Initial skeleton tests

Penumbra/Import/Models/ModelManager.cs

@@ -1,18 +1,26 @@
+using System.Xml;
+using Dalamud.Plugin.Services;
+using Lumina.Data;
+using Lumina.Extensions;
+using OtterGui;
 using OtterGui.Tasks;
 using Penumbra.GameData.Files;
 using Penumbra.Import.Modules;
 using SharpGLTF.Scenes;
+using SharpGLTF.Transforms;
 
 namespace Penumbra.Import.Models;
 
 public sealed class ModelManager : SingleTaskQueue, IDisposable
 {
+    private readonly IDataManager _gameData;
+
     private readonly ConcurrentDictionary<IAction, (Task, CancellationTokenSource)> _tasks = new();
     private bool _disposed = false;
 
-    public ModelManager()
+    public ModelManager(IDataManager gameData)
     {
-        //
+        _gameData = gameData;
     }
 
     public void Dispose()
@@ -46,6 +54,181 @@ public sealed class ModelManager : SingleTaskQueue, IDisposable
     public Task ExportToGltf(MdlFile mdl, string path)
         => Enqueue(new ExportToGltfAction(mdl, path));
 
+    public void SkeletonTest()
+    {
+        var sklbPath = "chara/human/c0201/skeleton/base/b0001/skl_c0201b0001.sklb";
+
+        var something = _gameData.GetFile<Garbage>(sklbPath);
+
+        var fuck = new HavokConverter();
+        var killme = fuck.HkxToXml(something.Skeleton);
+
+        var doc = new XmlDocument();
+        doc.LoadXml(killme);
+
+        var skels = doc.SelectNodes("/hktagfile/object[@type='hkaSkeleton']")
+            .Cast<XmlElement>()
+            .Select(element => new Skel(element))
+            .ToArray();
+
+        // todo: look into how this is selecting the skel - only first?
+        var animSkel = doc.SelectSingleNode("/hktagfile/object[@type='hkaAnimationContainer']")
+            .SelectNodes("array[@name='skeletons']")
+            .Cast<XmlElement>()
+            .First();
+        var mainSkelId = animSkel.ChildNodes[0].InnerText;
+
+        var mainSkel = skels.First(skel => skel.Id == mainSkelId);
+
+        // this is atrocious
+        NodeBuilder? root = null;
+        var boneMap = new Dictionary<string, NodeBuilder>();
+        for (var boneIndex = 0; boneIndex < mainSkel.BoneNames.Length; boneIndex++)
+        {
+            var name = mainSkel.BoneNames[boneIndex];
+            if (boneMap.ContainsKey(name)) continue;
+
+            var node = new NodeBuilder(name);
+
+            var rp = mainSkel.ReferencePose[boneIndex];
+            var transform = new AffineTransform(
+                new Vector3(rp[8], rp[9], rp[10]),
+                new Quaternion(rp[4], rp[5], rp[6], rp[7]),
+                new Vector3([rp[0], rp[1], rp[2]])
+            );
+            node.SetLocalTransform(transform, false);
+
+            boneMap[name] = node;
+
+            var parentId = mainSkel.ParentIndices[boneIndex];
+            if (parentId == -1)
+            {
+                root = node;
+                continue;
+            }
+
+            var parent = boneMap[mainSkel.BoneNames[parentId]];
+            parent.AddNode(node);
+        }
+
+        var scene = new SceneBuilder();
+        scene.AddNode(root);
+        var model = scene.ToGltf2();
+        model.SaveGLTF(@"C:\Users\ackwell\blender\gltf-tests\zoingo.gltf");
+
+        Penumbra.Log.Information($"zoingo {string.Join(',', mainSkel.ParentIndices)}");
+    }
+    
+    // this is garbage that should be in gamedata
+
+    private sealed class Garbage : FileResource
+    {
+        public byte[] Skeleton;
+
+        public override void LoadFile()
+        {
+            var magic = Reader.ReadUInt32();
+            if (magic != 0x736B6C62)
+                throw new InvalidDataException("Invalid sklb magic");
+
+            // todo do this all properly jfc
+            var version = Reader.ReadUInt32();
+            
+            var oldHeader = version switch {
+                0x31313030 or 0x31313130 or 0x31323030 => true,
+                0x31333030 => false,
+                _ => throw new InvalidDataException($"Unknown version {version}")
+            };
+
+            // Skeleton offset directly follows the layer offset.
+            uint skeletonOffset;
+            if (oldHeader)
+            {
+                Reader.ReadInt16();
+                skeletonOffset = Reader.ReadUInt16();
+            }
+            else
+            {
+                Reader.ReadUInt32();
+                skeletonOffset = Reader.ReadUInt32();
+            }
+
+            Reader.Seek(skeletonOffset);
+            Skeleton = Reader.ReadBytes((int)(Reader.BaseStream.Length - skeletonOffset));
+        }
+    }
+
+    private class Skel
+    {
+        public readonly string Id;
+
+        public readonly float[][] ReferencePose;
+        public readonly int[] ParentIndices;
+        public readonly string[] BoneNames;
+
+        // TODO: this shouldn't have any reference to the skel xml - i should just make it a bare class that can be repr'd in gamedata or whatever
+        public Skel(XmlElement el)
+        {
+            Id = el.GetAttribute("id");
+
+            ReferencePose = ReadReferencePose(el);
+            ParentIndices = ReadParentIndices(el);
+            BoneNames = ReadBoneNames(el);
+        }
+
+        private float[][] ReadReferencePose(XmlElement el)
+        {
+            return ReadArray(
+                (XmlElement)el.SelectSingleNode("array[@name='referencePose']"),
+                ReadVec12
+            );
+        }
+
+        private float[] ReadVec12(XmlElement el)
+        {
+            return el.ChildNodes
+                .Cast<XmlNode>()
+                .Where(node => node.NodeType != XmlNodeType.Comment)
+                .Select(node => {
+                    var t = node.InnerText.Trim()[1..];
+                    // todo: surely there's a less shit way to do this i mean seriously
+                    return BitConverter.ToSingle(BitConverter.GetBytes(int.Parse(t, NumberStyles.HexNumber)));
+                })
+                .ToArray();
+        }
+
+        private int[] ReadParentIndices(XmlElement el)
+        {
+            // todo: would be neat to genericise array between bare and children
+            return el.SelectSingleNode("array[@name='parentIndices']")
+                .InnerText
+                .Split(new char[] {' ', '\n'}, StringSplitOptions.RemoveEmptyEntries)
+                .Select(int.Parse)
+                .ToArray();
+        }
+
+        private string[] ReadBoneNames(XmlElement el)
+        {
+            return ReadArray(
+                (XmlElement)el.SelectSingleNode("array[@name='bones']"),
+                el => el.SelectSingleNode("string[@name='name']").InnerText
+            );
+        }
+
+        private T[] ReadArray<T>(XmlElement el, Func<XmlElement, T> convert)
+        {
+            var size = int.Parse(el.GetAttribute("size"));
+
+            var array = new T[size];
+            foreach (var (node, index) in el.ChildNodes.Cast<XmlElement>().WithIndex())
+            {
+                array[index] = convert(node);
+            }
+
+            return array;
+        }
+    }
+
     private class ExportToGltfAction : IAction
     {
         private readonly MdlFile _mdl;