X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=9729b64c04a95b7b052ba1daa3f280f444670a44;hb=4eccfd7252f8ff165670842df537441afae5458b;hp=9f715efa0e8391127df9169051b984171024d59c;hpb=47941822dae18a018c985847b052e70214a3ccc6;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/skeleton.h b/skeleton.h
index 9f715ef..9729b64 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -2,9 +2,8 @@
  * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
  */
 
-#ifndef SKELETON_H
-#define SKELETON_H
-
+#pragma once
+#include "vg/vg_lines.h"
 #include "model.h"
 
 struct skeleton
@@ -14,16 +13,14 @@ struct skeleton
       v3f co, end;
       u32 parent;
 
-      int deform, ik;
+      u32 flags;
       int defer;
 
       mdl_keyframe kf;
+      mdl_bone *orig_bone;
 
-      u32 orig_node;
-
-      int collider;
+      u32 collider;
       boxf hitbox;
-
       const char *name;
    }
    *bones;
@@ -40,7 +37,9 @@ struct skeleton
    *anims;
    u32 anim_count;
 
+#if 0
    m4x3f *final_mtx;
+#endif
 
    struct skeleton_ik
    {
@@ -55,78 +54,104 @@ struct skeleton
        bindable_count;
 };
 
-VG_STATIC u32 skeleton_bone_id( struct skeleton *skele, const char *name )
+static u32 skeleton_bone_id( struct skeleton *skele, const char *name )
 {
-   for( u32 i=1; i<skele->bone_count; i++ )
-   {
+   for( u32 i=1; i<skele->bone_count; i++ ){
       if( !strcmp( skele->bones[i].name, name ))
          return i;
    }
 
+   vg_error( "skeleton_bone_id( *, \"%s\" );\n", name );
+   vg_fatal_error( "Bone does not exist\n" );
+
    return 0;
 }
 
-VG_STATIC void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, int num )
+static void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, 
+                                   int num )
 {
    for( int i=0; i<num; i++ )
       kfb[i] = kfa[i];
 }
 
+
+/* apply a rotation from the perspective of root */
+static void keyframe_rotate_around( mdl_keyframe *kf, 
+                                    v3f origin, v3f offset, v4f q )
+{
+   v3f v0, co;
+   v3_add( kf->co, offset, co );
+   v3_sub( co, origin, v0 );
+   q_mulv( q, v0, v0 );
+   v3_add( v0, origin, co );
+   v3_sub( co, offset, kf->co );
+
+   q_mul( q, kf->q, kf->q );
+   q_normalize( kf->q );
+}
+
+static void keyframe_lerp( mdl_keyframe *kfa, mdl_keyframe *kfb, f32 t,
+                           mdl_keyframe *kfd ){
+   v3_lerp( kfa->co, kfb->co, t, kfd->co );
+   q_nlerp( kfa->q,  kfb->q,  t, kfd->q );
+   v3_lerp( kfa->s,  kfb->s,  t, kfd->s );
+}
+
 /*
  * Lerp between two sets of keyframes and store in dest. Rotations use Nlerp.
  */
-VG_STATIC void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
-                                mdl_keyframe *kfd, int count )
-{
-   if( t <= 0.01f )
-   {
+static void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, 
+                                float t, mdl_keyframe *kfd, int count ){
+   if( t <= 0.0001f ){
       keyframe_copy_pose( kfa, kfd, count );
       return;
    }
-   else if( t >= 0.99f )
-   {
+   else if( t >= 0.9999f ){
       keyframe_copy_pose( kfb, kfd, count );
       return;
    }
 
    for( int i=0; i<count; i++ )
-   {
-      v3_lerp( kfa[i].co, kfb[i].co, t, kfd[i].co );
-      q_nlerp( kfa[i].q,  kfb[i].q,  t, kfd[i].q );
-      v3_lerp( kfa[i].s,  kfb[i].s,  t, kfd[i].s );
-   }
+      keyframe_lerp( kfa+i, kfb+i, t, kfd+i );
 }
 
