertex_idx.2].x as f32,
219 |                                 p[vertex_idx.2].y as f32,
220 |                                 p[vertex_idx.2].z as f32,
221 |                             ));
222 |                             normals.push(Vector3::new(
223 |                                 n[normal_idx.0].x as f32,
224 |                                 n[normal_idx.0].y as f32,
225 |                                 n[normal_idx.0].z as f32,
226 |                             ));
227 |                             normals.push(Vector3::new(
228 |                                 n[normal_idx.1].x as f32,
229 |                                 n[normal_idx.1].y as f32,
230 |                                 n[normal_idx.1].z as f32,
231 |                             ));
232 |                             normals.push(Vector3::new(
233 |                                 n[normal_idx.2].x as f32,
234 |                                 n[normal_idx.2].y as f32,
235 |                                 n[normal_idx.2].z as f32,
236 |                             ));
237 |                             texcoords.push(Point2::new(t[tx_idx.0].x as f32, t[tx_idx.0].y as f32));
238 |                             texcoords.push(Point2::new(t[tx_idx.1].x as f32, t[tx_idx.1].y as f32));
239 |                             texcoords.push(Point2::new(t[tx_idx.2].x as f32, t[tx_idx.2].y as f32));
240 | 
241 |                             if let Some(weights) = &mut weights {
242 |                                 weights.push(w[vertex_idx.0]);
243 |                                 weights.push(w[vertex_idx.1]);
244 |                                 weights.push(w[vertex_idx.2]);
245 |                             }
246 |                             if let Some(bone_ids) = &mut bone_ids {
247 |                                 bone_ids.push(b[vertex_idx.0]);
248 |                                 bone_ids.push(b[vertex_idx.1]);
249 |                                 bone_ids.push(b[vertex_idx.2]);
250 |                             }
251 | 
252 |                             indices.extend([idx, idx + 1, idx + 2].iter());
253 |                             idx += 3;
254 |                         }
255 |                     }
256 |                     _ => return Err(Error::PrimitiveNotTriangles),
257 |                 }
258 |             }
259 |         }
260 | 
261 |         let vertices = Vertices {
262 |             positions,
263 |             normals,
264 |             texcoords,
265 |             bone_ids,
266 |             weights,
267 |             indices,
268 |         };
269 | 
270 |         if let Some(name) = path.as_ref().file_stem() {
271 |             let animations = Animations::new(name.to_str().unwrap(), &doc, frame_time);
272 |             Ok(Data {
273 |                 vertices,
274 |                 animations,
275 |             })
276 |         } else {
277 |             Err(Error::EmptyFile)
278 |         }
279 |     } else {
280 |         Err(Error::EmptyFile)
281 |     }
282 | }
283 | 
284 | pub fn write<P: AsRef<Path>>(data: &Data, path: P) -> Result<(), Error> {
285 |     let mut buffer = BufWriter::new(File::create(path)?);
286 | 
287 |     let encoded: Vec<u8> = bincode::serialize(data).map_err(Error::Serialize)?;
288 | 
289 |     buffer.write_all(&encoded)?;
290 |     buffer.flush()?;
291 | 
292 |     Ok(())
293 | }
294 | 
295 | pub fn read<P: AsRef<Path>>(filename: P) -> Result<Data, Error> {
296 |     let mut f = File::open(&filename)?;
297 | 
298 |     let mut data = Vec::new();
299 |     f.read_to_end(&mut data)?;
300 | 
301 |     let decoded = bincode::deserialize(&data[..]).map_err(Error::Deserialize)?;
302 | 
303 |     Ok(decoded)
304 | }
305 | use std::fs::File;
306 | use std::io::BufWriter;
307 | use std::io::Write;
308 | 
309 | use std::io::Read;
310 | 
311 | #[cfg(test)]
312 | mod tests {
313 |     use super::Data;
314 |     #[test]
315 |     fn serialize_to_binary() {
316 |         let model = super::load(&"./test/tube", 30.0).unwrap();
317 |         super::write(&model, "./test/tube/tube.bin").unwrap();
318 |     }
319 | 
320 |     #[test]
321 |     fn deserialize() {
322 |         let model = super::load(&"./test/tube", 30.0).unwrap();
323 | 
324 |         super::write(&model, "./test/tube/tube.bin").unwrap();
325 |         let Data { animations: _, .. } = super::read(&"./test/tube/tube.bin").unwrap();
326 |     }
327 | 
328 |     #[test]
329 |     fn human() {
330 |         let model = super::load(&"./test/human", 30.0).unwrap();
331 |         super::write(&model, "./test/human/human.bin").unwrap();
332 |         let Data { animations: _, .. } = super::read(&"./test/human/human.bin").unwrap();
333 |     }
334 | 
335 |     #[test]
336 |     fn spider() {
337 |         let model = super::load(&"./test/spider", 30.0).unwrap();
338 |         super::write(&model, "./test/spider/spider.bin").unwrap();
339 |         let Data { animations: _, .. } = super::read(&"./test/spider/spider.bin").unwrap();
340 |     }
341 | }
342 | 


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/src/skeleton.rs:
--------------------------------------------------------------------------------
  1 | use serde::{Deserialize, Serialize};
  2 | #[derive(Debug, Serialize, Deserialize, PartialEq)]
  3 | pub struct Skeleton {
  4 |     root: Option<Bone>,
  5 |     joint_names: Vec<String>,
  6 | }
  7 | impl Default for Skeleton {
  8 |     fn default() -> Self {
  9 |         Self::new()
 10 |     }
 11 | }
 12 | 
 13 | use super::transform::to_matrix4;
 14 | impl Skeleton {
 15 |     pub fn new() -> Self {
 16 |         Skeleton {
 17 |             root: None,
 18 |             joint_names: vec![],
 19 |         }
 20 |     }
 21 | 
 22 |     /// Parse the first skeleton
 23 |     pub fn from(doc: &collada::document::ColladaDocument) -> Option<Skeleton> {
 24 |         if let Some(skeletons) = &doc.get_skeletons() {
 25 |             if let Some(skeleton) = skeletons.first() {
 26 |                 if let Some(bind_data_set) = &doc.get_bind_data_set() {
 27 |                     let bind_data = &bind_data_set.bind_data[0];
 28 |                     let mut s = Skeleton::new();
 29 | 
 30 |                     let mut prev_inv_bind_pose = Matrix4::identity().into();
 31 |                     for (joint_idx, joint) in skeleton.joints.iter().enumerate() {
 32 |                         let parent_idx = if joint.parent_index == 255 {
 33 |                             // Root case
 34 |                             None
