Switch-Toolbox/Switch_Toolbox_Library/FileFormats/Assimp/Assimp.cs

using System;
using System.Drawing;
using System.IO;
using System.Collections.Generic;
using System.Linq;
using Assimp;
using OpenTK;
using Switch_Toolbox.Library.Rendering;
using System.Windows.Forms;
using Switch_Toolbox.Library.Animations;

namespace Switch_Toolbox.Library
{
    public class AssimpData
    {
        public Scene scene;

        public List<STGenericObject> objects = new List<STGenericObject>();
        public List<STGenericMaterial> materials = new List<STGenericMaterial>();
        public STSkeleton skeleton;
        public List<string> BoneNames = new List<string>();

        public AssimpContext Importer = new AssimpContext();

        public string[] GetSupportedImportFormats()
        {
            return Importer.GetSupportedImportFormats();
        }

        public AssimpData()
        {
        }
        public void LoadFile(string FileName)
        {
            try
            {
                AssimpContext Importer = new AssimpContext();

                STConsole.WriteLine($"Loading File {FileName}", Color.FromArgb(0, 255, 0));

                var Flags = PostProcessSteps.Triangulate;
                Flags |= PostProcessSteps.JoinIdenticalVertices;
                Flags |= PostProcessSteps.FlipUVs;
                Flags |= PostProcessSteps.LimitBoneWeights;
                Flags |= PostProcessSteps.CalculateTangentSpace;
                Flags |= PostProcessSteps.GenerateNormals;

                scene = Importer.ImportFile(FileName, Flags);

                LoadScene();
            }
            catch (Exception e)
            {
                if (e.ToString().Contains("Error loading unmanaged library from path"))
                {
                    MessageBox.Show($"Failed to load assimp! Make sure you have Assimp32.dll next to the program!");
                }
                Console.WriteLine(e);
            }
        }
        public void processNode()
        {
            Matrix4x4 identity = Matrix4x4.Identity;
            if (scene.RootNode != null)
            {
                BuildNode(scene.RootNode, ref identity);
            }
            else
            {
                int Index = 0;
                foreach (Mesh msh in scene.Meshes)
                {
                    objects.Add(CreateGenericObject(msh, Index, Matrix4.Identity));
                    Index++;
                }
            }
        }
        private void BuildNode(Node parent, ref Matrix4x4 rootTransform)
        {
            Matrix4x4 trafo = parent.Transform;
            Matrix4x4 world = trafo * rootTransform;
            Matrix4 worldTK = AssimpHelper.TKMatrix(world);

            foreach (int index in parent.MeshIndices)
                objects.Add(CreateGenericObject(scene.Meshes[index], index, worldTK));

            if (scene.HasMeshes && scene.Meshes.Any(x => x.HasBones))
            {
                foreach (Node child in parent.Children)
                    BuildNode(child, ref rootTransform);
            }
            else
            {
                foreach (Node child in parent.Children)
                    BuildNode(child, ref world);
            }
        }
        public void LoadScene()
        {
            objects.Clear();
            materials.Clear();
            skeleton = new STSkeleton();

            processNode();

            var idenity = Matrix4x4.Identity;
            BuildSkeletonNodes(scene.RootNode, BoneNames, skeleton, ref idenity);
            skeleton.update();
            skeleton.reset();

            if (scene.HasMaterials)
            {
                foreach (Material mat in scene.Materials)
                {
                    materials.Add(CreateGenericMaterial(mat));
                }
            }
            foreach (Assimp.Animation animation in scene.Animations)
            {

            }
            foreach (var tex in scene.Textures)
            {
            }
        }
        public Animations.Animation CreateGenericAnimation(Assimp.Animation animation)
        {
            Animations.Animation STanim = new Animations.Animation();
            STanim.Text = animation.Name;
            STanim.FrameCount = (int)animation.DurationInTicks;

            //Load node animations
            if (animation.HasNodeAnimations)
            {
                var _channels = new NodeAnimationChannel[animation.NodeAnimationChannelCount];
                for (int i = 0; i < _channels.Length; i++)
                {
                    _channels[i] = new NodeAnimationChannel();
                }
            }

