[glb export] Export bones.

common/math/geometry.h

@@ -50,4 +50,78 @@ math::Vector4f bsphere_of_triangle(const Vector3f* vertices);
 inline bool point_in_bsphere(const Vector4f& sphere, const Vector3f& pt) {
   return (sphere.xyz() - pt).squared_length() <= (sphere.w() * sphere.w());
 }
+
+template <typename T>
+math::Matrix<T, 4, 4> affine_inverse(const math::Matrix<T, 4, 4>& in) {
+  math::Matrix<T, 4, 4> result;
+
+  // transpose rotation
+  for (int i = 0; i < 3; i++) {
+    for (int j = 0; j < 3; j++) {
+      result(i, j) = in(j, i);
+    }
+  }
+
+  result(3, 0) = 0;
+  result(3, 1) = 0;
+  result(3, 2) = 0;
+  result(3, 3) = 1;
+  result(0, 3) = 0;
+  result(1, 3) = 0;
+  result(2, 3) = 0;
+  for (int rx = 0; rx < 3; rx++) {
+    for (int cx = 0; cx < 3; cx++) {
+      result(rx, 3) -= result(rx, cx) * in(cx, 3);
+    }
+  }
+
+  return result;
+}
+
+template <typename T>
+math::Matrix<T, 4, 4> inverse(const math::Matrix<T, 4, 4>& m) {
+  math::Matrix<T, 4, 4> im;
+  T A2323 = m(2, 2) * m(3, 3) - m(2, 3) * m(3, 2);
+  T A1323 = m(2, 1) * m(3, 3) - m(2, 3) * m(3, 1);
+  T A1223 = m(2, 1) * m(3, 2) - m(2, 2) * m(3, 1);
+  T A0323 = m(2, 0) * m(3, 3) - m(2, 3) * m(3, 0);
+  T A0223 = m(2, 0) * m(3, 2) - m(2, 2) * m(3, 0);
+  T A0123 = m(2, 0) * m(3, 1) - m(2, 1) * m(3, 0);
+  T A2313 = m(1, 2) * m(3, 3) - m(1, 3) * m(3, 2);
+  T A1313 = m(1, 1) * m(3, 3) - m(1, 3) * m(3, 1);
+  T A1213 = m(1, 1) * m(3, 2) - m(1, 2) * m(3, 1);
+  T A2312 = m(1, 2) * m(2, 3) - m(1, 3) * m(2, 2);
+  T A1312 = m(1, 1) * m(2, 3) - m(1, 3) * m(2, 1);
+  T A1212 = m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1);
+  T A0313 = m(1, 0) * m(3, 3) - m(1, 3) * m(3, 0);
+  T A0213 = m(1, 0) * m(3, 2) - m(1, 2) * m(3, 0);
+  T A0312 = m(1, 0) * m(2, 3) - m(1, 3) * m(2, 0);
+  T A0212 = m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0);
+  T A0113 = m(1, 0) * m(3, 1) - m(1, 1) * m(3, 0);
+  T A0112 = m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0);
+
+  T det = m(0, 0) * (m(1, 1) * A2323 - m(1, 2) * A1323 + m(1, 3) * A1223) -
+          m(0, 1) * (m(1, 0) * A2323 - m(1, 2) * A0323 + m(1, 3) * A0223) +
+          m(0, 2) * (m(1, 0) * A1323 - m(1, 1) * A0323 + m(1, 3) * A0123) -
+          m(0, 3) * (m(1, 0) * A1223 - m(1, 1) * A0223 + m(1, 2) * A0123);
+  det = 1 / det;
+
+  im(0, 0) = det * (m(1, 1) * A2323 - m(1, 2) * A1323 + m(1, 3) * A1223);
+  im(0, 1) = det * -(m(0, 1) * A2323 - m(0, 2) * A1323 + m(0, 3) * A1223);
+  im(0, 2) = det * (m(0, 1) * A2313 - m(0, 2) * A1313 + m(0, 3) * A1213);
+  im(0, 3) = det * -(m(0, 1) * A2312 - m(0, 2) * A1312 + m(0, 3) * A1212);
+  im(1, 0) = det * -(m(1, 0) * A2323 - m(1, 2) * A0323 + m(1, 3) * A0223);
+  im(1, 1) = det * (m(0, 0) * A2323 - m(0, 2) * A0323 + m(0, 3) * A0223);
+  im(1, 2) = det * -(m(0, 0) * A2313 - m(0, 2) * A0313 + m(0, 3) * A0213);
+  im(1, 3) = det * (m(0, 0) * A2312 - m(0, 2) * A0312 + m(0, 3) * A0212);
+  im(2, 0) = det * (m(1, 0) * A1323 - m(1, 1) * A0323 + m(1, 3) * A0123);
+  im(2, 1) = det * -(m(0, 0) * A1323 - m(0, 1) * A0323 + m(0, 3) * A0123);
+  im(2, 2) = det * (m(0, 0) * A1313 - m(0, 1) * A0313 + m(0, 3) * A0113);
+  im(2, 3) = det * -(m(0, 0) * A1312 - m(0, 1) * A0312 + m(0, 3) * A0112);
+  im(3, 0) = det * -(m(1, 0) * A1223 - m(1, 1) * A0223 + m(1, 2) * A0123);
+  im(3, 1) = det * (m(0, 0) * A1223 - m(0, 1) * A0223 + m(0, 2) * A0123);
+  im(3, 2) = det * -(m(0, 0) * A1213 - m(0, 1) * A0213 + m(0, 2) * A0113);
+  im(3, 3) = det * (m(0, 0) * A1212 - m(0, 1) * A0212 + m(0, 2) * A0112);
+  return im;
+}
 }  // namespace math