 35 |                         } else {
 36 |                             Some(joint.parent_index as usize)
 37 |                         };
 38 |                         let bind_data_joint_idx =
 39 |                             bind_data.joint_names.iter().position(|joint_name| {
 40 |                                 let skeleton_name =
 41 |                                     bind_data.skeleton_name.as_ref().unwrap().replace(" ", "_");
 42 |                                 let bind_data_name = format!("{}_{}", skeleton_name, joint_name);
 43 |                                 bind_data_name == joint.name
 44 |                             });
 45 |                         let mut vertices_attached = false;
 46 |                         let mut idx_transform = None;
 47 |                         let inverse_bind_pose =
 48 |                             if let Some(bind_data_joint_idx) = bind_data_joint_idx {
 49 |                                 let inverse_bind_pose =
 50 |                                     bind_data.inverse_bind_poses[bind_data_joint_idx];
 51 |                                 prev_inv_bind_pose = inverse_bind_pose;
 52 |                                 vertices_attached = true;
 53 |                                 idx_transform = Some(bind_data_joint_idx);
 54 | 
 55 |                                 inverse_bind_pose
 56 |                             } else {
 57 |                                 prev_inv_bind_pose
 58 |                             };
 59 | 
 60 |                         let bone = Bone::new(
 61 |                             joint_idx,
 62 |                             parent_idx,
 63 |                             to_matrix4(&inverse_bind_pose),
 64 |                             vertices_attached,
 65 |                             idx_transform,
 66 |                         );
 67 |                         let name = joint.name.to_string();
 68 |                         s.add(name, bone);
 69 |                     }
 70 | 
 71 |                     Some(s)
 72 |                 } else {
 73 |                     None
 74 |                 }
 75 | 
 76 |             /*if let Some(parent_name) = &parent_name {
 77 |                 // The bone has a parent
 78 |                 let bone = Bone::new(name, Some(parent_name.clone()), to_matrix4(&inverse_bind_pose));
 79 |                 // keep trace of the parent bone hierarchy
 80 |                 let mut bones_stack = vec![bone];
 81 |                 let mut cur_parent =  &s.joints[j.parent_index as usize];
 82 |                 while !skeleton.contains(&cur_parent.name) {
 83 |                     let parent_index = cur_parent.parent_index as usize;
 84 |                     let parent_name = if parent_index == 255 {
 85 |                         None
 86 |                     } else {
 87 |                         let parent_j = &s.joints[parent_index];
 88 |                         Some(parent_j.name.clone())
 89 |                     };
 90 |                     let inverse_bind_pose_parent = to_matrix4(&bind_data.inverse_bind_poses[parent_index]);
 91 |                     let cur_bone = Bone::new(cur_parent.name.clone(), parent_name, inverse_bind_pose_parent);
 92 |                     bones_stack.push(cur_bone);
 93 | 
 94 |                     cur_parent = &s.joints[parent_index];
 95 |                 }
 96 | 
 97 |                 // cur_parent is in the bone
 98 |                 // add the parents_bone successively
 99 |                 while !bones_stack.is_empty() {
100 |                     let bone = bones_stack.pop().unwrap();
101 |                     skeleton.add(bone);
102 |                 }
103 |             } else {*/
104 | 
105 |             //}
106 |             } else {
107 |                 None
108 |             }
109 |         } else {
110 |             None
111 |         }
112 |     }
113 | 
114 |     fn add(&mut self, name: String, bone: Bone) {
115 |         if let Some(parent_name_idx) = bone.parent_name_idx {
116 |             // By construction, the parent is already in the skeleton
117 |             // Let's check that
118 |             assert!(self.contains(parent_name_idx));
119 |             self.root.as_mut().unwrap().add(&bone);
120 |         } else {
121 |             // Bone is the root
122 |             // Make sure there is no root present
123 |             assert!(self.root.is_none());
124 | 
125 |             self.root = Some(bone);
126 |         }
127 |         self.joint_names.push(name);
128 |     }
129 | 
130 |     pub fn get_joint_names(&self) -> &[String] {
131 |         &self.joint_names
132 |     }
133 | 
134 |     fn contains(&self, name_idx: usize) -> bool {
135 |         if let Some(root) = &self.root {
136 |             root.contains(name_idx)
137 |         } else {
138 |             // The skeleton is empty
139 |             // hence it contains nothing
140 |             false
141 |         }
142 |     }
143 | 
144 |     pub fn get_root(&self) -> &Option<Bone> {
145 |         &self.root
146 |     }
147 | 
148 |     pub fn get_num_vertices_attached_bones(&self) -> usize {
149 |         let mut num_bones = 0;
150 |         if let Some(root) = &self.root {
151 |             root.get_num_vertices_attached_bones(&mut num_bones);
152 |         }
153 |         num_bones
154 |     }
155 | }
156 | use na::Matrix4;
157 | #[derive(Debug, Clone, Serialize, Deserialize, PartialEq)]
158 | pub struct Bone {
159 |     // The name of the bone
160 |     name_idx: usize,
161 |     /// The name of its parent, None if the bone is the root
162 |     parent_name_idx: Option<usize>,
163 | 
164 |     /// Node's children if there are some
165 |     children: Option<Vec<Bone>>,
166 |     /// The inverse going from the bind pose global space to the local bone space
167 |     inverse_bind_pose: Matrix4<f32>,
168 |     // A flag telling if some vertices are attached to it
169 |     // This flag will determine if the bone needs to be sent
170 |     // to the GPU or not
171 |     vertices_attached: bool,
172 |     pub idx_transform: Option<usize>,
173 | }
174 | 
175 | impl Bone {
176 |     fn new(
177 |         name_idx: usize,
178 |         parent_name_idx: Option<usize>,
179 |         inverse_bind_pose: Matrix4<f32>,
180 |         vertices_attached: bool,
181 |         idx_transform: Option<usize>,
182 |     ) -> Self {
183 |         Bone {
184 |             name_idx,
185 |             parent_name_idx,
186 |             children: None,
