ArmatureImporter.cpp

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/*
 * $Id: ArmatureImporter.cpp 37664 2011-06-20 12:43:10Z jesterking $
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * Contributor(s): Chingiz Dyussenov, Arystanbek Dyussenov, Nathan Letwory.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

/* COLLADABU_ASSERT, may be able to remove later */
#include "COLLADABUPlatform.h"

#include <algorithm>

#include "COLLADAFWUniqueId.h"

#include "BKE_action.h"
#include "BKE_depsgraph.h"
#include "BKE_object.h"
#include "BLI_string.h"
#include "ED_armature.h"

#include "ArmatureImporter.h"

// use node name, or fall back to original id if not present (name is optional)
template<class T>
static const char *bc_get_joint_name(T *node)
{
        const std::string& id = node->getName();
        return id.size() ? id.c_str() : node->getOriginalId().c_str();
}

ArmatureImporter::ArmatureImporter(UnitConverter *conv, MeshImporterBase *mesh, AnimationImporterBase *anim, Scene *sce) :
        TransformReader(conv), scene(sce), empty(NULL), mesh_importer(mesh), anim_importer(anim) {}

ArmatureImporter::~ArmatureImporter()
{
        // free skin controller data if we forget to do this earlier
        std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
        for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
                it->second.free();
        }
}

#if 0
JointData *ArmatureImporter::get_joint_data(COLLADAFW::Node *node);
{
        const COLLADAFW::UniqueId& joint_id = node->getUniqueId();

        if (joint_id_to_joint_index_map.find(joint_id) == joint_id_to_joint_index_map.end()) {
                fprintf(stderr, "Cannot find a joint index by joint id for %s.\n",
                                node->getOriginalId().c_str());
                return NULL;
        }

        int joint_index = joint_id_to_joint_index_map[joint_id];

        return &joint_index_to_joint_info_map[joint_index];
}
#endif

void ArmatureImporter::create_bone(SkinInfo& skin, COLLADAFW::Node *node, EditBone *parent, int totchild,
                                 float parent_mat[][4], bArmature *arm)
{
        float joint_inv_bind_mat[4][4];

        // JointData* jd = get_joint_data(node);

        float mat[4][4];

        if (skin.get_joint_inv_bind_matrix(joint_inv_bind_mat, node)) {
                // get original world-space matrix
                invert_m4_m4(mat, joint_inv_bind_mat);
        }
        // create a bone even if there's no joint data for it (i.e. it has no influence)
        else {
                float obmat[4][4];

                // object-space
                get_node_mat(obmat, node, NULL, NULL);

                // get world-space
                if (parent)
                        mul_m4_m4m4(mat, obmat, parent_mat);
                else
                        copy_m4_m4(mat, obmat);
        }

        // TODO rename from Node "name" attrs later
        EditBone *bone = ED_armature_edit_bone_add(arm, (char*)bc_get_joint_name(node));
        totbone++;

        if (parent) bone->parent = parent;

        // set head
        copy_v3_v3(bone->head, mat[3]);

        // set tail, don't set it to head because 0-length bones are not allowed
        float vec[3] = {0.0f, 0.5f, 0.0f};
        add_v3_v3v3(bone->tail, bone->head, vec);

        // set parent tail
        if (parent && totchild == 1) {
                copy_v3_v3(parent->tail, bone->head);

                // not setting BONE_CONNECTED because this would lock child bone location with respect to parent
                // bone->flag |= BONE_CONNECTED;

                // XXX increase this to prevent "very" small bones?
                const float epsilon = 0.000001f;

                // derive leaf bone length
                float length = len_v3v3(parent->head, parent->tail);
                if ((length < leaf_bone_length || totbone == 0) && length > epsilon) {
                        leaf_bone_length = length;
                }

                // treat zero-sized bone like a leaf bone
                if (length <= epsilon) {
                        add_leaf_bone(parent_mat, parent);
                }

                /*
#if 0
                // and which row in mat is bone direction
                float vec[3];
                sub_v3_v3v3(vec, parent->tail, parent->head);
#ifdef COLLADA_DEBUG
                print_v3("tail - head", vec);
                print_m4("matrix", parent_mat);
#endif
                for (int i = 0; i < 3; i++) {
#ifdef COLLADA_DEBUG
                        char *axis_names[] = {"X", "Y", "Z"};
                        printf("%s-axis length is %f\n", axis_names[i], len_v3(parent_mat[i]));
#endif
                        float angle = angle_v2v2(vec, parent_mat[i]);
                        if (angle < min_angle) {
#ifdef COLLADA_DEBUG
                                print_v3("picking", parent_mat[i]);
                                printf("^ %s axis of %s's matrix\n", axis_names[i], get_dae_name(node));
#endif
                                bone_direction_row = i;
                                min_angle = angle;
                        }
                }
#endif
                */
        }

