├── .gitignore
├── README.md
├── main.cpp
├── man
    ├── diffuse.png
    └── model.dae
├── simple
    └── model.dae
└── utils.h


/.gitignore:
--------------------------------------------------------------------------------
 1 | Debug/
 2 | KHR/
 3 | packages.config
 4 | stb_image.h
 5 | glad.h
 6 | glad.c
 7 | dyna.vcxproj
 8 | Dyna.vcxproj.filters
 9 | Dyna.vcxproj.user
10 | 
11 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # OPENGL SKELETAL ANIMATION WITH ASSIMP
 2 | 
 3 |   this is a demo project that shows how to do skeletal or skin animation using assimp, glm, and opengl. Feel free to use this code if needed.
 4 |   
 5 |   
 6 | ## NOTES
 7 | - I have used stb_image.h library to load texture image
 8 | - This demo assumes that the model has only one mesh and texture. But for more meshes the process is almost same.
 9 | 
10 | 


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/main.cpp:
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  1 | #include "utils.h"
  2 | #include <assimp/scene.h>
  3 | #include <assimp/postprocess.h>
  4 | #include <assimp/Importer.hpp>
  5 | #include <unordered_map>
  6 | #include <SDL.h>
  7 | #include "glad.h"
  8 | #include <cstdlib>
  9 | #define STB_IMAGE_IMPLEMENTATION
 10 | #include "stb_image.h"
 11 | 
 12 | 
 13 | /*
 14 | opengl skeletal animation demo
 15 | */
 16 | 
 17 | 
 18 | const char* vertexShaderSource = R"(
 19 | 	#version 440 core
 20 | 	layout (location = 0) in vec3 position; 
 21 | 	layout (location = 1) in vec3 normal;
 22 | 	layout (location = 2) in vec2 uv;
 23 | 	layout (location = 3) in vec4 boneIds;
 24 | 	layout (location = 4) in vec4 boneWeights;
 25 | 
 26 | 	out vec2 tex_cord;
 27 | 	out vec3 v_normal;
 28 | 	out vec3 v_pos;
 29 | 	out vec4 bw;
 30 | 
 31 | 	uniform mat4 bone_transforms[50];
 32 | 	uniform mat4 view_projection_matrix;
 33 | 	uniform mat4 model_matrix;
 34 | 
 35 | 	void main()
 36 | 	{
 37 | 		bw = vec4(0);
 38 | 		if(int(boneIds.x) == 1)
 39 | 		bw.z = boneIds.x;
 40 | 		//boneWeights = normalize(boneWeights);
 41 | 		mat4 boneTransform  =  mat4(0.0);
 42 | 		boneTransform  +=    bone_transforms[int(boneIds.x)] * boneWeights.x;
 43 | 		boneTransform  +=    bone_transforms[int(boneIds.y)] * boneWeights.y;
 44 | 		boneTransform  +=    bone_transforms[int(boneIds.z)] * boneWeights.z;
 45 | 		boneTransform  +=    bone_transforms[int(boneIds.w)] * boneWeights.w;
 46 | 		vec4 pos =boneTransform * vec4(position, 1.0);
 47 | 		gl_Position = view_projection_matrix * model_matrix * pos;
 48 | 		v_pos = vec3(model_matrix * boneTransform * pos);
 49 | 		tex_cord = uv;
 50 | 		v_normal = mat3(transpose(inverse(model_matrix * boneTransform))) * normal;
 51 | 		v_normal = normalize(v_normal);
 52 | 	}
 53 | 
 54 | 	)";
 55 | const char* fragmentShaderSource = R"(
 56 | 	#version 440 core
 57 | 
 58 | 	in vec2 tex_cord;
 59 | 	in vec3 v_normal;
 60 | 	in vec3 v_pos;
 61 | 	in vec4 bw;
 62 | 	out vec4 color;
 63 | 
 64 | 	uniform sampler2D diff_texture;
 65 | 
 66 | 	vec3 lightPos = vec3(0.2, 1.0, -3.0);
 67 | 	
 68 | 	void main()
 69 | 	{
 70 | 		vec3 lightDir = normalize(lightPos - v_pos);
 71 | 		float diff = max(dot(v_normal, lightDir), 0.2);
 72 | 		vec3 dCol = diff * texture(diff_texture, tex_cord).rgb; 
 73 | 		color = vec4(dCol, 1);
 74 | 	}
 75 | 	)";
 76 | 
 77 | 
 78 | // vertex of an animated model
 79 | struct Vertex {
 80 | 	glm::vec3 position;
 81 | 	glm::vec3 normal;
 82 | 	glm::vec2 uv;
 83 | 	glm::vec4 boneIds = glm::vec4(0);
 84 | 	glm::vec4 boneWeights = glm::vec4(0.0f);
 85 | };
 86 | 
 87 | // structure to hold bone tree (skeleton)
 88 | struct Bone {
 89 | 	int id = 0; // position of the bone in final upload array
 90 | 	std::string name = "";
 91 | 	glm::mat4 offset = glm::mat4(1.0f);
 92 | 	std::vector<Bone> children = {};
 93 | };
 94 | 
 95 | // sturction representing an animation track
 96 | struct BoneTransformTrack {
 97 | 	std::vector<float> positionTimestamps = {};
 98 | 	std::vector<float> rotationTimestamps = {};
 99 | 	std::vector<float> scaleTimestamps = {};
100 | 
101 | 	std::vector<glm::vec3> positions = {};
102 | 	std::vector<glm::quat> rotations = {};
103 | 	std::vector<glm::vec3> scales = {};
104 | };
105 | 
106 | // structure containing animation information
107 | struct Animation {
108 | 	float duration = 0.0f;
109 | 	float ticksPerSecond = 1.0f;
110 | 	std::unordered_map<std::string, BoneTransformTrack> boneTransforms = {};
111 | };
112 | 
113 | 
114 | 
115 | // a recursive function to read all bones and form skeleton
116 | bool readSkeleton(Bone& boneOutput, aiNode* node, std::unordered_map<std::string, std::pair<int, glm::mat4>>& boneInfoTable) {
117 | 
118 | 	if (boneInfoTable.find(node->mName.C_Str()) != boneInfoTable.end()) { // if node is actually a bone
119 | 		boneOutput.name = node->mName.C_Str();
120 | 		boneOutput.id = boneInfoTable[boneOutput.name].first;
121 | 		boneOutput.offset = boneInfoTable[boneOutput.name].second;
122 | 
123 | 		for (int i = 0; i < node->mNumChildren; i++) {
124 | 			Bone child;
125 | 			readSkeleton(child, node->mChildren[i], boneInfoTable);
126 | 			boneOutput.children.push_back(child);
127 | 		}
128 | 		return true;
129 | 	}
130 | 	else { // find bones in children
131 | 		for (int i = 0; i < node->mNumChildren; i++) {
132 | 			if (readSkeleton(boneOutput, node->mChildren[i], boneInfoTable)) {
133 | 				return true;
134 | 			}
135 | 
136 | 		}
137 | 	}
138 | 	return false;
139 | }
140 | 
141 | void loadModel(const aiScene* scene, aiMesh* mesh, std::vector<Vertex>& verticesOutput, std::vector<uint>& indicesOutput, Bone& skeletonOutput, uint &nBoneCount) {
142 | 	
143 | 	verticesOutput = {};
144 | 	indicesOutput = {};
145 | 	//load position, normal, uv
146 | 	for (unsigned int i = 0; i < mesh->mNumVertices; i++) {
147 | 		//process position 
148 | 		Vertex vertex;
149 | 		glm::vec3 vector;
150 | 		vector.x = mesh->mVertices[i].x;
151 | 		vector.y = mesh->mVertices[i].y;
152 | 		vector.z = mesh->mVertices[i].z;
153 | 		vertex.position = vector;
154 | 		//process normal
155 | 		vector.x = mesh->mNormals[i].x;
156 | 		vector.y = mesh->mNormals[i].y;