            //Load mesh animations
            if (animation.HasMeshAnimations)
            {
                var _meshChannels = new MeshAnimationChannel[animation.MeshAnimationChannelCount];
                for (int i = 0; i < _meshChannels.Length; i++)
                {
                    _meshChannels[i] = new MeshAnimationChannel();

                }
            }

            return STanim;
        }
        public STGenericMaterial CreateGenericMaterial(Material material)
        {
            STGenericMaterial mat = new STGenericMaterial();
            mat.Text = material.Name;

            TextureSlot tex;
            if (material.GetMaterialTexture(TextureType.Diffuse, 0, out tex))
                mat.TextureMaps.Add(CreateTextureSlot(tex, TextureType.Diffuse));
            if (material.GetMaterialTexture(TextureType.Normals, 1, out tex))
                mat.TextureMaps.Add(CreateTextureSlot(tex, TextureType.Normals));
            if (material.GetMaterialTexture(TextureType.Specular, 1, out tex))
                mat.TextureMaps.Add(CreateTextureSlot(tex, TextureType.Specular));
            return mat;
        }
        private STGenericMatTexture CreateTextureSlot(TextureSlot tex, TextureType type)
        {
            var matTex = new STGenericMatTexture();

            switch (type)
            {
                case TextureType.Diffuse:
                    matTex.Type = STGenericMatTexture.TextureType.Diffuse;
                    break;
                case TextureType.Normals:
                    matTex.Type = STGenericMatTexture.TextureType.Normal;
                    break;
                case TextureType.Lightmap:
                    matTex.Type = STGenericMatTexture.TextureType.Light;
                    break;
                case TextureType.Emissive:
                    matTex.Type = STGenericMatTexture.TextureType.Emission;
                    break;
                case TextureType.Specular:
                    matTex.Type = STGenericMatTexture.TextureType.Specular;
                    break;
                case TextureType.Shininess:
                    matTex.Type = STGenericMatTexture.TextureType.Metalness;
                    break;
                case TextureType.Opacity:
                    matTex.Type = STGenericMatTexture.TextureType.Transparency;
                    break;
                case TextureType.Displacement:
                    break;
                default:
                    matTex.Type = STGenericMatTexture.TextureType.Unknown;
                    break;
            }

            matTex.Name = System.IO.Path.GetFileNameWithoutExtension(tex.FilePath);
            matTex.wrapModeS = SetWrapMode(tex.WrapModeU);
            matTex.wrapModeT = SetWrapMode(tex.WrapModeV);

            return matTex;
        }
        private int SetWrapMode(TextureWrapMode wrap)
        {
            switch (wrap)
            {
                case TextureWrapMode.Wrap:
                    return 0;
                case TextureWrapMode.Mirror:
                    return 1;
                case TextureWrapMode.Clamp:
                    return 2;
                case TextureWrapMode.Decal:
                    return 0;
                default:
                    return 0;
            }
        }
        private void BuildSkeleton(Node root)
        {

        }
        private void BuildSkeletonNodes(Node node, List<string> boneNames, STSkeleton skeleton, ref Matrix4x4 rootTransform)
        {
            Matrix4x4 trafo = node.Transform;
            Matrix4x4 world = trafo * rootTransform;
            Matrix4 worldTK = AssimpHelper.TKMatrix(world);



            bool IsBone = boneNames.Contains(node.Name) && !boneNames.Contains(node.Parent.Name) ||
                          node.Name == "Skl_Root" || node.Name == "nw4f_root";

            Console.WriteLine("node list " + node.Name + " " + IsBone);

            short SmoothIndex = 0;
            short RigidIndex = -1;

