X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=9729b64c04a95b7b052ba1daa3f280f444670a44;hb=5fa590f62aa7e62a8b6b07e10556c2ecc54cdca6;hp=4fb30988f6e2e3d3ef2b9bebd5b314f92f1e629f;hpb=1361a6d6ffda17feca6395beccf269763d3a76fa;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/skeleton.h b/skeleton.h
index 4fb3098..9729b64 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -1,6 +1,9 @@
-#ifndef SKELETON_H
-#define SKELETON_H
+/*
+ * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ */
 
+#pragma once
+#include "vg/vg_lines.h"
 #include "model.h"
 
 struct skeleton
@@ -8,41 +11,227 @@ struct skeleton
    struct skeleton_bone
    {
       v3f co, end;
-      u32 children; /* maybe remove */
       u32 parent;
-      
+
+      u32 flags;
+      int defer;
+
       mdl_keyframe kf;
+      mdl_bone *orig_bone;
+
+      u32 collider;
+      boxf hitbox;
+      const char *name;
    }
    *bones;
-   m4x3f *final_transforms;
+   u32 bone_count;
 
    struct skeleton_anim
    {
-      float rate;
+      const char *name;
       u32 length;
-      struct mdl_keyframe *anim_data;
-      char name[32];
+
+      float rate;
+      mdl_keyframe *anim_data;
    }
    *anims;
+   u32 anim_count;
+
+#if 0
+   m4x3f *final_mtx;
+#endif
 
-   u32 bone_count,
-       anim_count;
+   struct skeleton_ik
+   {
+      u32 lower, upper, target, pole;
+      m3x3f ia, ib;
+   }
+   *ik;
+   u32 ik_count;
+
+   u32 
+       collider_count,
+       bindable_count;
 };
 
-static void skeleton_apply_frame( m4x3f transform,
-                                  struct skeleton *skele,
-                                  struct skeleton_anim *anim, 
-                                  float time )
+static u32 skeleton_bone_id( struct skeleton *skele, const char *name )
 {
-   u32 frame = time*anim->rate;
-   frame = frame % anim->length;
+   for( u32 i=1; i<skele->bone_count; i++ ){
+      if( !strcmp( skele->bones[i].name, name ))
+         return i;
+   }
 
-   mdl_keyframe *base = anim->anim_data + (skele->bone_count-1)*frame;
-   m4x3_copy( transform, skele->final_transforms[0] );
+   vg_error( "skeleton_bone_id( *, \"%s\" );\n", name );
+   vg_fatal_error( "Bone does not exist\n" );
 
-   for( int i=1; i<skele->bone_count; i++ )
-   {
-      struct skeleton_bone *sb = &skele->bones[i];
+   return 0;
+}
+
+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.
+ */
+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 >= 0.9999f ){
+      keyframe_copy_pose( kfb, kfd, count );
+      return;
+   }
+
+   for( int i=0; i<count; i++ )
+      keyframe_lerp( kfa+i, kfb+i, t, kfd+i );
+}
+
+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
+ */
+static void skeleton_sample_anim( struct skeleton *skele,
+                                  struct skeleton_anim *anim,
+                                  float time,
+                                  mdl_keyframe *output )
+{
+   f32 animtime  = fmodf( time*anim->rate, anim->length ),
+       animframe = floorf( animtime ),
+       t = animtime - animframe;
+
+   u32 frame = (u32)animframe % anim->length,
+       next  = (frame+1) % anim->length;
+
+   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 );
+}
+
+static int skeleton_sample_anim_clamped( struct skeleton *skele,
+                                         struct skeleton_anim *anim,
+                                         float time,
+                                         mdl_keyframe *output )
+{
+   float end = (float)(anim->length-1) / anim->rate;
+   skeleton_sample_anim( skele, anim, vg_minf( end, time ), output );
+
+   if( time > end )
+      return 0;
+   else
+      return 1;
+}
+
+typedef enum anim_apply
+{
+   k_anim_apply_always,
+   k_anim_apply_defer_ik,
+   k_anim_apply_deffered_only,
+   k_anim_apply_absolute
+}
+anim_apply;
+
+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->flags & k_bone_flag_ik) && !(sb->flags & k_bone_flag_ik)) 
+          || sp->defer )
+      {
+         sb->defer = 1;
+         return 0;
+      }
+      else{
+         sb->defer = 0;
+         return 1;
+      }
+   }
+   else if( type == k_anim_apply_deffered_only ){
+      if( sb->defer )
+         return 1;
+      else
+         return 0;
+   }
+
+   return 1;
+}
+
+/*
+ * Apply block of keyframes to skeletons final pose
+ */
+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].flags &= ~k_bone_flag_ik;
+
+   for( u32 i=1; i<skele->bone_count; i++ ){
+      struct skeleton_bone *sb = &skele->bones[i],
+                           *sp = &skele->bones[sb->parent];
+      
+      if( !should_apply_bone( skele, i, passtype ) )
+         continue;
+
+      sb->defer = 0;
 
