poses 2

include/BoneSelector.h

@@ -5,7 +5,9 @@
 
 #include <osg/ref_ptr>
 #include <osg/Vec3>
+#include <osg/Matrix>
 #include <osg/Geode>
+#include <osg/PrimitiveSet>
 #include <osg/Group>
 #include <osg/Geometry>
 #include <osgViewer/Viewer>
@@ -31,6 +33,9 @@ public:
     void setVisible(bool v);
     bool isVisible() const { return m_visible; }
 
+    /// Set the model world matrix so bone positions are transformed correctly.
+    void setModelMatrix(const osg::Matrix& m) { m_modelMatrix = m; }
+
 private:
     void buildInitialGeometry();   // called once on init
     void updatePositions();        // cheap per-frame position update
@@ -43,6 +48,7 @@ private:
     // Line geometry arrays — updated in place each frame
     osg::ref_ptr<osg::Vec3Array>  m_lineVerts;
     osg::ref_ptr<osg::Vec4Array>  m_lineColors;
+    osg::ref_ptr<osg::DrawArrays> m_lineDrawArrays;
 
     // Sphere positions — one MatrixTransform per bone
     std::vector<osg::ref_ptr<osg::MatrixTransform>> m_sphereXforms;
@@ -52,4 +58,5 @@ private:
     std::string m_prevSelected;  // detect selection changes
     bool        m_visible        = true;
     bool        m_geometryBuilt  = false;
+    osg::Matrix m_modelMatrix;  // model world transform for coordinate conversion
 };

include/PoseManager.h

@@ -46,7 +46,8 @@ public:
     /// Called once after skeleton is loaded.
     void init(osgAnimation::Skeleton* skeleton,
               const std::unordered_map<std::string,
-                  osg::ref_ptr<osgAnimation::Bone>>& boneMap);
+                  osg::ref_ptr<osgAnimation::Bone>>& boneMap,
+              const std::unordered_map<std::string, osg::Vec3>& bindPositions = {});
 
     /// Sorted list of all bone names (for UI tree).
     const std::vector<std::string>& boneNames() const { return m_boneNames; }
@@ -85,6 +86,7 @@ private:
     std::unordered_map<std::string, osg::ref_ptr<osgAnimation::Bone>> m_boneMap;
     std::unordered_map<std::string, BonePose>       m_poses;
     std::unordered_map<std::string, osg::Matrix>    m_bindMatrices;       // local bind pose
+    std::unordered_map<std::string, osg::Vec3>     m_bindWorldPositions;  // world pos from offset matrix
     std::unordered_map<std::string, std::string>    m_parents;      // child → parent
     std::unordered_map<std::string, std::vector<std::string>> m_children;
     std::vector<std::string>                        m_boneNames;    // sorted

include/SkeletonLoader.h

@@ -45,6 +45,7 @@ public:
         osg::ref_ptr<osgAnimation::Skeleton>                skeleton;
         std::unordered_map<std::string,
             osg::ref_ptr<osgAnimation::Bone>>               boneMap;
+        std::unordered_map<std::string, osg::Vec3>         bindPositions; // world pos from inverted offset
         bool valid = false;
     };
 

src/Application.cpp

@@ -133,7 +133,8 @@ bool Application::loadModel(const std::string& filepath) {
         auto skelResult = skelLoader.load(scene, baseDir, m_morphMgr.get());
         if (skelResult.valid) {
             m_modelNode = skelResult.root;
-            m_poseMgr->init(skelResult.skeleton.get(), skelResult.boneMap);
+            m_poseMgr->init(skelResult.skeleton.get(), skelResult.boneMap,
+                             skelResult.bindPositions);
             m_boneSel = std::make_unique<BoneSelector>(m_poseMgr.get());
             m_boneSel->init(m_viewer.get(), m_sceneRoot.get());
             m_imguiLayer->setPoseManager(m_poseMgr.get());
@@ -260,9 +261,18 @@ void Application::setPoseMode(bool enabled) {
 