            //Loop through all the bones. If the parent is not in the bone list, then it's Parent is the root
            if (IsBone)
            {
                var idenity = Matrix4x4.Identity;
                var Root = node.Parent;
                CreateByNode(node, skeleton, SmoothIndex, RigidIndex, true, ref idenity);
            }
            else
            {
                foreach (Node child in node.Children)
                    BuildSkeletonNodes(child,boneNames, skeleton, ref world);
            }
        }

        public const int BoneRotation = 0;

        private List<Node> tempBoneNodes = new List<Node>();
        private void CreateByNode(Node node, STSkeleton skeleton, short SmoothIndex, short RigidIndex, bool IsRoot, ref Assimp.Matrix4x4 rootTransform)
        {
            Matrix4x4 trafo = node.Transform;
            Matrix4x4 world = trafo * rootTransform;
            var transformMat = AssimpHelper.TKMatrix(world);


            tempBoneNodes.Add(node);

            STBone bone = new STBone();
            bone.skeletonParent = skeleton;
            skeleton.bones.Add(bone);

            bone.Text = node.Name;
            bone.SmoothMatrixIndex = (short)skeleton.bones.IndexOf(bone);
            bone.RigidMatrixIndex = -1; //Todo calculate these

            STConsole.WriteLine($"-".Repeat(30));
            STConsole.WriteLine($"Processing Bone {bone.Text}");
            STConsole.WriteLine($"SmoothMatrixIndex {bone.SmoothMatrixIndex}");
            STConsole.WriteLine($"RigidMatrixIndex {bone.RigidMatrixIndex}");
            STConsole.WriteLine($"Transform Matrix {transformMat}");
            STConsole.WriteLine($"-".Repeat(30));


            if (IsRoot)
            {
                bone.parentIndex = -1;
                transformMat = AssimpHelper.TKMatrix(world * Matrix4x4.FromRotationX(MathHelper.DegreesToRadians(BoneRotation)));
            }
            else
            {
                if (tempBoneNodes.Contains(node.Parent))
                    bone.parentIndex = tempBoneNodes.IndexOf(node.Parent);
            }


            var scale = transformMat.ExtractScale();
            var rotation = transformMat.ExtractRotation();
            var position = transformMat.ExtractTranslation();

            var rotEular = AssimpHelper.ToEular(rotation);

            bone.position = new float[] { position.X, position.Y, position.Z };
            bone.scale = new float[] { scale.X, scale.Y, scale.Z };
            bone.rotation = new float[] { rotEular.X, rotEular.Y, rotEular.Z, 0 };
            
            foreach (Node child in node.Children)
                CreateByNode(child, skeleton, SmoothIndex, RigidIndex, false, ref rootTransform);
        }
        public STGenericObject CreateGenericObject(Mesh msh, int Index, Matrix4 transform)
        {
            STGenericObject obj = new STGenericObject();

            if (msh.MaterialIndex != -1)
                obj.MaterialIndex = msh.MaterialIndex;
            else
                scene.Materials.Add(new Material() { Name = msh.Name });

            if (scene.Materials[msh.MaterialIndex].Name == "")
                scene.Materials[msh.MaterialIndex].Name = msh.Name;

            obj.HasPos = msh.HasVertices;
            obj.HasNrm = msh.HasNormals;
            obj.HasUv0 = msh.HasTextureCoords(0);
            obj.HasUv1 = msh.HasTextureCoords(1);
            obj.HasUv2 = msh.HasTextureCoords(2);
            obj.HasIndices = msh.HasBones;
            if (msh.HasBones)
                obj.HasWeights = msh.Bones[0].HasVertexWeights;

            obj.HasTans = msh.HasTangentBasis;
            obj.HasBitans = msh.HasTangentBasis;
            obj.HasVertColors = msh.HasVertexColors(0);
            obj.ObjectName = msh.Name;
            obj.boneList = GetBoneList(msh);
            obj.VertexSkinCount = (byte)GetVertexSkinCount(msh);

