From cd2eeac63ce4a81fda9cea8b0fd12f249db151dd Mon Sep 17 00:00:00 2001
From: davids91 <toth.david.munka@gmail.com>
Date: Sat, 10 Aug 2024 21:32:54 +0200
Subject: [PATCH] Initial implementation of rotation matrix support

---
 Cargo.toml                        |   3 +-
 assets/models/minecraft_arc.vox   | Bin 0 -> 144483 bytes
 src/octree/convert/magicavoxel.rs | 251 +++++++++++++++++++++++-------
 3 files changed, 194 insertions(+), 60 deletions(-)
 create mode 100644 assets/models/minecraft_arc.vox

diff --git a/Cargo.toml b/Cargo.toml
index afd4067..3f467f4 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0"
 default = ["dot_vox_support"]
 raytracing = ["dep:image", "dep:show-image"]
 serialization = ["dep:serde"]
-dot_vox_support = ["dep:dot_vox"]
+dot_vox_support = ["dep:dot_vox", "dep:nalgebra"]
 bevy_wgpu = ["raytracing", "dep:bevy"]
 
 [dependencies]
@@ -17,6 +17,7 @@ num-traits = "0.2.19"
 serde = { version = "1.0.183", features = ["derive"], optional = true }
 bendy = { git = "https://github.com/davids91/bendy.git" , features = ["std", "serde"]}
 dot_vox = { version = "5.1.1", optional = true }
+nalgebra = { version = "0.33.0", optional = true }
 
 # for example cpu_render
 image = { version = "0.25.1", optional = true }
diff --git a/assets/models/minecraft_arc.vox b/assets/models/minecraft_arc.vox
new file mode 100644
index 0000000000000000000000000000000000000000..e347d7e135aed744a20158aaa4a56c51d2892642
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/src/octree/convert/magicavoxel.rs b/src/octree/convert/magicavoxel.rs
index c584421..b5806b7 100644
--- a/src/octree/convert/magicavoxel.rs
+++ b/src/octree/convert/magicavoxel.rs
@@ -3,6 +3,7 @@ use crate::{
     spatial::math::{convert_coordinate, CoordinateSystemType},
 };
 use dot_vox::{Color, DotVoxData, Model, SceneNode, Size, Voxel};
+use nalgebra::Matrix3;
 
 impl From<Albedo> for Color {
     fn from(color: Albedo) -> Self {
@@ -64,8 +65,53 @@ impl VoxelData for Color {
     }
 }
 
-fn iterate_vox_tree<F: FnMut(&Model, &V3c<i32>) -> ()>(vox_tree: &DotVoxData, mut fun: F) {
-    let mut node_stack: Vec<(u32, V3c<i32>, u32)> = Vec::new();
+/// Converts the given byte value to a rotation matrix
+/// Rotation matrix in voxel context enables 90 degr rotations only, so the contents of the matrix is restricted to 0,1,-1
+fn parse_rotation_matrix(b: u8) -> Matrix3<i8> {
+    let mut result = Matrix3::<i8>::new(0, 0, 0, 0, 0, 0, 0, 0, 0);
+
+    // decide absolute values of each row
+    let index_in_first_row = b & 0x3;
+    let index_in_second_row = ((b & (0x3 << 2)) >> 2) & 0x3;
+    let index_in_third_row = !(index_in_first_row ^ index_in_second_row) & 0x3;
+    debug_assert!(index_in_first_row < 3);
+    debug_assert!(index_in_second_row < 3);
+    debug_assert!(index_in_third_row < 3);
+    debug_assert!(index_in_first_row != index_in_second_row);
+    debug_assert!(index_in_first_row != index_in_third_row);
+    debug_assert!(index_in_second_row != index_in_third_row);
+
+    // decide the sign of the values
+    let sign_first_row = if 0 == (b & 0x10) { 1 } else { -1 };
+    let sign_second_row = if 0 == (b & 0x20) { 1 } else { -1 };
+    let sign_third_row = if 0 == (b & 0x40) { 1 } else { -1 };
+
+    // set the values in the matrix
+    result.data.0[0][index_in_first_row as usize] = sign_first_row;
+    result.data.0[1][index_in_second_row as usize] = sign_second_row;
+    result.data.0[2][index_in_third_row as usize] = sign_third_row;
+
+    result
+}
+
+impl<T> V3c<T>
+where
+    T: num_traits::Num + Clone + Copy + std::convert::From<i8>,
+{
+    fn clone_transformed(&self, matrix: &Matrix3<i8>) -> V3c<T> {
+        V3c::new(
+            self.x * matrix.m11.into() + self.y * matrix.m21.into() + self.z * matrix.m31.into(),
+            self.x * matrix.m21.into() + self.y * matrix.m22.into() + self.z * matrix.m23.into(),
+            self.x * matrix.m31.into() + self.y * matrix.m32.into() + self.z * matrix.m33.into(),
+        )
+    }
+}
+
+fn iterate_vox_tree<F: FnMut(&Model, &V3c<i32>, &Matrix3<i8>) -> ()>(
+    vox_tree: &DotVoxData,
+    mut fun: F,
+) {
+    let mut node_stack: Vec<(u32, V3c<i32>, Matrix3<i8>, u32)> = Vec::new();
 