187 |             inverse_bind_pose,
188 |             vertices_attached,
189 |             idx_transform,
190 |         }
191 |     }
192 | 
193 |     pub fn add(&mut self, bone: &Bone) {
194 |         if bone.parent_name_idx.unwrap() == self.name_idx {
195 |             // We append bone to the children
196 |             let bone = bone.clone();
197 |             if let Some(children) = &mut self.children {
198 |                 children.push(bone);
199 |             } else {
200 |                 self.children = Some(vec![bone]);
201 |             }
202 |         } else if let Some(children) = &mut self.children {
203 |             for child in children.iter_mut() {
204 |                 child.add(bone);
205 |             }
206 |         }
207 |     }
208 | 
209 |     pub fn contains(&self, name_idx: usize) -> bool {
210 |         if self.name_idx == name_idx {
211 |             true
212 |         } else if let Some(children) = &self.children {
213 |             for child in children {
214 |                 if child.contains(name_idx) {
215 |                     return true;
216 |                 }
217 |             }
218 | 
219 |             false
220 |         } else {
221 |             false
222 |         }
223 |     }
224 | 
225 |     pub fn get_inverse_bind_pose(&self) -> &Matrix4<f32> {
226 |         &self.inverse_bind_pose
227 |     }
228 | 
229 |     pub fn get_children(&self) -> Option<&Vec<Bone>> {
230 |         self.children.as_ref()
231 |     }
232 | 
233 |     pub fn get_name<'a>(&self, skeleton: &'a Skeleton) -> &'a str {
234 |         &skeleton.joint_names[self.name_idx]
235 |     }
236 | 
237 |     pub fn has_vertices_attached(&self) -> bool {
238 |         self.vertices_attached
239 |     }
240 | 
241 |     pub fn get_num_vertices_attached_bones(&self, num_bones: &mut usize) {
242 |         *num_bones = if self.vertices_attached {
243 |             *num_bones + 1
244 |         } else {
245 |             *num_bones
246 |         };
247 | 
248 |         if let Some(children) = &self.children {
249 |             for child in children {
250 |                 child.get_num_vertices_attached_bones(num_bones);
251 |             }
252 |         }
253 |     }
254 | }
255 | 


--------------------------------------------------------------------------------
/src/transform.rs:
--------------------------------------------------------------------------------
 1 | use na::{Matrix4, Quaternion, UnitQuaternion, Vector3};
 2 | #[derive(PartialEq, Clone, Debug)]
 3 | pub struct Transform {
 4 |     // Translation vector
 5 |     t: Vector3<f32>,
 6 |     // Rotating component
 7 |     r: UnitQuaternion<f32>,
 8 | }
 9 | 
10 | // Code adapted to Rust from: https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
11 | fn quat_from_mat4(m: &Matrix4<f32>) -> UnitQuaternion<f32> {
12 |     let tr = m[(0, 0)] + m[(1, 1)] + m[(2, 2)];
13 |     let q = if tr > 0.0 {
14 |         let s = 0.5 / (tr + 1.0).sqrt();
15 |         [
16 |             0.25 / s,
17 |             (m[(2, 1)] - m[(1, 2)]) * s,
18 |             (m[(0, 2)] - m[(2, 0)]) * s,
19 |             (m[(1, 0)] - m[(0, 1)]) * s,
20 |         ]
21 |     } else if m[(0, 0)] > m[(1, 1)] && m[(0, 0)] > m[(2, 2)] {
22 |         let s = 2.0 * (1.0 + m[(0, 0)] - m[(1, 1)] - m[(2, 2)]).sqrt();
23 |         [
24 |             (m[(2, 1)] - m[(1, 2)]) / s,
25 |             0.25 * s,
26 |             (m[(0, 1)] + m[(1, 0)]) / s,
27 |             (m[(0, 2)] + m[(2, 0)]) / s,
28 |         ]
29 |     } else if m[(1, 1)] > m[(2, 2)] {
30 |         let s = 2.0 * (1.0 + m[(1, 1)] - m[(0, 0)] - m[(2, 2)]).sqrt();
31 |         [
32 |             (m[(0, 2)] - m[(2, 0)]) / s,
33 |             (m[(0, 1)] + m[(1, 0)]) / s,
34 |             0.25 * s,
35 |             (m[(1, 2)] + m[(2, 1)]) / s,
36 |         ]
37 |     } else {
38 |         let s = 2.0 * (1.0 + m[(2, 2)] - m[(0, 0)] - m[(1, 1)]).sqrt();
39 |         [
40 |             (m[(1, 0)] - m[(0, 1)]) / s,
41 |             (m[(0, 2)] + m[(2, 0)]) / s,
42 |             (m[(1, 2)] + m[(2, 1)]) / s,
43 |             0.25 * s,
44 |         ]
45 |     };
46 | 
47 |     UnitQuaternion::new_normalize(Quaternion::new(q[0], q[1], q[2], q[3]))
48 | }
49 | 
50 | impl From<&Matrix4<f32>> for Transform {
51 |     fn from(m: &Matrix4<f32>) -> Self {
52 |         let r = quat_from_mat4(m);
53 |         let t = Vector3::<f32>::new(m[(0, 3)], m[(1, 3)], m[(2, 3)]);
54 |         Transform { t, r }
55 |     }
56 | }
57 | 
58 | pub fn to_matrix4(m: &[[f32; 4]; 4]) -> Matrix4<f32> {
59 |     let m = unsafe { std::slice::from_raw_parts(m.as_ptr() as *const f32, 16) };
60 |     Matrix4::from_row_slice(m)
61 | }
62 | impl From<&[[f32; 4]; 4]> for Transform {
63 |     fn from(m: &[[f32; 4]; 4]) -> Self {
64 |         let mat = to_matrix4(m);
65 |         (&mat).into()
66 |     }
67 | }
68 | 
69 | impl From<Transform> for Matrix4<f32> {
70 |     fn from(t: Transform) -> Self {
71 |         let Transform { t, r } = t;
72 | 
73 |         // Convert the quaternion to a matrix
74 |         // describing a pure rotation
75 |         let mut mat: Matrix4<f32> = r.into();
76 |         // Set the translation part
77 |         mat[(0, 3)] = t.x;
78 |         mat[(1, 3)] = t.y;
79 |         mat[(2, 3)] = t.z;
80 | 
81 |         mat
82 |     }
83 | }
84 | 
85 | impl Transform {
86 |     pub fn interpolate(&self, rhs: &Self, alpha: f32) -> Self {
87 |         // Linear interpolation for the translation part
88 |         let t = self.t.lerp(&rhs.t, alpha);
89 |         // Spherical interpolation between the rotation parts
90 |         let r = self.r.slerp(&rhs.r, alpha);
91 | 
92 |         Transform { t, r }
93 |     }
94 | }
95 | 


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/src/utils.rs:
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1 | 
2 | 


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/src/vertices.rs:
--------------------------------------------------------------------------------
 1 | type Position = na::Point3<f32>;
 2 | type Normal = na::Vector3<f32>;
 3 | type Texcoord = na::Point2<f32>;
 4 | type Index = u32;
 5 | type Weight = f32;
 6 | type BoneIdx = i32;
 7 | 
 8 | use serde::{Deserialize, Serialize};
 9 | #[derive(Serialize, Deserialize, PartialEq)]
10 | pub struct Vertices {
11 |     pub positions: Vec<Position>,
12 |     pub normals: Vec<Normal>,
13 |     pub texcoords: Vec<Texcoord>,
14 | 
15 |     // Used for animation purposes
16 |     // The weights of each bone for each vertices. Of size NVertices x 2
