fix nans in cloth bones

TankLib/Chunks/teModelChunk_Hardpoint.cs

@@ -1,7 +1,7 @@
 using System.Collections.Generic;
 using System.IO;
+using System.Numerics;
 using System.Runtime.InteropServices;
-using TankLib.Math;
 
 namespace TankLib.Chunks {
     /// <inheritdoc />
@@ -30,7 +30,7 @@ public struct HardpointHeader {
         [StructLayout(LayoutKind.Sequential, Pack = 4)]
         public struct Hardpoint {
             /// <summary>4x4 matrix</summary>
-            public teMtx44 Matrix;
+            public Matrix4x4 Matrix;
 
             /// <summary>03C Hardpoint GUID</summary>
             public teResourceGUID GUID;

TankLib/Chunks/teModelChunk_Skeleton.cs

@@ -38,13 +38,21 @@ public struct SkeletonHeader {
             // ... idk. something added tho
         }
 
+        public struct BoneTransform {
+            public teQuat Orientation;
+            public teVec3 Scale;
+            public float Pad;
+            public teVec3 Translation;
+            public float Pad2;
+        }
+
         /// <summary>Header data</summary>
         public SkeletonHeader Header;
 
         public Matrix4x4[] Matrices;
-        public teMtx44[] MatricesInverted;
-        public teMtx43[] Matrices34;
-        public teMtx43[] Matrices34Inverted;
+        public Matrix4x4[] MatricesInverted;
+        public BoneTransform[] BindPose;
+        public BoneTransform[] BindPoseDeltas;
         public short[] Hierarchy;
         public ushort[] Lookup;
         // ReSharper disable once InconsistentNaming
@@ -65,9 +73,9 @@ public void Parse(Stream input) {
                 }
 
                 Matrices = new Matrix4x4[Header.BonesAbs];
-                MatricesInverted = new teMtx44[Header.BonesAbs];
-                Matrices34 = new teMtx43[Header.BonesAbs];
-                Matrices34Inverted = new teMtx43[Header.BonesAbs];
+                MatricesInverted = new Matrix4x4[Header.BonesAbs];
+                BindPose = new BoneTransform[Header.BonesAbs];
+                BindPoseDeltas = new BoneTransform[Header.BonesAbs];
 
                 if (Header.Matrix44Offset > 0) {
                     input.Position = Header.Matrix44Offset;
@@ -76,17 +84,17 @@ public void Parse(Stream input) {
 
                 if (Header.Matrix44iOffset > 0) {
                     input.Position = Header.Matrix44iOffset;
-                    MatricesInverted = reader.ReadArray<teMtx44>(Header.BonesAbs);
+                    MatricesInverted = reader.ReadArray<Matrix4x4>(Header.BonesAbs);
                 }
 
                 if (Header.Matrix43Offset > 0) {
                     input.Position = Header.Matrix43Offset;
-                    Matrices34 = reader.ReadArray<teMtx43>(Header.BonesAbs);
+                    BindPose = reader.ReadArray<BoneTransform>(Header.BonesAbs);
                 }
 
                 if (Header.Matrix43iOffset > 0) {
                     input.Position = Header.Matrix43iOffset;
-                    Matrices34Inverted = reader.ReadArray<teMtx43>(Header.BonesAbs);
+                    BindPoseDeltas = reader.ReadArray<BoneTransform>(Header.BonesAbs);
                 }
 
                 Lookup = new ushort[Header.RemapCount];
@@ -104,9 +112,25 @@ public void Parse(Stream input) {
             }
         }
 
+        public void GetWorldSpace(int idx, out teVec3 scale, out teQuat rotation, out teVec3 translation) {
+            if (idx == -1) {
+                translation = default;
+                rotation = teQuat.Identity;
+                scale = new teVec3(1, 1, 1);
+                return;
+            }
+            var bone = BindPose[idx];
+            scale = bone.Scale;
+            rotation = bone.Orientation;
+            translation = bone.Translation;
+        }
+
         public Matrix4x4 GetWorldSpace(int idx) {
-            if (idx == -1) return Matrix4x4.Identity;
-            return Matrices[idx];
+            // note: you shouldn't use matrices from disk.. they have det of 0..
+            GetWorldSpace(idx, out teVec3 scale, out teQuat rotation, out teVec3 translation);
+            return Matrix4x4.CreateScale(scale) *
+                   Matrix4x4.CreateFromQuaternion(rotation) *
+                   Matrix4x4.CreateTranslation(translation);
         }
     }
 }

TankLib/ExportFormats/OverwatchModel.cs

@@ -263,6 +263,8 @@ public void Write(Stream stream) {
         public static void GetRefPoseTransform(int i, short[] hierarchy, teModelChunk_Skeleton skeleton, Dictionary<int, teModelChunk_Cloth.ClothNode> clothNodeMap, out teVec3 scale, out teQuat quat,
             out teVec3 translation) {
             if (clothNodeMap != null && clothNodeMap.ContainsKey(i)) {
+                // re-parent to the new parent the cloth system has given us
+
                 Matrix4x4 thisMat = skeleton.GetWorldSpace(i);
                 Matrix4x4 parentMat = skeleton.GetWorldSpace(hierarchy[i]);
 
@@ -275,11 +277,11 @@ public static void GetRefPoseTransform(int i, short[] hierarchy, teModelChunk_Sk
                 scale = new teVec3(scl2.X, scl2.Y, scl2.Z);
                 translation = new teVec3(pos2.X, pos2.Y, pos2.Z);
             } else {
-                teMtx43 bone = skeleton.Matrices34Inverted[i];
+                var bone = skeleton.BindPoseDeltas[i];
 
-                scale = new teVec3(bone[1, 0], bone[1, 1], bone[1, 2]);
-                quat = new teQuat(bone[0, 0], bone[0, 1], bone[0, 2], bone[0, 3]);
-                translation = new teVec3(bone[2, 0], bone[2, 1], bone[2, 2]);
+                scale = bone.Scale;
+                quat = bone.Orientation;
+                translation = bone.Translation;
             }
         }