     match &vox_tree.scenes[0] {
         SceneNode::Transform {
@@ -74,20 +120,20 @@ fn iterate_vox_tree<F: FnMut(&Model, &V3c<i32>) -> ()>(vox_tree: &DotVoxData, mu
             child,
             layer_id: _,
         } => {
-            node_stack.push((*child, V3c::unit(0), 0));
+            node_stack.push((*child, V3c::unit(0), Matrix3::identity(), 0));
         }
         _ => {
-            panic!("The root node for a magicka voxel DAG should be a transform")
+            panic!("The root node for a magicka voxel DAG should be a translation")
         }
     }
 
     while 0 < node_stack.len() {
-        let (current_node, transform, index) = *node_stack.last().unwrap();
+        let (current_node, translation, rotation, index) = *node_stack.last().unwrap();
         // println!("=========================================================");
         // println!("node_stack size: {}", node_stack.len());
         // println!(
-        //     "node: {}, transform: {:?}, index: {}",
-        //     current_node, transform, index
+        //     "node: {}, translation: {:?}, index: {}",
+        //     current_node, translation, index
         // );
         match &vox_tree.scenes[current_node as usize] {
             SceneNode::Transform {
@@ -96,28 +142,40 @@ fn iterate_vox_tree<F: FnMut(&Model, &V3c<i32>) -> ()>(vox_tree: &DotVoxData, mu
                 child,
                 layer_id: _,
             } => {
-                // println!("Processing transform");
-                let transform_delta: V3c<i32>;
-                if let Some(t) = frames[0].attributes.get("_t") {
-                    transform_delta = t
-                        .split(" ")
-                        .map(|x| x.parse().expect("Not an integer!"))
-                        .collect::<Vec<i32>>()
-                        .into();
+                // println!("Processing translation");
+                let translation = if let Some(t) = frames[0].attributes.get("_t") {
+                    translation
+                        + t.split(" ")
+                            .map(|x| x.parse().expect("Not an integer!"))
+                            .collect::<Vec<i32>>()
+                            .into()
                 } else {
-                    transform_delta = V3c::new(0, 0, 0);
-                }
-                // 0 == index ==> iterate into the child of the transform
-                if 0 == index {
+                    translation
+                };
+                // println!("orientation: {:?}", rotation,);
+                let orientation = if let Some(r) = frames[0].attributes.get("_r") {
+                    // println!(
+                    //     "orientation updated with: {:?}",
+                    //     parse_rotation_matrix(r.parse().unwrap()),
+                    // );
                     // println!(
-                    //     "adding {:?} --> {:?}",
-                    //     transform_delta,
-                    //     transform + transform_delta
+                    //     "updated orientation: {:?}",
+                    //     rotation * parse_rotation_matrix(r.parse().unwrap()),
                     // );
-                    node_stack.push((*child, transform + transform_delta, 0));
+                    rotation
+                        * parse_rotation_matrix(
+                            r.parse()
+                                .expect("Expected valid u8 byte to parse rotation matrix"),
+                        )
+                } else {
+                    rotation
+                };
+                // 0 == index ==> iterate into the child of the translation
+                if 0 == index {
+                    node_stack.push((*child, translation, orientation, 0));
                 } else {
                     // println!("pop");
-                    // 0 != index ==> remove transform and iterate into parent
+                    // 0 != index ==> remove translation and iterate into parent
                     node_stack.pop();
                 }
             }
@@ -125,14 +183,14 @@ fn iterate_vox_tree<F: FnMut(&Model, &V3c<i32>) -> ()>(vox_tree: &DotVoxData, mu
                 attributes: _,
                 children,
             } => {
-                // println!("Processing Group[{index}] at {:?}", transform);
+                // println!("Processing Group[{index}] at {:?}", translation);
                 if (index as usize) < children.len() {
-                    node_stack.last_mut().unwrap().2 += 1;
-                    node_stack.push((children[index as usize], transform, 0));
+                    node_stack.last_mut().unwrap().3 += 1;
+                    node_stack.push((children[index as usize], translation, rotation, 0));
                 } else {
                     node_stack.pop();
                     if let Some(parent) = node_stack.last_mut() {
-                        parent.2 += 1;
+                        parent.3 += 1;
                     }
                 }
             }
@@ -140,13 +198,17 @@ fn iterate_vox_tree<F: FnMut(&Model, &V3c<i32>) -> ()>(vox_tree: &DotVoxData, mu
                 attributes: _,
                 models,
             } => {
-                // println!("Processing shape at {:?}", transform);
+                // println!("Processing shape at {:?}", translation);
                 for model in models {
-                    fun(&vox_tree.models[model.model_id as usize], &transform);
+                    fun(
+                        &vox_tree.models[model.model_id as usize],
+                        &translation,
+                        &rotation,
+                    );
                 }
                 node_stack.pop();
                 if let Some(parent) = node_stack.last_mut() {
-                    parent.2 += 1;
+                    parent.3 += 1;
                 }
             }
         }
@@ -172,65 +234,107 @@ where
         //     i += 1;
         // }
 