157 | 		vector.z = mesh->mNormals[i].z;
158 | 		vertex.normal = vector;
159 | 		//process uv
160 | 		glm::vec2 vec;
161 | 		vec.x = mesh->mTextureCoords[0][i].x;
162 | 		vec.y = mesh->mTextureCoords[0][i].y;
163 | 		vertex.uv = vec;
164 | 
165 | 		vertex.boneIds = glm::ivec4(0);
166 | 		vertex.boneWeights = glm::vec4(0.0f);
167 | 
168 | 		verticesOutput.push_back(vertex);
169 | 	}
170 | 
171 | 	//load boneData to vertices
172 | 	std::unordered_map<std::string, std::pair<int, glm::mat4>> boneInfo = {};
173 | 	std::vector<uint> boneCounts;
174 | 	boneCounts.resize(verticesOutput.size(), 0);
175 | 	 nBoneCount = mesh->mNumBones;
176 | 
177 | 	 //loop through each bone
178 | 	for (uint i = 0; i < nBoneCount; i++) {
179 | 		aiBone* bone = mesh->mBones[i];
180 | 		glm::mat4 m = assimpToGlmMatrix(bone->mOffsetMatrix);
181 | 		boneInfo[bone->mName.C_Str()] = { i, m };
182 | 
183 | 		//loop through each vertex that have that bone
184 | 		for (int j = 0; j < bone->mNumWeights; j++) {
185 | 			uint id = bone->mWeights[j].mVertexId;
186 | 			float weight = bone->mWeights[j].mWeight;
187 | 			boneCounts[id]++;
188 | 			switch (boneCounts[id]) {
189 | 			case 1:
190 | 				verticesOutput[id].boneIds.x = i;
191 | 				verticesOutput[id].boneWeights.x = weight;
192 | 				break;
193 | 			case 2:
194 | 				verticesOutput[id].boneIds.y = i;
195 | 				verticesOutput[id].boneWeights.y = weight;
196 | 				break;
197 | 			case 3:
198 | 				verticesOutput[id].boneIds.z = i;
199 | 				verticesOutput[id].boneWeights.z = weight;
200 | 				break;
201 | 			case 4:
202 | 				verticesOutput[id].boneIds.w = i;
203 | 				verticesOutput[id].boneWeights.w = weight;
204 | 				break;
205 | 			default:
206 | 				//std::cout << "err: unable to allocate bone to vertex" << std::endl;
207 | 				break;
208 | 
209 | 			}
210 | 		}
211 | 	}
212 | 
213 | 
214 | 
215 | 	//normalize weights to make all weights sum 1
216 | 	for (int i = 0; i < verticesOutput.size(); i++) {
217 | 		glm::vec4 & boneWeights = verticesOutput[i].boneWeights;
218 | 		float totalWeight = boneWeights.x + boneWeights.y + boneWeights.z + boneWeights.w;
219 | 		if (totalWeight > 0.0f) {
220 | 			verticesOutput[i].boneWeights = glm::vec4(
221 | 				boneWeights.x / totalWeight,
222 | 				boneWeights.y / totalWeight,
223 | 				boneWeights.z / totalWeight,
224 | 				boneWeights.w / totalWeight
225 | 			);
226 | 		}
227 | 	}
228 | 
229 | 
230 | 	//load indices
231 | 	for (int i = 0; i < mesh->mNumFaces; i++) {
232 | 		aiFace& face = mesh->mFaces[i];
233 | 		for (unsigned int j = 0; j < face.mNumIndices; j++)
234 | 			indicesOutput.push_back(face.mIndices[j]);
235 | 	}
236 | 
237 | 	// create bone hirerchy
238 | 	readSkeleton(skeletonOutput, scene->mRootNode, boneInfo);
239 | }
240 | 
241 | void loadAnimation(const aiScene* scene, Animation& animation) {
242 | 	//loading  first Animation
243 | 	aiAnimation* anim = scene->mAnimations[0];
244 | 
245 | 	if (anim->mTicksPerSecond != 0.0f)
246 | 		animation.ticksPerSecond = anim->mTicksPerSecond;
247 | 	else
248 | 		animation.ticksPerSecond = 1;
249 | 
250 | 
251 | 	animation.duration = anim->mDuration * anim->mTicksPerSecond;
252 | 	animation.boneTransforms = {};
253 | 
254 | 	//load positions rotations and scales for each bone
255 | 	// each channel represents each bone
256 | 	for (int i = 0; i < anim->mNumChannels; i++) {
257 | 		aiNodeAnim* channel = anim->mChannels[i];
258 | 		BoneTransformTrack track;
259 | 		for (int j = 0; j < channel->mNumPositionKeys; j++) {
260 | 			track.positionTimestamps.push_back(channel->mPositionKeys[j].mTime);
261 | 			track.positions.push_back(assimpToGlmVec3(channel->mPositionKeys[j].mValue));
262 | 		}
263 | 		for (int j = 0; j < channel->mNumRotationKeys; j++) {
264 | 			track.rotationTimestamps.push_back(channel->mRotationKeys[j].mTime);
265 | 			track.rotations.push_back(assimpToGlmQuat(channel->mRotationKeys[j].mValue));
266 | 
267 | 		}
268 | 		for (int j = 0; j < channel->mNumScalingKeys; j++) {
269 | 			track.scaleTimestamps.push_back(channel->mScalingKeys[j].mTime);
270 | 			track.scales.push_back(assimpToGlmVec3(channel->mScalingKeys[j].mValue));
271 | 	
272 | 		}
273 | 		animation.boneTransforms[channel->mNodeName.C_Str()] = track;
274 | 	}
275 | }
276 | 
277 | unsigned int createVertexArray(std::vector<Vertex>& vertices, std::vector<uint> indices) {
278 | 	uint
279 | 		vao = 0,
280 | 		vbo = 0,
281 | 		ebo = 0;
282 | 
283 | 	glGenVertexArrays(1, &vao);
284 | 	glGenBuffers(1, &vbo);
285 | 	glGenBuffers(1, &ebo);
286 | 
287 | 	glBindVertexArray(vao);
288 | 	glBindBuffer(GL_ARRAY_BUFFER, vbo);
289 | 	glBufferData(GL_ARRAY_BUFFER, sizeof(Vertex) * vertices.size(), &vertices[0], GL_STATIC_DRAW);
290 | 	glEnableVertexAttribArray(0);
291 | 	glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)offsetof(Vertex, position));
292 | 	glEnableVertexAttribArray(1);
293 | 	glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)offsetof(Vertex, normal));
294 | 	glEnableVertexAttribArray(2);
295 | 	glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)offsetof(Vertex, uv));
296 | 	glEnableVertexAttribArray(3);
297 | 	glVertexAttribPointer(3, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)offsetof(Vertex, boneIds));
298 | 	glEnableVertexAttribArray(4);
299 | 	glVertexAttribPointer(4, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)offsetof(Vertex, boneWeights));
300 | 
301 | 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo);
302 | 	glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.size() * sizeof(uint), &indices[0], GL_STATIC_DRAW);
303 | 	glBindVertexArray(0);
304 | 	return vao;
305 | }
306 | 
307 | uint createTexture(std::string filepath) {
308 | 	uint textureId = 0;
309 | 	int width, height, nrChannels;
310 | 	byte* data = stbi_load(filepath.c_str(), &width, &height, &nrChannels, 4);
311 | 	glGenTextures(1, &textureId);
312 | 	glBindTexture(GL_TEXTURE_2D, textureId);
313 | 	
314 | 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
315 | 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
316 | 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
317 | 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