        COLLADAFW::NodePointerArray& children = node->getChildNodes();
        for (unsigned int i = 0; i < children.getCount(); i++) {
                create_bone(skin, children[i], bone, children.getCount(), mat, arm);
        }

        // in second case it's not a leaf bone, but we handle it the same way
        if (!children.getCount() || children.getCount() > 1) {
                add_leaf_bone(mat, bone);
        }
}

void ArmatureImporter::add_leaf_bone(float mat[][4], EditBone *bone)
{
        LeafBone leaf;

        leaf.bone = bone;
        copy_m4_m4(leaf.mat, mat);
        BLI_strncpy(leaf.name, bone->name, sizeof(leaf.name));

        leaf_bones.push_back(leaf);
}

void ArmatureImporter::fix_leaf_bones()
{
        // just setting tail for leaf bones here

        std::vector<LeafBone>::iterator it;
        for (it = leaf_bones.begin(); it != leaf_bones.end(); it++) {
                LeafBone& leaf = *it;

                // pointing up
                float vec[3] = {0.0f, 0.0f, 1.0f};

                mul_v3_fl(vec, leaf_bone_length);

                copy_v3_v3(leaf.bone->tail, leaf.bone->head);
                add_v3_v3v3(leaf.bone->tail, leaf.bone->head, vec);
        }
}

#if 0
void ArmatureImporter::set_leaf_bone_shapes(Object *ob_arm)
{
        bPose *pose = ob_arm->pose;

        std::vector<LeafBone>::iterator it;
        for (it = leaf_bones.begin(); it != leaf_bones.end(); it++) {
                LeafBone& leaf = *it;

                bPoseChannel *pchan = get_pose_channel(pose, leaf.name);
                if (pchan) {
                        pchan->custom = get_empty_for_leaves();
                }
                else {
                        fprintf(stderr, "Cannot find a pose channel for leaf bone %s\n", leaf.name);
                }
        }
}

void ArmatureImporter::set_euler_rotmode()
{
        // just set rotmode = ROT_MODE_EUL on pose channel for each joint

        std::map<COLLADAFW::UniqueId, COLLADAFW::Node*>::iterator it;

        for (it = joint_by_uid.begin(); it != joint_by_uid.end(); it++) {

                COLLADAFW::Node *joint = it->second;

                std::map<COLLADAFW::UniqueId, SkinInfo>::iterator sit;
                
                for (sit = skin_by_data_uid.begin(); sit != skin_by_data_uid.end(); sit++) {
                        SkinInfo& skin = sit->second;

                        if (skin.uses_joint_or_descendant(joint)) {
                                bPoseChannel *pchan = skin.get_pose_channel_from_node(joint);

                                if (pchan) {
                                        pchan->rotmode = ROT_MODE_EUL;
                                }
                                else {
                                        fprintf(stderr, "Cannot find pose channel for %s.\n", get_joint_name(joint));
                                }

                                break;
                        }
                }
        }
}
#endif

Object *ArmatureImporter::get_empty_for_leaves()
{
        if (empty) return empty;
        
        empty = add_object(scene, OB_EMPTY);
        empty->empty_drawtype = OB_EMPTY_SPHERE;

        return empty;
}

#if 0
Object *ArmatureImporter::find_armature(COLLADAFW::Node *node)
{
        JointData* jd = get_joint_data(node);
        if (jd) return jd->ob_arm;

        COLLADAFW::NodePointerArray& children = node->getChildNodes();
        for (int i = 0; i < children.getCount(); i++) {
                Object *ob_arm = find_armature(children[i]);
                if (ob_arm) return ob_arm;
        }

        return NULL;
}

ArmatureJoints& ArmatureImporter::get_armature_joints(Object *ob_arm)
{
        // try finding it
        std::vector<ArmatureJoints>::iterator it;
        for (it = armature_joints.begin(); it != armature_joints.end(); it++) {
                if ((*it).ob_arm == ob_arm) return *it;
        }

        // not found, create one
        ArmatureJoints aj;
        aj.ob_arm = ob_arm;
        armature_joints.push_back(aj);

        return armature_joints.back();
}
#endif

void ArmatureImporter::create_armature_bones(SkinInfo& skin)
{
        // just do like so:
        // - get armature
        // - enter editmode
        // - add edit bones and head/tail properties using matrices and parent-child info
        // - exit edit mode
        // - set a sphere shape to leaf bones

