I should have persevered with quaternions

FModel/Resources/light.vert

@@ -10,6 +10,13 @@ out vec2 fTexCoords;
 
 void main()
 {
- gl_Position = uProjection * uView * vInstanceMatrix * vec4(inverse(mat3(uView)) * vPos, 1.0);
- fTexCoords = -vPos.xy;
+ float scale = 0.075;
+ mat4 result;
+ result[0] = vec4(scale, 0.0, 0.0, 0.0);
+ result[1] = vec4(0.0, scale, 0.0, 0.0);
+ result[2] = vec4(0.0, 0.0, scale, 0.0);
+ result[3] = vInstanceMatrix[3];
+
+ gl_Position = uProjection * uView * result * vec4(inverse(mat3(uView)) * vPos, 1.0);
+ fTexCoords = -vPos.xy * 0.5 + 0.5; // fits the whole rectangle
 }

FModel/Views/Snooper/Camera.cs

@@ -39,12 +39,11 @@ public Camera()
  public void Teleport(FVector instancePos, FBox box, bool updateAll = false)
  {
  box.GetCenterAndExtents(out var center, out var extents);
- center = center.ToMapVector();
  center += instancePos;
  var distance = extents.AbsMax();
 
- Position = new Vector3(instancePos.X, center.Y, instancePos.Z + distance * 2);
- Direction = new Vector3(center.X, center.Y, center.Z);
+ Position = new Vector3(instancePos.X, center.Z, instancePos.Y + distance * 2);
+ Direction = new Vector3(center.X, center.Z, center.Y);
  if (updateAll)
  {
  Far = Math.Max(Far, box.Max.AbsMax() * 50f);

FModel/Views/Snooper/Lights/Light.cs

@@ -36,14 +36,15 @@ public abstract class Light : IDisposable
  public float Intensity;
  public bool IsSetup;
 
- public Light(FGuid model, Texture icon, UObject parent, UObject light, FVector position)
+ public Light(FGuid model, Texture icon, UObject parent, UObject light, Transform transform)
  {
- var p = light.GetOrDefault("RelativeLocation", parent.GetOrDefault("RelativeLocation", FVector.ZeroVector));
- var r = light.GetOrDefault("RelativeRotation", parent.GetOrDefault("RelativeRotation", FRotator.ZeroRotator));
-
- Transform = Transform.Identity;
- Transform.Scale = new FVector(0.2f);
- Transform.Position = position + r.RotateVector(p.ToMapVector()) * Constants.SCALE_DOWN_RATIO;
+ Transform = new Transform
+ {
+ Relation = transform.Matrix,
+ Position = light.GetOrDefault("RelativeLocation", parent.GetOrDefault("RelativeLocation", FVector.ZeroVector)) * Constants.SCALE_DOWN_RATIO,
+ Rotation = light.GetOrDefault("RelativeRotation", parent.GetOrDefault("RelativeRotation", FRotator.ZeroRotator)).Quaternion(),
+ Scale = light.GetOrDefault("RelativeScale3D", parent.GetOrDefault("RelativeScale3D", FVector.OneVector))
+ };
 
  Model = model;
  Icon = icon;
@@ -91,7 +92,7 @@ public void Render(Shader shader)
  public virtual void Render(int i, Shader shader)
  {
  shader.SetUniform($"uLights[{i}].Base.Color", Color);
- shader.SetUniform($"uLights[{i}].Base.Position", Transform.Position);
+ shader.SetUniform($"uLights[{i}].Base.Position", Transform.Matrix.Translation);
  shader.SetUniform($"uLights[{i}].Base.Intensity", Intensity);
  }
 

FModel/Views/Snooper/Lights/PointLight.cs

@@ -12,7 +12,7 @@ public class PointLight : Light
  public float Linear;
  public float Quadratic;
 
- public PointLight(FGuid model, Texture icon, UObject parent, UObject point, FVector position) : base(model, icon, parent, point, position)
+ public PointLight(FGuid model, Texture icon, UObject parent, UObject point, Transform transform) : base(model, icon, parent, point, transform)
  {
  if (!point.TryGetValue(out float radius, "AttenuationRadius", "SourceRadius"))
  radius = 1.0f;