 void Application::applyPoseUpdate() {
     if (!m_poseMgr || !m_poseMgr->isInitialized()) return;
-    // applyPose sets local matrices, then updateSkeletonMatrices propagates FK
     if (m_poseMode) m_poseMgr->applyPose();
-    m_poseMgr->updateSkeletonMatrices();  // always keep world positions fresh
+    m_poseMgr->updateSkeletonMatrices();
+
+    // Keep BoneSelector in sync with the model's current world transform
+    // so overlay positions match the rendered mesh position/scale
+    if (m_boneSel && m_modelXform) {
+        // Compute full world matrix by walking up parent transforms
+        osg::Matrix worldMat = m_modelXform->getMatrix();
+        // m_modelXform -> m_shaderGroup -> m_sceneRoot (no further transforms)
+        m_boneSel->setModelMatrix(worldMat);
+    }
+
     if (m_poseMode && m_boneSel) m_boneSel->updateVisualization();
 }
 

src/BoneSelector.cpp

@@ -44,17 +44,24 @@ void BoneSelector::buildInitialGeometry() {
     const auto& names = m_poseMgr->boneNames();
 
     // ── Lines ─────────────────────────────────────────────────────────────────
+    // Count bones that have parents (those get a line)
+    int lineCount = 0;
+    for (const auto& name : names)
+        if (!m_poseMgr->boneParent(name).empty()) ++lineCount;
+
     m_lineVerts  = new osg::Vec3Array;
     m_lineColors = new osg::Vec4Array;
-    m_lineVerts->resize(names.size() * 2, osg::Vec3());
-    m_lineColors->resize(names.size() * 2, osg::Vec4(0.4f,0.8f,1.f,0.7f));
+    m_lineVerts->resize(lineCount * 2, osg::Vec3());
+    m_lineColors->resize(lineCount * 2, osg::Vec4(0.4f,0.8f,1.f,0.7f));
 
     auto lineGeom = new osg::Geometry;
     lineGeom->setDataVariance(osg::Object::DYNAMIC);
     lineGeom->setVertexArray(m_lineVerts);
     lineGeom->setColorArray(m_lineColors, osg::Array::BIND_PER_VERTEX);
-    lineGeom->addPrimitiveSet(
-        new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, m_lineVerts->size()));
+    // Store DrawArrays so we can update its count
+    m_lineDrawArrays = new osg::DrawArrays(osg::PrimitiveSet::LINES,
+                                            0, lineCount * 2);
+    lineGeom->addPrimitiveSet(m_lineDrawArrays);
     lineGeom->getOrCreateStateSet()->setAttribute(new osg::LineWidth(1.5f));
 
     m_lines = new osg::Geode;
@@ -104,9 +111,10 @@ void BoneSelector::updatePositions() {
     int lineIdx = 0;
     for (unsigned i = 0; i < m_sphereBoneNames.size() && i < m_sphereXforms.size(); ++i) {
         const std::string& name = m_sphereBoneNames[i];
-        osg::Vec3 pos = m_poseMgr->getBoneWorldPos(name);
+        // Transform from skeleton space to world space via model matrix
+        osg::Vec3 skelPos = m_poseMgr->getBoneWorldPos(name);
+        osg::Vec3 pos = skelPos * m_modelMatrix;
 
-        // Move sphere via transform
         m_sphereXforms[i]->setMatrix(osg::Matrix::translate(pos));
 
         // Update selection colour if changed
@@ -126,7 +134,8 @@ void BoneSelector::updatePositions() {
         // Line: parent → this bone
         std::string parent = m_poseMgr->boneParent(name);
         if (!parent.empty() && lineIdx + 1 < (int)m_lineVerts->size()) {
-            osg::Vec3 parentPos = m_poseMgr->getBoneWorldPos(parent);
+            osg::Vec3 parentSkelPos = m_poseMgr->getBoneWorldPos(parent);
+            osg::Vec3 parentPos = parentSkelPos * m_modelMatrix;
             bool isSel = (name == m_selected || parent == m_selected);
             (*m_lineVerts)[lineIdx]   = parentPos;
             (*m_lineVerts)[lineIdx+1] = pos;
@@ -139,11 +148,13 @@ void BoneSelector::updatePositions() {
         }
     }
 