-VG_STATIC void skeleton_lerp_pose( struct skeleton *skele,
-                                mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
-                                mdl_keyframe *kfd )
+static 
+void skeleton_lerp_pose( struct skeleton *skele,
+                         mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
+                         mdl_keyframe *kfd )
 {
    keyframe_lerp_pose( kfa, kfb, t, kfd, skele->bone_count-1 );
 }
 
+static void skeleton_copy_pose( struct skeleton *skele,
+                                   mdl_keyframe *kfa, mdl_keyframe *kfd )
+{
+   keyframe_copy_pose( kfa, kfd, skele->bone_count-1 );
+}
+
 /*
  * Sample animation between 2 closest frames using time value. Output is a
  * keyframe buffer that is allocated with an appropriate size
  */
-VG_STATIC void skeleton_sample_anim( struct skeleton *skele,
+static void skeleton_sample_anim( struct skeleton *skele,
                                   struct skeleton_anim *anim,
                                   float time,
                                   mdl_keyframe *output )
 {
-   float animtime = time*anim->rate;
+   f32 animtime  = fmodf( time*anim->rate, anim->length ),
+       animframe = floorf( animtime ),
+       t = animtime - animframe;
 
-   u32 frame = ((u32)animtime) % anim->length,
+   u32 frame = (u32)animframe % anim->length,
        next  = (frame+1) % anim->length;
 
-   float t = vg_fractf( animtime );
-
    mdl_keyframe *base  = anim->anim_data + (skele->bone_count-1)*frame,
                 *nbase = anim->anim_data + (skele->bone_count-1)*next;
 
    skeleton_lerp_pose( skele, base, nbase, t, output );
 }
 
-VG_STATIC int skeleton_sample_anim_clamped( struct skeleton *skele,
+static int skeleton_sample_anim_clamped( struct skeleton *skele,
                                          struct skeleton_anim *anim,
                                          float time,
                                          mdl_keyframe *output )
@@ -144,30 +169,30 @@ typedef enum anim_apply
 {
    k_anim_apply_always,
    k_anim_apply_defer_ik,
-   k_anim_apply_deffered_only
+   k_anim_apply_deffered_only,
+   k_anim_apply_absolute
 }
 anim_apply;
 
-VG_STATIC int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type )
+static 
+int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type )
 {
    struct skeleton_bone *sb = &skele->bones[ id ],
                         *sp = &skele->bones[ sb->parent ];
 
-   if( type == k_anim_apply_defer_ik )
-   {
-      if( (sp->ik && !sb->ik) || sp->defer )
+   if( type == k_anim_apply_defer_ik ){
+      if( ((sp->flags & k_bone_flag_ik) && !(sb->flags & k_bone_flag_ik)) 
+          || sp->defer )
       {
          sb->defer = 1;
          return 0;
       }
-      else
-      {
+      else{
          sb->defer = 0;
          return 1;
       }
    }
-   else if( type == k_anim_apply_deffered_only )
-   {
+   else if( type == k_anim_apply_deffered_only ){
       if( sb->defer )
          return 1;
       else
@@ -180,17 +205,28 @@ VG_STATIC int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type
 /*
  * Apply block of keyframes to skeletons final pose
  */
-VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
-                                 anim_apply passtype )
-{
-   m4x3_identity( skele->final_mtx[0] );
+static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
+                                 anim_apply passtype, m4x3f *final_mtx ){
+   if( passtype == k_anim_apply_absolute ){
+      for( u32 i=1; i<skele->bone_count; i++ ){
+         mdl_keyframe *kf = &pose[i-1];
+
+         v3f *posemtx = final_mtx[i];
+
+         q_m3x3( kf->q, posemtx );
+         m3x3_scale( posemtx, kf->s );
+         v3_copy( kf->co, posemtx[3] );
+      }
+      return;
+   }
+
+   m4x3_identity( final_mtx[0] );
    skele->bones[0].defer = 0;
-   skele->bones[0].ik = 0;
+   skele->bones[0].flags &= ~k_bone_flag_ik;
 