            STGenericObject.LOD_Mesh lod = new STGenericObject.LOD_Mesh();
            lod.faces = GetFaces(msh);
            lod.IndexFormat = STIndexFormat.UInt16;
            lod.PrimitiveType = STPolygonType.Triangle;
            lod.GenerateSubMesh();
            obj.lodMeshes.Add(lod);
            obj.vertices = GetVertices(msh, transform, obj);
            obj.VertexBufferIndex = Index;

            return obj;
        }
        private void SaveSkeleton(STSkeleton skeleton, Node parentNode)
        {
            Node root = new Node("skeleton_root");
            parentNode.Children.Add(root);

            if (skeleton.bones.Count > 0)
            {
                Node boneNode = new Node(skeleton.bones[0].Text);
                boneNode.Transform = GetBoneMatrix(skeleton.bones[0]);
                root.Children.Add(boneNode);

                foreach (STBone child in skeleton.bones[0].GetChildren())
                    SaveBones(boneNode, child, skeleton);
            }
        }
        private void SaveBones(Node parentBone, STBone bone, STSkeleton skeleton)
        {
            Node boneNode = new Node(bone.Text);
            parentBone.Children.Add(boneNode);

            boneNode.Transform = GetBoneMatrix(bone);
     
            foreach (STBone child in bone.GetChildren())
                SaveBones(boneNode, child, skeleton);
        }
        private Matrix4x4 GetBoneMatrix(STBone bone)
        {
            var pos = Matrix4x4.FromTranslation(new Vector3D(bone.position[0], bone.position[1], bone.position[2]));
            var rotx = Matrix4x4.FromRotationX(bone.rotation[0]);
            var roty = Matrix4x4.FromRotationY(bone.rotation[1]);
            var rotz = Matrix4x4.FromRotationZ(bone.rotation[2]);
            var sca = Matrix4x4.FromScaling(new Vector3D(bone.scale[0], bone.scale[1], bone.scale[2]));

            return sca * (rotx * roty * rotz) * pos;
        }
        public void SaveFromModel(STGenericModel model, string FileName, List<STGenericTexture> Textures, STSkeleton skeleton = null, List<int> NodeArray = null)
        {
            Scene scene = new Scene();
            scene.RootNode = new Node("RootNode");

            SaveSkeleton(skeleton, scene.RootNode);

            int MeshIndex = 0;
            foreach (var obj in model.Nodes[0].Nodes)
            {
                var genericObj = (STGenericObject)obj;

                Mesh mesh = new Mesh(genericObj.Text, PrimitiveType.Triangle);
                mesh.MaterialIndex = genericObj.MaterialIndex;

                List<Vector3D> textureCoords0 = new List<Vector3D>();
                List<Vector3D> textureCoords1 = new List<Vector3D>();
                List<Vector3D> textureCoords2 = new List<Vector3D>();
                List<Color4D> vertexColors = new List<Color4D>();

                int vertexID = 0;
                foreach (Vertex v in genericObj.vertices)
                {
                    mesh.Vertices.Add(new Vector3D(v.pos.X, v.pos.Y, v.pos.Z));
                    mesh.Normals.Add(new Vector3D(v.nrm.X, v.nrm.Y, v.nrm.Z));
                    textureCoords0.Add(new Vector3D(v.uv0.X, v.uv0.Y, 0));
                    textureCoords1.Add(new Vector3D(v.uv1.X, v.uv1.Y, 0));
                    textureCoords2.Add(new Vector3D(v.uv2.X, v.uv2.Y, 0));
                    vertexColors.Add(new Color4D(v.col.X, v.col.Y, v.col.Z, v.col.W));
                    mesh.TextureCoordinateChannels[0] = textureCoords0;
                    mesh.TextureCoordinateChannels[1] = textureCoords1;
                    mesh.TextureCoordinateChannels[2] = textureCoords2;
                    mesh.VertexColorChannels[0] = vertexColors;

                    for (int j = 0; j < v.boneIds.Count; j++)
                    {
                        if (j < genericObj.VertexSkinCount)
                        {
                            //Get the bone via the node array and bone index from the vertex
                            STBone STbone = skeleton.bones[NodeArray[v.boneIds[j]]];

                            //Find the index of a bone. If it doesn't exist then we add it
                            int boneInd = mesh.Bones.FindIndex(x => x.Name == STbone.Text);

                            if (boneInd == -1)
                            {
                                var matrices = Switch_Toolbox.Library.IO.MatrixExenstion.CalculateInverseMatrix(STbone);

