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NResUI/Rendering/Viewport/Meshes/PrimitiveMeshes.cs

@@ -226,7 +226,7 @@ public static unsafe class PrimitiveMeshes
                 BufferUsageARB.StaticDraw);
         }
 
-        const uint stride = 6 * sizeof(float);
+        const uint stride = 9 * sizeof(float);
 
         gl.EnableVertexAttribArray(0);
         gl.VertexAttribPointer(
@@ -245,6 +245,16 @@ public static unsafe class PrimitiveMeshes
             false,
             stride,
             (void*)(3 * sizeof(float)));
+        
+        gl.EnableVertexAttribArray(2);
+        gl.VertexAttribPointer(
+            2,
+            3,
+            VertexAttribPointerType.Float,
+            false,
+            stride,
+            (void*)(6 * sizeof(float))
+        );
 
         gl.BindVertexArray(0);
 

NResUI/Rendering/Viewport/Msh/MshRestPoseBuilder.cs

@@ -0,0 +1,156 @@
+using System.Collections;
+using System.Numerics;
+using Common;
+using MshLib;
+using Quaternion = System.Numerics.Quaternion;
+using Vector3 = System.Numerics.Vector3;
+
+namespace NResUI.Rendering.Viewport.Msh;
+
+public static class MshRestPoseBuilder
+{
+    public static IReadOnlyList<MshPieceRestPose> BuildRestPose(Msh0x01.Msh0x01Component nodesComponent, List<Msh0x08.AnimationDescriptor> animationDescriptors)
+    {
+        var nodeList = nodesComponent.Nodes;
+        var animationList = animationDescriptors;
+
+        var poses = new MshPieceRestPose[nodeList.Count];
+        var state = new byte[nodeList.Count];
+
+        for (var nodeIndex = 0; nodeIndex < nodeList.Count; nodeIndex++)
+            BuildNodePose(nodeIndex, nodeList, animationList, poses, state);
+
+        return poses;
+    }
+
+    private static Matrix4x4 BuildNodePose(
+        int nodeIndex,
+        List<Msh0x01.Node> nodes,
+        List<Msh0x08.AnimationDescriptor> animationDescriptors,
+        MshPieceRestPose[] poses,
+        byte[] state)
+    {
+        if (state[nodeIndex] == 2)
+            return poses[nodeIndex].MeshSpaceTransform;
+        
+        if (state[nodeIndex] == 1)
+        {
+            // Broken/cyclic parent chain. Keep this node local so the viewer remains usable.
+            return Matrix4x4.Identity;
+        }
+        state[nodeIndex] = 1;
+
+        var node = nodes[nodeIndex]!;
+        var parentIndex = GetParentIndex(node);
+        var fallbackKeyframeIndex = GetFallbackKeyframeIndex(node);
+        var hasFallbackPose = fallbackKeyframeIndex >= 0 && fallbackKeyframeIndex < animationDescriptors.Count;
+
+        // var localTransform = Matrix4x4.Identity;
+        Matrix4x4 localTransform;
+        if (hasFallbackPose)
+        {
+            localTransform = BuildTransformFromAnimationDescriptor(animationDescriptors[fallbackKeyframeIndex]!);
+        }
+        else
+        {
+            localTransform = Matrix4x4.Identity;
+
+            Console.WriteLine($"Node {nodeIndex} has no fallback");
+        }
+
+        if (parentIndex == -1)
+        {
+            localTransform.Translation = Vector3.Zero;
+
+            Console.WriteLine($"Node {nodeIndex} has no parent");
+        }
+        
+        var meshSpaceTransform = localTransform;
+        if (parentIndex >= 0 && parentIndex < nodes.Count && parentIndex != nodeIndex)
+        {
+            var parentTransform = BuildNodePose(parentIndex, nodes, animationDescriptors, poses, state);
+            meshSpaceTransform = localTransform * parentTransform;
+        }
+
+        poses[nodeIndex] = new MshPieceRestPose(
+            NodeIndex: nodeIndex,
+            ParentIndex: parentIndex,
+            FallbackKeyframeIndex: fallbackKeyframeIndex,
+            HasFallbackPose: hasFallbackPose,
+            LocalTransform: localTransform,
+            MeshSpaceTransform: meshSpaceTransform);
+
+        state[nodeIndex] = 2;
+        return meshSpaceTransform;
+    }
+
+    private static int GetParentIndex(Msh0x01.Node node)
+    {
+        try
+        {
+            return Convert.ToInt32(node.ParentIndexOrMinusOne);
+        }
+        catch
+        {
+            var rawParent = Convert.ToUInt16(node.ParentIndexOrLink);
+            return rawParent == ushort.MaxValue ? -1 : rawParent;
+        }
+    }
+
+    private static int GetFallbackKeyframeIndex(Msh0x01.Node node)
+    {
+        try
+        {
+            var value = Convert.ToUInt16(node.FallbackKey0x08);
+            return value == ushort.MaxValue ? -1 : value;
+        }
+        catch
+        {
+            return -1;
+        }
+    }
+
+    private static Matrix4x4 BuildTransformFromAnimationDescriptor(Msh0x08.AnimationDescriptor descriptor)
+    {
+        var position = ToSystemVector3(descriptor.Position);
+        var rotation = ToSystemQuaternion(descriptor.Rotation);
+
+        var matrix = Matrix4x4.CreateFromQuaternion(rotation);
+        matrix.Translation = position;
+        return matrix;
+    }
+
+    private static Vector3 ToSystemVector3(dynamic vector)
+    {
+        return new Vector3(
+            Convert.ToSingle(vector.X),
+            Convert.ToSingle(vector.Y),
+            Convert.ToSingle(vector.Z));
+    }
+
+    private static Quaternion ToSystemQuaternion(UShortQuaternion packedQuaternion)
+    {
+        // MSH 0x08 stores quaternion as W, X, Y, Z.
+        // System.Numerics.Quaternion constructor expects X, Y, Z, W.
+
+        var q = new Quaternion(
+            packedQuaternion.X / 32767f,
+            packedQuaternion.Y / 32767f,
+            packedQuaternion.Z / 32767f,
+            packedQuaternion.W / 32767f
+        );
+
+        if (q.LengthSquared() < 1e-8f)
+            return Quaternion.Identity;
+
+        return Quaternion.Normalize(q);
+    }
+}
+
+public readonly record struct MshPieceRestPose(
+    int NodeIndex,
+    int ParentIndex,
+    int FallbackKeyframeIndex,
+    bool HasFallbackPose,
+    Matrix4x4 LocalTransform,
+    Matrix4x4 MeshSpaceTransform);

