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{
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"Plugins": [
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{
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"Info": {
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"Types": {
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"UsdSkelImagingSkeletonAdapter": {
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"bases": [
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"UsdImagingPrimAdapter"
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],
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"isInternal": true,
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"primTypeName": "Skeleton"
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},
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"UsdSkelImagingSkelRootAdapter": {
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"bases": [
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"UsdImagingPrimAdapter"
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],
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"isInternal": true,
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"primTypeName": "SkelRoot"
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}
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}
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},
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"LibraryPath": "",
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"Name": "usdSkelImaging",
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"ResourcePath": "resources",
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"Root": "..",
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"Type": "library"
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}
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]
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}
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@@ -0,0 +1,259 @@
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-- glslfx version 0.1
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-- configuration
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{
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"techniques": {
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"default": {
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"skinPointsLBSKernel": {
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"source": [ "Compute.SkinPointsLBS" ]
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},
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"skinPointsDQSKernel": {
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"source": [ "Compute.SkinPointsDQS" ]
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},
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"skinPointsSimpleKernel": {
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"source": [ "Compute.SkinPointsSimple" ]
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}
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}
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}
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}
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-- glsl Compute.SkinPointsLBS
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const float EPS = 1e-5;
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void compute(int index)
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{
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// model space -> bind space
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mat4 geomBindXform = HdGet_geomBindXform();
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vec3 restP = HdGet_restPoints(index);
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// apply blend shapes
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int numBlendShapeOffsetRanges = HdGet_numBlendShapeOffsetRanges();
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if (index < numBlendShapeOffsetRanges) {
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ivec2 blendShapeOffsetRange = HdGet_blendShapeOffsetRanges(index);
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for (int i = blendShapeOffsetRange.x; i < blendShapeOffsetRange.y; ++i) {
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vec4 offset = HdGet_blendShapeOffsets(i);
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int shapeIndex = int(offset.w);
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float weight = HdGet_blendShapeWeights(shapeIndex);
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restP += offset.xyz * weight;
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}
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}
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vec4 initP = geomBindXform * vec4(restP, 1);
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int numInfluencesPerComponent = HdGet_numInfluencesPerComponent();
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vec3 p;
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if (numInfluencesPerComponent > 0) {
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p = vec3(0,0,0);
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bool constantPointInfluence = HdGet_hasConstantInfluences();
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int offset = constantPointInfluence? 0 : numInfluencesPerComponent*index;
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for (int i = 0; i < numInfluencesPerComponent; i++) {
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vec2 influence = HdGet_influences(offset + i);
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float jointWeight = influence.y;
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if (jointWeight > EPS) {
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int jointIdx = int( influence.x );
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mat4 skinningXform = HdGet_skinningXforms(jointIdx);
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p += ((skinningXform * initP) * jointWeight).xyz;
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}
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}
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} else {
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p = initP.xyz;
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}
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// skel space -> world space -> model space
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// XXX: Casts to mat4 below are necessary because the matrices passed
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// down use doubles and not floats.
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mat4 skelToPrimLocal = mat4( HdGet_primWorldToLocal() ) *
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mat4( HdGet_skelLocalToWorld() );
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p = (skelToPrimLocal * vec4(p,1)).xyz;
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HdSet_skinnedPoints(index, p);
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}
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-- glsl Compute.SkinPointsDQS
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const float EPS = 1e-5;
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const float NORM_EPS = 1e-10;
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vec4 GetPivotQuaternion(int numInfluencesPerComponent, int offset)
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{
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vec4 pivotQuat = vec4(0);
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int pivotIdx = -1;
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float maxw = -1;
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for (int i = 0; i < numInfluencesPerComponent; i++) {
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vec2 influence = HdGet_influences(offset + i);
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float jointWeight = influence.y;
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if (pivotIdx < 0 || maxw < jointWeight) {
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int jointIdx = int( influence.x );
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maxw = jointWeight;
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pivotIdx = jointIdx;
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}
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}
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if (pivotIdx >= 0)
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pivotQuat = HdGet_skinningDualQuats(pivotIdx*2);
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return pivotQuat;
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}
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vec3 TransformByQuaternion(vec4 quat, vec3 vec)
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{
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// See GfQuat::Transform() for algorithm
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float r1 = quat.w;
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vec3 i1 = quat.xyz;
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vec3 i2 = vec3(r1 * vec[0] + (i1[1] * vec[2] - i1[2] * vec[1]),
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r1 * vec[1] + (i1[2] * vec[0] - i1[0] * vec[2]),
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r1 * vec[2] + (i1[0] * vec[1] - i1[1] * vec[0]));
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return vec3(vec[0] + 2.0 * (i1[1] * i2[2] - i1[2] * i2[1]),
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vec[1] + 2.0 * (i1[2] * i2[0] - i1[0] * i2[2]),
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vec[2] + 2.0 * (i1[0] * i2[1] - i1[1] * i2[0]));
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}
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vec3 GetDualQuaternionTranslation(vec4 real, vec4 dual)
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{