-        let mut min_position = V3c::<i32>::new(0, 0, 0);
-        let mut max_position = V3c::<i32>::new(0, 0, 0);
-        iterate_vox_tree(&vox_tree, |model, position| {
+        let mut min_position_lyup = V3c::<i32>::new(0, 0, 0);
+        let mut max_position_lyup = V3c::<i32>::new(0, 0, 0);
+        iterate_vox_tree(&vox_tree, |model, position, orientation| {
             // println!("raw pos: {:?}", position);
             let position = convert_coordinate(
                 V3c::from(*position),
                 CoordinateSystemType::RZUP,
                 CoordinateSystemType::LYUP,
             );
-            // println!("converted pos: {:?}", position);
             let model_size = convert_coordinate(
-                model.size.into(),
+                V3c::from(model.size).clone_transformed(orientation),
                 CoordinateSystemType::RZUP,
                 CoordinateSystemType::LYUP,
             );
-            // println!("model_size: {:?}", model_size);
-            min_position.x = min_position.x.min(position.x - (model_size.x / 2));
-            min_position.y = min_position.y.min(position.y - (model_size.y / 2));
-            min_position.z = min_position.z.min(position.z - (model_size.z / 2));
+            // println!("orientation: {:?}", orientation);
+            // println!("converted pos: {:?}", position);
+            // println!(
+            //     "model_size: {:?} --> {:?}",
+            //     V3c::from(model.size),
+            //     model_size
+            // );
+            min_position_lyup.x = min_position_lyup.x.min(position.x - (model_size.x / 2));
+            min_position_lyup.y = min_position_lyup.y.min(position.y - (model_size.y / 2));
+            min_position_lyup.z = min_position_lyup.z.min(position.z - (model_size.z / 2));
             // println!("min position --> {:?}", min_position);
             // println!("max pos: {:?} + {:?}", position, model_size);
-            if (position.x + model_size.x) > max_position.x
-                || (position.y + model_size.y) > max_position.y
-                || (position.z + model_size.z) > max_position.z
+            if (position.x + model_size.x) > max_position_lyup.x
+                || (position.y + model_size.y) > max_position_lyup.y
+                || (position.z + model_size.z) > max_position_lyup.z
             {
-                max_position = position + model_size;
+                max_position_lyup = position + model_size;
             }
+            // println!("max_position: {:?}", max_position_lyup);
+            // println!("min position: {:?}", min_position_lyup);
         });
-        max_position = max_position - min_position;
-        // println!("max_position: {:?}", max_position);
-        // println!("min position: {:?}", min_position);
-        let max_dimension = max_position.x.max(max_position.y).max(max_position.z);
+        max_position_lyup = max_position_lyup - min_position_lyup;
+        // println!("\nmax_position: {:?}", max_position_lyup);
+        // println!("min position: {:?}", min_position_lyup);
+        let max_dimension = max_position_lyup
+            .x
+            .max(max_position_lyup.y)
+            .max(max_position_lyup.z);
         let max_dimension = (max_dimension as f32).log2().ceil() as u32;
         let max_dimension = 2_u32.pow(max_dimension);
         // println!("octree size: {max_dimension} \n ============================ \n ");
         let mut shocovox_octree = Octree::<T, DIM>::new(max_dimension).ok().unwrap();
         let mut vmin = V3c::unit(max_dimension as u32);
         let mut vmax = V3c::unit(0u32);
-        iterate_vox_tree(&vox_tree, |model, position| {
-            // println!("raw pos: {:?}", position);
+        iterate_vox_tree(&vox_tree, |model, position, orientation| {
+            let model_size_half_lyup = convert_coordinate(
+                V3c::from(model.size).clone_transformed(orientation),
+                CoordinateSystemType::RZUP,
+                CoordinateSystemType::LYUP,
+            ) / 2;
+            let position = V3c::from(*position);
             // println!("model_size: {:?}", model.size);
-            let position = convert_coordinate(
-                V3c::from(*position - (V3c::from(model.size) / 2)),
+            // println!("model_size_half: {:?}", V3c::from(model.size) / 2);
+            // println!(
+            //     "m11: {:?}, m21: {:?}, m31: {:?}",
+            //     orientation.m11, orientation.m21, orientation.m31
+            // );
+            // println!(
+            //     "oriented model size: {:?}",
+            //     V3c::from(model.size).clone_transformed(orientation)
+            // );
+            // println!("oriented model_size_half_lyup: {:?}", model_size_half_lyup);
+            // println!("raw pos: {:?}", position);
+            // println!(
+            //     "pos_lyup: {:?}",
+            //     convert_coordinate(
+            //         position,
+            //         CoordinateSystemType::RZUP,
+            //         CoordinateSystemType::LYUP,
+            //     )
+            // );
+            // println!(
+            //     "corrected position_lyup: {:?}",
+            //     convert_coordinate(
+            //         position,
+            //         CoordinateSystemType::RZUP,
+            //         CoordinateSystemType::LYUP,
+            //     ) - min_position_lyup
+            //         - model_size_half_lyup
+            // );
+            let position_lyup = convert_coordinate(
+                position,
                 CoordinateSystemType::RZUP,
                 CoordinateSystemType::LYUP,
             );
-            // println!("converted pos: {:?}", position);
-            let current_position = position - min_position;
-            // println!("converted, corrected position: {:?}", current_position);
+            let current_position = position_lyup - min_position_lyup - model_size_half_lyup;
             for voxel in &model.voxels {
                 let voxel_position = convert_coordinate(
-                    V3c::from(*voxel),
+                    V3c::from(*voxel).clone_transformed(orientation),
                     CoordinateSystemType::RZUP,
                     CoordinateSystemType::LYUP,
                 );
                 // println!(
-                //     "{:?} + {:?} = {:?} ",
+                //     "{:?} + {:?} - ({:?}/2) = {:?} ",
                 //     current_position,
                 //     voxel_position,
+                //     model_size_half_lyup * 2,
                 //     current_position + voxel_position
                 // );
                 let cpos = current_position + voxel_position;
@@ -241,7 +345,6 @@ where
                     vmax = cpos.into();
                 }
 