                                //Set the inverse matrix
                                Matrix4x4 transform = matrices.inverse.FromNumerics();

                                //Create a new assimp bone
                                Bone bone = new Bone();
                                bone.Name = STbone.Text;
                                bone.OffsetMatrix = transform;

                                mesh.Bones.Add(bone);
                                BoneNames.Add(bone.Name);

                                boneInd = mesh.Bones.IndexOf(bone); //Set the index of the bone for the vertex weight
                            }

                            //Check if the max amount of weights is higher than the current bone id
                            if (v.boneWeights.Count > j)
                            {
                                if (v.boneWeights[j] <= 1)
                                    mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, v.boneWeights[j]));
                                else
                                    mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, 1));
                            }
                            else
                                mesh.Bones[boneInd].VertexWeights.Add(new VertexWeight(vertexID, 1));
                        }
                    }
                    vertexID++;
                }
                List<int> faces = genericObj.lodMeshes[genericObj.DisplayLODIndex].faces;
                for (int f = 0; f < faces.Count; f++)
                    mesh.Faces.Add(new Face(new int[] { faces[f++], faces[f++], faces[f] }));

                mesh.TextureCoordinateChannels.SetValue(textureCoords0, 0);

                scene.Meshes.Add(mesh);

                MeshIndex++;
            }
            Node geomNode = new Node(Path.GetFileNameWithoutExtension(FileName), scene.RootNode);

            for (int ob = 0; ob < scene.MeshCount; ob++)
            {
                geomNode.MeshIndices.Add(ob);
            }

            scene.RootNode.Children.Add(geomNode);

            string TextureExtension = ".png";
            string TexturePath = System.IO.Path.GetDirectoryName(FileName);

            foreach (var tex in Textures)
            {
                string path = System.IO.Path.Combine(TexturePath, tex.Text + TextureExtension);

                var bitmap = tex.GetBitmap();
                bitmap.Save(path);
                bitmap.Dispose();

            }

            foreach (var mat in model.Nodes[1].Nodes)
            {
                var genericMat = (STGenericMaterial)mat;

                Material material = new Material();
                material.Name = genericMat.Text;

                foreach (var tex in genericMat.TextureMaps)
                {
                    TextureSlot slot = new TextureSlot();
                    string path = System.IO.Path.Combine(TexturePath, tex.Name + TextureExtension);
                    slot.FilePath = path;
                    slot.UVIndex = 0;
                    slot.Flags = 0;
                    slot.TextureIndex = 0;
                    slot.BlendFactor = 1.0f;
                    slot.Mapping = TextureMapping.FromUV;
                    slot.Operation = TextureOperation.Add;

                    if (tex.Type == STGenericMatTexture.TextureType.Diffuse)
                        slot.TextureType = TextureType.Diffuse;
                    else if (tex.Type == STGenericMatTexture.TextureType.Normal)
                        slot.TextureType = TextureType.Normals;
                    else if (tex.Type == STGenericMatTexture.TextureType.Specular)
                        slot.TextureType = TextureType.Specular;
                    else if (tex.Type == STGenericMatTexture.TextureType.Emission)
                        slot.TextureType = TextureType.Emissive;
                    else if (tex.Type == STGenericMatTexture.TextureType.Light)
                    {
                        slot.TextureType = TextureType.Lightmap;
                        slot.UVIndex = 2;
                    }
                    else if (tex.Type == STGenericMatTexture.TextureType.Shadow)
                    {
                        slot.TextureType = TextureType.Ambient;
                        slot.UVIndex = 1;
                    }
                    else
                        slot.TextureType = TextureType.Unknown;