NResUI/Rendering/Viewport/Msh/MshViewportLoader.cs

@@ -49,6 +49,9 @@ public static class MshViewportLoader
         var positions = Msh0x03.ReadComponent(fs, archive);
         var indices = Msh0x06.ReadComponent(fs, archive);
         var batches = Msh0x0D.ReadComponent(fs, archive);
+        var animationDescriptors = Msh0x08.ReadComponent(fs, archive);
+        var restPoses = MshRestPoseBuilder.BuildRestPose(nodes, animationDescriptors);
+        var mshToViewportTransform = Matrix4x4.CreateRotationX(-MathF.PI * 0.5f);
         var names = TryReadNames(fs, archive);
 
         var pieces = new List<ViewportPiece>();
@@ -56,6 +59,7 @@ public static class MshViewportLoader
         for (var nodeIndex = 0; nodeIndex < nodes.Nodes.Count; nodeIndex++)
         {
             var node = nodes.Nodes[nodeIndex];
+            var restPose = restPoses[nodeIndex];
             var slotIndex = node.ResolveSlotIndex(DefaultModelState, DefaultLod);
             if (slotIndex == ushort.MaxValue)
                 continue;
@@ -72,24 +76,24 @@ public static class MshViewportLoader
                 continue;
 
             var name = ResolvePieceName(names, nodeIndex);
-            var parentIndex = node.ParentIndexOrMinusOne;
-
             pieces.Add(new ViewportPiece(
                 id: nodeIndex,
                 name: name,
                 mesh: meshBuildResult.Mesh,
-                localTransform: Matrix4x4.Identity,
+                localTransform: restPose.MeshSpaceTransform * mshToViewportTransform,
                 boundsMin: meshBuildResult.BoundsMin,
                 boundsMax: meshBuildResult.BoundsMax,
                 debugInfo: new ViewportPieceDebugInfo
                 {
                     SourceKind = "MSH 0x01 piece",
                     SourcePieceIndex = nodeIndex,
-                    SourceParentIndex = parentIndex,
+                    SourceParentIndex = restPose.ParentIndex,
                     GeometrySlotIndex = slotIndex,
                     Msh01Flags = (uint)node.Flags,
                     BatchCount = meshBuildResult.BatchCount,
-                    TriangleCount = meshBuildResult.TriangleCount
+                    TriangleCount = meshBuildResult.TriangleCount,
+                    FallbackKeyframeIndex = restPose.FallbackKeyframeIndex,
+                    HasRestPose = restPose.HasFallbackPose
                 }));
         }
 
@@ -135,9 +139,19 @@ public static class MshViewportLoader
                 if (!IsValidTriangle(positions.Count, vertexIndex0, vertexIndex1, vertexIndex2))
                     continue;
 