318 | 	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAX_LEVEL, 3);
319 | 	
320 | 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, data);
321 | 	
322 | 	stbi_image_free(data);
323 | 	glBindTexture(GL_TEXTURE_2D, 0);
324 | 	return textureId;
325 | }
326 | 
327 | 
328 | 
329 | std::pair<uint, float> getTimeFraction(std::vector<float>& times, float& dt) {
330 | 	uint segment = 0;
331 | 	while (dt > times[segment])
332 | 		segment++;
333 | 	float start = times[segment - 1];
334 | 	float end = times[segment];
335 | 	float frac = (dt - start) / (end - start);
336 | 	return {segment, frac};
337 | }
338 | 
339 | 
340 | 
341 | void getPose(Animation& animation, Bone& skeletion, float dt, std::vector<glm::mat4>& output, glm::mat4 &parentTransform, glm::mat4& globalInverseTransform) {
342 | 	BoneTransformTrack& btt = animation.boneTransforms[skeletion.name];
343 | 	dt = fmod(dt, animation.duration);
344 | 	std::pair<uint, float> fp;
345 | 	//calculate interpolated position
346 | 	fp = getTimeFraction(btt.positionTimestamps, dt);
347 | 
348 | 	glm::vec3 position1 = btt.positions[fp.first - 1];
349 | 	glm::vec3 position2 = btt.positions[fp.first];
350 | 
351 | 	glm::vec3 position = glm::mix( position1, position2, fp.second);
352 | 
353 | 	//calculate interpolated rotation
354 | 	fp = getTimeFraction(btt.rotationTimestamps, dt);
355 | 	glm::quat rotation1 = btt.rotations[fp.first - 1];
356 | 	glm::quat rotation2 = btt.rotations[fp.first];
357 | 
358 | 	glm::quat rotation = glm::slerp( rotation1, rotation2,fp.second);
359 | 
360 | 	//calculate interpolated scale
361 | 	fp = getTimeFraction(btt.scaleTimestamps, dt);
362 | 	glm::vec3 scale1 = btt.scales[fp.first - 1];
363 | 	glm::vec3 scale2 = btt.scales[fp.first];
364 | 
365 | 	glm::vec3 scale = glm::mix(scale1, scale2, fp.second);
366 | 
367 | 	glm::mat4 positionMat = glm::mat4(1.0),
368 | 		scaleMat = glm::mat4(1.0);
369 | 
370 | 
371 | 	// calculate localTransform
372 | 	positionMat = glm::translate(positionMat, position);
373 | 	glm::mat4 rotationMat = glm::toMat4(rotation);
374 | 	scaleMat = glm::scale(scaleMat, scale);
375 | 	glm::mat4 localTransform = positionMat * rotationMat * scaleMat;
376 | 	glm::mat4 globalTransform = parentTransform * localTransform;
377 | 
378 | 	output[skeletion.id] = globalInverseTransform * globalTransform * skeletion.offset;
379 | 	//update values for children bones
380 | 	for (Bone& child : skeletion.children) {
381 | 		getPose(animation, child, dt, output, globalTransform, globalInverseTransform);
382 | 	}
383 | 	//std::cout << dt << " => " << position.x << ":" << position.y << ":" << position.z << ":" << std::endl;
384 | }
385 | 
386 | 
387 | int main(int argc, char ** argv) {
388 | 
389 | 	//init
390 | 	int windowWidth, windowHeight;
391 | 	SDL_Window* window = initWindow(windowWidth, windowHeight);
392 | 	bool isRunning = true;
393 | 
394 | 	//load model file
395 | 	Assimp::Importer importer;
396 | 	const char* filePath = "man/model.dae";
397 | 	const aiScene* scene = importer.ReadFile(filePath, aiProcess_Triangulate | aiProcess_FlipUVs | aiProcess_GenSmoothNormals);
398 | 
399 | 	if (!scene || scene->mFlags & AI_SCENE_FLAGS_INCOMPLETE || !scene->mRootNode) {
400 | 		std::cout << "ERROR::ASSIMP::" << importer.GetErrorString() << std::endl;
401 | 	}
402 | 	aiMesh* mesh = scene->mMeshes[0];
403 | 
404 | 	std::vector<Vertex> vertices = {};
405 | 	std::vector<uint> indices = {};
406 | 	uint boneCount = 0;
407 | 	Animation animation;
408 | 	uint vao = 0;
409 | 	Bone skeleton;
410 | 	uint diffuseTexture;
411 | 	
412 | 	//as the name suggests just inverse the global transform
413 | 	glm::mat4 globalInverseTransform = assimpToGlmMatrix(scene->mRootNode->mTransformation);
414 | 	globalInverseTransform = glm::inverse(globalInverseTransform);
415 | 	
416 | 
417 | 	loadModel(scene, mesh, vertices, indices, skeleton, boneCount);
418 | 	loadAnimation(scene, animation);
419 | 
420 | 	vao = createVertexArray(vertices, indices);
421 | 	diffuseTexture = createTexture("man/diffuse.png");
422 | 
423 | 	glm::mat4 identity(1.0);
424 | 
425 | 	//currentPose is held in this vector and uploaded to gpu as a matrix array uniform
426 | 	std::vector<glm::mat4> currentPose = {};
427 | 	currentPose.resize(boneCount, identity); // use this for no animation
428 | 
429 | 	uint shader = createShader(vertexShaderSource, fragmentShaderSource);
430 | 
431 | 	//get all shader uniform locations
432 | 	uint viewProjectionMatrixLocation = glGetUniformLocation(shader, "view_projection_matrix");
433 | 	uint modelMatrixLocation = glGetUniformLocation(shader, "model_matrix");
434 | 	uint boneMatricesLocation = glGetUniformLocation(shader, "bone_transforms");
435 | 	uint textureLocation = glGetUniformLocation(shader, "diff_texture");
436 | 
437 | 
438 | 
439 | 	// initialize projection view and model matrix
440 | 	glm::mat4 projectionMatrix = glm::perspective(75.0f, (float)windowWidth / windowHeight, 0.01f, 100.0f);
441 | 
442 | 	glm::mat4 viewMatrix = glm::lookAt(glm::vec3(0.0f, 0.2f, -5.0f)
443 | 		, glm::vec3(0.0f, .0f, 0.0f),
444 | 		glm::vec3(0, 1, 0));
445 | 	glm::mat4 viewProjectionMatrix = projectionMatrix * viewMatrix;
446 | 
447 | 	glm::mat4 modelMatrix(1.0f);
448 | 	modelMatrix = glm::translate(modelMatrix, glm::vec3(0.0f, 1.0f, 0.0f));
449 | 	modelMatrix = glm::scale(modelMatrix, glm::vec3(.2f, .2f, .2f));
450 | 
451 | 
452 | 	//update loop
453 | 	while (isRunning) {
454 | 		SDL_Event ev;
455 | 		while (SDL_PollEvent(&ev)) {
456 | 			if (ev.type == SDL_QUIT)
457 | 				isRunning = false;
458 | 		}
459 | 
460 | 		float elapsedTime = (float)SDL_GetTicks() / 1000;
461 | 
462 | 		float dAngle = elapsedTime * 0.002;
463 | 		modelMatrix = glm::rotate(modelMatrix, dAngle, glm::vec3(0, 1, 0));
464 | 
465 | 		getPose(animation, skeleton, elapsedTime, currentPose, identity, globalInverseTransform);
466 | 
467 | 		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
468 | 		glUseProgram(shader);
469 | 		glUniformMatrix4fv(viewProjectionMatrixLocation, 1, GL_FALSE, glm::value_ptr(viewProjectionMatrix));
470 | 		glUniformMatrix4fv(modelMatrixLocation, 1, GL_FALSE, glm::value_ptr(modelMatrix));