                    if (tex.wrapModeS == 0)
                        slot.WrapModeU = TextureWrapMode.Wrap;
                    if (tex.wrapModeS == 1)
                        slot.WrapModeU = TextureWrapMode.Mirror;
                    if (tex.wrapModeS == 2)
                        slot.WrapModeU = TextureWrapMode.Clamp;
                    if (tex.wrapModeT == 0)
                        slot.WrapModeV = TextureWrapMode.Wrap;
                    if (tex.wrapModeT == 1)
                        slot.WrapModeV = TextureWrapMode.Mirror;
                    if (tex.wrapModeT == 2)
                        slot.WrapModeV = TextureWrapMode.Clamp;
                    else
                    {
                        slot.WrapModeU = TextureWrapMode.Wrap;
                        slot.WrapModeV = TextureWrapMode.Wrap;
                    }

                    material.AddMaterialTexture(ref slot);
                }
                scene.Materials.Add(material);
            }

            using (var v = new AssimpContext())
            {
                string ext = System.IO.Path.GetExtension(FileName);

                string formatID = "collada";
                if (ext == ".obj")
                    formatID = "obj";
                if (ext == ".3ds")
                    formatID = "3ds";
                if (ext == ".dae")
                    formatID = "collada";
                if (ext == ".ply")
                    formatID = "ply";

                if (v.ExportFile(scene, FileName, formatID, PostProcessSteps.FlipUVs | PostProcessSteps.ValidateDataStructure))
                    MessageBox.Show($"Exported {FileName} Successfuly!");
                else
                    MessageBox.Show($"Failed to export {FileName}!");
            }
        }
        public void SaveFromObject(List<Vertex> vertices, List<int> faces, string MeshName, string FileName)
        {
            Scene scene = new Scene();
            scene.RootNode = new Node("Root");

            Mesh mesh = new Mesh(MeshName, PrimitiveType.Triangle);

            List<Vector3D> textureCoords0 = new List<Vector3D>();
            List<Vector3D> textureCoords1 = new List<Vector3D>();
            List<Vector3D> textureCoords2 = new List<Vector3D>();
            List<Color4D> vertexColors = new List<Color4D>();

            foreach (Vertex v in vertices)
            {
                mesh.Vertices.Add(new Vector3D(v.pos.X, v.pos.Y, v.pos.Z));
                mesh.Normals.Add(new Vector3D(v.nrm.X, v.nrm.Y, v.nrm.Z));
                textureCoords0.Add(new Vector3D(v.uv0.X, v.uv0.Y, 0));
                textureCoords1.Add(new Vector3D(v.uv1.X, v.uv1.Y, 0));
                textureCoords2.Add(new Vector3D(v.uv2.X, v.uv2.Y, 0));
                vertexColors.Add(new Color4D(v.col.X, v.col.Y, v.col.Z, v.col.W));
                mesh.TextureCoordinateChannels[0] = textureCoords0;
                mesh.TextureCoordinateChannels[1] = textureCoords1;
                mesh.TextureCoordinateChannels[2] = textureCoords2;
                mesh.VertexColorChannels[0] = vertexColors;
            }
            for (int f = 0; f < faces.Count; f++)
            {
                mesh.Faces.Add(new Face(new int[] { faces[f++], faces[f++], faces[f] }));
            }
            mesh.MaterialIndex = 0;

            mesh.TextureCoordinateChannels.SetValue(textureCoords0, 0);
            scene.Meshes.Add(mesh);

            Material material = new Material();
            material.Name = "NewMaterial";
            scene.Materials.Add(material);

            using (var v = new AssimpContext())
            {
                v.ExportFile(scene, FileName, "obj");
            }
        }
        public List<int> GetFaces(Mesh msh)
        {
            List<int> faces = new List<int>();

            if (msh.HasFaces)
            {
                foreach (Face f in msh.Faces)
                {
                    if (f.HasIndices)
                    {
                        foreach (int indx in f.Indices)
                            faces.Add(indx);
                    }
                }
            }

            return faces;
        }
        public List<string> GetBoneList(Mesh msh)
        {
            List<string> bones = new List<string>();
            foreach (Bone b in msh.Bones)
            {
                if (!bones.Contains(b.Name))
                    bones.Add(b.Name);
            }
            return bones;
        }
        public int GetVertexSkinCount(Mesh msh)
        {

