collada 0.0.1 → 0.2.0

data/lib/collada/parser/visual_scene.rb

@@ -19,38 +19,186 @@
 # THE SOFTWARE.
 
 require 'collada/parser/support'
+require 'collada/transforms'
 
 module Collada
 	module Parser
 		class VisualScene
+			class NodeReference < Reference
+				def initialize(url)
+					super :nodes, url
+				end
+				
+				def lookup(scene)
+					scene[id]
+				end
+			end
+			
+			class GeometryInstance < Reference
+				def initialize(url)
+					super :geometries, url
+				end
+				
+				def self.parse(doc, element)
+					self.new(element.attributes['url'])
+				end
+			end
+			
+			class ControllerInstance < Reference
+				def initialize(url, skeleton)
+					super :controllers, url
+					
+					# This references the node for the skeleton:
+					@skeleton = skeleton
+				end
+				
+				attr :skeleton
+				
+				def self.parse(doc, element)
+					skeleton = NodeReference.new(element.elements['skeleton'].text)
+					
+					self.new(element.attributes['url'], skeleton)
+				end
+			end
+			
+			INSTANCE_ELEMENTS = [
+				['instance_geometry', GeometryInstance],
+				['instance_controller', ControllerInstance],
+			]
+			
 			class Node
-				def initialize(structure = {})
-					@structure = structure
+				def initialize(id, type, transforms, instances, children, attributes = {})
+					@id = id
+					@type = type
+					
+					@transforms = transforms
+					
+					@instances = instances
+					
+					@children = children
+					@children.each {|child| child.attach!(self)}
+					
+					@attributes = attributes
 				end
 				
-				attr :structure
+				def attach!(parent)
+					@parent = parent
+				end
+				
+				attr :parent
+				
+				attr :id
+				attr :type
+				
+				attr :transforms
+				
+				attr :instances
+				attr :children
+				
+				attr :attributes
+				
+				def inspect
+					"\#<#{self.class} #{id} -> [#{children.keys.join(', ')}]>"
+				end
+				
+				def local_transform_matrix
+					Transforms.for(@transforms)
+				end
+				
+				def transform_matrix
+					if parent
+						parent.transform_matrix * local_transform_matrix
+					else
+						local_transform_matrix
+					end
+				end
+				
+				def parents(type = nil)
+					result = []
+					
+					parent = @parent
+					
+					while parent
+						result << parent if !type || parent.type == type
+						
+						parent = parent.parent
+					end
+					
+					return result
+				end
+				
+				def self.parse_transforms(doc, element)
+					transforms = []
+					
+					element.elements.each('translate | rotate | scale | matrix') do |transform_element|
+						values = transform_element.text.strip.split(/\s+/).collect &:to_f
+						transforms << [transform_element.name.to_sym, values]
+					end
+					
+					return transforms
+				end
+				
+				def self.parse_instances(doc, element)
+					instances = []
+					
+					INSTANCE_ELEMENTS.each do |(element_name, klass)|
+						element.elements.each(element_name) do |instance_element|
+							instances << klass.parse(doc, instance_element)
+						end
+					end
+					
+					return instances
+				end
+				
+				def self.parse_children(doc, element)
+					OrderedMap.parse(element, 'node') do |node_element|
+						Node.parse(doc, node_element)
+					end
+				end
 				
 				def self.parse(doc, element)
-					self.new(element)
+					id = element.attributes['id']
+					type = (element.attributes['type'] || 'node').downcase.to_sym
+					
+					transforms = parse_transforms(doc, element)
+					instances = parse_instances(doc, element)
+					children = parse_children(doc, element)
+					
+					self.new(id, type, transforms, instances, children, element.attributes)
 				end
 			end
 			