FModel/Views/Snooper/Lights/SpotLight.cs

@@ -12,7 +12,7 @@ public class SpotLight : Light
  public float InnerConeAngle;
  public float OuterConeAngle;
 
- public SpotLight(FGuid model, Texture icon, UObject parent, UObject spot, FVector position) : base(model, icon, parent, spot, position)
+ public SpotLight(FGuid model, Texture icon, UObject parent, UObject spot, Transform transform) : base(model, icon, parent, spot, transform)
  {
  if (!spot.TryGetValue(out Attenuation, "AttenuationRadius", "SourceRadius"))
  Attenuation = 1.0f;

FModel/Views/Snooper/Models/Animations/Animation.cs

@@ -53,7 +53,7 @@ public void CalculateBoneTransform()
 
  FinalBonesMatrix[boneIndex] =
  Matrix4x4.CreateFromQuaternion(boneOrientation) *
- Matrix4x4.CreateTranslation(bonePosition.ToMapVector());
+ Matrix4x4.CreateTranslation(bonePosition);
  }
  }
 

FModel/Views/Snooper/Models/Animations/Skeleton.cs

@@ -1,9 +1,7 @@
 using System;
 using System.Collections.Generic;
-using System.Numerics;
 using CUE4Parse.UE4.Assets.Exports.Animation;
 using CUE4Parse.UE4.Assets.Exports.SkeletalMesh;
-using CUE4Parse.UE4.Objects.Core.Math;
 using CUE4Parse.UE4.Objects.UObject;
 using FModel.Views.Snooper.Shading;
 
@@ -26,48 +24,35 @@ public Skeleton(FPackageIndex package)
  Sockets = new Socket[RefSkel.Sockets.Length];
  for (int i = 0; i < Sockets.Length; i++)
  {
- if (RefSkel.Sockets[i].Load<USkeletalMeshSocket>() is not { } socket ||
- !RefSkel.ReferenceSkeleton.FinalNameToIndexMap.TryGetValue(socket.BoneName.Text, out var boneIndex))
- continue;
+ if (RefSkel.Sockets[i].Load<USkeletalMeshSocket>() is not { } socket) continue;
 
- var transform = Transform.Identity;
- var matrix = Matrix4x4.Identity;
- while (boneIndex > -1)
+ if (!RefSkel.ReferenceSkeleton.FinalNameToIndexMap.TryGetValue(socket.BoneName.Text, out var boneIndex))
  {
- var bone = RefSkel.ReferenceSkeleton.FinalRefBonePose[boneIndex];
- boneIndex = RefSkel.ReferenceSkeleton.FinalRefBoneInfo[boneIndex].ParentIndex;
- var parentBone = RefSkel.ReferenceSkeleton.FinalRefBonePose[boneIndex < 0 ? 0 : boneIndex];
-
- var orig_loc = bone.Translation;
- parentBone.Rotation.Conjugate();
- orig_loc = parentBone.Rotation.RotateVector(orig_loc);
-
- var orig_quat = bone.Rotation;
- orig_quat *= parentBone.Rotation;
- orig_quat.Conjugate();
+ Sockets[i] = new Socket(socket);
+ }
+ else
+ {
+ var transforms = new List<Transform>();
+ while (boneIndex > -1)
+ {
+ var bone = RefSkel.ReferenceSkeleton.FinalRefBonePose[boneIndex];
+ boneIndex = RefSkel.ReferenceSkeleton.FinalRefBoneInfo[boneIndex].ParentIndex;
 
- var p_rotated = orig_quat * orig_loc;
- orig_quat.Conjugate();
- p_rotated *= orig_quat;
+ transforms.Add(new Transform
+ {
+ Rotation = bone.Rotation,
+ Position = bone.Translation * Constants.SCALE_DOWN_RATIO,
+ Scale = bone.Scale3D
+ });
+ }
 