            List<int> indciesTotal = new List<int>();

            var blendIndexes = new List<List<int>>();
            var blendWeights = new List<List<float>>();

            int i;
            for (i = 0; i < msh.VertexCount; i++)
            {
                blendIndexes.Add(new List<int>());
                blendWeights.Add(new List<float>());
            }

            foreach (var bone in msh.Bones)
            {
                var bi = msh.Bones.IndexOf(bone);
                foreach (var vw in bone.VertexWeights)
                {
                    blendIndexes[vw.VertexID].Add(bi);
                    blendWeights[vw.VertexID].Add(vw.Weight);
                }
            }

            foreach (Bone b in msh.Bones)
                Console.WriteLine(b.VertexWeights.Count);

            if (msh.HasBones)
                return msh.Bones.Max(b => b.VertexWeightCount);

            return 0;
        }
        public List<Vertex> GetVertices(Mesh msh, Matrix4 transform, STGenericObject STobj)
        {

            List<Vertex> vertices = new List<Vertex>();
            for (int v = 0; v < msh.VertexCount; v++)
            {
                Vertex vert = new Vertex();

                if (msh.HasVertices)
                    vert.pos = Vector3.TransformPosition(AssimpHelper.FromVector(msh.Vertices[v]), transform);
                if (msh.HasNormals)
                    vert.nrm = Vector3.TransformNormal(AssimpHelper.FromVector(msh.Normals[v]), transform);
                if (msh.HasTextureCoords(0))
                    vert.uv0 = new Vector2(msh.TextureCoordinateChannels[0][v].X, msh.TextureCoordinateChannels[0][v].Y);
                if (msh.HasTextureCoords(1))
                    vert.uv1 = new Vector2(msh.TextureCoordinateChannels[1][v].X, msh.TextureCoordinateChannels[1][v].Y);
                if (msh.HasTextureCoords(2))
                    vert.uv2 = new Vector2(msh.TextureCoordinateChannels[2][v].X, msh.TextureCoordinateChannels[2][v].Y);
                if (msh.HasTangentBasis)
                    vert.tan = new Vector4(msh.Tangents[v].X, msh.Tangents[v].Y, msh.Tangents[v].Z, 1);
                if (msh.HasVertexColors(0))
                    vert.col = new Vector4(msh.VertexColorChannels[0][v].R, msh.VertexColorChannels[0][v].G, msh.VertexColorChannels[0][v].B, msh.VertexColorChannels[0][v].A);
                if (msh.HasTangentBasis)
                    vert.bitan = new Vector4(msh.BiTangents[v].X, msh.BiTangents[v].Y, msh.BiTangents[v].Z, 1);
                vertices.Add(vert);
            }
            if (msh.HasBones)
            {
                for (int i = 0; i < msh.BoneCount; i++)
                {
                    Bone bn = msh.Bones[i];
                    if (bn.HasVertexWeights)
                    {
                        foreach (VertexWeight w in bn.VertexWeights)
                        {
                            //  vertices[w.VertexID].pos = Vector3.TransformPosition(vertices[w.VertexID].pos, AssimpHelper.TKMatrix(bn.OffsetMatrix));
                            vertices[w.VertexID].boneWeights.Add(w.Weight);
                            vertices[w.VertexID].boneNames.Add(bn.Name);
                            BoneNames.Add(bn.Name);
                        }
                    }
                }
            }


            return vertices;
        }

        private Matrix4 FromAssimpMatrix(Matrix4x4 mat)
        {
            Vector3D scaling;
            Vector3D tranlation;
            Assimp.Quaternion rot;
            mat.Decompose(out scaling, out rot, out tranlation);

            Console.WriteLine($"rotQ " + rot);

            Matrix4 positionMat = Matrix4.CreateTranslation(AssimpHelper.FromVector(tranlation));
            Matrix4 rotQ = Matrix4.CreateFromQuaternion(AssimpHelper.TKQuaternion(rot));
            Matrix4 scaleMat = Matrix4.CreateScale(AssimpHelper.FromVector(scaling));
            Matrix4 matrixFinal = scaleMat * rotQ * positionMat;

            return matrixFinal;
        }
    }
}