-    // Dirty line arrays
+    // Dirty line arrays so OSG re-uploads them
     if (m_lineVerts)  m_lineVerts->dirty();
     if (m_lineColors) m_lineColors->dirty();
-    if (m_lines && m_lines->getNumDrawables() > 0)
+    if (m_lines && m_lines->getNumDrawables() > 0) {
         m_lines->getDrawable(0)->dirtyBound();
+        m_lines->getDrawable(0)->dirtyDisplayList();
+    }
 }
 
 // ─────────────────────────────────────────────────────────────────────────────

src/ImGuiLayer.cpp

@@ -540,7 +540,7 @@ void ImGuiLayer::renderPoseTab() {
         // (changed flag removed — pose applied immediately via callback)
 
         ImGui::Spacing();
-        ImGui::TextUnformatted("Rotation (degrees):");
+        ImGui::TextUnformatted("Rotation (bone-local degrees):");
         ImGui::SetNextItemWidth(-1.f);
         if (ImGui::SliderFloat3("##rot", m_boneEuler, -180.f, 180.f)) {
             // Convert euler degrees to quaternion
@@ -550,14 +550,15 @@ void ImGuiLayer::renderPoseTab() {
             osg::Quat qx(rx, osg::Vec3(1,0,0));
             osg::Quat qy(ry, osg::Vec3(0,1,0));
             osg::Quat qz(rz, osg::Vec3(0,0,1));
-            m_poseMgr->setBoneRotation(m_selectedBone, qz * qy * qx);
+            // Local-space: Rx * Ry * Rz — rotates around bone's own axes
+            m_poseMgr->setBoneRotation(m_selectedBone, qx * qy * qz);
 
         }
 
         ImGui::Spacing();
         ImGui::TextUnformatted("Translation:");
         ImGui::SetNextItemWidth(-1.f);
-        if (ImGui::SliderFloat3("##trans", m_boneTrans, -0.5f, 0.5f)) {
+        if (ImGui::SliderFloat3("##trans", m_boneTrans, -20.f, 20.f)) {
             m_poseMgr->setBoneTranslation(m_selectedBone,
                 osg::Vec3(m_boneTrans[0], m_boneTrans[1], m_boneTrans[2]));
 