17 |     pub weights: Option<Vec<[Weight; 2]>>,
18 |     // The 2 bones that influences the vertices the much. Of size NVertices x 2
19 |     pub bone_ids: Option<Vec<[BoneIdx; 2]>>,
20 | 
21 |     pub indices: Vec<Index>,
22 | }
23 | 


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/test/human/human.bin:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/test/human/human.bin


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/test/human/human.blend:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/test/human/human.blend


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/test/human/texture.png:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/test/human/texture.png


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/test/spider/spider.bin:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/test/spider/spider.bin


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/test/spider/spider.blend:
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https://raw.githubusercontent.com/bmatthieu3/rib/134e19772a4cf3ff7d4918cd8ef039f1a9216253/test/spider/spider.blend


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/test/tube/tube.bin:
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695 42 230 696 696 82 230 697 697 89 230 698 698 89 231 699 699 82 231 700 700 83 231 701 701 40 232 702 702 80 232 703 703 87 232 704 704 80 233 705 705 81 233 706 706 86 233 707 707 18 234 708 708 111 234 709 709 106 234 710 710 106 235 711 711 111 235 712 712 110 235 713 713 21 236 714 714 20 236 715 715 109 236 716 716 102 237 717 717 109 237 718 718 108 237 719 719 23 238 720 720 22 238 721 721 105 238 722 722 100 239 723 723 105 239 724 724 104 239 725 725 17 240 726 726 99 240 727 727 111 240 728 728 111 241 729 729 99 241 730 730 98 241 731 731 19 242 732 732 106 242 733 733 109 242 734 734 106 243 735 735 107 243 736 736 108 243 737 737 21 244 738 738 102 244 739 739 105 244 740 740 102 245 741 741 103 245 742 742 104 245 743 743 16 246 744 744 23 246 745 745 100 246 746 746 100 247 747 747 101 247 748 748 97 247 749 749 16 248 750 750 128 248 751 751 129 248 752 752 96 249 753 753 97 249 754 754 98 249 755 755 25 250 756 756 127 250 757 757 120 250 758 758 120 251 759 759 127 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 90 |         </triangles>
 91 |       </mesh>
 92 |     </geometry>
 93 |   </library_geometries>
 94 |   <library_controllers>
 95 |     <controller id="Armature_Cylinder-skin" name="Armature">
 96 |       <skin source="#Cylinder-mesh">
 97 |         <bind_shape_matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</bind_shape_matrix>
 98 |         <source id="Armature_Cylinder-skin-joints">
 99 |           <Name_array id="Armature_Cylinder-skin-joints-array" count="6">Bone Bone_001 Bone_002 Bone_003 Bone_004 Bone_005</Name_array>
100 |           <technique_common>
101 |             <accessor source="#Armature_Cylinder-skin-joints-array" count="6" stride="1">
102 |               <param name="JOINT" type="name"/>
103 |             </accessor>
104 |           </technique_common>
105 |         </source>
106 |         <source id="Armature_Cylinder-skin-bind_poses">
107 |           <float_array id="Armature_Cylinder-skin-bind_poses-array" count="96">-0.8964257 0.4403192 0.05040079 0.8704082 0.2215753 0.5437499 -0.8094696 -1.0262 -0.3838304 -0.7144615 -0.584995 1.266103 0 0 0 1 -0.9131909 0.4060166 0.03511822 -0.06872826 0.2124046 0.5477244 -0.8092486 -1.026745 -0.3478032 -0.7315387 -0.5864163 1.270421 0 0 0 1 0.3987462 0.8089722 0.4319318 -1.410876 0.3337973 0.3106564 -0.8899847 -0.5354853 -0.8541552 0.4990556 -0.1461597 -1.239357 0 0 0 1 0.4280464 0.8265135 0.3655837 -2.033539 0.3028824 0.2499293 -0.919673 -0.3854391 -0.8514921 0.5043914 -0.143355 -1.252586 0 0 0 1 -0.88928 0.4405876 0.122737 -1.124887 0.1739661 0.5740317 -0.8001402 -1.089174 -0.4229865 -0.690196 -0.5871217 1.166898 0 0 0 1 -0.9144617 0.3783425 0.1435884 -1.631665 0.1184689 0.589571 -0.7989818 -1.171659 -0.386944 -0.7136268 -0.5839614 1.249702 0 0 0 1</float_array>
108 |           <technique_common>
109 |             <accessor source="#Armature_Cylinder-skin-bind_poses-array" count="6" stride="16">
110 |               <param name="TRANSFORM" type="float4x4"/>
111 |             </accessor>
112 |           </technique_common>
113 |         </source>
114 |         <source id="Armature_Cylinder-skin-weights">
115 |           <float_array id="Armature_Cylinder-skin-weights-array" count="245">1 0.9189779 0.08102208 1 0.9137493 0.08625066 1 0.9084813 0.09151864 1 0.9059516 0.09404838 1 0.9073778 0.09262216 1 0.9121544 0.08784562 1 0.91781 0.08219003 1 0.9207896 0.07921034 0.123256 0.876744 0.111342 0.8886581 0.390572 0.609428 0.7593548 0.2406452 0.7777474 0.2222526 0.7985833 0.2014167 0.8196492 0.1803508 0.8312826 0.1687173 0.1641742 0.8358257 0.1741024 0.8258976 0.1999325 0.8000675 0.2140229 0.785977 0.2157785 0.7842215 0.2071375 0.7928624 0.1911926 0.8088074 0.1757514 0.8242486 1 1 1 1 1 1 1 1 0.09616595 0.9038341 0.09634274 0.9036573 0.07408177 0.9259182 0.06999146 0.9300085 0.08495366 0.9150464 0.09659111 0.9034088 0.08735334 0.9126466 0.07631611 0.9236838 1 1 1 1 0.9968067 0.003193318 1 0.9950525 0.004947543 1 0.9961742 0.003825783 1 0.999663 3.37019e-4 1 1 1 1 1 0.2724821 0.7275179 0.7360242 0.2639759 0.2387458 0.7612541 0.7562291 0.2437708 0.2753487 0.7246512 0.7393141 0.2606859 0.2591409 0.7408592 0.7421018 0.2578982 0.2474189 0.7525811 0.7543885 0.2456116 0.735049 0.2649511 0.2785737 0.7214263 0.7506737 0.2493264 0.2445261 0.7554738 0.7469953 0.2530047 0.2627475 0.7372525 0.02846419 0.9715358 0.9168764 0.08312356 1 0.9469071 0.05309277 0.9135025 0.0864976 0.7055221 0.2944779 0.9210479 0.07895201 0.02216869 0.9778313 0.9334836 0.06651645 1 0.8017253 0.1982746 0.9360435 0.06395643 0.9336894 0.06631058 0.01012629 0.9898736 0.7437245 0.2562755 0.9276467 0.07235324 0.8535061 0.1464939 0.7515333 0.2484666 0.7175302 0.2824698 0.8374693 0.1625307 0.1763288 0.8236711 0.7955987 0.2044013 0.2205767 0.7794232 0.7701269 0.229873 0.7944723 0.2055277 0.1932455 0.8067545 0.2331568 0.7668433 0.7287619 0.2712382 0.7446159 0.2553841 0.2413443 0.7586557 0.7224642 0.2775359 0.3077453 0.6922547 0.0467782 0.9532218 1 1 0.03580945 0.9641905 0.06033897 0.939661 1 1 0.05557721 0.9444227 0.05486589 0.9451341 1 1 0.06033939 0.9396606 0.03212934 0.9678707 1 1 0.04154187 0.9584582 0.8324251 0.167575 0.8860536 0.1139464 0.8001204 0.1998797 0.829035 0.170965 0.1917461 0.808254 0.09017652 0.9098234 0.2134695 0.7865304 0.1550159 0.8449841 0.03609687 0.9639032 1 0.0531435 0.9468565 7.523e-4 0.9992477 1 1 1 1</float_array>