-			def initialize(nodes = [])
+			def initialize(nodes)
 				@nodes = nodes
+				@named = {}
+				
+				traverse(@nodes) do |node|
+					@named[node.id] = node
+				end
 			end
 			
 			attr :nodes
+			attr :named
+			
+			def [] (id)
+				@named[id]
+			end
 			
 			def self.parse(doc, element)
-				nodes = []
-				
-				element.elements.each('node') do |element|
-					nodes << Node.parse(doc, element)
-				end
+				nodes = Node.parse_children(doc, element)
 				
 				self.new(nodes)
 			end
+			
+			def traverse(nodes = @nodes, &block)
+				nodes.each do |node|
+					catch(:pass) do
+						yield node
+						
+						traverse(node.children, &block)
+					end
+				end
+			end
 		end
-
 	end
 end

data/lib/collada/transforms.rb

@@ -0,0 +1,111 @@
+# Copyright, 2012, by Samuel G. D. Williams. <http://www.codeotaku.com>
+# 
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+# 
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+# 
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+require 'matrix'
+
+module Collada
+	module Transforms
+		R2D = (180.0 / Math::PI)
+		D2R = (Math::PI / 180.0)
+		
+		# In x, y, z, w format.
+		def self.rotation_matrix_to_quaternion(a)
+			t = a[0, 0] + a[1, 1] + a[2, 2]
+			
+			if (t > 0)
+				s = Math::sqrt(t + 1.0) * 2.0
+				Vector[
+					(a[2, 1] - a[1, 2]) / s,
+					(a[0, 2] - a[2, 0]) / s,
+					(a[1, 0] - a[0, 1]) / s,
+					0.25 * s,
+				]
+			elsif a[0, 0] > a[1, 1] and a[0, 0] > a[2, 2]
+				s = 2.0 * Math::sqrt(1.0 + a[0, 0] - a[1, 1] - a[2, 2])
+				Vector[
+					0.25 * s,
+					(a[0, 1] + a[1, 0]) / s,
+					(a[0, 2] + a[2, 0]) / s,
+					(a[2, 1] - a[1, 2] ) / s,
+				]
+			elsif a[1, 1] > a[2, 2]
+				s = 2.0 * Math::sqrt(1.0 + a[1, 1] - a[0, 0] - a[2, 2])
+				Vector[
+					(a[0, 1] + a[1, 0]) / s,
+					0.25 * s,
+					(a[1, 2] + a[2, 1]) / s,
+					(a[0, 2] - a[2, 0]) / s,
+				]
+			else
+				s = 2.0 * Math::sqrt(1.0 + a[2, 2] - a[0, 0] - a[1, 1])
+				Vector[
+					(a[0, 2] + a[2, 0]) / s,
+					(a[1, 2] + a[2, 1]) / s,
+					0.25 * s,
+					(a[1, 0] - a[0, 1]) / s,
+				]
+			end
+		end
+		
+		def self.scale(x, y, z)
+			Matrix[
+				[x, 0, 0, 0],
+				[0, y, 0, 0],
+				[0, 0, z, 0],
+				[0, 0, 0, 1],
+			]
+		end
+		
+		def self.rotate(x, y, z, angle)
+			c = Math::cos(angle*D2R)
+			s = Math::sin(angle*D2R)
+			
+			Matrix[
+				[x*x*(1-c) + c, x*y*(1-c) - z*s, x*z*(1-c) + y*s, 0],
+				[x*y*(1-c) + z*s, y*y*(1-c) + c, y*z*(1-c) - x*s, 0],
+				[x*z*(1-c) - y*s, y*z*(1-c) + x*s, z*z*(1-c) + c, 0],
+				[0, 0, 0, 1],
+			]
+		end
+		
+		def self.translate(x, y, z)
+			Matrix[
+				[1, 0, 0, x],
+				[0, 1, 0, y],
+				[0, 0, 1, z],
+				[0, 0, 0, 1],
+			]
+		end
+		
+		def self.matrix(*arguments)
+			Matrix[*(arguments.each_slice(4).to_a)]
+		end
+		
+		def self.for(transforms)
+			product = Matrix.identity(4)
+			
+			transforms.each do |(name, arguments)|
+				product = product * self.send(name, *arguments)
+			end
+			
+			return product
+		end
+	end
+end

data/lib/collada/version.rb

@@ -19,5 +19,5 @@
 # THE SOFTWARE.
 