471 | 		glUniformMatrix4fv(boneMatricesLocation,boneCount, GL_FALSE, glm::value_ptr(currentPose[0]));
472 | 
473 | 		glBindVertexArray(vao);
474 | 		glActiveTexture(GL_TEXTURE0);
475 | 		glBindTexture(GL_TEXTURE_2D, diffuseTexture);
476 | 		glUniform1i(textureLocation, 0);
477 | 
478 | 		glDrawElements(GL_TRIANGLES, indices.size(), GL_UNSIGNED_INT, 0);
479 | 
480 | 		SDL_GL_SwapWindow(window);
481 | 	}
482 | 
483 | 	//cleanup
484 | 	SDL_GLContext context =  SDL_GL_GetCurrentContext();
485 | 	SDL_GL_DeleteContext(context);
486 | 	SDL_DestroyWindow(window);
487 | 	SDL_Quit();
488 | 
489 | 	return 0;
490 | }


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/man/diffuse.png:
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https://raw.githubusercontent.com/hasinaxp/skeletal_animation-_assimp_opengl/a22ecd2405c52885fbfa9524d11e6a1f8ff62007/man/diffuse.png


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/simple/model.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.81.16 commit date:2019-12-04, commit time:11:32, hash:f1aa4d18d49d</authoring_tool>
  7 |     </contributor>
  8 |     <created>2020-06-07T20:58:14</created>
  9 |     <modified>2020-06-07T20:58:14</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">39.59775</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <shiftx sid="shiftx" type="float">0</shiftx>
 28 |           <shifty sid="shifty" type="float">0</shifty>
 29 |           <dof_distance sid="dof_distance" type="float">10</dof_distance>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Light-light" name="Light">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1000 1000 1000</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <type sid="type" type="int">0</type>
 47 |           <flag sid="flag" type="int">0</flag>
 48 |           <mode sid="mode" type="int">1</mode>
 49 |           <gamma sid="blender_gamma" type="float">1</gamma>
 50 |           <red sid="red" type="float">1</red>
 51 |           <green sid="green" type="float">1</green>
 52 |           <blue sid="blue" type="float">1</blue>
 53 |           <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
 54 |           <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
 55 |           <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
 56 |           <energy sid="blender_energy" type="float">1000</energy>
 57 |           <dist sid="blender_dist" type="float">29.99998</dist>
 58 |           <spotsize sid="spotsize" type="float">75</spotsize>
 59 |           <spotblend sid="spotblend" type="float">0.15</spotblend>
 60 |           <att1 sid="att1" type="float">0</att1>
 61 |           <att2 sid="att2" type="float">1</att2>
 62 |           <falloff_type sid="falloff_type" type="int">2</falloff_type>
 63 |           <clipsta sid="clipsta" type="float">0.04999995</clipsta>
 64 |           <clipend sid="clipend" type="float">30.002</clipend>
 65 |           <bias sid="bias" type="float">1</bias>
 66 |           <soft sid="soft" type="float">3</soft>
 67 |           <bufsize sid="bufsize" type="int">2880</bufsize>
 68 |           <samp sid="samp" type="int">3</samp>
 69 |           <buffers sid="buffers" type="int">1</buffers>
 70 |           <area_shape sid="area_shape" type="int">1</area_shape>
 71 |           <area_size sid="area_size" type="float">0.1</area_size>
 72 |           <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
 73 |           <area_sizez sid="area_sizez" type="float">1</area_sizez>
 74 |         </technique>
 75 |       </extra>
 76 |     </light>
 77 |   </library_lights>
 78 |   <library_effects>
 79 |     <effect id="Material-effect">
 80 |       <profile_COMMON>
 81 |         <technique sid="common">
 82 |           <lambert>
 83 |             <emission>
 84 |               <color sid="emission">0 0 0 1</color>
 85 |             </emission>
 86 |             <diffuse>
 87 |               <color sid="diffuse">0.8 0.8 0.8 1</color>
 88 |             </diffuse>
 89 |             <index_of_refraction>
 90 |               <float sid="ior">1.45</float>
 91 |             </index_of_refraction>
 92 |           </lambert>
 93 |         </technique>
 94 |       </profile_COMMON>
 95 |     </effect>
 96 |   </library_effects>
 97 |   <library_images/>
 98 |   <library_materials>
 99 |     <material id="Material-material" name="Material">
100 |       <instance_effect url="#Material-effect"/>
101 |     </material>
102 |   </library_materials>
103 |   <library_geometries>
104 |     <geometry id="Cube-mesh" name="Cube">
105 |       <mesh>
106 |         <source id="Cube-mesh-positions">
107 |           <float_array id="Cube-mesh-positions-array" count="36">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1 1 1 2.585233 1 -1 2.585233 -1 1 2.585233 -1 -1 2.585233</float_array>
108 |           <technique_common>
109 |             <accessor source="#Cube-mesh-positions-array" count="12" stride="3">
110 |               <param name="X" type="float"/>
111 |               <param name="Y" type="float"/>
112 |               <param name="Z" type="float"/>
113 |             </accessor>
114 |           </technique_common>
115 |         </source>
116 |         <source id="Cube-mesh-normals">
117 |           <float_array id="Cube-mesh-normals-array" count="18">0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0 0 0 1</float_array>
118 |           <technique_common>
119 |             <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
120 |               <param name="X" type="float"/>
121 |               <param name="Y" type="float"/>
122 |               <param name="Z" type="float"/>
123 |             </accessor>
124 |           </technique_common>
125 |         </source>
126 |         <source id="Cube-mesh-map-0">
127 |           <float_array id="Cube-mesh-map-0-array" count="120">0.625 0.75 0.625 1 0.625 1 0.625 0.75 0.375 1 0.375 0.75 0.625 0 0.375 0.25 0.375 0 0.375 0.5 0.125 0.75 0.125 0.5 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.25 0.375 0.5 0.375 0.25 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.625 0.25 0.625 0.5 0.625 0.75 0.625 0.75 0.625 0.25 0.625 0.5 0.625 0.5 0.625 0.75 0.625 0.75 0.625 1 0.625 0.75 0.625 1 0.375 1 0.625 0 0.625 0.25 0.375 0.25 0.375 0.5 0.375 0.75 0.125 0.75 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.25 0.625 0.5 0.375 0.5 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0 0.625 0 0.625 0.25 0.625 0.5 0.625 0.5 0.625 0.75 0.625 0.25 0.625 0.25 0.625 0.5</float_array>