@@ -606,9 +607,29 @@ void ImGuiLayer::renderPoseTab() {
             if (ImGui::Selectable(name.c_str(), sel)) {
                 m_selectedBone = name;
                 if (m_boneSel) m_boneSel->setSelected(name);
+        // Sync sliders to current pose
+        if (m_poseMgr) {
+            const auto& p = m_poseMgr->getBonePose(m_selectedBone);
+            if (p.modified) {
+                // Extract euler angles from quaternion via rotation matrix
+                osg::Matrix rotMat; rotMat.makeRotate(p.rotation);
+                // Extract XYZ euler: atan2 from rotation matrix elements
+                float ex = std::atan2( rotMat(2,1), rotMat(2,2));
+                float ey = std::atan2(-rotMat(2,0),
+                    std::sqrt(rotMat(2,1)*rotMat(2,1)+rotMat(2,2)*rotMat(2,2)));
+                float ez = std::atan2( rotMat(1,0), rotMat(0,0));
+                m_boneEuler[0] = ex * 180.f / (float)M_PI;
+                m_boneEuler[1] = ey * 180.f / (float)M_PI;
+                m_boneEuler[2] = ez * 180.f / (float)M_PI;
+                m_boneTrans[0] = p.translation.x();
+                m_boneTrans[1] = p.translation.y();
+                m_boneTrans[2] = p.translation.z();
+            } else {
                 memset(m_boneEuler, 0, sizeof(m_boneEuler));
                 memset(m_boneTrans, 0, sizeof(m_boneTrans));
             }
+        }
+            }
             if (sel) ImGui::PopStyleColor();
         }
     }
@@ -646,9 +667,28 @@ void ImGuiLayer::renderBoneTree(const std::string& boneName, int depth) {
     if (ImGui::IsItemClicked()) {
         m_selectedBone = boneName;
         if (m_boneSel) m_boneSel->setSelected(boneName);
+        if (m_poseMgr) {
+            const auto& p = m_poseMgr->getBonePose(boneName);
+            if (p.modified) {
+                // Extract euler angles from quaternion via rotation matrix
+                osg::Matrix rotMat; rotMat.makeRotate(p.rotation);
+                // Extract XYZ euler: atan2 from rotation matrix elements
+                float ex = std::atan2( rotMat(2,1), rotMat(2,2));
+                float ey = std::atan2(-rotMat(2,0),
+                    std::sqrt(rotMat(2,1)*rotMat(2,1)+rotMat(2,2)*rotMat(2,2)));
+                float ez = std::atan2( rotMat(1,0), rotMat(0,0));
+                m_boneEuler[0] = ex * 180.f / (float)M_PI;
+                m_boneEuler[1] = ey * 180.f / (float)M_PI;
+                m_boneEuler[2] = ez * 180.f / (float)M_PI;
+                m_boneTrans[0] = p.translation.x();
+                m_boneTrans[1] = p.translation.y();
+                m_boneTrans[2] = p.translation.z();
+            } else {
                 memset(m_boneEuler, 0, sizeof(m_boneEuler));
                 memset(m_boneTrans, 0, sizeof(m_boneTrans));
             }
+        }
+    }
 
     if (open) {
         if (hasChildren)

src/PoseManager.cpp

@@ -9,13 +9,13 @@
 void PoseManager::init(
         osgAnimation::Skeleton* skeleton,
         const std::unordered_map<std::string,
-            osg::ref_ptr<osgAnimation::Bone>>& boneMap) {
+            osg::ref_ptr<osgAnimation::Bone>>& boneMap,
+        const std::unordered_map<std::string, osg::Vec3>& bindPositions) {
 
     m_skeleton = skeleton;
     m_boneMap  = boneMap;
 
-    // Run one update traversal so all bones get their initial matrices computed
-    // from their StackedTransform, then we capture those as bind matrices.
+    // Run one update traversal to get initial bone matrices
     {
         osg::NodeVisitor nv(osg::NodeVisitor::UPDATE_VISITOR,
                             osg::NodeVisitor::TRAVERSE_ALL_CHILDREN);
@@ -24,36 +24,28 @@ void PoseManager::init(
     }
 
     for (auto& [name, bone] : boneMap) {
-        // Capture bind pose AFTER the first update so it reflects the
-        // fully-composed local matrix from StackedTransform
         m_bindMatrices[name] = bone->getMatrix();
         m_poses[name] = BonePose{};
-
-        // Remove the UpdateBone callback permanently — we drive all bone
-        // matrices manually from now on. This prevents the callback from
-        // ever overwriting our pose values.
-        bone->setUpdateCallback(nullptr);
+        bone->setUpdateCallback(nullptr); // we drive bones manually
     }
 
     // Build hierarchy from root bones only
     for (auto& [name, bone] : boneMap) {
         bool hasParentInMap = false;
         for (unsigned i = 0; i < bone->getNumParents(); ++i) {
-            auto* parent = dynamic_cast<osgAnimation::Bone*>(bone->getParent(i));
-            if (parent && boneMap.count(parent->getName())) {
-                hasParentInMap = true;
-                break;
+            auto* p = dynamic_cast<osgAnimation::Bone*>(bone->getParent(i));
+            if (p && boneMap.count(p->getName())) { hasParentInMap = true; break; }
         }
-        }
-        if (!hasParentInMap)
-            buildHierarchy(bone.get(), "");
+        if (!hasParentInMap) buildHierarchy(bone.get(), "");
     }
 
     m_boneNames.clear();
-    for (auto& [name, _] : boneMap)
-        m_boneNames.push_back(name);
+    for (auto& [name, _] : boneMap) m_boneNames.push_back(name);
     std::sort(m_boneNames.begin(), m_boneNames.end());
 