 module Collada
-	VERSION = "0.0.1"
+	VERSION = "0.2.0"
 end

data/test/animation.dae

@@ -0,0 +1,165 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.65.0 r52859</authoring_tool>
+    </contributor>
+    <created>2013-02-26T03:40:31</created>
+    <modified>2013-02-26T03:40:31</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cylinder-mesh" name="Cylinder">
+      <mesh>
+        <source id="Cylinder-mesh-positions">
+          <float_array id="Cylinder-mesh-positions-array" count="480">0 1 -3 0 1 3 0.1950903 0.9807853 -3 0.1950903 0.9807853 3 0.3826835 0.9238795 -3 0.3826835 0.9238795 3 0.5555703 0.8314696 -3 0.5555703 0.8314696 3 0.7071068 0.7071068 -3 0.7071068 0.7071068 3 0.8314697 0.5555702 -3 0.8314697 0.5555702 3 0.9238795 0.3826834 -3 0.9238795 0.3826834 3 0.9807853 0.1950903 -3 0.9807853 0.1950903 3 1 0 -3 1 0 3 0.9807853 -0.1950902 -3 0.9807853 -0.1950902 3 0.9238796 -0.3826833 -3 0.9238796 -0.3826833 3 0.8314697 -0.5555702 -3 0.8314697 -0.5555702 3 0.7071068 -0.7071068 -3 0.7071068 -0.7071068 3 0.5555702 -0.8314697 -3 0.5555702 -0.8314697 3 0.3826833 -0.9238796 -3 0.3826833 -0.9238796 3 0.1950901 -0.9807853 -3 0.1950901 -0.9807853 3 -3.25841e-7 -1 -3 -3.25841e-7 -1 3 -0.1950907 -0.9807852 -3 -0.1950907 -0.9807852 3 -0.3826839 -0.9238793 -3 -0.3826839 -0.9238793 3 -0.5555707 -0.8314693 -3 -0.5555707 -0.8314693 3 -0.7071073 -0.7071064 -3 -0.7071073 -0.7071064 3 -0.83147 -0.5555697 -3 -0.83147 -0.5555697 3 -0.9238799 -0.3826827 -3 -0.9238799 -0.3826827 3 -0.9807854 -0.1950894 -3 -0.9807854 -0.1950894 3 -1 9.65599e-7 -3 -1 9.65599e-7 3 -0.9807851 0.1950913 -3 -0.9807851 0.1950913 3 -0.9238791 0.3826845 -3 -0.9238791 0.3826845 3 -0.8314689 0.5555713 -3 -0.8314689 0.5555713 3 -0.7071059 0.7071077 -3 -0.7071059 0.7071077 3 -0.5555691 0.8314704 -3 -0.5555691 0.8314704 3 -0.3826821 0.9238801 -3 -0.3826821 0.9238801 3 -0.1950888 0.9807856 -3 -0.1950888 0.9807856 3 0.8314697 -0.5555702 1.5 0.8314697 -0.5555702 0 0.8314697 -0.5555702 -1.5 0.8314697 0.5555702 1.5 0.8314697 0.5555702 0 0.8314697 0.5555702 -1.5 0 1 -1.5 0 1 0 0 1 1.5 -0.7071059 0.7071077 1.5 -0.7071059 0.7071077 0 -0.7071059 0.7071077 -1.5 -0.9238799 -0.3826827 1.5 -0.9238799 -0.3826827 0 -0.9238799 -0.3826827 -1.5 -3.25841e-7 -1 1.5 -3.25841e-7 -1 0 -3.25841e-7 -1 -1.5 0.9238796 -0.3826833 1.5 0.9238796 -0.3826833 0 0.9238796 -0.3826833 -1.5 0.7071068 0.7071068 1.5 0.7071068 0.7071068 0 0.7071068 0.7071068 -1.5 -0.8314689 0.5555713 1.5 -0.8314689 0.5555713 0 -0.8314689 0.5555713 -1.5 -0.83147 -0.5555697 1.5 -0.83147 -0.5555697 0 -0.83147 -0.5555697 -1.5 0.1950901 -0.9807853 1.5 0.1950901 -0.9807853 0 0.1950901 -0.9807853 -1.5 0.9807853 -0.1950902 1.5 0.9807853 -0.1950902 0 0.9807853 -0.1950902 -1.5 0.5555703 0.8314696 1.5 0.5555703 0.8314696 0 0.5555703 0.8314696 -1.5 -0.9238791 0.3826845 1.5 -0.9238791 0.3826845 0 -0.9238791 0.3826845 -1.5 -0.7071073 -0.7071064 1.5 -0.7071073 -0.7071064 0 -0.7071073 -0.7071064 -1.5 0.3826833 -0.9238796 1.5 0.3826833 -0.9238796 0 0.3826833 -0.9238796 -1.5 1 0 1.5 1 0 0 1 0 -1.5 0.3826835 0.9238795 1.5 0.3826835 0.9238795 0 0.3826835 0.9238795 -1.5 -0.1950888 