- matrix *=
- Matrix4x4.CreateFromQuaternion(orig_quat) *
- Matrix4x4.CreateTranslation(p_rotated);
+ for (int j = transforms.Count - 2; j > -1; j--)
+ {
+ transforms[j].Relation *= transforms[j + 1].Matrix;
+ }
 
- // Console.WriteLine(matrix.Translation);
+ Sockets[i] = new Socket(socket, transforms[0]);
  }
- // for (int j = 0; j <= boneIndex; j++)
- // {
- // var t = RefSkel.ReferenceSkeleton.FinalRefBonePose[j];
- // var r = RefSkel.ReferenceSkeleton.FinalRefBonePose[j - (j == 0 ? 0 : 1)].Rotation;
- // r.Conjugate();
- // matrix *= Matrix4x4.CreateFromQuaternion(r) * Matrix4x4.CreateTranslation(t.Translation);
- //
- // Console.WriteLine($@"{t.Translation}");
- // transform.Relation *= matrix;
- // }
-
- Sockets[i] = new Socket(socket, matrix.Translation);
  }
  }
 

FModel/Views/Snooper/Models/Model.cs

@@ -79,11 +79,11 @@ public Model(UStaticMesh export, CStaticMesh staticMesh) : this(export, staticMe
 
  public Model(UStaticMesh export, CStaticMesh staticMesh, Transform transform) : this(export, export.Materials, null, staticMesh.LODs.Count, staticMesh.LODs[0], staticMesh.LODs[0].Verts, transform)
  {
- Box = staticMesh.BoundingBox *= Constants.SCALE_DOWN_RATIO;
+ Box = staticMesh.BoundingBox * Constants.SCALE_DOWN_RATIO;
  }
  private Model(USkeletalMesh export, CSkeletalMesh skeletalMesh, Transform transform) : this(export, export.Materials, export.Skeleton, skeletalMesh.LODs.Count, skeletalMesh.LODs[0], skeletalMesh.LODs[0].Verts, transform)
  {
- Box = skeletalMesh.BoundingBox *= Constants.SCALE_DOWN_RATIO;
+ Box = skeletalMesh.BoundingBox * Constants.SCALE_DOWN_RATIO;
  }
  public Model(USkeletalMesh export, CSkeletalMesh skeletalMesh) : this(export, skeletalMesh, Transform.Identity)
  {

FModel/Views/Snooper/Models/Socket.cs

@@ -1,7 +1,5 @@
 using System;
-using System.Numerics;
 using CUE4Parse.UE4.Assets.Exports.SkeletalMesh;
-using CUE4Parse.UE4.Objects.Core.Math;
 
 namespace FModel.Views.Snooper.Models;
 
@@ -11,23 +9,25 @@ public class Socket : IDisposable
  public readonly string Bone;
  public readonly Transform Transform;
 
- public Socket(USkeletalMeshSocket socket, Transform transform)
+ public Socket(USkeletalMeshSocket socket)
  {
  Name = socket.SocketName.Text;
  Bone = socket.BoneName.Text;
- Transform = transform;
- // Transform.Relation = transform.Matrix;
- // Transform.Position = socket.RelativeRotation.RotateVector(socket.RelativeLocation.ToMapVector()) * Constants.SCALE_DOWN_RATIO;
- // Transform.Scale = socket.RelativeScale.ToMapVector();
+ Transform = Transform.Identity;
+ Transform.Rotation = socket.RelativeRotation.Quaternion();
+ Transform.Position = socket.RelativeLocation * Constants.SCALE_DOWN_RATIO;
+ Transform.Scale = socket.RelativeScale;
  }
 
- public Socket(USkeletalMeshSocket socket, Vector3 position)
+ public Socket(USkeletalMeshSocket socket, Transform transform)
  {
  Name = socket.SocketName.Text;
  Bone = socket.BoneName.Text;
- Transform = Transform.Identity;
- var pos = position /*+ socket.RelativeRotation.RotateVector(socket.RelativeLocation)*/;
- Transform.Position = new FVector(pos.X, pos.Z, pos.Y) * Constants.SCALE_DOWN_RATIO;
+ Transform = transform;
+ Transform.Relation = transform.Matrix;
+ Transform.Rotation = socket.RelativeRotation.Quaternion();
+ Transform.Position = socket.RelativeLocation * Constants.SCALE_DOWN_RATIO;
+ Transform.Scale = socket.RelativeScale;
  }
 
  public void Dispose()