decompiler/CMakeLists.txt

@@ -58,6 +58,7 @@ add_library(
         level_extractor/extract_actors.cpp
         level_extractor/extract_collide_frags.cpp
         level_extractor/extract_common.cpp
+        level_extractor/extract_joint_group.cpp
         level_extractor/extract_level.cpp
         level_extractor/extract_merc.cpp
         level_extractor/extract_tfrag.cpp

decompiler/level_extractor/common_formats.h

@@ -1,5 +1,6 @@
 #pragma once
 #include "common/common_types.h"
+#include "common/math/Vector.h"
 
 namespace level_tools {
 
@@ -8,4 +9,21 @@ struct TextureRemap {
   u32 original_texid;
   u32 new_texid;
 };
+
+struct Joint {
+  std::string name;
+  int parent_idx = -1;  // -1 for magic ROOT joint.
+  math::Matrix4f bind_pose_T_w;
+};
+
+/*!
+ * Data extracted from art groups that is not needed for .FR3, but is potentially needed for other
+ * stuff (skeleton export).
+ */
+struct ArtData {
+  std::string art_group_name;
+  std::string art_name;
+  std::vector<Joint> joint_group;
+};
+
 }  // namespace level_tools

decompiler/level_extractor/extract_joint_group.cpp

@@ -0,0 +1,46 @@
+#include "extract_joint_group.h"
+
+#include "common/math/geometry.h"
+
+#include "decompiler/util/goal_data_reader.h"
+
+namespace decompiler {
+
+void extract_joint_group(const ObjectFileData& ag_data,
+                         const DecompilerTypeSystem& dts,
+                         GameVersion /*version*/,
+                         std::map<std::string, level_tools::ArtData>& out) {
+  auto locations = find_objects_with_type(ag_data.linked_data, "art-joint-geo");
+  for (auto loc : locations) {
+    TypedRef ref(Ref{&ag_data.linked_data, 0, loc * 4}, dts.ts.lookup_type("art-joint-geo"));
+    auto name = read_string_field(ref, "name", dts, false);
+    auto& data = out[name];
+    data.art_name = name;
+    data.art_group_name = ag_data.name_in_dgo;
+    ASSERT(data.joint_group.empty());
+    const int length = read_plain_data_field<int32_t>(ref, "length", dts);
+    Ref iter = get_field_ref(ref, "data", dts);
+    std::map<int, int> offset_to_joint;
+    for (int i = 0; i < length; i++) {
+      auto& njoint = data.joint_group.emplace_back();
+      Ref joint = deref_label(iter);
+      joint.byte_offset -= 4;
+      bool inserted = offset_to_joint.insert({joint.byte_offset, i}).second;
+      ASSERT(inserted);
+      TypedRef tjoint = typed_ref_from_basic(joint, dts);
+      ASSERT(tjoint.type->get_name() == "joint");
+      ASSERT(read_plain_data_field<int32_t>(tjoint, "number", dts) == i);
+      njoint.name = read_string_field(tjoint, "name", dts, true);
+      memcpy_from_plain_data((u8*)njoint.bind_pose_T_w.data(),
+                             get_field_ref(tjoint, "bind-pose", dts), 4 * 4 * sizeof(float));
+      if (get_word_kind_for_field(tjoint, "parent", dts) == LinkedWord::PTR) {
+        auto pjoint = deref_label(get_field_ref(tjoint, "parent", dts));
+        njoint.parent_idx = offset_to_joint.at(pjoint.byte_offset - 4);
+      } else {
+        ASSERT(i == 0 || i == 1);
+      }
+      iter.byte_offset += 4;
+    }
+  }
+}
+}  // namespace decompiler

decompiler/level_extractor/extract_joint_group.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "common/custom_data/Tfrag3Data.h"
+
+#include "decompiler/ObjectFile/ObjectFileDB.h"
+#include "decompiler/data/TextureDB.h"
+#include "decompiler/level_extractor/common_formats.h"
+
+namespace decompiler {
+void extract_joint_group(const ObjectFileData& ag_data,
+                         const DecompilerTypeSystem& dts,
+                         GameVersion version,
+                         std::map<std::string, level_tools::ArtData>& out);
+}