-   for( int i=1; i<skele->bone_count; i++ )
-   {
+   for( u32 i=1; i<skele->bone_count; i++ ){
       struct skeleton_bone *sb = &skele->bones[i],
-                           *sp = &skele->bones[ sb->parent ];
+                           *sp = &skele->bones[sb->parent];
       
       if( !should_apply_bone( skele, i, passtype ) )
          continue;
@@ -206,11 +242,25 @@ VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
       /* pose matrix */
       mdl_keyframe *kf = &pose[i-1];
       q_m3x3( kf->q, posemtx );
+      m3x3_scale( posemtx, kf->s );
       v3_copy( kf->co, posemtx[3] );
       v3_add( temp_delta, posemtx[3], posemtx[3] );
 
       /* final matrix */
-      m4x3_mul( skele->final_mtx[ sb->parent ], posemtx, skele->final_mtx[i] );
+      m4x3_mul( final_mtx[ sb->parent ], posemtx, final_mtx[i] );
+   }
+}
+
+/* 
+ * Take the final matrices and decompose it into an absolute positioned anim
+ */
+static void skeleton_decompose_mtx_absolute( struct skeleton *skele, 
+                                             mdl_keyframe *anim,
+                                             m4x3f *final_mtx ){
+   for( u32 i=1; i<skele->bone_count; i++ ){
+      struct skeleton_bone *sb = &skele->bones[i];
+      mdl_keyframe *kf = &anim[i-1];
+      m4x3_decompose( final_mtx[i], kf->co, kf->q, kf->s );
    }
 }
 
@@ -218,7 +268,7 @@ VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
  * creates the reference inverse matrix for an IK bone, as it has an initial 
  * intrisic rotation based on the direction that the IK is setup..
  */
-VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele,
+static void skeleton_inverse_for_ik( struct skeleton *skele,
                                      v3f ivaxis,
                                      u32 id, m3x3f inverse )
 {
@@ -232,11 +282,10 @@ VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele,
 /*
  * Creates inverse rotation matrices which the IK system uses.
  */
-VG_STATIC void skeleton_create_inverses( struct skeleton *skele )
+static void skeleton_create_inverses( struct skeleton *skele )
 {
    /* IK: inverse 'plane-bone space' axis '(^axis,^bone,...)[base] */
-   for( int i=0; i<skele->ik_count; i++ )
-   {
+   for( u32 i=0; i<skele->ik_count; i++ ){
       struct skeleton_ik *ik = &skele->ik[i];
 
       m4x3f inverse;
@@ -254,12 +303,13 @@ VG_STATIC void skeleton_create_inverses( struct skeleton *skele )
 /*
  * Apply a model matrix to all bones, should be done last
  */
-VG_STATIC void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
+static 
+void skeleton_apply_transform( struct skeleton *skele, m4x3f transform,
+                               m4x3f *final_mtx )
 {
-   for( int i=0; i<skele->bone_count; i++ )
-   {
+   for( u32 i=0; i<skele->bone_count; i++ ){
       struct skeleton_bone *sb = &skele->bones[i];
-      m4x3_mul( transform, skele->final_mtx[i], skele->final_mtx[i] );
+      m4x3_mul( transform, final_mtx[i], final_mtx[i] );
    }
 }
 