FModel/Views/Snooper/Renderer.cs

@@ -212,11 +212,9 @@ private void LoadWorld(CancellationToken cancellationToken, UWorld original, Tra
  if (persistentLevel.TryGetValue(out FSoftObjectPath runtimeCell, "WorldPartitionRuntimeCell") &&
  Utils.TryLoadObject(runtimeCell.AssetPathName.Text.SubstringBeforeWithLast(".") + runtimeCell.SubPathString.SubstringAfterLast("."), out UObject worldPartition))
  {
- var ratio = MathF.Pow(Constants.SCALE_DOWN_RATIO, 2);
- var position = worldPartition.GetOrDefault("Position", FVector.ZeroVector).ToMapVector() * Constants.SCALE_DOWN_RATIO;
+ var position = worldPartition.GetOrDefault("Position", FVector.ZeroVector) * Constants.SCALE_DOWN_RATIO;
  var box = worldPartition.GetOrDefault("ContentBounds", new FBox(FVector.ZeroVector, FVector.OneVector));
- box.Min *= ratio;box.Max *= ratio;
-
+ box *= MathF.Pow(Constants.SCALE_DOWN_RATIO, 2);
  CameraOp.Teleport(position, box, true);
  }
 
@@ -243,8 +241,8 @@ private void WorldCamera(UObject actor)
  if (actor.ExportType != "LevelBounds" || !actor.TryGetValue(out FPackageIndex boxComponent, "BoxComponent") ||
  boxComponent.Load() is not { } boxObject) return;
 
- var direction = boxObject.GetOrDefault("RelativeLocation", FVector.ZeroVector).ToMapVector() * Constants.SCALE_DOWN_RATIO;
- var position = boxObject.GetOrDefault("RelativeScale3D", FVector.OneVector).ToMapVector() / 2f * Constants.SCALE_DOWN_RATIO;
+ var direction = boxObject.GetOrDefault("RelativeLocation", FVector.ZeroVector) * Constants.SCALE_DOWN_RATIO;
+ var position = boxObject.GetOrDefault("RelativeScale3D", FVector.OneVector) / 2f * Constants.SCALE_DOWN_RATIO;
  CameraOp.Setup(new FBox(direction, position));
  }
 
@@ -282,9 +280,9 @@ private void WorldMesh(UObject actor, Transform transform)
  var t = new Transform
  {
  Relation = transform.Matrix,
- Position = staticMeshComp.GetOrDefault("RelativeLocation", FVector.ZeroVector).ToMapVector() * Constants.SCALE_DOWN_RATIO,
- Rotation = staticMeshComp.GetOrDefault("RelativeRotation", FRotator.ZeroRotator),
- Scale = staticMeshComp.GetOrDefault("RelativeScale3D", FVector.OneVector).ToMapVector()
+ Position = staticMeshComp.GetOrDefault("RelativeLocation", FVector.ZeroVector) * Constants.SCALE_DOWN_RATIO,
+ Rotation = staticMeshComp.GetOrDefault("RelativeRotation", FRotator.ZeroRotator).Quaternion(),
+ Scale = staticMeshComp.GetOrDefault("RelativeScale3D", FVector.OneVector)
  };
 
  if (Options.TryGetModel(guid, out var model))
@@ -351,12 +349,12 @@ private void WorldMesh(UObject actor, Transform transform)
  if (actor.TryGetValue(out FPackageIndex treasureLight, "PointLight", "TreasureLight") &&
  treasureLight.TryLoad(out var pl1) && pl1.Template.TryLoad(out var pl2))
  {
- Options.Lights.Add(new PointLight(guid, Options.Icons["pointlight"], pl1, pl2, t.Position));
+ Options.Lights.Add(new PointLight(guid, Options.Icons["pointlight"], pl1, pl2, t));
  }
  if (actor.TryGetValue(out FPackageIndex spotLight, "SpotLight") &&
  spotLight.TryLoad(out var sl1) && sl1.Template.TryLoad(out var sl2))
  {
- Options.Lights.Add(new SpotLight(guid, Options.Icons["spotlight"], sl1, sl2, t.Position));
+ Options.Lights.Add(new SpotLight(guid, Options.Icons["spotlight"], sl1, sl2, t));
  }
  }
 