0.9807856 1.5 -0.1950888 0.9807856 0 -0.1950888 0.9807856 -1.5 -0.9807851 0.1950913 1.5 -0.9807851 0.1950913 0 -0.9807851 0.1950913 -1.5 -0.5555707 -0.8314693 1.5 -0.5555707 -0.8314693 0 -0.5555707 -0.8314693 -1.5 0.5555702 -0.8314697 1.5 0.5555702 -0.8314697 0 0.5555702 -0.8314697 -1.5 0.9807853 0.1950903 1.5 0.9807853 0.1950903 0 0.9807853 0.1950903 -1.5 0.1950903 0.9807853 1.5 0.1950903 0.9807853 0 0.1950903 0.9807853 -1.5 -0.3826821 0.9238801 1.5 -0.3826821 0.9238801 0 -0.3826821 0.9238801 -1.5 -1 9.65599e-7 1.5 -1 9.65599e-7 0 -1 9.65599e-7 -1.5 -0.3826839 -0.9238793 1.5 -0.3826839 -0.9238793 0 -0.3826839 -0.9238793 -1.5 0.7071068 -0.7071068 1.5 0.7071068 -0.7071068 0 0.7071068 -0.7071068 -1.5 0.9238795 0.3826834 1.5 0.9238795 0.3826834 0 0.9238795 0.3826834 -1.5 -0.5555691 0.8314704 1.5 -0.5555691 0.8314704 0 -0.5555691 0.8314704 -1.5 -0.9807854 -0.1950894 1.5 -0.9807854 -0.1950894 0 -0.9807854 -0.1950894 -1.5 -0.1950907 -0.9807852 1.5 -0.1950907 -0.9807852 0 -0.1950907 -0.9807852 -1.5</float_array>
+          <technique_common>
+            <accessor source="#Cylinder-mesh-positions-array" count="160" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cylinder-mesh-normals">
+          <float_array id="Cylinder-mesh-normals-array" count="480">0.1950743 0.9807733 0 0 1 0 0 1 0 0.1950743 0.9807733 0 0.3826716 0.9238563 0 0.3826716 0.9238563 0 0.5555589 0.8314463 0 0.5555589 0.8314463 0 0.7070834 0.7070834 0 0.7070834 0.7070834 0 0.8314463 0.5555589 0 0.8314463 0.5555589 0 0.9238563 0.3826716 0 0.9238563 0.3826716 0 0.9807733 0.1950743 0 0.9807733 0.1950743 0 1 0 0 1 0 0 0.9807733 -0.1950743 0 0.9807733 -0.1950743 0 0.9238563 -0.3826716 0 0.9238563 -0.3826716 0 0.8314463 -0.5555589 0 0.8314463 -0.5555589 0 0.7070834 -0.7070834 0 0.7070834 -0.7070834 0 0.5555589 -0.8314463 0 0.5555589 -0.8314463 0 0.3826716 -0.9238563 0 0.3826716 -0.9238563 0 0.1950743 -0.9807733 0 0.1950743 -0.9807733 0 0 -1 0 0 -1 0 -0.1950743 -0.9807733 0 -0.1950743 -0.9807733 0 -0.1950743 -0.9807733 0 -0.1950743 -0.9807733 0 -0.3826716 -0.9238563 0 -0.3826716 -0.9238563 0 -0.5555589 -0.8314463 0 -0.5555589 -0.8314463 0 -0.7070834 -0.7070834 0 -0.7070834 -0.7070834 0 -0.8314463 -0.5555589 0 -0.8314463 -0.5555589 0 -0.9238563 -0.3826716 0 -0.9238563 -0.3826716 0 -0.9807733 -0.1950743 0 -0.9807733 -0.1950743 0 -1 0 0 -1 0 0 -0.9807733 0.1950743 0 -0.9807733 0.1950743 0 -0.9238563 0.3826716 0 -0.9238563 0.3826716 0 -0.8314463 0.5555589 0 -0.8314463 0.5555589 0 -0.7070834 0.7070834 0 -0.7070834 0.7070834 0 -0.5555589 0.8314463 0 -0.5555589 0.8314463 0 -0.3826716 0.9238563 0 -0.3826716 0.9238563 0 -0.1950743 0.9807733 0 -0.1950743 0.9807733 0 0 1 0 -0.1950743 0.9807733 0 -0.1950743 0.9807733 0 -0.3826716 0.9238563 0 -0.3826716 0.9238563 0 -0.1950743 0.9807733 0 -0.3826716 0.9238563 0 -0.9238563 0.3826716 0 -0.9807733 0.1950743 0 -0.9807733 0.1950743 0 -0.9238563 0.3826716 0 -0.9238563 0.3826716 0 -0.9807733 0.1950743 0 -0.5555589 -0.8314463 0 -0.3826716 -0.9238563 0 -0.3826716 -0.9238563 0 -0.5555589 -0.8314463 0 -0.5555589 -0.8314463 0 -0.3826716 -0.9238563 0 0.8314463 -0.5555589 0 0.7070834 -0.7070834 0 0.8314463 -0.5555589 0 0.7070834 -0.7070834 0 0.8314463 -0.5555589 0 0.7070834 -0.7070834 0 0.7070834 0.7070834 0 0.8314463 0.5555589 0 0.7070834 0.7070834 0 0.8314463 0.5555589 0 0.7070834 0.7070834 0 0.8314463 0.5555589 0 -1 0 0 -0.9807733 -0.1950743 0 -0.9807733 -0.1950743 0 -1 0 0 -1 0 0 -0.9807733 -0.1950743 0 0 -1 0 0 -1 0 0 -1 0 -0.1950743 -0.9807733 0 0.9807733 -0.1950743 0 0.9238563 -0.3826716 0 0.9807733 -0.1950743 0 0.9238563 -0.3826716 0 0.9807733 -0.1950743 0 0.9238563 -0.3826716 0 0.3826716 0.9238563 0 0.5555589 0.8314463 0 0.3826716 0.9238563 0 0.5555589 0.8314463 0 0.3826716 0.9238563 0 0.5555589 0.8314463 0 -0.5555589 0.8314463 0 -0.7070834 0.7070834 0 -0.7070834 0.7070834 0 -0.5555589 0.8314463 0 -0.5555589 0.8314463 0 -0.7070834 0.7070834 0 -0.9238563 -0.3826716 0 -0.8314463 -0.5555589 0 -0.8314463 -0.5555589 0 -0.9238563 -0.3826716 0 -0.9238563 -0.3826716 0 -0.8314463 -0.5555589 0 0.3826716 -0.9238563 0 0.1950743 -0.9807733 0 0.3826716 -0.9238563 0 0.1950743 -0.9807733 0 0.3826716 -0.9238563 0 0.1950743 -0.9807733 0 0.9807733 0.1950743 0 1 0 0 0.9807733 0.1950743 0 1 0 0 0.9807733 0.1950743 0 1 0 0 0.1950743 0.9807733 0 0 1 0 0.1950743 0.9807733 0 0 1 0 0.1950743 0.9807733 0 -0.8314463 0.5555589 0 -0.8314463 0.5555589 0 -0.8314463 0.5555589 0 -0.7070834 -0.7070834 0 -0.7070834 -0.7070834 0 -0.7070834 -0.7070834 0 0.5555589 -0.8314463 0 0.5555589 -0.8314463 0 0.5555589 -0.8314463 0 0.9238563 0.3826716 0 0.9238563 0.3826716 0 0.9238563 0.3826716 0</float_array>
+          <technique_common>
+            <accessor source="#Cylinder-mesh-normals-array" count="160" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cylinder-mesh-map-0">
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+        </vertices>
+        <polylist count="128">
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+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_animations>
+    <animation id="Armature_Secondary-Bone_pose_matrix">
+      <source id="Armature_Secondary-Bone_pose_matrix-input">
+        <float_array id="Armature_Secondary-Bone_pose_matrix-input-array" count="3">0 0.5 1</float_array>
+        <technique_common>
+          <accessor source="#Armature_Secondary-Bone_pose_matrix-input-array" count="3" stride="1">
+            <param name="TIME" type="float"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="Armature_Secondary-Bone_pose_matrix-output">
+        <float_array id="Armature_Secondary-Bone_pose_matrix-output-array" count="48">-1 0 -1.50996e-7 0 0 1 0 3 1.50996e-7 0 -1 0 0 0 0 1 -1 0 -1.50996e-7 0 -1.50996e-7 0 1 3 0 1 0 0 0 0 0 1 -1 0 -1.50996e-7 0 0 1 0 3 1.50996e-7 0 -1 0 0 0 0 1</float_array>
+        <technique_common>
+          <accessor source="#Armature_Secondary-Bone_pose_matrix-output-array" count="3" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="Armature_Secondary-Bone_pose_matrix-interpolation">
+        <Name_array id="Armature_Secondary-Bone_pose_matrix-interpolation-array" count="3">LINEAR LINEAR LINEAR</Name_array>
+        <technique_common>
+          <accessor source="#Armature_Secondary-Bone_pose_matrix-interpolation-array" count="3" stride="1">