@@ -267,26 +317,22 @@ VG_STATIC void skeleton_apply_transform( struct skeleton *skele, m4x3f transform
  * Apply an inverse matrix to all bones which maps vertices from bind space into
  * bone relative positions
  */
-VG_STATIC void skeleton_apply_inverses( struct skeleton *skele )
-{
-   for( int i=0; i<skele->bone_count; i++ )
-   {
+static void skeleton_apply_inverses( struct skeleton *skele, m4x3f *final_mtx ){
+   for( u32 i=0; i<skele->bone_count; i++ ){
       struct skeleton_bone *sb = &skele->bones[i];
       m4x3f inverse;
       m3x3_identity( inverse );
       v3_negate( sb->co, inverse[3] );
 
-      m4x3_mul( skele->final_mtx[i], inverse, skele->final_mtx[i] );
+      m4x3_mul( final_mtx[i], inverse, final_mtx[i] );
    }
 }
 
 /*
  * Apply all IK modifiers (2 bone ik reference from blender is supported)
  */
-VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
-{
-   for( int i=0; i<skele->ik_count; i++ )
-   {
+static void skeleton_apply_ik_pass( struct skeleton *skele, m4x3f *final_mtx ){
+   for( u32 i=0; i<skele->ik_count; i++ ){
       struct skeleton_ik *ik = &skele->ik[i];
       
       v3f v0, /* base -> target */
@@ -297,9 +343,9 @@ VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
           co_target,
           co_pole;
 
-      v3_copy( skele->final_mtx[ik->lower][3], co_base );
-      v3_copy( skele->final_mtx[ik->target][3], co_target );
-      v3_copy( skele->final_mtx[ik->pole][3], co_pole );
+      v3_copy( final_mtx[ik->lower][3], co_base );
+      v3_copy( final_mtx[ik->target][3], co_target );
+      v3_copy( final_mtx[ik->pole][3], co_pole );
 
       v3_sub( co_target, co_base, v0 );
       v3_sub( co_pole, co_base, v1 );
@@ -327,8 +373,8 @@ VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
       knee[0] = sinf(-rot) * l1;
       knee[1] = cosf(-rot) * l1;
 
-      m4x3_identity( skele->final_mtx[ik->lower] );
-      m4x3_identity( skele->final_mtx[ik->upper] );
+      m4x3_identity( final_mtx[ik->lower] );
+      m4x3_identity( final_mtx[ik->upper] );
 
       /* create rotation matrix */
       v3f co_knee;
@@ -345,7 +391,7 @@ VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
       v3_copy( co_base, transform[3] );
 
       m3x3_mul( transform, ik->ia, transform );
-      m4x3_copy( transform, skele->final_mtx[ik->lower] );
+      m4x3_copy( transform, final_mtx[ik->lower] );
 
       /* upper/knee bone */
       v3_copy( vaxis, transform[0] );
@@ -355,7 +401,7 @@ VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
       v3_copy( co_knee, transform[3] );
 
       m3x3_mul( transform, ik->ib, transform );
-      m4x3_copy( transform, skele->final_mtx[ik->upper] );
+      m4x3_copy( transform, final_mtx[ik->upper] );
    }
 }
 
@@ -363,41 +409,51 @@ VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
  * Applies the typical operations that you want for an IK rig: 
  *    Pose, IK, Pose(deferred), Inverses, Transform
  */
-VG_STATIC void skeleton_apply_standard( struct skeleton *skele, mdl_keyframe *pose,
-                                     m4x3f transform )
-{
-   skeleton_apply_pose( skele, pose, k_anim_apply_defer_ik );
-   skeleton_apply_ik_pass( skele );
-   skeleton_apply_pose( skele, pose, k_anim_apply_deffered_only );
-   skeleton_apply_inverses( skele );
-   skeleton_apply_transform( skele, transform );
+static void skeleton_apply_standard( struct skeleton *skele, mdl_keyframe *pose,
+                                     m4x3f transform, m4x3f *final_mtx ){
+   skeleton_apply_pose( skele, pose, k_anim_apply_defer_ik, final_mtx );
+   skeleton_apply_ik_pass( skele, final_mtx );
+   skeleton_apply_pose( skele, pose, k_anim_apply_deffered_only, final_mtx );
+   skeleton_apply_inverses( skele, final_mtx );
+   skeleton_apply_transform( skele, transform, final_mtx );
 }
 