-                AddTriangleVertex(positions[vertexIndex0], color, vertices, outIndices, ref boundsMin, ref boundsMax);
-                AddTriangleVertex(positions[vertexIndex1], color, vertices, outIndices, ref boundsMin, ref boundsMax);
-                AddTriangleVertex(positions[vertexIndex2], color, vertices, outIndices, ref boundsMin, ref boundsMax);
+                var p0 = ToNumericsVector3(positions[vertexIndex0]);
+                var p1 = ToNumericsVector3(positions[vertexIndex1]);
+                var p2 = ToNumericsVector3(positions[vertexIndex2]);
+
+                var normal = Vector3.Cross(p1 - p0, p2 - p0);
+                if (normal.LengthSquared() < 1e-8f)
+                    normal = Vector3.UnitY;
+                else
+                    normal = Vector3.Normalize(normal);
+
+                AddTriangleVertex(p0, color, normal, vertices, outIndices, ref boundsMin, ref boundsMax);
+                AddTriangleVertex(p1, color, normal, vertices, outIndices, ref boundsMin, ref boundsMax);
+                AddTriangleVertex(p2, color, normal, vertices, outIndices, ref boundsMin, ref boundsMax);
                 triangleCount++;
             }
         }
@@ -148,14 +162,21 @@ public static class MshViewportLoader
         var mesh = PrimitiveMeshes.CreateColoredIndexedMesh(gl, vertices, outIndices, PrimitiveType.Triangles);
         return new PieceMeshBuildResult(mesh, boundsMin, boundsMax, batchCount, triangleCount);
     }
+    
+    private static Vector3 ToNumericsVector3(Common.Vector3 position)
+    {
+        return new Vector3(position.X, position.Y, position.Z);
+    }
 
     private static void AddTriangleVertex(
-        Common.Vector3 position,
+        Vector3 position,
         Vector3 color,
+        Vector3 normal,
         List<float> vertices,
         List<uint> indices,
         ref Vector3 boundsMin,
-        ref Vector3 boundsMax)
+        ref Vector3 boundsMax
+    )
     {
         var vertexIndex = (uint)(vertices.Count / 6);
 
@@ -165,6 +186,9 @@ public static class MshViewportLoader
         vertices.Add(color.X);
         vertices.Add(color.Y);
         vertices.Add(color.Z);
+        vertices.Add(normal.X);
+        vertices.Add(normal.Y);
+        vertices.Add(normal.Z);
 
         indices.Add(vertexIndex);
 

NResUI/Rendering/Viewport/OpenGL/ShaderProgram.cs

@@ -49,6 +49,11 @@ public sealed unsafe class ShaderProgram
         _gl.UniformMatrix4(location, 1, false, (float*)&matrix);
     }
 
+    public void SetVector3(int location, Vector3 value)
+    {
+        _gl.Uniform3(location, value.X, value.Y, value.Z);
+    }
+
     public void SetVector4(int location, Vector4 value)
     {
         _gl.Uniform4(location, value.X, value.Y, value.Z, value.W);

NResUI/Rendering/Viewport/ViewportPieceDebugInfo.cs

@@ -9,5 +9,8 @@ public sealed class ViewportPieceDebugInfo
     public int BatchCount { get; init; }
     public int TriangleCount { get; init; }
 
+    public int FallbackKeyframeIndex { get; init; } = -1;
+    public bool HasRestPose { get; init; }
+
     public string SourceKind { get; init; } = "MSH";
 }

NResUI/Rendering/Viewport/ViewportRenderer.cs

@@ -20,7 +20,10 @@ public sealed class ViewportRenderer
     private GpuMesh? _unitWireBoxMesh;
     private GpuMesh? _axesMesh;
 
-    private int _meshMvpLocation;
+    private int _modelLocation;
+    private int _mvpLocation;
+    private int _lightDirectionLocation;
+
     private int _outlineMvpLocation;
     private int _outlineColorLocation;
 
@@ -44,8 +47,7 @@ public sealed class ViewportRenderer
         _framebuffer.BindForRender();
 
         _gl.Enable(EnableCap.DepthTest);
-        _gl.Enable(EnableCap.CullFace);
-        _gl.CullFace(TriangleFace.Back);
+        _gl.Disable(EnableCap.CullFace);
 
         _gl.ClearColor(0.12f, 0.13f, 0.15f, 1.0f);
         _gl.ClearStencil(0);
@@ -66,7 +68,6 @@ public sealed class ViewportRenderer
         _gl.PolygonMode(TriangleFace.FrontAndBack, PolygonMode.Fill);
         _framebuffer.Resolve();
 