decompiler/level_extractor/extract_level.cpp

@@ -12,6 +12,7 @@
 #include "decompiler/level_extractor/BspHeader.h"
 #include "decompiler/level_extractor/extract_actors.h"
 #include "decompiler/level_extractor/extract_collide_frags.h"
+#include "decompiler/level_extractor/extract_joint_group.h"
 #include "decompiler/level_extractor/extract_merc.h"
 #include "decompiler/level_extractor/extract_shrub.h"
 #include "decompiler/level_extractor/extract_tfrag.h"
@@ -122,12 +123,14 @@ void extract_art_groups_from_level(const ObjectFileDB& db,
                                    const TextureDB& tex_db,
                                    const std::vector<level_tools::TextureRemap>& tex_remap,
                                    const std::string& dgo_name,
-                                   tfrag3::Level& level_data) {
+                                   tfrag3::Level& level_data,
+                                   std::map<std::string, level_tools::ArtData>& art_group_data) {
   const auto& files = db.obj_files_by_dgo.at(dgo_name);
   for (const auto& file : files) {
     if (file.name.length() > 3 && !file.name.compare(file.name.length() - 3, 3, "-ag")) {
       const auto& ag_file = db.lookup_record(file);
       extract_merc(ag_file, tex_db, db.dts, tex_remap, level_data, false, db.version());
+      extract_joint_group(ag_file, db.dts, db.version(), art_group_data);
     }
   }
 }
@@ -273,8 +276,9 @@ void extract_common(const ObjectFileDB& db,
   confirm_textures_identical(tex_db);
 
   tfrag3::Level tfrag_level;
+  std::map<std::string, level_tools::ArtData> art_group_data;
   add_all_textures_from_level(tfrag_level, dgo_name, tex_db);
-  extract_art_groups_from_level(db, tex_db, {}, dgo_name, tfrag_level);
+  extract_art_groups_from_level(db, tex_db, {}, dgo_name, tfrag_level, art_group_data);
 
   std::set<std::string> textures_we_have;
 
@@ -322,7 +326,7 @@ void extract_common(const ObjectFileDB& db,
   if (dump_levels) {
     auto file_path = file_util::get_jak_project_dir() / "glb_out" / "common.glb";
     file_util::create_dir_if_needed_for_file(file_path);
-    save_level_foreground_as_gltf(tfrag_level, file_path);
+    save_level_foreground_as_gltf(tfrag_level, art_group_data, file_path);
   }
 }
 
@@ -339,12 +343,14 @@ void extract_from_level(const ObjectFileDB& db,
     return;
   }
   tfrag3::Level level_data;
+  std::map<std::string, level_tools::ArtData> art_group_data;
   add_all_textures_from_level(level_data, dgo_name, tex_db);
 
   // the bsp header file data
   auto bsp_header =
       extract_bsp_from_level(db, tex_db, dgo_name, config.hacks, extract_collision, level_data);
-  extract_art_groups_from_level(db, tex_db, bsp_header.texture_remap_table, dgo_name, level_data);
+  extract_art_groups_from_level(db, tex_db, bsp_header.texture_remap_table, dgo_name, level_data,
+                                art_group_data);
 
   Serializer ser;
   level_data.serialize(ser);
@@ -366,7 +372,7 @@ void extract_from_level(const ObjectFileDB& db,
     auto fore_file_path = file_util::get_jak_project_dir() / "glb_out" /
                           fmt::format("{}_foreground.glb", level_data.level_name);
     file_util::create_dir_if_needed_for_file(fore_file_path);
-    save_level_foreground_as_gltf(level_data, fore_file_path);
+    save_level_foreground_as_gltf(level_data, art_group_data, fore_file_path);
   }
   file_util::write_text_file(entities_folder / fmt::format("{}_actors.json", level_data.level_name),
                              extract_actors_to_json(bsp_header.actors));

decompiler/level_extractor/extract_merc.cpp

@@ -181,20 +181,6 @@ MercCtrl extract_merc_ctrl(const LinkedObjectFile& file,
   return ctrl;
 }
 
-/*!
- * Find the word indices for the merc ctrls (the type tags)
- */
-std::vector<int> find_merc_ctrls(const LinkedObjectFile& file) {
-  std::vector<int> result;
-  for (size_t i = 0; i < file.words_by_seg.at(0).size(); i++) {
-    const auto& word = file.words_by_seg[0][i];
-    if (word.kind() == LinkedWord::TYPE_PTR && word.symbol_name() == "merc-ctrl") {
-      result.push_back(i);
-    }
-  }
-  return result;
-}
-
 namespace {
 /*!
  * Merc models tend to have strange texture ids. I don't really understand why.
@@ -1616,7 +1602,7 @@ void extract_merc(const ObjectFileData& ag_data,
     file_util::create_dir_if_needed(file_util::get_file_path({"debug_out/merc"}));
   }
   // find all merc-ctrls in the object file
-  auto ctrl_locations = find_merc_ctrls(ag_data.linked_data);
+  auto ctrl_locations = find_objects_with_type(ag_data.linked_data, "merc-ctrl");
 
   // extract them. this does very basic unpacking of data, as done by the VIF/DMA on PS2.
   std::vector<MercCtrl> ctrls;