116 |           <technique_common>
117 |             <accessor source="#Armature_Cylinder-skin-weights-array" count="245" stride="1">
118 |               <param name="WEIGHT" type="float"/>
119 |             </accessor>
120 |           </technique_common>
121 |         </source>
122 |         <joints>
123 |           <input semantic="JOINT" source="#Armature_Cylinder-skin-joints"/>
124 |           <input semantic="INV_BIND_MATRIX" source="#Armature_Cylinder-skin-bind_poses"/>
125 |         </joints>
126 |         <vertex_weights count="144">
127 |           <input semantic="JOINT" source="#Armature_Cylinder-skin-joints" offset="0"/>
128 |           <input semantic="WEIGHT" source="#Armature_Cylinder-skin-weights" offset="1"/>
129 |           <vcount>1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 1 1 1 1 2 1 2 1 2 1 2 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1 2 2 2 2 2 2 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1 1 2 2 1 1 2 2 1 1 2 2 1 1 2 2 2 2 2 2 2 2 2 2 1 2 2 1 1 1 1 </vcount>
130 |           <v>0 0 0 1 1 2 0 3 0 4 1 5 0 6 0 7 1 8 0 9 0 10 1 11 0 12 0 13 1 14 0 15 0 16 1 17 0 18 0 19 1 20 0 21 0 22 1 23 1 24 2 25 1 26 2 27 1 28 2 29 1 30 4 31 1 32 4 33 1 34 4 35 1 36 4 37 1 38 4 39 4 40 5 41 4 42 5 43 4 44 5 45 4 46 5 47 4 48 5 49 4 50 5 51 4 52 5 53 4 54 5 55 5 56 5 57 5 58 5 59 5 60 5 61 5 62 5 63 0 64 1 65 0 66 1 67 0 68 1 69 0 70 1 71 0 72 1 73 0 74 1 75 0 76 1 77 0 78 1 79 0 80 0 81 0 82 0 83 0 84 1 85 0 86 0 87 1 88 0 89 0 90 1 91 0 92 0 93 1 94 0 95 0 96 0 97 0 98 0 99 0 100 1 101 0 102 1 103 0 104 1 105 0 106 1 107 0 108 1 109 0 110 1 111 0 112 1 113 0 114 1 115 0 116 1 117 0 118 1 119 0 120 1 121 0 122 1 123 0 124 1 125 0 126 1 127 0 128 1 129 0 130 1 131 0 132 1 133 1 134 4 135 1 136 1 137 4 138 1 139 2 140 1 141 2 142 1 143 4 144 0 145 1 146 1 147 2 148 1 149 1 150 2 151 1 152 2 153 1 154 4 155 0 156 1 157 1 158 2 159 1 160 2 161 2 162 4 163 4 164 5 165 4 166 5 167 2 168 4 169 1 170 4 171 4 172 5 173 1 174 4 175 4 176 5 177 4 178 5 179 1 180 4 181 1 182 4 183 4 184 5 185 4 186 5 187 1 188 4 189 4 190 5 191 2 192 4 193 4 194 5 195 5 196 5 197 4 198 5 199 4 200 5 201 5 202 5 203 4 204 5 205 4 206 5 207 5 208 5 209 4 210 5 211 4 212 5 213 5 214 5 215 4 216 5 217 2 218 3 219 2 220 3 221 2 222 3 223 2 224 3 225 2 226 3 227 2 228 3 229 2 230 3 231 2 232 3 233 2 234 3 235 3 236 2 237 3 238 2 239 3 240 3 241 3 242 3 243 3 244</v>
131 |         </vertex_weights>
132 |       </skin>
133 |     </controller>
134 |   </library_controllers>
135 |   <library_animations>
136 |     <animation id="action_container-Armature" name="Armature">
137 |       <animation id="Armature_walk_transform" name="Armature">
138 |         <source id="Armature_walk_transform-input">
139 |           <float_array id="Armature_walk_transform-input-array" count="4">0.04166662 0.4166666 0.625 0.8333333</float_array>
140 |           <technique_common>
141 |             <accessor source="#Armature_walk_transform-input-array" count="4" stride="1">
142 |               <param name="TIME" type="float"/>
143 |             </accessor>
144 |           </technique_common>
145 |         </source>
146 |         <source id="Armature_walk_transform-output">
147 |           <float_array id="Armature_walk_transform-output-array" count="64">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</float_array>
148 |           <technique_common>
149 |             <accessor source="#Armature_walk_transform-output-array" count="4" stride="16">
150 |               <param name="TRANSFORM" type="float4x4"/>
151 |             </accessor>
152 |           </technique_common>
153 |         </source>
154 |         <source id="Armature_walk_transform-interpolation">
155 |           <Name_array id="Armature_walk_transform-interpolation-array" count="4">LINEAR LINEAR LINEAR LINEAR</Name_array>
156 |           <technique_common>
157 |             <accessor source="#Armature_walk_transform-interpolation-array" count="4" stride="1">
158 |               <param name="INTERPOLATION" type="name"/>
159 |             </accessor>
160 |           </technique_common>
161 |         </source>
162 |         <sampler id="Armature_walk_transform-sampler">
163 |           <input semantic="INPUT" source="#Armature_walk_transform-input"/>
164 |           <input semantic="OUTPUT" source="#Armature_walk_transform-output"/>
165 |           <input semantic="INTERPOLATION" source="#Armature_walk_transform-interpolation"/>
166 |         </sampler>
167 |         <channel source="#Armature_walk_transform-sampler" target="Armature/transform"/>
168 |       </animation>
169 |       <animation id="Armature_walk_Bone_pose_matrix" name="Armature">
170 |         <source id="Armature_walk_Bone_pose_matrix-input">
171 |           <float_array id="Armature_walk_Bone_pose_matrix-input-array" count="4">0.04166662 0.4166666 0.625 0.8333333</float_array>
172 |           <technique_common>
173 |             <accessor source="#Armature_walk_Bone_pose_matrix-input-array" count="4" stride="1">
174 |               <param name="TIME" type="float"/>
175 |             </accessor>
176 |           </technique_common>
177 |         </source>
178 |         <source id="Armature_walk_Bone_pose_matrix-output">
179 |           <float_array id="Armature_walk_Bone_pose_matrix-output-array" count="64">-0.8964254 0.221575 -0.3838304 1.493605 0.4403193 0.5437496 -0.7144614 1.07932 0.05040073 -0.809469 -0.584995 -0.1338826 0 0 0 1 -0.8964254 0.221575 -0.3838304 1.493605 0.4403193 0.5437496 -0.7144614 1.07932 0.05040073 -0.809469 -0.584995 -0.1338826 0 0 0 1 -0.8964254 0.221575 -0.3838304 1.493605 0.4403193 0.5437496 -0.7144614 1.07932 0.05040073 -0.809469 -0.584995 -0.1338826 0 0 0 1 -0.8964254 0.221575 -0.3838304 1.493605 0.4403193 0.5437496 -0.7144614 1.07932 0.05040073 -0.809469 -0.584995 -0.1338826 0 0 0 1</float_array>
180 |           <technique_common>
181 |             <accessor source="#Armature_walk_Bone_pose_matrix-output-array" count="4" stride="16">
182 |               <param name="TRANSFORM" type="float4x4"/>
183 |             </accessor>
184 |           </technique_common>
185 |         </source>
186 |         <source id="Armature_walk_Bone_pose_matrix-interpolation">
187 |           <Name_array id="Armature_walk_Bone_pose_matrix-interpolation-array" count="4">LINEAR LINEAR LINEAR LINEAR</Name_array>