+    // Store Assimp bind positions as authoritative overlay positions at rest
+    m_bindWorldPositions = bindPositions;
+
     m_traversalCount = 1000;
     m_initialized = true;
     std::cout << "[pose] PoseManager initialized: " << boneMap.size() << " bones.\n";
@@ -74,8 +66,6 @@ void PoseManager::buildHierarchy(osgAnimation::Bone* bone,
     }
 }
 
-// ─────────────────────────────────────────────────────────────────────────────
-
 std::string PoseManager::boneParent(const std::string& name) const {
     auto it = m_parents.find(name);
     return it != m_parents.end() ? it->second : "";
@@ -110,23 +100,24 @@ const PoseManager::BonePose& PoseManager::getBonePose(const std::string& name) c
     return it != m_poses.end() ? it->second : m_defaultPose;
 }
 
+// ─────────────────────────────────────────────────────────────────────────────
+
 osg::Vec3 PoseManager::getBoneWorldPos(const std::string& name) const {
-    auto it = m_boneMap.find(name);
-    if (it == m_boneMap.end()) return {};
-    return it->second->getMatrixInSkeletonSpace().getTrans();
+    // Use Assimp bind positions — correct at rest, matched to Blender
+    auto it = m_bindWorldPositions.find(name);
+    if (it != m_bindWorldPositions.end()) return it->second;
+    return {};
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
 
 void PoseManager::updateSkeletonMatrices() {
-    // Since all UpdateBone callbacks are removed, we manually propagate
-    // bone matrices through the hierarchy by walking parent→child.
     if (!m_initialized || !m_skeleton) return;
 
-    // Walk the skeleton tree and compute skeleton-space matrices
+    // Propagate FK: compute skeleton-space matrices for OSG skinning
     std::function<void(osgAnimation::Bone*, const osg::Matrix&)> propagate =
-        [&](osgAnimation::Bone* bone, const osg::Matrix& parentSkelMat) {
-            osg::Matrix skelMat = bone->getMatrix() * parentSkelMat;
+        [&](osgAnimation::Bone* bone, const osg::Matrix& parentMat) {
+            osg::Matrix skelMat = bone->getMatrix() * parentMat;
             bone->setMatrixInSkeletonSpace(skelMat);
             for (unsigned i = 0; i < bone->getNumChildren(); ++i) {
                 auto* child = dynamic_cast<osgAnimation::Bone*>(bone->getChild(i));
@@ -134,7 +125,6 @@ void PoseManager::updateSkeletonMatrices() {
             }
         };
 
-    // Skeleton's own matrix is identity by default
     for (unsigned i = 0; i < m_skeleton->getNumChildren(); ++i) {
         auto* root = dynamic_cast<osgAnimation::Bone*>(m_skeleton->getChild(i));
         if (root) propagate(root, m_skeleton->getMatrix());
@@ -146,7 +136,6 @@ void PoseManager::updateSkeletonMatrices() {
 void PoseManager::applyPose() {
     if (!m_initialized) return;
 
-    // Set each bone's local matrix: bind pose + pose delta
     for (auto& [name, pose] : m_poses) {
         auto boneIt = m_boneMap.find(name);
         if (boneIt == m_boneMap.end()) continue;
@@ -161,13 +150,16 @@ void PoseManager::applyPose() {
             continue;
         }
 
-        osg::Vec3 bindTrans = bind.getTrans();
-        osg::Quat bindRot; osg::Vec3 sc; osg::Quat so;
+        osg::Vec3 bindTrans, sc; osg::Quat bindRot, so;
         bind.decompose(bindTrans, bindRot, sc, so);
 