-        _gl.Disable(EnableCap.CullFace);
         _gl.Disable(EnableCap.DepthTest);
         _gl.Disable(EnableCap.StencilTest);
         _gl.UseProgram(0);
@@ -96,14 +97,12 @@ public sealed class ViewportRenderer
         var mvp = model * view * projection;
 
         _gl.Disable(EnableCap.StencilTest);
-        _gl.Disable(EnableCap.CullFace);
         _gl.PolygonMode(TriangleFace.FrontAndBack, PolygonMode.Fill);
 
         _meshShader.Use();
-        _meshShader.SetMatrix4(_meshMvpLocation, mvp);
+        _meshShader.SetMatrix4(_mvpLocation, mvp);
         grid.Mesh.Draw();
 
-        _gl.Enable(EnableCap.CullFace);
     }
 
     private void DrawScene(
@@ -166,7 +165,6 @@ public sealed class ViewportRenderer
             throw new InvalidOperationException("Viewport debug resources are not initialized.");
 
         _gl.Disable(EnableCap.StencilTest);
-        _gl.Disable(EnableCap.CullFace);
         _gl.Disable(EnableCap.DepthTest);
         _gl.PolygonMode(TriangleFace.FrontAndBack, PolygonMode.Fill);
         _gl.LineWidth(2.0f);
@@ -203,7 +201,6 @@ public sealed class ViewportRenderer
 
         _gl.LineWidth(1.0f);
         _gl.Enable(EnableCap.DepthTest);
-        _gl.Enable(EnableCap.CullFace);
     }
 
     private void DrawPiece(
@@ -248,8 +245,13 @@ public sealed class ViewportRenderer
 
         var mvp = model * view * projection;
 
+        var lightDirection = Vector3.Normalize(new Vector3(-0.35f, -0.75f, -0.55f));
+
         _meshShader.Use();
-        _meshShader.SetMatrix4(_meshMvpLocation, mvp);
+        _meshShader.SetMatrix4(_mvpLocation, mvp);
+        _meshShader.SetMatrix4(_modelLocation, model);
+        _meshShader.SetVector3(_lightDirectionLocation, lightDirection);
+
         mesh.Draw();
     }
 
@@ -276,30 +278,49 @@ public sealed class ViewportRenderer
     {
         const string meshVertexShaderSource = """
         #version 330 core
-
+        
         layout (location = 0) in vec3 aPosition;
         layout (location = 1) in vec3 aColor;
-
+        layout (location = 2) in vec3 aNormal;
+        
+        uniform mat4 uModel;
         uniform mat4 uMvp;
-
+        
         out vec3 vColor;
-
+        out vec3 vNormalWorld;
+        
         void main()
         {
             vColor = aColor;
+            vNormalWorld = mat3(transpose(inverse(uModel))) * aNormal;
             gl_Position = uMvp * vec4(aPosition, 1.0);
         }
         """;
 
         const string meshFragmentShaderSource = """
         #version 330 core
-
+        
         in vec3 vColor;
+        in vec3 vNormalWorld;
+        
+        uniform vec3 uLightDirectionWorld;
+        
         out vec4 FragColor;
-
+        
         void main()
         {
-            FragColor = vec4(vColor, 1.0);
+            vec3 normal = normalize(vNormalWorld);
+        
+            // Useful when backface display is enabled.
+            if (!gl_FrontFacing)
+                normal = -normal;
+        
+            vec3 lightDir = normalize(-uLightDirectionWorld);
+        
+            float diffuse = max(dot(normal, lightDir), 0.0);
+            float lighting = 0.35 + diffuse * 0.65;
+        
+            FragColor = vec4(vColor * lighting, 1.0);
         }
         """;
 
@@ -329,9 +350,13 @@ public sealed class ViewportRenderer
         """;
 
         _meshShader = new ShaderProgram(_gl, meshVertexShaderSource, meshFragmentShaderSource, "Viewport mesh");
-        _outlineShader = new ShaderProgram(_gl, outlineVertexShaderSource, outlineFragmentShaderSource, "Viewport outline");
+        _outlineShader = new ShaderProgram(_gl, outlineVertexShaderSource, outlineFragmentShaderSource,
+            "Viewport outline");
+
+        _modelLocation = _meshShader.GetUniformLocation("uModel");
+        _mvpLocation = _meshShader.GetUniformLocation("uMvp");
+        _lightDirectionLocation = _meshShader.GetUniformLocation("uLightDirectionWorld");
 
-        _meshMvpLocation = _meshShader.GetUniformLocation("uMvp");
         _outlineMvpLocation = _outlineShader.GetUniformLocation("uMvp");
         _outlineColorLocation = _outlineShader.GetUniformLocation("uColor");
     }