188 |           <technique_common>
189 |             <accessor source="#Armature_walk_Bone_pose_matrix-interpolation-array" count="4" stride="1">
190 |               <param name="INTERPOLATION" type="name"/>
191 |             </accessor>
192 |           </technique_common>
193 |         </source>
194 |         <sampler id="Armature_walk_Bone_pose_matrix-sampler">
195 |           <input semantic="INPUT" source="#Armature_walk_Bone_pose_matrix-input"/>
196 |           <input semantic="OUTPUT" source="#Armature_walk_Bone_pose_matrix-output"/>
197 |           <input semantic="INTERPOLATION" source="#Armature_walk_Bone_pose_matrix-interpolation"/>
198 |         </sampler>
199 |         <channel source="#Armature_walk_Bone_pose_matrix-sampler" target="Armature_Bone/transform"/>
200 |       </animation>
201 |       <animation id="Armature_walk_Bone_001_pose_matrix" name="Armature">
202 |         <source id="Armature_walk_Bone_001_pose_matrix-input">
203 |           <float_array id="Armature_walk_Bone_001_pose_matrix-input-array" count="4">0.04166662 0.4166666 0.625 0.8333333</float_array>
204 |           <technique_common>
205 |             <accessor source="#Armature_walk_Bone_001_pose_matrix-input-array" count="4" stride="1">
206 |               <param name="TIME" type="float"/>
207 |             </accessor>
208 |           </technique_common>
209 |         </source>
210 |         <source id="Armature_walk_Bone_001_pose_matrix-output">
211 |           <float_array id="Armature_walk_Bone_001_pose_matrix-output-array" count="64">0.9991543 0.00998199 -0.03988668 1 -0.009996057 0.9999499 -1.52469e-4 -5.96046e-8 0.03988317 5.51134e-4 0.9992043 -1.49012e-8 0 0 0 1 0.9991543 0.00998199 -0.03988668 1 -0.009996057 0.9999499 -1.52469e-4 -5.96046e-8 0.03988317 5.51134e-4 0.9992043 -1.49012e-8 0 0 0 1 0.9991543 0.00998199 -0.03988668 1 -0.009996057 0.9999499 -1.52469e-4 -5.96046e-8 0.03988317 5.51134e-4 0.9992043 -1.49012e-8 0 0 0 1 0.9991543 0.00998199 -0.03988668 1 -0.009996057 0.9999499 -1.52469e-4 -5.96046e-8 0.03988317 5.51134e-4 0.9992043 -1.49012e-8 0 0 0 1</float_array>
212 |           <technique_common>
213 |             <accessor source="#Armature_walk_Bone_001_pose_matrix-output-array" count="4" stride="16">
214 |               <param name="TRANSFORM" type="float4x4"/>
215 |             </accessor>
216 |           </technique_common>
217 |         </source>
218 |         <source id="Armature_walk_Bone_001_pose_matrix-interpolation">
219 |           <Name_array id="Armature_walk_Bone_001_pose_matrix-interpolation-array" count="4">LINEAR LINEAR LINEAR LINEAR</Name_array>
220 |           <technique_common>
221 |             <accessor source="#Armature_walk_Bone_001_pose_matrix-interpolation-array" count="4" stride="1">
222 |               <param name="INTERPOLATION" type="name"/>
223 |             </accessor>
224 |           </technique_common>
225 |         </source>
226 |         <sampler id="Armature_walk_Bone_001_pose_matrix-sampler">
227 |           <input semantic="INPUT" source="#Armature_walk_Bone_001_pose_matrix-input"/>
228 |           <input semantic="OUTPUT" source="#Armature_walk_Bone_001_pose_matrix-output"/>
229 |           <input semantic="INTERPOLATION" source="#Armature_walk_Bone_001_pose_matrix-interpolation"/>
230 |         </sampler>
231 |         <channel source="#Armature_walk_Bone_001_pose_matrix-sampler" target="Armature_Bone_001/transform"/>
232 |       </animation>
233 |       <animation id="Armature_walk_Bone_002_pose_matrix" name="Armature">
234 |         <source id="Armature_walk_Bone_002_pose_matrix-input">
235 |           <float_array id="Armature_walk_Bone_002_pose_matrix-input-array" count="4">0.04166662 0.4166666 0.625 0.8333333</float_array>
236 |           <technique_common>
237 |             <accessor source="#Armature_walk_Bone_002_pose_matrix-input-array" count="4" stride="1">
238 |               <param name="TIME" type="float"/>
239 |             </accessor>
240 |           </technique_common>
241 |         </source>
242 |         <source id="Armature_walk_Bone_002_pose_matrix-output">
243 |           <float_array id="Armature_walk_Bone_002_pose_matrix-output-array" count="64">-0.03430793 -0.2140156 0.9762276 1.001387 0.1853365 0.958497 0.216642 4.09782e-8 -0.9820761 0.1883631 0.006780893 -2.98023e-8 0 0 0 1 -0.5089806 -0.2600031 0.8205712 1.001387 0.3559425 0.8043956 0.4756602 4.09782e-8 -0.7837371 0.5341781 -0.3168756 -2.98023e-8 0 0 0 1 0.4708738 0.0545468 0.8805127 1.001387 -0.1670327 0.9855459 0.02827095 4.09782e-8 -0.8662436 -0.1603865 0.4731789 -2.98023e-8 0 0 0 1 -0.5013238 -0.2608708 0.8249975 1.001387 0.3544421 0.8078851 0.4708424 4.09782e-8 -0.7893323 0.5284584 -0.3125483 -2.98023e-8 0 0 0 1</float_array>
244 |           <technique_common>
245 |             <accessor source="#Armature_walk_Bone_002_pose_matrix-output-array" count="4" stride="16">
246 |               <param name="TRANSFORM" type="float4x4"/>
247 |             </accessor>
248 |           </technique_common>
249 |         </source>
250 |         <source id="Armature_walk_Bone_002_pose_matrix-interpolation">
251 |           <Name_array id="Armature_walk_Bone_002_pose_matrix-interpolation-array" count="4">LINEAR LINEAR LINEAR LINEAR</Name_array>
252 |           <technique_common>
253 |             <accessor source="#Armature_walk_Bone_002_pose_matrix-interpolation-array" count="4" stride="1">
254 |               <param name="INTERPOLATION" type="name"/>
255 |             </accessor>
256 |           </technique_common>
257 |         </source>
258 |         <sampler id="Armature_walk_Bone_002_pose_matrix-sampler">
259 |           <input semantic="INPUT" source="#Armature_walk_Bone_002_pose_matrix-input"/>
260 |           <input semantic="OUTPUT" source="#Armature_walk_Bone_002_pose_matrix-output"/>
261 |           <input semantic="INTERPOLATION" source="#Armature_walk_Bone_002_pose_matrix-interpolation"/>
262 |         </sampler>
263 |         <channel source="#Armature_walk_Bone_002_pose_matrix-sampler" target="Armature_Bone_002/transform"/>
264 |       </animation>
265 |       <animation id="Armature_walk_Bone_003_pose_matrix" name="Armature">
266 |         <source id="Armature_walk_Bone_003_pose_matrix-input">
267 |           <float_array id="Armature_walk_Bone_003_pose_matrix-input-array" count="4">0.04166662 0.4166666 0.625 0.8333333</float_array>
268 |           <technique_common>
269 |             <accessor source="#Armature_walk_Bone_003_pose_matrix-input-array" count="4" stride="1">