       /* process pose */
       m4x3f posemtx;
@@ -50,146 +239,347 @@ static void skeleton_apply_frame( m4x3f transform,
       v3f temp_delta;
       v3_sub( skele->bones[i].co, skele->bones[sb->parent].co, temp_delta );
 
-
       /* pose matrix */
-      mdl_keyframe *kf = base+i-1;
-
+      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_transforms[ sb->parent ], posemtx, 
-                        skele->final_transforms[i] );
+      m4x3_mul( final_mtx[ sb->parent ], posemtx, final_mtx[i] );
    }
+}
 
-   /* armature space -> bone space matrix ( for verts ) */
-   for( int i=1; i<skele->bone_count; i++ )
-   {
-      m4x3f abmtx;
-      m3x3_identity( abmtx );
-      v3_negate( skele->bones[i].co, abmtx[3] );
-      m4x3_mul( skele->final_transforms[i], abmtx,
-                skele->final_transforms[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 );
    }
 }
 
-static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
-                                                const char *name )
+/* 
+ * 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..
+ */
+static void skeleton_inverse_for_ik( struct skeleton *skele,
+                                     v3f ivaxis,
+                                     u32 id, m3x3f inverse )
 {
-   for( int i=0; i<skele->anim_count; i++ )
-   {
+   v3_copy( ivaxis, inverse[0] );
+   v3_copy( skele->bones[id].end, inverse[1] );
+   v3_normalize( inverse[1] );
+   v3_cross( inverse[0], inverse[1], inverse[2] );
+   m3x3_transpose( inverse, inverse );
+}
+
+/*
+ * Creates inverse rotation matrices which the IK system uses.
+ */
+static void skeleton_create_inverses( struct skeleton *skele )
+{
+   /* IK: inverse 'plane-bone space' axis '(^axis,^bone,...)[base] */
+   for( u32 i=0; i<skele->ik_count; i++ ){
+      struct skeleton_ik *ik = &skele->ik[i];
+
+      m4x3f inverse;
+      v3f iv0, iv1, ivaxis;
+      v3_sub( skele->bones[ik->target].co, skele->bones[ik->lower].co, iv0 );
+      v3_sub( skele->bones[ik->pole].co,   skele->bones[ik->lower].co, iv1 );
+      v3_cross( iv0, iv1, ivaxis );
+      v3_normalize( ivaxis );
+
+      skeleton_inverse_for_ik( skele, ivaxis, ik->lower, ik->ia );
+      skeleton_inverse_for_ik( skele, ivaxis, ik->upper, ik->ib );
+   }
+}
+
+/*
+ * Apply a model matrix to all bones, should be done last
+ */
+static 
+void skeleton_apply_transform( struct skeleton *skele, m4x3f transform,
+                               m4x3f *final_mtx )
+{
+   for( u32 i=0; i<skele->bone_count; i++ ){
+      struct skeleton_bone *sb = &skele->bones[i];
+      m4x3_mul( transform, final_mtx[i], final_mtx[i] );
+   }
+}
+
+/*
+ * Apply an inverse matrix to all bones which maps vertices from bind space into
+ * bone relative positions
+ */
+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( final_mtx[i], inverse, final_mtx[i] );
+   }
+}
+
+/*
+ * Apply all IK modifiers (2 bone ik reference from blender is supported)
+ */
+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 */
+          v1, /* base -> pole */
+          vaxis;
+
+      v3f co_base,
+          co_target,
+          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 );
+      v3_cross( v0, v1, vaxis );
+      v3_normalize( vaxis );
+      v3_normalize( v0 );
+      v3_cross( vaxis, v0, v1 );
+
+      /* localize problem into [x:v0,y:v1] 2d plane */
+      v2f base = { v3_dot( v0, co_base   ), v3_dot( v1, co_base   ) },
+          end  = { v3_dot( v0, co_target ), v3_dot( v1, co_target ) },
+          knee;
+
+      /* Compute angles (basic trig)*/
+      v2f delta;
+      v2_sub( end, base, delta );
+
+      float 
+         l1 = v3_length( skele->bones[ik->lower].end ),
+         l2 = v3_length( skele->bones[ik->upper].end ),
+         d = vg_clampf( v2_length(delta), fabsf(l1 - l2), l1+l2-0.00001f ),
+         c = acosf( (l1*l1 + d*d - l2*l2) / (2.0f*l1*d) ),
+         rot = atan2f( delta[1], delta[0] ) + c - VG_PIf/2.0f;
+
+      knee[0] = sinf(-rot) * l1;
+      knee[1] = cosf(-rot) * l1;
+
+      m4x3_identity( final_mtx[ik->lower] );
+      m4x3_identity( final_mtx[ik->upper] );
+
+      /* create rotation matrix */
+      v3f co_knee;
+      v3_muladds( co_base, v0, knee[0], co_knee );
+      v3_muladds( co_knee, v1, knee[1], co_knee );
+      vg_line( co_base, co_knee, 0xff00ff00 );
+
+      m4x3f transform;
+      v3_copy( vaxis, transform[0] );
+      v3_muls( v0, knee[0], transform[1] );
+      v3_muladds( transform[1], v1, knee[1], transform[1] );
+      v3_normalize( transform[1] );
+      v3_cross( transform[0], transform[1], transform[2] );
+      v3_copy( co_base, transform[3] );
+
+      m3x3_mul( transform, ik->ia, transform );
+      m4x3_copy( transform, final_mtx[ik->lower] );
+
+      /* upper/knee bone */
+      v3_copy( vaxis, transform[0] );
+      v3_sub( co_target, co_knee, transform[1] );
+      v3_normalize( transform[1] );
+      v3_cross( transform[0], transform[1], transform[2] );
+      v3_copy( co_knee, transform[3] );
+
+      m3x3_mul( transform, ik->ib, transform );
+      m4x3_copy( transform, final_mtx[ik->upper] );
+   }
+}
+
+/*
+ * Applies the typical operations that you want for an IK rig: 
+ *    Pose, IK, Pose(deferred), Inverses, 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
+ */
+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;
 }
 