128 |           <technique_common>
129 |             <accessor source="#Cube-mesh-map-0-array" count="60" stride="2">
130 |               <param name="S" type="float"/>
131 |               <param name="T" type="float"/>
132 |             </accessor>
133 |           </technique_common>
134 |         </source>
135 |         <vertices id="Cube-mesh-vertices">
136 |           <input semantic="POSITION" source="#Cube-mesh-positions"/>
137 |         </vertices>
138 |         <triangles material="Material-material" count="20">
139 |           <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
140 |           <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
141 |           <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
142 |           <p>2 0 0 11 0 1 6 0 2 2 0 3 7 0 4 3 0 5 6 1 6 5 1 7 7 1 8 1 2 9 7 2 10 5 2 11 0 3 12 3 3 13 1 3 14 4 4 15 1 4 16 5 4 17 10 5 18 9 5 19 8 5 20 6 1 21 10 1 22 4 1 23 0 3 24 9 3 25 2 3 26 4 4 27 8 4 28 0 4 29 2 0 30 9 0 31 11 0 32 2 0 33 6 0 34 7 0 35 6 1 36 4 1 37 5 1 38 1 2 39 3 2 40 7 2 41 0 3 42 2 3 43 3 3 44 4 4 45 0 4 46 1 4 47 10 5 48 11 5 49 9 5 50 6 1 51 11 1 52 10 1 53 0 3 54 8 3 55 9 3 56 4 4 57 10 4 58 8 4 59</p>
143 |         </triangles>
144 |       </mesh>
145 |     </geometry>
146 |   </library_geometries>
147 |   <library_controllers>
148 |     <controller id="Armature_Cube-skin" name="Armature">
149 |       <skin source="#Cube-mesh">
150 |         <bind_shape_matrix>0.7164916 0 0 0 0 0.7164916 0 0 0 0 1.224277 0.2961319 0 0 0 1</bind_shape_matrix>
151 |         <source id="Armature_Cube-skin-joints">
152 |           <Name_array id="Armature_Cube-skin-joints-array" count="2">Bone Bone_001</Name_array>
153 |           <technique_common>
154 |             <accessor source="#Armature_Cube-skin-joints-array" count="2" stride="1">
155 |               <param name="JOINT" type="name"/>
156 |             </accessor>
157 |           </technique_common>
158 |         </source>
159 |         <source id="Armature_Cube-skin-bind_poses">
160 |           <float_array id="Armature_Cube-skin-bind_poses-array" count="32">0.7164916 0 0 0 0 0 0.7164916 0.2961319 0 -0.7164916 0 0 0 0 0 1 0.7164916 0 0 0 0 0 0.7164916 -0.9177411 0 -0.7164916 0 0 0 0 0 1</float_array>
161 |           <technique_common>
162 |             <accessor source="#Armature_Cube-skin-bind_poses-array" count="2" stride="16">
163 |               <param name="TRANSFORM" type="float4x4"/>
164 |             </accessor>
165 |           </technique_common>
166 |         </source>
167 |         <source id="Armature_Cube-skin-weights">
168 |           <float_array id="Armature_Cube-skin-weights-array" count="20">0.0312317 0.9687683 0.8890074 0.1109926 0.03140813 0.9685919 0.891797 0.1082031 0.03140813 0.9685919 0.891797 0.1082031 0.0312317 0.9687683 0.8890074 0.1109926 1 1 1 1</float_array>
169 |           <technique_common>
170 |             <accessor source="#Armature_Cube-skin-weights-array" count="20" stride="1">
171 |               <param name="WEIGHT" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <joints>
176 |           <input semantic="JOINT" source="#Armature_Cube-skin-joints"/>
177 |           <input semantic="INV_BIND_MATRIX" source="#Armature_Cube-skin-bind_poses"/>
178 |         </joints>
179 |         <vertex_weights count="12">
180 |           <input semantic="JOINT" source="#Armature_Cube-skin-joints" offset="0"/>
181 |           <input semantic="WEIGHT" source="#Armature_Cube-skin-weights" offset="1"/>
182 |           <vcount>2 2 2 2 2 2 2 2 1 1 1 1 </vcount>
183 |           <v>0 0 1 1 0 2 1 3 0 4 1 5 0 6 1 7 0 8 1 9 0 10 1 11 0 12 1 13 0 14 1 15 1 16 1 17 1 18 1 19</v>
184 |         </vertex_weights>
185 |       </skin>
186 |     </controller>
187 |   </library_controllers>
188 |   <library_animations>
189 |     <animation id="action_container-Armature" name="Armature">
190 |       <animation id="Armature_ArmatureAction_Bone_pose_matrix" name="Armature">
191 |         <source id="Armature_ArmatureAction_Bone_pose_matrix-input">
192 |           <float_array id="Armature_ArmatureAction_Bone_pose_matrix-input-array" count="61">0 0.04166662 0.08333331 0.125 0.1666666 0.2083333 0.25 0.2916666 0.3333333 0.375 0.4166666 0.4583333 0.5 0.5416667 0.5833333 0.625 0.6666667 0.7083333 0.75 0.7916667 0.8333333 0.875 0.9166667 0.9583333 1 1.041667 1.083333 1.125 1.166667 1.208333 1.25 1.291667 1.333333 1.375 1.416667 1.458333 1.5 1.541667 1.583333 1.625 1.666667 1.708333 1.75 1.791667 1.833333 1.875 1.916667 1.958333 2 2.041667 2.083333 2.125 2.166667 2.208333 2.25 2.291667 2.333333 2.375 2.416667 2.458333 2.5</float_array>
193 |           <technique_common>
194 |             <accessor source="#Armature_ArmatureAction_Bone_pose_matrix-input-array" count="61" stride="1">
195 |               <param name="TIME" type="float"/>
196 |             </accessor>
197 |           </technique_common>
198 |         </source>
199 |         <source id="Armature_ArmatureAction_Bone_pose_matrix-output">
200 |           <float_array id="Armature_ArmatureAction_Bone_pose_matrix-output-array" count="976">0.9999691 -0.007864385 -1.05665e-9 0 -1.05665e-9 4.15503e-12 -1 0 0.007864385 0.9999691 -4.15503e-12 0 0 0 0 1 0.9999691 -0.007864385 -1.05665e-9 0 -1.05665e-9 4.15503e-12 -1 0 0.007864385 0.9999691 -4.15503e-12 0 0 0 0 1 0.9999849 -0.005507062 -1.05666e-9 0 -1.05666e-9 2.90958e-12 -1 0 0.005507062 0.9999849 -2.90958e-12 0 0 0 0 1 0.9999992 0.001239995 -1.05668e-9 0 -1.05668e-9 -6.55141e-13 -1 0 -0.001239995 0.9999992 6.55141e-13 0 0 0 0 1 0.9999293 0.01188906 -1.05668e-9 0 -1.05668e-9 -6.28168e-12 -1 0 -0.01188906 0.9999293 6.28168e-12 0 0 0 0 1 0.9996632 0.02595041 -1.0566e-9 0 -1.0566e-9 -1.37119e-11 -1 0 -0.02595041 0.9996632 1.37119e-11 0 0 0 0 1 0.999078 0.04293046 -1.05639e-9 0 -1.05639e-9 -2.26862e-11 -1 0 -0.04293046 0.999078 2.26862e-11 0 0 0 0 1 0.9980556 0.06233075 -1.056e-9 0 -1.056e-9 -3.29428e-11 -1 0 -0.06233075 0.9980556 3.29428e-11 0 0 0 0 1 0.9964954 0.083648 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201 |           <technique_common>