270 |               <param name="TIME" type="float"/>
271 |             </accessor>
272 |           </technique_common>
273 |         </source>
274 |         <source id="Armature_walk_Bone_003_pose_matrix-output">
275 |           <float_array id="Armature_walk_Bone_003_pose_matrix-output-array" count="64">0.997216 -0.07427709 0.00658989 0.5966265 0.07427834 0.9972377 5.03808e-5 0 -0.006575435 4.39249e-4 0.9999783 2.04891e-8 0 0 0 1 0.9972159 -0.07427709 0.006589979 0.5966268 0.07427834 0.9972376 5.03846e-5 -2.23517e-8 -0.006575435 4.39249e-4 0.9999783 -1.04308e-7 0 0 0 1 0.9972159 -0.07427704 0.006589871 0.5966266 0.0742783 0.9972376 5.03622e-5 -2.98023e-8 -0.006575413 4.39223e-4 0.9999784 0 0 0 0 1 0.9972159 -0.07427707 0.006589949 0.5966265 0.07427834 0.9972376 5.03697e-5 1.11759e-8 -0.006575435 4.39264e-4 0.9999783 -3.27826e-7 0 0 0 1</float_array>
276 |           <technique_common>
277 |             <accessor source="#Armature_walk_Bone_003_pose_matrix-output-array" count="4" stride="16">
278 |               <param name="TRANSFORM" type="float4x4"/>
279 |             </accessor>
280 |           </technique_common>
281 |         </source>
282 |         <source id="Armature_walk_Bone_003_pose_matrix-interpolation">
283 |           <Name_array id="Armature_walk_Bone_003_pose_matrix-interpolation-array" count="4">LINEAR LINEAR LINEAR LINEAR</Name_array>
284 |           <technique_common>
285 |             <accessor source="#Armature_walk_Bone_003_pose_matrix-interpolation-array" count="4" stride="1">
286 |               <param name="INTERPOLATION" type="name"/>
287 |             </accessor>
288 |           </technique_common>
289 |         </source>
290 |         <sampler id="Armature_walk_Bone_003_pose_matrix-sampler">
291 |           <input semantic="INPUT" source="#Armature_walk_Bone_003_pose_matrix-input"/>
292 |           <input semantic="OUTPUT" source="#Armature_walk_Bone_003_pose_matrix-output"/>
293 |           <input semantic="INTERPOLATION" source="#Armature_walk_Bone_003_pose_matrix-interpolation"/>
294 |         </sampler>
295 |         <channel source="#Armature_walk_Bone_003_pose_matrix-sampler" target="Armature_Bone_003/transform"/>
296 |       </animation>
297 |       <animation id="Armature_walk_Bone_004_pose_matrix" name="Armature">
298 |         <source id="Armature_walk_Bone_004_pose_matrix-input">
299 |           <float_array id="Armature_walk_Bone_004_pose_matrix-input-array" count="4">0.04166662 0.4166666 0.625 0.8333333</float_array>
300 |           <technique_common>
301 |             <accessor source="#Armature_walk_Bone_004_pose_matrix-input-array" count="4" stride="1">
302 |               <param name="TIME" type="float"/>
303 |             </accessor>
304 |           </technique_common>
305 |         </source>
306 |         <source id="Armature_walk_Bone_004_pose_matrix-output">
307 |           <float_array id="Armature_walk_Bone_004_pose_matrix-output-array" count="64">0.9952779 0.0461027 0.08541766 1.001387 -0.04689115 0.9988738 0.007245958 4.09782e-8 -0.0849874 -0.01121709 0.996319 -2.98023e-8 0 0 0 1 0.9952779 0.0461027 0.08541766 1.001387 -0.04689115 0.9988738 0.007245958 4.09782e-8 -0.0849874 -0.01121709 0.996319 -2.98023e-8 0 0 0 1 0.9952779 0.0461027 0.08541766 1.001387 -0.04689115 0.9988738 0.007245958 4.09782e-8 -0.0849874 -0.01121709 0.996319 -2.98023e-8 0 0 0 1 0.9952779 0.0461027 0.08541766 1.001387 -0.04689115 0.9988738 0.007245958 4.09782e-8 -0.0849874 -0.01121709 0.996319 -2.98023e-8 0 0 0 1</float_array>
308 |           <technique_common>
309 |             <accessor source="#Armature_walk_Bone_004_pose_matrix-output-array" count="4" stride="16">
310 |               <param name="TRANSFORM" type="float4x4"/>
311 |             </accessor>
312 |           </technique_common>
313 |         </source>
314 |         <source id="Armature_walk_Bone_004_pose_matrix-interpolation">
315 |           <Name_array id="Armature_walk_Bone_004_pose_matrix-interpolation-array" count="4">LINEAR LINEAR LINEAR LINEAR</Name_array>
316 |           <technique_common>
317 |             <accessor source="#Armature_walk_Bone_004_pose_matrix-interpolation-array" count="4" stride="1">
318 |               <param name="INTERPOLATION" type="name"/>
319 |             </accessor>
320 |           </technique_common>
321 |         </source>
322 |         <sampler id="Armature_walk_Bone_004_pose_matrix-sampler">
323 |           <input semantic="INPUT" source="#Armature_walk_Bone_004_pose_matrix-input"/>
324 |           <input semantic="OUTPUT" source="#Armature_walk_Bone_004_pose_matrix-output"/>
325 |           <input semantic="INTERPOLATION" source="#Armature_walk_Bone_004_pose_matrix-interpolation"/>
326 |         </sampler>
327 |         <channel source="#Armature_walk_Bone_004_pose_matrix-sampler" target="Armature_Bone_004/transform"/>
328 |       </animation>
329 |       <animation id="Armature_walk_Bone_005_pose_matrix" name="Armature">
330 |         <source id="Armature_walk_Bone_005_pose_matrix-input">
331 |           <float_array id="Armature_walk_Bone_005_pose_matrix-input-array" count="4">0.04166662 0.4166666 0.625 0.8333333</float_array>
332 |           <technique_common>
333 |             <accessor source="#Armature_walk_Bone_005_pose_matrix-input-array" count="4" stride="1">
334 |               <param name="TIME" type="float"/>
335 |             </accessor>
336 |           </technique_common>
337 |         </source>
338 |         <source id="Armature_walk_Bone_005_pose_matrix-output">
339 |           <float_array id="Armature_walk_Bone_005_pose_matrix-output-array" count="64">0.6821657 0.351617 -0.6411049 0.621229 -0.1756646 0.9299178 0.3231023 5.96046e-8 0.7097832 -0.10779 0.6961246 -1.19209e-7 0 0 0 1 0.985599 0.002364084 -0.1690836 0.621229 -0.01328689 0.9978937 -0.06349781 5.96046e-8 0.1685773 0.06482989 0.9835544 -1.19209e-7 0 0 0 1 0.9474547 -0.1561393 0.2791958 0.621229 0.2275037 0.9424608 -0.2449692 5.96046e-8 -0.2248818 0.2956152 0.9284612 -1.19209e-7 0 0 0 1 0.8670106 -0.1863846 0.4621186 0.621229 0.3429739 0.8959844 -0.2821013 5.96046e-8 -0.3614718 0.4030793 0.840753 -1.19209e-7 0 0 0 1</float_array>
340 |           <technique_common>
341 |             <accessor source="#Armature_walk_Bone_005_pose_matrix-output-array" count="4" stride="16">
342 |               <param name="TRANSFORM" type="float4x4"/>
343 |             </accessor>
344 |           </technique_common>
345 |         </source>
346 |         <source id="Armature_walk_Bone_005_pose_matrix-interpolation">