-                //TODO: something is still fucks with the voxel positions? some models are rotated 90 on x
                 shocovox_octree
                     .insert(
                         &V3c::<u32>::from(current_position + voxel_position.into()),
@@ -251,9 +354,39 @@ where
                     .unwrap();
             }
             // println!("model position: {:?}", current_position);
-            // println!("|min, max: {:?}, {:?}", vmin, vmax);
+            // println!("|min, max: {:?}, {:?}\n\n", vmin, vmax);
         });
         println!("Tree built from model!");
         Ok(shocovox_octree)
     }
 }
+
+#[cfg(test)]
+mod octree_tests {
+    use super::parse_rotation_matrix;
+    use nalgebra::Matrix3;
+
+    #[test]
+    fn test_matrix_parse() {
+        let test_matrix = Matrix3::<i8>::new(1, 0, 0, 0, 1, 0, 0, 0, 1);
+        assert!(test_matrix.m11 == 1);
+        assert!(test_matrix.m22 == 1);
+        assert!(test_matrix.m33 == 1);
+
+        let parsed_matrix = parse_rotation_matrix(4);
+        assert!(parse_rotation_matrix(4) == test_matrix);
+        assert!(parsed_matrix.m11 == 1);
+        assert!(parsed_matrix.m22 == 1);
+        assert!(parsed_matrix.m33 == 1);
+
+        // https://github.com/ephtracy/voxel-model/blob/master/MagicaVoxel-file-format-vox-extension.txt
+        // Matrix3 storage is column major
+        let example = Matrix3::<i8>::new(0, 0, -1, 1, 0, 0, 0, -1, 0);
+        assert!(
+            parse_rotation_matrix((1 << 0) | (2 << 2) | (0 << 4) | (1 << 5) | (1 << 6)) == example
+        );
+        assert!(example.m21 == 1);
+        assert!(example.m32 == -1);
+        assert!(example.m13 == -1);
+    }
+}