-/* Setup an animated skeleton from model */
-static int skeleton_setup( struct skeleton *skele, mdl_header *mdl )
-{
-   u32 bone_count = 1, skeleton_root = 0;
+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,
+       mtx_size  = sizeof(m4x3f)                * skele->bone_count,
+       anim_size = sizeof(struct skeleton_anim) * skele->anim_count;
+
+   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->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 );
+}
+
+static void skeleton_fatal_err(void){
+   vg_fatal_error( "Skeleton setup failed" );
+}
+
+/* Setup an animated skeleton from model. mdl's metadata should stick around */
+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_transforms = 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->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 );
-         if( skele->bone_count )
-         {
-            vg_error( "Multiple skeletons in model file\n" );
-            free( skele->bones );
-            return 0;
-         }
+   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;
          
-         skele->bone_count = inf->channels;
-         skele->bones = malloc(sizeof(struct skeleton_bone)*skele->bone_count);
-         skeleton_root = i;
-      }
-      else if( skele->bone_count )
-      {
-         if( pnode->classtype == k_classtype_bone )
-         {
-            struct skeleton_bone *sb = &skele->bones[bone_count ++];
-            v3_copy( pnode->co, sb->co );
-            v3_copy( pnode->s, sb->end );
-            sb->parent = pnode->parent-skeleton_root;
-         }
-         else
-         {
-            break;
+         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 = i+1;
+         ik->lower = bone->parent;
+         ik->target = bone->ik_target;
+         ik->pole = bone->ik_pole;
       }
-   }
 
-   if( !inf )
-   {
-      vg_error( "No skeleton in model\n" );
-      return 0;
-   }
+      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 );
-      return 0;
+      if( bone->collider ){
+         if( collider_count == skele->collider_count ){
+            vg_error( "Too many collider bones\n" );
+            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].flags = 0;
+   skele->bones[0].name = "[root]";
    
-   skele->final_transforms = malloc( sizeof(m4x3f) * skele->bone_count );
-   skele->anim_count = inf->anim_count;
-   skele->anims = malloc( sizeof(struct skeleton_anim) * inf->anim_count);
-   
-   for( int i=0; i<inf->anim_count; i++ )
-   {
+   /* process animation quick refs */
+   for( u32 i=0; i<skele->anim_count; i++ ){
       mdl_animation *anim = 
-         mdl_animation_from_id( mdl, inf->anim_start+i );
+         mdl_arritm( &mdl->animations, armature->anim_start+i );
 
-      skele->anims[i].rate = anim->rate;
-      skele->anims[i].length = anim->length;
-      strncpy( skele->anims[i].name, mdl_pstr(mdl, anim->pstr_name), 32 );
+      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_arritm( &mdl->keyframes, anim->offset );
 
-      u32 total_keyframes = (skele->bone_count-1)*anim->length;
-      size_t block_size = sizeof(mdl_keyframe) * total_keyframes;
-      mdl_keyframe *dst = malloc( block_size );
-
-      skele->anims[i].anim_data = dst;
-      memcpy( dst, mdl_get_animdata( mdl, anim ), block_size );
+      vg_info( "animation[ %f, %u ] '%s'\n", anim->rate,
+                                             anim->length,
+                                             skele->anims[i].name );
    }
 
+   skeleton_create_inverses( skele );
    vg_success( "Loaded skeleton with %u bones\n", skele->bone_count );
-   return 1;
+   vg_success( "                     %u colliders\n", skele->collider_count );
 }
 
-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_transforms[i], p0, p0 );
-      m4x3_mulv( skele->final_transforms[i], p1, p1 );
-      vg_line( p0, p1, 0xff0000ff );
+      m4x3_mulv( final_mtx[i], p0, p0 );
+      m4x3_mulv( final_mtx[i], p1, p1 );
+
+      if( sb->flags & k_bone_flag_deform ){
+         if( sb->flags & k_bone_flag_ik ){
+            vg_line( p0, p1, 0xff0000ff );
+         }
+         else{
+            vg_line( p0, p1, 0xffcccccc );
+         }
+      }
+      else
+         vg_line( p0, p1, 0xff00ffff );
    }
 }
-
-#endif /* SKELETON_H */