 /*
  * Get an animation by name
  */
-VG_STATIC struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
-                                                const char *name )
-{
-   for( int i=0; i<skele->anim_count; i++ )
-   {
+static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
+                                                   const char *name ){
+   for( u32 i=0; i<skele->anim_count; i++ ){
       struct skeleton_anim *anim = &skele->anims[i];
 
       if( !strcmp( anim->name, name ) )
          return anim;
    }
 
+   vg_error( "skeleton_get_anim( *, \"%s\" )\n", name );
+   vg_fatal_error( "Invalid animation name\n" );
+
    return NULL;
 }
 
-VG_STATIC void skeleton_alloc_from( struct skeleton *skele,
-                                 void *lin_alloc,
-                                 struct classtype_skeleton *inf )
-{
-   skele->bone_count     = inf->channels;
-   skele->ik_count       = inf->ik_count;
-   skele->collider_count = inf->collider_count;
-   skele->anim_count     = inf->anim_count;
+static void skeleton_alloc_from( struct skeleton *skele,
+                                    void *lin_alloc,
+                                    mdl_context *mdl,
+                                    mdl_armature *armature ){
+   skele->bone_count     = armature->bone_count+1;
+   skele->anim_count     = armature->anim_count;
+   skele->ik_count       = 0;
+   skele->collider_count = 0;
+
+   for( u32 i=0; i<armature->bone_count; i++ ){
+      mdl_bone *bone = mdl_arritm( &mdl->bones, armature->bone_start+i );
+
+      if( bone->flags & k_bone_flag_ik )
+         skele->ik_count ++;
+
+      if( bone->collider )
+         skele->collider_count ++;
+   }
 
    u32 bone_size = sizeof(struct skeleton_bone) * skele->bone_count,
        ik_size   = sizeof(struct skeleton_ik)   * skele->ik_count,
@@ -406,150 +462,93 @@ VG_STATIC void skeleton_alloc_from( struct skeleton *skele,
 
    skele->bones      = vg_linear_alloc( lin_alloc, bone_size );
    skele->ik         = vg_linear_alloc( lin_alloc, ik_size );
-   skele->final_mtx  = vg_linear_alloc( lin_alloc, mtx_size );
+   //skele->final_mtx  = vg_linear_alloc( lin_alloc, mtx_size );
    skele->anims      = vg_linear_alloc( lin_alloc, anim_size );
+
+   memset( skele->bones, 0, bone_size );
+   memset( skele->ik, 0, ik_size );
+   //memset( skele->final_mtx, 0, mtx_size );
+   memset( skele->anims, 0, anim_size );
 }
 
-VG_STATIC void skeleton_fatal_err(void)
-{
-   vg_fatal_exit_loop( "Skeleton setup failed" );
+static void skeleton_fatal_err(void){
+   vg_fatal_error( "Skeleton setup failed" );
 }
 
 /* Setup an animated skeleton from model. mdl's metadata should stick around */
-VG_STATIC void skeleton_setup( struct skeleton *skele,
-                               void *lin_alloc, mdl_context *mdl )
-{
-   u32 bone_count = 1, skeleton_root = 0, ik_count = 0, collider_count = 0;
+static void skeleton_setup( struct skeleton *skele,
+                            void *lin_alloc, mdl_context *mdl ){
+   u32 ik_count = 0, collider_count = 0;
    skele->bone_count = 0;
    skele->bones = NULL;
-   skele->final_mtx = NULL;
+   //skele->final_mtx = NULL;
    skele->anims = NULL;
 
-   struct classtype_skeleton *inf = NULL;
+   if( !mdl->armatures.count ){
+      vg_error( "No skeleton in model\n" );
+      skeleton_fatal_err();
+   }
 