+            <param name="INTERPOLATION" type="name"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <sampler id="Armature_Secondary-Bone_pose_matrix-sampler">
+        <input semantic="INPUT" source="#Armature_Secondary-Bone_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#Armature_Secondary-Bone_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#Armature_Secondary-Bone_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#Armature_Secondary-Bone_pose_matrix-sampler" target="Secondary-Bone/transform"/>
+    </animation>
+  </library_animations>
+  <library_controllers>
+    <controller id="Armature_Cylinder-skin" name="Armature">
+      <skin source="#Cylinder-mesh">
+        <bind_shape_matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</bind_shape_matrix>
+        <source id="Armature_Cylinder-skin-joints">
+          <Name_array id="Armature_Cylinder-skin-joints-array" count="2">Primary-Bone Secondary-Bone</Name_array>
+          <technique_common>
+            <accessor source="#Armature_Cylinder-skin-joints-array" count="2" stride="1">
+              <param name="JOINT" type="name"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Armature_Cylinder-skin-bind_poses">
+          <float_array id="Armature_Cylinder-skin-bind_poses-array" count="32">1 0 0 0 0 0 1 3 0 -1 0 -1.31134e-7 0 0 0 1 -1 -1.50996e-7 0 0 0 0 1 0 -1.50996e-7 1 0 1.31134e-7 0 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Armature_Cylinder-skin-bind_poses-array" count="2" stride="16">
+              <param name="TRANSFORM" type="float4x4"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Armature_Cylinder-skin-weights">
+          <float_array id="Armature_Cylinder-skin-weights-array" count="256">1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0.04281288 0.9571871 0.5000168 0.4999833 0.957727 0.04227298 0.04410439 0.9558957 0.5000461 0.4999538 0.9577463 0.04225373 0.9576354 0.04236465 0.5000624 0.4999377 0.04492539 0.9550747 0.04459875 0.9554011 0.500056 0.4999441 0.9577031 0.04229682 0.04310417 0.9568958 0.5000248 0.4999752 0.9577651 0.04223495 0.04268771 0.9573123 0.5000106 0.4999895 0.9576266 0.04237335 0.0429188 0.9570812 0.5000202 0.4999799 0.9577538 0.04224622 0.04436302 0.9556369 0.5000512 0.4999487 0.957718 0.04228192 0.04438555 0.9556145 0.5000517 0.4999483 0.9577323 0.04226768 0.0429514 0.9570487 0.5000207 0.4999793 0.9577418 0.0422582 0.042683 0.957317 0.5000105 0.4999895 0.9576294 0.04237049 0.0430721 0.9569278 0.5000243 0.4999757 0.9577727 0.04222726 0.04458105 0.9554189 0.5000556 0.4999445 0.9576883 0.04231178 0.04413121 0.9558688 0.5000466 0.4999534 0.9577574 0.04224252 0.04284459 0.9571554 0.5000172 0.4999828 0.9577123 0.04228764 0.0426886 0.9573113 0.5000111 0.499989 0.9576434 0.04235666 0.04327738 0.9567226 0.5000293 0.4999708 0.9577816 0.04221838 0.04475021 0.9552497 0.5000589 0.4999411 0.9576617 0.04233825 0.04492795 0.9550721 0.5000624 0.4999375 0.9576382 0.04236173 0.04384946 0.9561506 0.500041 0.499959 0.9577746 0.0422253 0.04277408 0.9572259 0.5000146 0.4999855 0.9576815 0.04231858 