+        // Apply pose rotation in bone-local space: bindRot * poseRot
+        osg::Quat newRot = bindRot * pose.rotation;
+        osg::Vec3 newTrans = bindTrans + pose.translation;
+
+        // Build clean TRS matrix — no manual scale baking which causes shear
         bone->setMatrix(
-            osg::Matrix::scale(sc) *
-            osg::Matrix::rotate(pose.rotation * bindRot) *
-            osg::Matrix::translate(bindTrans + pose.translation));
+            osg::Matrix::rotate(newRot) *
+            osg::Matrix::translate(newTrans));
     }
 }

src/SkeletonLoader.cpp

@@ -48,8 +48,24 @@ static osg::ref_ptr<osg::Texture2D> loadTex(const std::string& path) {
 }
 
 static osg::Matrix aiToOsg(const aiMatrix4x4& m) {
-    return osg::Matrix(m.a1,m.b1,m.c1,m.d1, m.a2,m.b2,m.c2,m.d2,
-                       m.a3,m.b3,m.c3,m.d3, m.a4,m.b4,m.c4,m.d4);
+    // Assimp: row-major, row[i] = (a,b,c,d)[i], translation in col 4 (a4,b4,c4)
+    // OSG Matrix(a,b,c,...) fills row-by-row, translation in row 3 (indices [12],[13],[14])
+    // Transpose is needed to convert between the two conventions.
+    return osg::Matrix(
+        m.a1, m.b1, m.c1, m.d1,
+        m.a2, m.b2, m.c2, m.d2,
+        m.a3, m.b3, m.c3, m.d3,
+        m.a4, m.b4, m.c4, m.d4);
+}
+
+// Correctly transposed version for inverse bind matrices
+// (offset matrix goes mesh→bone, needs proper convention)
+static osg::Matrix aiToOsgTransposed(const aiMatrix4x4& m) {
+    return osg::Matrix(
+        m.a1, m.a2, m.a3, m.a4,
+        m.b1, m.b2, m.b3, m.b4,
+        m.c1, m.c2, m.c3, m.c4,
+        m.d1, m.d2, m.d3, m.d4);
 }
 
 // ── applyMaterial ─────────────────────────────────────────────────────────────
@@ -364,13 +380,28 @@ SkeletonLoader::Result SkeletonLoader::load(
             const aiBone* bone = mesh->mBones[b];
             boneNames[bone->mName.C_Str()] = true;
             if (!invBindMatrices.count(bone->mName.C_Str()))
-                invBindMatrices[bone->mName.C_Str()] = aiToOsg(bone->mOffsetMatrix);
+                invBindMatrices[bone->mName.C_Str()] = aiToOsgTransposed(bone->mOffsetMatrix);
         }
     }
 
     if (boneNames.empty()) { std::cerr << "[skel] No bones.\n"; return result; }
     std::cout << "[skel] Found " << boneNames.size() << " bones.\n";
 
+    // Invert offset matrices in Assimp space to get bind-pose world positions.
+    // This must be done BEFORE any OSG conversion to avoid matrix convention issues.
+    for (unsigned m = 0; m < scene->mNumMeshes; ++m) {
+        const aiMesh* mesh = scene->mMeshes[m];
+        for (unsigned b = 0; b < mesh->mNumBones; ++b) {
+            const aiBone* bone = mesh->mBones[b];
+            std::string name = bone->mName.C_Str();
+            if (result.bindPositions.count(name)) continue;
+            aiMatrix4x4 inv = bone->mOffsetMatrix;
+            inv.Inverse();
+            // Translation is in (a4, b4, c4) in Assimp row-major convention
+            result.bindPositions[name] = osg::Vec3(inv.a4, inv.b4, inv.c4);
+        }
+    }
+
     // Build skeleton
     auto skeleton = new osgAnimation::Skeleton;
     skeleton->setName("Skeleton");