-   for( u32 i=0; i<mdl->info.node_count; i++ )
-   {
-      mdl_node *pnode = mdl_node_from_id( mdl, i );
+   mdl_armature *armature = mdl_arritm( &mdl->armatures, 0 );
+   skeleton_alloc_from( skele, lin_alloc, mdl, armature );
 
-      if( pnode->classtype == k_classtype_skeleton )
-      {
-         inf = mdl_get_entdata( mdl, pnode );
-         skeleton_alloc_from( skele, lin_alloc, inf );
-         skeleton_root = i;
-      }
-      else if( skele->bone_count )
-      {
-         int is_bone = pnode->classtype == k_classtype_bone;
-
-         if( is_bone )
-         {
-            if( bone_count == skele->bone_count )
-            {
-               vg_error( "too many bones (%u/%u) @%s!\n", 
-                           bone_count, skele->bone_count,
-                           mdl_pstr( mdl, pnode->pstr_name ));
-
-               skeleton_fatal_err();
-            }
-
-            struct skeleton_bone *sb = &skele->bones[bone_count];
-            struct classtype_bone *bone_inf = mdl_get_entdata( mdl, pnode );
-            int is_ik = bone_inf->ik_target;
-
-            v3_copy( pnode->co, sb->co );
-            v3_copy( pnode->s, sb->end );
-            sb->parent = pnode->parent-skeleton_root;
-            sb->name   = mdl_pstr( mdl, pnode->pstr_name );
-            sb->deform = bone_inf->deform;
-
-            if( is_ik )
-            {
-               sb->ik = 1; /* TODO: place into new IK array */
-               skele->bones[ sb->parent ].ik = 1;
-               
-               if( ik_count == skele->ik_count )
-               {
-                  vg_error( "Too many ik bones, corrupt model file\n" );
-                  skeleton_fatal_err();
-               }
-
-               struct skeleton_ik *ik = &skele->ik[ ik_count ++ ];
-               ik->upper = bone_count;
-               ik->lower = sb->parent;
-               ik->target = bone_inf->ik_target;
-               ik->pole = bone_inf->ik_pole;
-            }
-            else
-            {
-               sb->ik = 0;
-            }
-
-            sb->collider = bone_inf->collider;
-            sb->orig_node = i;
-            box_copy( bone_inf->hitbox, sb->hitbox );
-
-            if( bone_inf->collider )
-            {
-               if( collider_count == skele->collider_count )
-               {
-                  vg_error( "Too many collider bones\n" );
-                  skeleton_fatal_err();
-               }
-
-               collider_count ++;
-            }
-
-            bone_count ++;
-         }
-         else
-         {
-            break;
+   for( u32 i=0; i<armature->bone_count; i++ ){
+      mdl_bone *bone = mdl_arritm( &mdl->bones, armature->bone_start+i );
+      struct skeleton_bone *sb = &skele->bones[i+1];
+
+      v3_copy( bone->co, sb->co );
+      v3_copy( bone->end, sb->end );
+
+      sb->parent = bone->parent;
+      sb->name   = mdl_pstr( mdl, bone->pstr_name );
+      sb->flags  = bone->flags;
+      sb->collider = bone->collider;
+      sb->orig_bone = bone;
+
+      if( sb->flags & k_bone_flag_ik ){
+         skele->bones[ sb->parent ].flags |= k_bone_flag_ik;
+         
+         if( ik_count == skele->ik_count ){
+            vg_error( "Too many ik bones, corrupt model file\n" );
+            skeleton_fatal_err();
          }
-      }
-   }
 
-   if( !inf )
-   {
-      vg_error( "No skeleton in model\n" );
-      skeleton_fatal_err();
-   }
+         struct skeleton_ik *ik = &skele->ik[ ik_count ++ ];
+         ik->upper = i+1;
+         ik->lower = bone->parent;
+         ik->target = bone->ik_target;
+         ik->pole = bone->ik_pole;
+      }
 