        Object *ob_arm = NULL;

        /*
         * find if there's another skin sharing at least one bone with this skin
         * if so, use that skin's armature
         */

        /*
          Pseudocode:

          find_node_in_tree(node, root_joint)

          skin::find_root_joints(root_joints):
                std::vector root_joints;
                for each root in root_joints:
                        for each joint in joints:
                                if find_node_in_tree(joint, root):
                                        if (std::find(root_joints.begin(), root_joints.end(), root) == root_joints.end())
                                                root_joints.push_back(root);

          for (each skin B with armature) {
                  find all root joints for skin B

                  for each joint X in skin A:
                        for each root joint R in skin B:
                                if (find_node_in_tree(X, R)) {
                                        shared = 1;
                                        goto endloop;
                                }
          }

          endloop:
        */

        SkinInfo *a = &skin;
        Object *shared = NULL;
        std::vector<COLLADAFW::Node*> skin_root_joints;

        std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
        for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
                SkinInfo *b = &it->second;
                if (b == a || b->get_armature() == NULL)
                        continue;

                skin_root_joints.clear();

                b->find_root_joints(root_joints, joint_by_uid, skin_root_joints);

                std::vector<COLLADAFW::Node*>::iterator ri;
                for (ri = skin_root_joints.begin(); ri != skin_root_joints.end(); ri++) {
                        if (a->uses_joint_or_descendant(*ri)) {
                                shared = b->get_armature();
                                break;
                        }
                }

                if (shared != NULL)
                        break;
        }

        if (shared)
                ob_arm = skin.set_armature(shared);
        else
                ob_arm = skin.create_armature(scene);

        // enter armature edit mode
        ED_armature_to_edit(ob_arm);

        leaf_bones.clear();
        totbone = 0;
        // bone_direction_row = 1; // TODO: don't default to Y but use asset and based on it decide on default row
        leaf_bone_length = FLT_MAX;
        // min_angle = 360.0f;          // minimum angle between bone head-tail and a row of bone matrix

        // create bones
        /*
           TODO:
           check if bones have already been created for a given joint
        */

        std::vector<COLLADAFW::Node*>::iterator ri;
        for (ri = root_joints.begin(); ri != root_joints.end(); ri++) {
                // for shared armature check if bone tree is already created
                if (shared && std::find(skin_root_joints.begin(), skin_root_joints.end(), *ri) != skin_root_joints.end())
                        continue;

                // since root_joints may contain joints for multiple controllers, we need to filter
                if (skin.uses_joint_or_descendant(*ri)) {
                        create_bone(skin, *ri, NULL, (*ri)->getChildNodes().getCount(), NULL, (bArmature*)ob_arm->data);

                        if (joint_parent_map.find((*ri)->getUniqueId()) != joint_parent_map.end() && !skin.get_parent())
                                skin.set_parent(joint_parent_map[(*ri)->getUniqueId()]);
                }
        }

        fix_leaf_bones();

        // exit armature edit mode
        ED_armature_from_edit(ob_arm);
        ED_armature_edit_free(ob_arm);
        DAG_id_tag_update(&ob_arm->id, OB_RECALC_OB|OB_RECALC_DATA);

        // set_leaf_bone_shapes(ob_arm);
        // set_euler_rotmode();
}


// root - if this joint is the top joint in hierarchy, if a joint
// is a child of a node (not joint), root should be true since
// this is where we build armature bones from
void ArmatureImporter::add_joint(COLLADAFW::Node *node, bool root, Object *parent)
{
        joint_by_uid[node->getUniqueId()] = node;
        if (root) {
                root_joints.push_back(node);

                if (parent)
                        joint_parent_map[node->getUniqueId()] = parent;
        }
}

#if 0
void ArmatureImporter::add_root_joint(COLLADAFW::Node *node)
{
        // root_joints.push_back(node);
        Object *ob_arm = find_armature(node);
        if (ob_arm)     {
                get_armature_joints(ob_arm).root_joints.push_back(node);
        }
#ifdef COLLADA_DEBUG
        else {
                fprintf(stderr, "%s cannot be added to armature.\n", get_joint_name(node));
        }
#endif
}
#endif

// here we add bones to armatures, having armatures previously created in write_controller
void ArmatureImporter::make_armatures(bContext *C)
{
        std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
        for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {

                SkinInfo& skin = it->second;

                create_armature_bones(skin);

                // link armature with a mesh object
                Object *ob = mesh_importer->get_object_by_geom_uid(*get_geometry_uid(skin.get_controller_uid()));
                if (ob)
                        skin.link_armature(C, ob, joint_by_uid, this);
                else
                        fprintf(stderr, "Cannot find object to link armature with.\n");

                // set armature parent if any
                Object *par = skin.get_parent();
                if (par)
                        bc_set_parent(skin.get_armature(), par, C, false);

                // free memory stolen from SkinControllerData
                skin.free();
        }
}

#if 0
// link with meshes, create vertex groups, assign weights
void ArmatureImporter::link_armature(Object *ob_arm, const COLLADAFW::UniqueId& geom_id, const COLLADAFW::UniqueId& controller_data_id)
{
        Object *ob = mesh_importer->get_object_by_geom_uid(geom_id);

        if (!ob) {
                fprintf(stderr, "Cannot find object by geometry UID.\n");
                return;
        }

        if (skin_by_data_uid.find(controller_data_id) == skin_by_data_uid.end()) {
                fprintf(stderr, "Cannot find skin info by controller data UID.\n");
                return;
        }

        SkinInfo& skin = skin_by_data_uid[conroller_data_id];

        // create vertex groups
}
#endif

bool ArmatureImporter::write_skin_controller_data(const COLLADAFW::SkinControllerData* data)
{
        // at this stage we get vertex influence info that should go into me->verts and ob->defbase
        // there's no info to which object this should be long so we associate it with skin controller data UID

        // don't forget to call defgroup_unique_name before we copy

        // controller data uid -> [armature] -> joint data, 
        // [mesh object]
        // 

        SkinInfo skin(unit_converter);
        skin.borrow_skin_controller_data(data);

        // store join inv bind matrix to use it later in armature construction
        const COLLADAFW::Matrix4Array& inv_bind_mats = data->getInverseBindMatrices();
        for (unsigned int i = 0; i < data->getJointsCount(); i++) {
                skin.add_joint(inv_bind_mats[i]);
        }

        skin_by_data_uid[data->getUniqueId()] = skin;

        return true;
}

bool ArmatureImporter::write_controller(const COLLADAFW::Controller* controller)
{
        // - create and store armature object

        const COLLADAFW::UniqueId& skin_id = controller->getUniqueId();

        if (controller->getControllerType() == COLLADAFW::Controller::CONTROLLER_TYPE_SKIN) {
                COLLADAFW::SkinController *co = (COLLADAFW::SkinController*)controller;
                // to be able to find geom id by controller id
                geom_uid_by_controller_uid[skin_id] = co->getSource();

                const COLLADAFW::UniqueId& data_uid = co->getSkinControllerData();
                if (skin_by_data_uid.find(data_uid) == skin_by_data_uid.end()) {
                        fprintf(stderr, "Cannot find skin by controller data UID.\n");
                        return true;
                }

                skin_by_data_uid[data_uid].set_controller(co);
        }
        // morph controller
        else {
                // shape keys? :)
                fprintf(stderr, "Morph controller is not supported yet.\n");
        }

        return true;
}

COLLADAFW::UniqueId *ArmatureImporter::get_geometry_uid(const COLLADAFW::UniqueId& controller_uid)
{
        if (geom_uid_by_controller_uid.find(controller_uid) == geom_uid_by_controller_uid.end())
                return NULL;

        return &geom_uid_by_controller_uid[controller_uid];
}

Object *ArmatureImporter::get_armature_for_joint(COLLADAFW::Node *node)
{
        std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
        for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
                SkinInfo& skin = it->second;

                if (skin.uses_joint_or_descendant(node))
                        return skin.get_armature();
        }

        return NULL;
}

void ArmatureImporter::get_rna_path_for_joint(COLLADAFW::Node *node, char *joint_path, size_t count)
{
        BLI_snprintf(joint_path, count, "pose.bones[\"%s\"]", bc_get_joint_name(node));
}

// gives a world-space mat
bool ArmatureImporter::get_joint_bind_mat(float m[][4], COLLADAFW::Node *joint)
{
        std::map<COLLADAFW::UniqueId, SkinInfo>::iterator it;
        bool found = false;
        for (it = skin_by_data_uid.begin(); it != skin_by_data_uid.end(); it++) {
                SkinInfo& skin = it->second;
                if ((found = skin.get_joint_inv_bind_matrix(m, joint))) {
                        invert_m4(m);
                        break;
                }
        }

        return found;
}