347 |           <Name_array id="Armature_walk_Bone_005_pose_matrix-interpolation-array" count="4">LINEAR LINEAR LINEAR LINEAR</Name_array>
348 |           <technique_common>
349 |             <accessor source="#Armature_walk_Bone_005_pose_matrix-interpolation-array" count="4" stride="1">
350 |               <param name="INTERPOLATION" type="name"/>
351 |             </accessor>
352 |           </technique_common>
353 |         </source>
354 |         <sampler id="Armature_walk_Bone_005_pose_matrix-sampler">
355 |           <input semantic="INPUT" source="#Armature_walk_Bone_005_pose_matrix-input"/>
356 |           <input semantic="OUTPUT" source="#Armature_walk_Bone_005_pose_matrix-output"/>
357 |           <input semantic="INTERPOLATION" source="#Armature_walk_Bone_005_pose_matrix-interpolation"/>
358 |         </sampler>
359 |         <channel source="#Armature_walk_Bone_005_pose_matrix-sampler" target="Armature_Bone_005/transform"/>
360 |       </animation>
361 |     </animation>
362 |   </library_animations>
363 |   <library_visual_scenes>
364 |     <visual_scene id="Scene" name="Scene">
365 |       <node id="Armature" name="Armature" type="NODE">
366 |         <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
367 |         <node id="Armature_Bone" name="Bone" sid="Bone" type="JOINT">
368 |           <matrix sid="transform">-0.8964254 0.221575 -0.3838304 1.493605 0.4403193 0.5437496 -0.7144614 1.07932 0.05040073 -0.809469 -0.584995 -0.1338826 0 0 0 1</matrix>
369 |           <node id="Armature_Bone_001" name="Bone.001" sid="Bone_001" type="JOINT">
370 |             <matrix sid="transform">0.9991543 0.00998199 -0.03988668 1 -0.009996057 0.9999499 -1.52469e-4 -5.96046e-8 0.03988317 5.51134e-4 0.9992043 -1.49012e-8 0 0 0 1</matrix>
371 |             <node id="Armature_Bone_002" name="Bone.002" sid="Bone_002" type="JOINT">
372 |               <matrix sid="transform">-0.02050647 -0.2099436 0.9774985 1.001387 0.178249 0.9612722 0.210198 4.09782e-8 -0.9837718 0.1785486 0.01770994 -2.98023e-8 0 0 0 1</matrix>
373 |               <node id="Armature_Bone_003" name="Bone.003" sid="Bone_003" type="JOINT">
374 |                 <matrix sid="transform">0.9972159 -0.0742771 0.00658989 0.5966262 0.07427834 0.9972376 5.03659e-5 -5.96046e-8 -0.006575406 4.39264e-4 0.9999783 -1.49012e-7 0 0 0 1</matrix>
375 |                 <extra>
376 |                   <technique profile="blender">
377 |                     <connect sid="connect" type="bool">1</connect>
378 |                     <layer sid="layer" type="string">0</layer>
379 |                     <roll sid="roll" type="float">-1.496097</roll>
380 |                     <tip_x sid="tip_x" type="float">0.229905</tip_x>
381 |                     <tip_y sid="tip_y" type="float">0.443923</tip_y>
382 |                     <tip_z sid="tip_z" type="float">0.1963562</tip_z>
383 |                   </technique>
384 |                 </extra>
385 |               </node>
386 |               <extra>
387 |                 <technique profile="blender">
388 |                   <connect sid="connect" type="bool">1</connect>
389 |                   <layer sid="layer" type="string">0</layer>
390 |                   <roll sid="roll" type="float">-1.452921</roll>
391 |                 </technique>
392 |               </extra>
393 |             </node>
394 |             <node id="Armature_Bone_004" name="Bone.004" sid="Bone_004" type="JOINT">
395 |               <matrix sid="transform">0.9952779 0.0461027 0.08541766 1.001387 -0.04689115 0.9988738 0.007245958 4.09782e-8 -0.0849874 -0.01121709 0.996319 -2.98023e-8 0 0 0 1</matrix>
396 |               <node id="Armature_Bone_005" name="Bone.005" sid="Bone_005" type="JOINT">
397 |                 <matrix sid="transform">0.9975284 0.05634104 -0.04198724 0.621229 -0.05679546 0.9983387 -0.009708613 5.96046e-8 0.04137048 0.01206923 0.9990711 -1.19209e-7 0 0 0 1</matrix>
398 |                 <extra>
399 |                   <technique profile="blender">
400 |                     <connect sid="connect" type="bool">1</connect>
401 |                     <layer sid="layer" type="string">0</layer>
402 |                     <roll sid="roll" type="float">-1.505173</roll>
403 |                     <tip_x sid="tip_x" type="float">-0.7307527</tip_x>
404 |                     <tip_y sid="tip_y" type="float">0.3023362</tip_y>
405 |                     <tip_z sid="tip_z" type="float">0.1147424</tip_z>
406 |                   </technique>
407 |                 </extra>
408 |               </node>
409 |               <extra>
410 |                 <technique profile="blender">
411 |                   <connect sid="connect" type="bool">1</connect>
412 |                   <layer sid="layer" type="string">0</layer>
413 |                   <roll sid="roll" type="float">-1.689302</roll>
414 |                 </technique>
415 |               </extra>
416 |             </node>
417 |             <extra>
418 |               <technique profile="blender">
419 |                 <connect sid="connect" type="bool">1</connect>
420 |                 <layer sid="layer" type="string">0</layer>
421 |                 <roll sid="roll" type="float">-2.032769</roll>
422 |               </technique>
423 |             </extra>
424 |           </node>
425 |           <extra>
426 |             <technique profile="blender">
427 |               <layer sid="layer" type="string">0</layer>
428 |               <roll sid="roll" type="float">-1.98037</roll>
429 |             </technique>
430 |           </extra>
431 |         </node>
432 |         <node id="Cylinder" name="Cylinder" type="NODE">
433 |           <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
434 |           <instance_controller url="#Armature_Cylinder-skin">
435 |             <skeleton>#Armature_Bone</skeleton>
436 |             <bind_material>
437 |               <technique_common>
438 |                 <instance_material symbol="Material-material" target="#Material-material">
439 |                   <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
440 |                 </instance_material>
441 |               </technique_common>
442 |             </bind_material>
443 |           </instance_controller>
444 |         </node>
445 |       </node>
446 |     </visual_scene>
447 |   </library_visual_scenes>
448 |   <scene>
449 |     <instance_visual_scene url="#Scene"/>
450 |   </scene>
451 | </COLLADA>


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