-   if( collider_count != skele->collider_count )
-   {
-      vg_error( "Loaded %u colliders out of %u\n", collider_count,
-                                                   skele->collider_count );
-      skeleton_fatal_err();
-   }
+      box_copy( bone->hitbox, sb->hitbox );
 
-   if( bone_count != skele->bone_count )
-   {
-      vg_error( "Loaded %u bones out of %u\n", bone_count, skele->bone_count );
-      vg_fatal_exit_loop( "Skeleton setup failed" );
-      skeleton_fatal_err();
-   }
+      if( bone->collider ){
+         if( collider_count == skele->collider_count ){
+            vg_error( "Too many collider bones\n" );
+            skeleton_fatal_err();
+         }
 
-   if( ik_count != skele->ik_count )
-   {
-      vg_error( "Loaded %u ik bones out of %u\n", ik_count, skele->ik_count );
-      skeleton_fatal_err();
+         collider_count ++;
+      }
    }
 
    /* fill in implicit root bone */
    v3_zero( skele->bones[0].co );
    v3_copy( (v3f){0.0f,1.0f,0.0f}, skele->bones[0].end );
    skele->bones[0].parent = 0xffffffff;
-   skele->bones[0].collider = 0;
+   skele->bones[0].flags = 0;
    skele->bones[0].name = "[root]";
    
    /* process animation quick refs */
-   for( int i=0; i<skele->anim_count; i++ )
-   {
-      mdl_animation *anim = &mdl->anim_buffer[ inf->anim_start + i ];
+   for( u32 i=0; i<skele->anim_count; i++ ){
+      mdl_animation *anim = 
+         mdl_arritm( &mdl->animations, armature->anim_start+i );
 
       skele->anims[i].rate       = anim->rate;
       skele->anims[i].length     = anim->length;
       skele->anims[i].name       = mdl_pstr(mdl, anim->pstr_name);
-      skele->anims[i].anim_data  = &mdl->keyframe_buffer[ anim->offset ];
+      skele->anims[i].anim_data  = 
+         mdl_arritm( &mdl->keyframes, anim->offset );
 
       vg_info( "animation[ %f, %u ] '%s'\n", anim->rate,
                                              anim->length,
@@ -561,28 +560,22 @@ VG_STATIC void skeleton_setup( struct skeleton *skele,
    vg_success( "                     %u colliders\n", skele->collider_count );
 }
 
-VG_STATIC void skeleton_debug( struct skeleton *skele )
-{
-   for( int i=0; i<skele->bone_count; i ++ )
-   {
+static void skeleton_debug( struct skeleton *skele, m4x3f *final_mtx ){
+   for( u32 i=1; i<skele->bone_count; i ++ ){
       struct skeleton_bone *sb = &skele->bones[i];
 
       v3f p0, p1;
       v3_copy( sb->co, p0 );
       v3_add( p0, sb->end, p1 );
-      //vg_line( p0, p1, 0xffffffff );
 
-      m4x3_mulv( skele->final_mtx[i], p0, p0 );
-      m4x3_mulv( skele->final_mtx[i], p1, p1 );
+      m4x3_mulv( final_mtx[i], p0, p0 );
+      m4x3_mulv( final_mtx[i], p1, p1 );
 
-      if( sb->deform )
-      {
-         if( sb->ik )
-         {
+      if( sb->flags & k_bone_flag_deform ){
+         if( sb->flags & k_bone_flag_ik ){
             vg_line( p0, p1, 0xff0000ff );
          }
-         else
-         {
+         else{
             vg_line( p0, p1, 0xffcccccc );
          }
       }
@@ -590,5 +583,3 @@ VG_STATIC void skeleton_debug( struct skeleton *skele )
          vg_line( p0, p1, 0xff00ffff );
    }
 }
-
-#endif /* SKELETON_H */