202 |             <accessor source="#Armature_ArmatureAction_Bone_pose_matrix-output-array" count="61" stride="16">
203 |               <param name="TRANSFORM" type="float4x4"/>
204 |             </accessor>
205 |           </technique_common>
206 |         </source>
207 |         <source id="Armature_ArmatureAction_Bone_pose_matrix-interpolation">
208 |           <Name_array id="Armature_ArmatureAction_Bone_pose_matrix-interpolation-array" count="61">LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
209 |           <technique_common>
210 |             <accessor source="#Armature_ArmatureAction_Bone_pose_matrix-interpolation-array" count="61" stride="1">
211 |               <param name="INTERPOLATION" type="name"/>
212 |             </accessor>
213 |           </technique_common>
214 |         </source>
215 |         <sampler id="Armature_ArmatureAction_Bone_pose_matrix-sampler">
216 |           <input semantic="INPUT" source="#Armature_ArmatureAction_Bone_pose_matrix-input"/>
217 |           <input semantic="OUTPUT" source="#Armature_ArmatureAction_Bone_pose_matrix-output"/>
218 |           <input semantic="INTERPOLATION" source="#Armature_ArmatureAction_Bone_pose_matrix-interpolation"/>
219 |         </sampler>
220 |         <channel source="#Armature_ArmatureAction_Bone_pose_matrix-sampler" target="Armature_Bone/transform"/>
221 |       </animation>
222 |       <animation id="Armature_ArmatureAction_Bone_001_pose_matrix" name="Armature">
223 |         <source id="Armature_ArmatureAction_Bone_001_pose_matrix-input">
224 |           <float_array id="Armature_ArmatureAction_Bone_001_pose_matrix-input-array" count="61">0 0.04166662 0.08333331 0.125 0.1666666 0.2083333 0.25 0.2916666 0.3333333 0.375 0.4166666 0.4583333 0.5 0.5416667 0.5833333 0.625 0.6666667 0.7083333 0.75 0.7916667 0.8333333 0.875 0.9166667 0.9583333 1 1.041667 1.083333 1.125 1.166667 1.208333 1.25 1.291667 1.333333 1.375 1.416667 1.458333 1.5 1.541667 1.583333 1.625 1.666667 1.708333 1.75 1.791667 1.833333 1.875 1.916667 1.958333 2 2.041667 2.083333 2.125 2.166667 2.208333 2.25 2.291667 2.333333 2.375 2.416667 2.458333 2.5</float_array>
225 |           <technique_common>
226 |             <accessor source="#Armature_ArmatureAction_Bone_001_pose_matrix-input-array" count="61" stride="1">
227 |               <param name="TIME" type="float"/>
228 |             </accessor>
229 |           </technique_common>
230 |         </source>
231 |         <source id="Armature_ArmatureAction_Bone_001_pose_matrix-output">
232 |           <float_array id="Armature_ArmatureAction_Bone_001_pose_matrix-output-array" count="976">0.9998612 0.01666339 2.23886e-9 0 -0.01666339 0.9998612 -1.86601e-11 1.213873 -2.23886e-9 -1.86494e-11 1 0 0 0 0 1 0.9998612 0.01666339 2.23886e-9 0 -0.01666339 0.9998612 -1.86601e-11 1.213873 -2.23886e-9 -1.86494e-11 1 0 0 0 0 1 0.9997854 0.02071825 2.23946e-9 0 -0.02071825 0.9997854 -2.32066e-11 1.213873 -2.23946e-9 -2.3196e-11 1 0 0 0 0 1 0.999477 0.03233412 2.24108e-9 0 -0.03233412 0.999477 -3.62464e-11 1.213873 -2.24108e-9 -3.62357e-11 1 0 0 0 0 1 0.9987143 0.0506948 2.24333e-9 -9.31323e-10 -0.0506948 0.9987143 -5.69044e-11 1.213873 -2.24333e-9 -5.68937e-11 1 0 0 0 0 1 0.9971851 0.07497917 2.24572e-9 -3.72529e-9 -0.07497917 0.9971851 -8.43152e-11 1.213873 -2.24572e-9 -8.43045e-11 1 0 0 0 0 1 0.9945412 0.1043448 2.24773e-9 3.72529e-9 -0.1043448 0.9945412 -1.17596e-10 1.213873 -2.24773e-9 -1.17585e-10 1 0 0 0 0 1 0.990444 0.1379159 2.24882e-9 -7.45058e-9 -0.1379159 0.990444 -1.55824e-10 1.213873 -2.24882e-9 -1.55813e-10 1 0 0 0 0 1 0.9846076 0.1747795 2.24853e-9 0 -0.1747795 0.9846076 -1.98027e-10 1.213873 -2.24853e-9 -1.98017e-10 1 0 0 0 0 1 0.9768362 0.2139889 2.24646e-9 0 -0.2139889 0.9768362 -2.43181e-10 1.213873 -2.24646e-9 -2.4317e-10 1 0 0 0 0 1 0.9670526 0.2545768 2.24238e-9 0 -0.2545768 0.9670526 -2.90216e-10 1.213873 -2.24239e-9 -2.90205e-10 1 0 0 0 0 1 0.9553198 0.2955742 2.2362e-9 -1.49012e-8 -0.2955742 0.9553198 -3.38038e-10 1.213873 -2.2362e-9 -3.38027e-10 1 0 0 0 0 1 0.9418498 0.3360343 2.22797e-9 0 -0.3360343 0.9418498 -3.85553e-10 1.213873 -2.22797e-9 -3.85542e-10 1 0 0 0 0 1 0.9270024 0.3750554 2.21797e-9 0 -0.3750554 0.9270024 -4.31692e-10 1.213873 -2.21797e-9 -4.31681e-10 1 0 0 0 0 1 0.9112731 0.4118027 2.20659e-9 0 -0.4118027 0.9112731 -4.75437e-10 1.213873 -2.20659e-9 -4.75427e-10 1 0 0 0 0 1 0.8952715 0.4455211 2.1944e-9 0 -0.4455211 0.8952715 -5.15842e-10 1.213873 -2.1944e-9 -5.15832e-10 1 0 0 0 0 1 0.8796939 0.4755402 2.18205e-9 0 -0.4755402 0.8796939 -5.52039e-10 1.213873 -2.18206e-9 -5.52029e-10 1 0 0 0 0 1 0.8652921 0.5012681 2.1703e-9 0 -0.5012681 0.8652921 -5.8324e-10 1.213873 -2.1703e-9 -5.83229e-10 1 0 0 0 0 1 0.8528398 0.5221729 2.15991e-9 0 -0.5221729 0.8528398 -6.08718e-10 1.213873 -2.15991e-9 -6.08708e-10 1 0 0 0 0 1 0.8431005 0.5377563 2.15165e-9 2.98023e-8 -0.5377563 0.8431005 -6.27788e-10 1.213873 -2.15166e-9 -6.27777e-10 1 0 0 0 0 1 0.8367949 0.5475166 2.14625e-9 0 -0.5475166 0.8367949 -6.39767e-10 1.213873 -2.14626e-9 -6.39756e-10 1 0 0 0 0 1 0.8345675 0.5509057 7.4019e-8 2.98023e-8 -0.5509057 0.8345675 -2.22273e-8 1.213873 -7.4019e-8 -2.22273e-8 1 8.88178e-16 0 0 0 1 0.8386366 0.5446916 7.41748e-8 2.98023e-8 -0.5446916 0.8386366 -2.19741e-8 1.213873 -7.41748e-8 -2.19741e-8 1 0 0 0 0 1 0.8500403 0.5267177 7.46101e-8 -2.98023e-8 -0.5267177 0.8500403 -2.1242e-8 1.213873 -7.46101e-8 -2.1242e-8 1 -8.88178e-16 0 0 0 1 0.8673187 0.4977532 7.52668e-8 0 -0.4977532 0.8673187 -2.00631e-8 1.213873 -7.52668e-8 -2.00631e-8 1 4.44089e-16 0 0 0 1 0.8887385 0.4584147 7.60754e-8 0 -0.4584147 0.8887385 -1.84642e-8 1.213873 -7.60754e-8 -1.84642e-8 1 8.88178e-16 0 0 0 1 0.9123759 0.4093534 7.69588e-8 1.49012e-8 -0.4093534 0.9123759 -1.64734e-8 1.213873 -7.69588e-8 -1.64734e-8 1 4.44089e-16 0 0 0 1 0.9362175 0.3514211 7.78367e-8 0 -0.3514211 0.9362175 -1.41273e-8 1.213873 -7.78366e-8 -1.41273e-8 1 0 0 0 0 1 0.9582905 0.2857963 7.86305e-8 -1.86265e-9 -0.2857963 0.9582905 -1.14755e-8 1.213873 -7.86305e-8 -1.14755e-8 1 0 0 0 0 1 0.9768223 0.2140519 7.92704e-8 0 -0.2140519 0.9768223 -8.58346e-9 1.213873 -7.92704e-8 -8.58346e-9 1 -4.44089e-16 0 0 0 1 0.9904112 0.1381507 7.97018e-8 1.49012e-8 -0.1381507 0.9904112 -5.53195e-9 1.213873 -7.97018e-8 -5.53195e-9 1 8.88178e-16 0 0 0 1 0.9981765 0.06036355 7.98914e-8 -2.98023e-8 -0.06036355 0.9981765 -2.41346e-9 1.213873 -7.98914e-8 -2.41346e-9 1 4.44089e-16 0 0 0 1 0.9998577 -0.01687309 7.98309e-8 0 0.01687309 0.9998577 6.73548e-10 1.213873 -7.98309e-8 6.73547e-10 1 0 0 0 0 1 0.9958389 -0.09113184 7.95383e-8 0 0.09113184 0.9958389 3.63179e-9 1.213873 -7.95383e-8 3.63179e-9 1 0 0 0 0 1 0.9870912 -0.1601593 7.90544e-8 0 0.1601593 0.9870912 6.37177e-9 1.213873 -7.90544e-8 6.37177e-9 1 -8.88178e-16 0 0 0 1 0.9750473 -0.2219968 7.84383e-8 0 0.2219968 0.9750473 8.81652e-9 1.213873 -7.84383e-8 8.81652e-9 1 -8.88178e-16 0 0 0 1 0.9614358 -0.2750296 7.77605e-8 5.96046e-8 0.2750296 0.9614358 1.09035e-8 1.213873 -7.77605e-8 1.09035e-8 1 2.66454e-15 0 0 0 1 0.9481031 -0.317963 7.70956e-8 0 0.317963 0.9481031 1.25833e-8 1.213873 -7.70956e-8 1.25833e-8 1 8.88178e-16 0 0 0 1 0.9368508 -0.3497295 7.65158e-8 0 0.3497295 0.9368508 1.38161e-8 1.213873 -7.65158e-8 1.38161e-8 1 -8.88178e-16 0 0 0 1 0.9292898 -0.3693511 7.60852e-8 5.96046e-8 0.3693511 0.9292898 1.45661e-8 1.213873 -7.60852e-8 1.45661e-8 1 0 0 0 0 1 0.9267113 -0.3757742 -5.04886e-8 0 0.3757742 0.9267113 -9.84698e-9 1.213873 5.04886e-8 -9.84702e-9 1 -3.55271e-15 0 0 0 1 0.9279115 -0.3728007 -5.04373e-8 0 0.3728007 0.9279115 -9.75304e-9 1.213873 5.04373e-8 -9.75309e-9 1 0 0 0 0 1 0.9308648 -0.365364 -5.04347e-8 0 0.365364 0.9308648 -9.54339e-9 1.213873 5.04347e-8 -9.54341e-9 1 1.42109e-14 0 0 0 1 0.9352736 -0.3539253 -5.0473e-8 0 0.3539253 0.9352736 -9.23054e-9 1.213873 5.0473e-8 -9.23059e-9 1 -3.55271e-15 0 0 0 1 0.9408128 -0.3389269 -5.05436e-8 0 0.3389269 0.9408128 -8.82649e-9 1.213873 5.05436e-8 -8.82653e-9 1 -3.55271e-15 0 0 0 1 0.947145 -0.3208061 -5.06379e-8 -5.96046e-8 0.3208061 0.947145 -8.34295e-9 1.213873 5.06379e-8 -8.34299e-9 1 0 0 0 0 1 0.9539368 -0.3000081 -5.07473e-8 -5.96046e-8 0.3000081 0.9539368 -7.79173e-9 1.213873 5.07473e-8 -7.79176e-9 1 3.55271e-15 0 0 0 1 0.9608722 -0.2769924 -5.08636e-8 5.96046e-8 0.2769924 0.9608722 -7.18497e-9 1.213873 5.08636e-8 -7.18501e-9 1 -3.55271e-15 0 0 0 1 0.9676646 -0.2522408 -5.09797e-8 0 0.2522408 0.9676646 -6.53522e-9 1.213873 5.09797e-8 -6.53526e-9 1 5.32907e-15 0 0 0 1 0.9740672 -0.2262587 -5.10893e-8 2.98023e-8 0.2262587 0.9740672 -5.85561e-9 1.213873 5.10893e-8 -5.85565e-9 1 -5.32907e-15 0 0 0 1 0.9798827 -0.1995741 -5.11875e-8 -2.98023e-8 0.1995741 0.9798827 -5.15973e-9 1.213873 5.11875e-8 -5.15977e-9 1 1.77636e-15 0 0 0 1 0.9849682 -0.1727355 -5.12709e-8 0 0.1727355 0.9849682 -4.46166e-9 1.213873 5.12709e-8 -4.46171e-9 1 -1.77636e-15 0 0 0 1 0.9892393 -0.1463065 -5.13375e-8 0 0.1463065 0.9892393 -3.7758e-9 1.213873 5.13374e-8 -3.77584e-9 1 1.77636e-15 0 0 0 1 0.9926694 -0.1208609 -5.13868e-8 -1.49012e-8 0.1208609 0.9926694 -3.11673e-9 1.213873 5.13868e-8 -3.11677e-9 1 1.77636e-15 0 0 0 1 0.9952868 -0.096976 -5.14197e-8 1.49012e-8 0.096976 0.9952868 -2.49911e-9 1.213873 5.14198e-8 -2.49915e-9 1 -1.77636e-15 0 0 0 1 0.9971665 -0.0752276 -5.14386e-8 0 0.0752276 0.9971665 -1.93752e-9 1.213873 5.14386e-8 -1.93756e-9 1 0 0 0 0 1 0.9984204 -0.0561865 -5.14463e-8 -7.45058e-9 0.0561865 0.9984204 -1.44641e-9 1.213873 5.14462e-8 -1.44646e-9 1 4.44089e-16 0 0 0 1 0.999183 -0.04041608 -5.14465e-8 3.72529e-9 0.04041608 0.999183 -1.04004e-9 1.213873 5.14465e-8 -1.04008e-9 1 0 0 0 0 1 0.9995946 -0.02847232 -5.14431e-8 0 0.02847232 0.9995946 -7.32479e-10 1.213873 5.1443e-8 -7.32521e-10 1 0 0 0 0 1 0.9997815 -0.02090508 -5.14393e-8 0 0.02090508 0.9997815 -5.37709e-10 1.213873 5.14393e-8 -5.37751e-10 1 0 0 0 0 1 0.9998332 -0.01826121 -2.45357e-9 1.86265e-9 0.01826121 0.9998332 -2.23876e-11 1.213873 2.45357e-9 -2.24213e-11 1 0 0 0 0 1</float_array>
233 |           <technique_common>
234 |             <accessor source="#Armature_ArmatureAction_Bone_001_pose_matrix-output-array" count="61" stride="16">
235 |               <param name="TRANSFORM" type="float4x4"/>
236 |             </accessor>
237 |           </technique_common>
238 |         </source>
239 |         <source id="Armature_ArmatureAction_Bone_001_pose_matrix-interpolation">
240 |           <Name_array id="Armature_ArmatureAction_Bone_001_pose_matrix-interpolation-array" count="61">LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
241 |           <technique_common>
242 |             <accessor source="#Armature_ArmatureAction_Bone_001_pose_matrix-interpolation-array" count="61" stride="1">
243 |               <param name="INTERPOLATION" type="name"/>
244 |             </accessor>
245 |           </technique_common>
246 |         </source>
247 |         <sampler id="Armature_ArmatureAction_Bone_001_pose_matrix-sampler">
248 |           <input semantic="INPUT" source="#Armature_ArmatureAction_Bone_001_pose_matrix-input"/>
249 |           <input semantic="OUTPUT" source="#Armature_ArmatureAction_Bone_001_pose_matrix-output"/>
250 |           <input semantic="INTERPOLATION" source="#Armature_ArmatureAction_Bone_001_pose_matrix-interpolation"/>
251 |         </sampler>
252 |         <channel source="#Armature_ArmatureAction_Bone_001_pose_matrix-sampler" target="Armature_Bone_001/transform"/>
253 |       </animation>
254 |     </animation>
255 |   </library_animations>
256 |   <library_visual_scenes>
257 |     <visual_scene id="Scene" name="Scene">
258 |       <node id="Armature" name="Armature" type="NODE">
259 |         <matrix sid="transform">1.39569 0 0 0 0 1.39569 0 0 0 0 1.39569 -0.4133083 0 0 0 1</matrix>
260 |         <node id="Armature_Bone" name="Bone" sid="Bone" type="JOINT">
261 |           <matrix sid="transform">1 0 0 0 0 0 -1 0 0 1 0 0 0 0 0 1</matrix>
262 |           <node id="Armature_Bone_001" name="Bone.001" sid="Bone_001" type="JOINT">
263 |             <matrix sid="transform">1 0 0 0 0 1 0 1.213873 0 0 1 0 0 0 0 1</matrix>