@@ -376,9 +374,8 @@ private void AdditionalWorlds(UObject actor, Matrix4x4 relation, CancellationTok
  var transform = new Transform
  {
  Relation = relation,
- Position = staticMeshComp.GetOrDefault("RelativeLocation", FVector.ZeroVector).ToMapVector() * Constants.SCALE_DOWN_RATIO,
- Rotation = staticMeshComp.GetOrDefault("RelativeRotation", FRotator.ZeroRotator),
- Scale = FVector.OneVector.ToMapVector()
+ Position = staticMeshComp.GetOrDefault("RelativeLocation", FVector.ZeroVector) * Constants.SCALE_DOWN_RATIO,
+ Rotation = staticMeshComp.GetOrDefault("RelativeRotation", FRotator.ZeroRotator).Quaternion()
  };
 
  for (int j = 0; j < additionalWorlds.Length; j++)

FModel/Views/Snooper/Transform.cs

@@ -12,17 +12,15 @@ public static Transform Identity
  }
 
  public Matrix4x4 Relation = Matrix4x4.Identity;
- public FVector Position = FVector.ZeroVector.ToMapVector();
- public FRotator Rotation = new (0f);
- public FVector Scale = FVector.OneVector.ToMapVector();
+ public FVector Position = FVector.ZeroVector;
+ public FQuat Rotation = new (0f);
+ public FVector Scale = FVector.OneVector;
 
  public Matrix4x4 Matrix =>
- Matrix4x4.CreateScale(Scale) *
- Matrix4x4.CreateRotationX(Helper.DegreesToRadians(Rotation.Roll)) *
- Matrix4x4.CreateRotationY(Helper.DegreesToRadians(-Rotation.Yaw)) *
- Matrix4x4.CreateRotationZ(Helper.DegreesToRadians(Rotation.Pitch)) *
- Matrix4x4.CreateTranslation(Position) *
- Relation;
+ Matrix4x4.CreateScale(Scale.X, Scale.Z, Scale.Y) *
+ Matrix4x4.CreateFromQuaternion(new Quaternion(Rotation.X, Rotation.Z, Rotation.Y, -Rotation.W)) *
+ Matrix4x4.CreateTranslation(Position.X, Position.Z, Position.Y)
+ * Relation;
 
  public void ImGuiTransform(float speed)
  {
@@ -50,13 +48,16 @@ public void ImGuiTransform(float speed)
  {
  ImGui.PushID(2);
  ImGui.SetNextItemWidth(width);
- ImGui.DragFloat("X", ref Rotation.Roll, .5f, 0f, 0f, "%.1f°");
+ ImGui.DragFloat("X", ref Rotation.X, .5f, 0f, 0f, "%.1f°");
 
  ImGui.SetNextItemWidth(width);
- ImGui.DragFloat("Y", ref Rotation.Pitch, .5f, 0f, 0f, "%.1f°");
+ ImGui.DragFloat("Y", ref Rotation.Z, .5f, 0f, 0f, "%.1f°");
 
  ImGui.SetNextItemWidth(width);
- ImGui.DragFloat("Z", ref Rotation.Yaw, .5f, 0f, 0f, "%.1f°");
+ ImGui.DragFloat("Z", ref Rotation.Y, .5f, 0f, 0f, "%.1f°");
+
+ ImGui.SetNextItemWidth(width);
+ ImGui.DragFloat("W", ref Rotation.W, .5f, 0f, 0f, "%.1f°");
 
  ImGui.PopID();
  ImGui.TreePop();