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// See GfDualQuat::GetTranslation() for algorithm
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float scale = -2.0;
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float rw = real.w;
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vec3 ri = real.xyz;
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float dw = dual.w;
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vec3 di = dual.xyz;
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return vec3( (dw*ri[0] - rw*di[0] + di[1]*ri[2] - di[2]*ri[1])*scale,
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(dw*ri[1] - rw*di[1] + di[2]*ri[0] - di[0]*ri[2])*scale,
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(dw*ri[2] - rw*di[2] + di[0]*ri[1] - di[1]*ri[0])*scale );
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}
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void compute(int index)
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{
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// model space -> bind space
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mat4 geomBindXform = HdGet_geomBindXform();
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vec3 restP = HdGet_restPoints(index);
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// apply blend shapes
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int numBlendShapeOffsetRanges = HdGet_numBlendShapeOffsetRanges();
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if (index < numBlendShapeOffsetRanges) {
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ivec2 blendShapeOffsetRange = HdGet_blendShapeOffsetRanges(index);
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for (int i = blendShapeOffsetRange.x; i < blendShapeOffsetRange.y; ++i) {
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vec4 offset = HdGet_blendShapeOffsets(i);
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int shapeIndex = int(offset.w);
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float weight = HdGet_blendShapeWeights(shapeIndex);
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restP += offset.xyz * weight;
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}
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}
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vec3 initP = (geomBindXform * vec4(restP, 1)).xyz;
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int numInfluencesPerComponent = HdGet_numInfluencesPerComponent();
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vec3 p;
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if (numInfluencesPerComponent > 0) {
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#ifdef HD_HAS_skinningScaleXforms
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vec3 scaledP = vec3(0, 0, 0);
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#endif
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bool constantPointInfluence = HdGet_hasConstantInfluences();
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int offset = constantPointInfluence ? 0 : numInfluencesPerComponent*index;
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// find the pivot quaternion
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vec4 pivotQuat = GetPivotQuaternion(numInfluencesPerComponent, offset);
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// find the weighted sum dual quaternion
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vec4 weightedSumDQReal = vec4(0);
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vec4 weightedSumDQDual = vec4(0);
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for (int i = 0; i < numInfluencesPerComponent; i++) {
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vec2 influence = HdGet_influences(offset + i);
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float jointWeight = influence.y;
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if (jointWeight > EPS) {
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int jointIdx = int(influence.x);
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#ifdef HD_HAS_skinningScaleXforms
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// Apply scale using LBS, if any of the skinning xforms has scales
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mat3 scaleXform = HdGet_skinningScaleXforms(jointIdx);
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scaledP += ((scaleXform * initP) * jointWeight);
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#endif
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// Apply rotation & translation using DQS
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vec4 skinningDQReal = HdGet_skinningDualQuats(jointIdx*2);
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vec4 skinningDQDual = HdGet_skinningDualQuats(jointIdx*2+1);
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// Flip the dual quaternion, if necessary, to make it
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// on the same hemisphere as the pivotQuat.
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if (dot(skinningDQReal, pivotQuat) < 0.0)
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jointWeight = -jointWeight;
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weightedSumDQReal += (skinningDQReal * jointWeight);
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weightedSumDQDual += (skinningDQDual * jointWeight);
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}
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}
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// normalize weightedSumDQ
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float realLength = length(weightedSumDQReal);
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if (realLength < NORM_EPS) {
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weightedSumDQReal = vec4(0, 0, 0, 1); // identity quaternion
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weightedSumDQDual = vec4(0); // zero quaternion
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} else {
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float inverseRealLength = 1.0 / realLength;
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// rotation normalization
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weightedSumDQReal *= inverseRealLength;
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weightedSumDQDual *= inverseRealLength;
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// plucker normalization
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weightedSumDQDual -= (dot(weightedSumDQReal, weightedSumDQDual) * weightedSumDQReal);
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}
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#ifdef HD_HAS_skinningScaleXforms
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// transform scaledP by weightedSumDQ
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p = TransformByQuaternion(weightedSumDQReal, scaledP)
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+ GetDualQuaternionTranslation(weightedSumDQReal, weightedSumDQDual);
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#else
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// transform initP by weightedSumDQ
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p = TransformByQuaternion(weightedSumDQReal, initP)
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+ GetDualQuaternionTranslation(weightedSumDQReal, weightedSumDQDual);
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#endif
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} else {
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p = initP;
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}
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// skel space -> world space -> model space
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// XXX: Casts to mat4 below are necessary because the matrices passed
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// down use doubles and not floats.
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mat4 skelToPrimLocal = mat4(HdGet_primWorldToLocal()) *
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mat4(HdGet_skelLocalToWorld());
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p = (skelToPrimLocal * vec4(p,1)).xyz;
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HdSet_skinnedPoints(index, p);
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}
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-- glsl Compute.SkinPointsSimple
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void compute(int index)
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{
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// This is simple joint-constraint skinning model.
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mat4 geomBindXform = HdGet_geomBindXform();
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int jointIndex = int( HdGet_influences(index).x );
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mat4 skinningXform = HdGet_skinningXforms(jointIndex);
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// model space -> bind space -> skel space
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vec4 p = skinningXform * geomBindXform * vec4(HdGet_restPoints(index), 1);
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// skel space -> world space -> model space
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// XXX: Casts to mat4 below are necessary because the matrices passed
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// down use doubles and not floats.
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mat4 skelToPrimLocal = mat4( HdGet_primWorldToLocal() ) *
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mat4( HdGet_skelLocalToWorld() );
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p = skelToPrimLocal * p;
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HdSet_skinnedPoints(index, p.xyz);
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}
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