264 |             <extra>
265 |               <technique profile="blender">
266 |                 <connect sid="connect" type="bool">1</connect>
267 |                 <layer sid="layer" type="string">0</layer>
268 |                 <tip_x sid="tip_x" type="float">0</tip_x>
269 |                 <tip_y sid="tip_y" type="float">0</tip_y>
270 |                 <tip_z sid="tip_z" type="float">1.48066</tip_z>
271 |               </technique>
272 |             </extra>
273 |           </node>
274 |           <extra>
275 |             <technique profile="blender">
276 |               <layer sid="layer" type="string">0</layer>
277 |             </technique>
278 |           </extra>
279 |         </node>
280 |         <node id="Cube" name="Cube" type="NODE">
281 |           <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
282 |           <instance_controller url="#Armature_Cube-skin">
283 |             <skeleton>#Armature_Bone</skeleton>
284 |             <bind_material>
285 |               <technique_common>
286 |                 <instance_material symbol="Material-material" target="#Material-material">
287 |                   <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
288 |                 </instance_material>
289 |               </technique_common>
290 |             </bind_material>
291 |           </instance_controller>
292 |         </node>
293 |       </node>
294 |       <node id="Camera" name="Camera" type="NODE">
295 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
296 |         <instance_camera url="#Camera-camera"/>
297 |       </node>
298 |       <node id="Light" name="Light" type="NODE">
299 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
300 |         <instance_light url="#Light-light"/>
301 |       </node>
302 |     </visual_scene>
303 |   </library_visual_scenes>
304 |   <scene>
305 |     <instance_visual_scene url="#Scene"/>
306 |   </scene>
307 | </COLLADA>


--------------------------------------------------------------------------------
/utils.h:
--------------------------------------------------------------------------------
  1 | #pragma once
  2 | #include <SDL.h>
  3 | #include "glad.h"
  4 | #include <iostream>
  5 | #include <string>
  6 | #include <vector>
  7 | #include <glm/glm.hpp>
  8 | #include <glm/gtc/quaternion.hpp>
  9 | #include <glm/gtx/quaternion.hpp>
 10 | #include <glm/gtc/type_ptr.hpp>
 11 | #include <assimp/scene.h>
 12 | 
 13 | typedef unsigned int uint;
 14 | typedef unsigned char byte;
 15 | 
 16 | inline glm::mat4 assimpToGlmMatrix(aiMatrix4x4 mat) {
 17 | 	glm::mat4 m;
 18 | 	for (int y = 0; y < 4; y++)
 19 | 	{
 20 | 		for (int x = 0; x < 4; x++)
 21 | 		{
 22 | 			m[x][y] = mat[y][x];
 23 | 		}
 24 | 	}
 25 | 	return m;
 26 | }
 27 | inline glm::vec3 assimpToGlmVec3(aiVector3D vec) {
 28 | 	return glm::vec3(vec.x, vec.y, vec.z);
 29 | }
 30 | 
 31 | inline glm::quat assimpToGlmQuat(aiQuaternion quat) {
 32 | 	glm::quat q;
 33 | 	q.x = quat.x;
 34 | 	q.y = quat.y;
 35 | 	q.z = quat.z;
 36 | 	q.w = quat.w;
 37 | 
 38 | 	return q;
 39 | }
 40 | 
 41 | 
 42 | 
 43 | inline unsigned int createShader(const char* vertexStr, const char* fragmentStr) {
 44 | 	int success;
 45 | 	char info_log[512];
 46 | 	uint
 47 | 		program = glCreateProgram(),
 48 | 		vShader = glCreateShader(GL_VERTEX_SHADER),
 49 | 		fShader = glCreateShader(GL_FRAGMENT_SHADER);
 50 | 
 51 | 	glShaderSource(vShader, 1, &vertexStr, 0);
 52 | 	glCompileShader(vShader);
 53 | 	glGetShaderiv(vShader, GL_COMPILE_STATUS, &success);
 54 | 	if (!success)
 55 | 	{
 56 | 		glGetShaderInfoLog(vShader, 512, 0, info_log);
 57 | 		std::cout << "vertex shader compilation failed!\n" << info_log << std::endl;
 58 | 	}
 59 | 	glShaderSource(fShader, 1, &fragmentStr, 0);
 60 | 	glCompileShader(fShader);
 61 | 	glGetShaderiv(fShader, GL_COMPILE_STATUS, &success);
 62 | 	if (!success)
 63 | 	{
 64 | 		glGetShaderInfoLog(fShader, 512, 0, info_log);
 65 | 		std::cout << "fragment shader compilation failed!\n" << info_log << std::endl;
 66 | 	}
 67 | 
 68 | 	glAttachShader(program, vShader);
 69 | 	glAttachShader(program, fShader);
 70 | 	glLinkProgram(program);
 71 | 	glGetProgramiv(program, GL_LINK_STATUS, &success);
 72 | 	if (!success)
 73 | 	{
 74 | 		glGetProgramInfoLog(program, 512, 0, info_log);
 75 | 		std::cout << "program linking failed!\n" << info_log << std::endl;
 76 | 	}
 77 | 	glDetachShader(program, vShader);
 78 | 	glDeleteShader(vShader);
 79 | 	glDetachShader(program, fShader);
 80 | 	glDeleteShader(fShader);
 81 | 
 82 | 	return program;
 83 | }
 84 | 
 85 | inline SDL_Window* initWindow(int &windowWidth,int &windowHeight) {
 86 | 	SDL_Init(SDL_INIT_EVERYTHING);
 87 | 	SDL_GL_LoadLibrary(NULL);
 88 | 
 89 | 	//window
 90 | 	SDL_Window* window = SDL_CreateWindow("skin Animation",
 91 | 		SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED,
 92 | 		640, 480,
 93 | 		SDL_WINDOW_SHOWN | SDL_WINDOW_OPENGL | SDL_WINDOW_RESIZABLE);
 94 | 
 95 | 
 96 | 	SDL_GLContext context = SDL_GL_CreateContext(window);
 97 | 
 98 | 	SDL_GL_SetAttribute(SDL_GL_ACCELERATED_VISUAL, 1);
 99 | 	SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 4);
100 | 	SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 4);
101 | 	SDL_GL_SetAttribute(SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_CORE);
102 | 	SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
103 | 	SDL_GL_SetAttribute(SDL_GL_RED_SIZE, 8);
104 | 	SDL_GL_SetAttribute(SDL_GL_GREEN_SIZE, 8);
105 | 	SDL_GL_SetAttribute(SDL_GL_BLUE_SIZE, 8);
106 | 	SDL_GL_SetAttribute(SDL_GL_ALPHA_SIZE, 8);
107 | 	SDL_GL_SetAttribute(SDL_GL_DEPTH_SIZE, 24);
108 | 	SDL_GL_SetAttribute(SDL_GL_STENCIL_SIZE, 8);
109 | 
110 | 
111 | 	gladLoadGLLoader((GLADloadproc)SDL_GL_GetProcAddress);
112 | 
113 | 	SDL_GetWindowSize(window, &windowWidth, &windowHeight);
114 | 	glViewport(0, 0, windowWidth, windowHeight);
115 | 	glClearColor(1.0, 0.0, 0.4, 1.0);
116 | 	glEnable(GL_DEPTH_TEST);
117 | 	SDL_ShowWindow(window);
118 | 	SDL_GL_SetSwapInterval(1);
119 | 	return window;
120 | }


--------------------------------------------------------------------------------