0.04270726 0.9572927 0.5000123 0.4999877 0.9576669 0.04233306 0.04353076 0.9564692 0.5000348 0.4999653 0.9577803 0.04221963 0.04486578 0.9551342 0.5000612 0.4999389 0.9576431 0.04235684 0.04487347 0.9551266 0.5000614 0.4999387 0.9576517 0.04234814 0.04356288 0.9564371 0.5000353 0.4999647 0.9577819 0.04221808 0.04272979 0.9572702 0.5000125 0.4999875 0.957654 0.04234588 0.04274564 0.9572543 0.5000141 0.4999859 0.9576964 0.04230356 0.04381912 0.9561808 0.5000405 0.4999595 0.957768 0.04223191 0.0447629 0.955237 0.5000592 0.4999409 0.9576748 0.04232531 0.04330867 0.9566913 0.5000298 0.4999703 0.9577789 0.04222106 0.04270291 0.957297 0.5000112 0.4999887 0.9576348 0.04236513</float_array>
+          <technique_common>
+            <accessor source="#Armature_Cylinder-skin-weights-array" count="256" stride="1">
+              <param name="WEIGHT" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <joints>
+          <input semantic="JOINT" source="#Armature_Cylinder-skin-joints"/>
+          <input semantic="INV_BIND_MATRIX" source="#Armature_Cylinder-skin-bind_poses"/>
+        </joints>
+        <vertex_weights count="160">
+          <input semantic="JOINT" source="#Armature_Cylinder-skin-joints" offset="0"/>
+          <input semantic="WEIGHT" source="#Armature_Cylinder-skin-weights" offset="1"/>
+          <vcount>1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 </vcount>
+          <v>0 0 1 1 0 2 1 3 0 4 1 5 0 6 1 7 0 8 1 9 0 10 1 11 0 12 1 13 0 14 1 15 0 16 1 17 0 18 1 19 0 20 1 21 0 22 1 23 0 24 1 25 0 26 1 27 0 28 1 29 0 30 1 31 0 32 1 33 0 34 1 35 0 36 1 37 0 38 1 39 0 40 1 41 0 42 1 43 0 44 1 45 0 46 1 47 0 48 1 49 0 50 1 51 0 52 1 53 0 54 1 55 0 56 1 57 0 58 1 59 0 60 1 61 0 62 1 63 0 64 1 65 0 66 1 67 0 68 1 69 0 70 1 71 0 72 1 73 0 74 1 75 0 76 1 77 0 78 1 79 0 80 1 81 0 82 1 83 0 84 1 85 0 86 1 87 0 88 1 89 0 90 1 91 0 92 1 93 0 94 1 95 0 96 1 97 0 98 1 99 0 100 1 101 0 102 1 103 0 104 1 105 0 106 1 107 0 108 1 109 0 110 1 111 0 112 1 113 0 114 1 115 0 116 1 117 0 118 1 119 0 120 1 121 0 122 1 123 0 124 1 125 0 126 1 127 0 128 1 129 0 130 1 131 0 132 1 133 0 134 1 135 0 136 1 137 0 138 1 139 0 140 1 141 0 142 1 143 0 144 1 145 0 146 1 147 0 148 1 149 0 150 1 151 0 152 1 153 0 154 1 155 0 156 1 157 0 158 1 159 0 160 1 161 0 162 1 163 0 164 1 165 0 166 1 167 0 168 1 169 0 170 1 171 0 172 1 173 0 174 1 175 0 176 1 177 0 178 1 179 0 180 1 181 0 182 1 183 0 184 1 185 0 186 1 187 0 188 1 189 0 190 1 191 0 192 1 193 0 194 1 195 0 196 1 197 0 198 1 199 0 200 1 201 0 202 1 203 0 204 1 205 0 206 1 207 0 208 1 209 0 210 1 211 0 212 1 213 0 214 1 215 0 216 1 217 0 218 1 219 0 220 1 221 0 222 1 223 0 224 1 225 0 226 1 227 0 228 1 229 0 230 1 231 0 232 1 233 0 234 1 235 0 236 1 237 0 238 1 239 0 240 1 241 0 242 1 243 0 244 1 245 0 246 1 247 0 248 1 249 0 250 1 251 0 252 1 253 0 254 1 255</v>
+        </vertex_weights>
+      </skin>
+    </controller>
+  </library_controllers>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Armature" name="Armature" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <node id="Primary-Bone" name="Primary-Bone" sid="Primary-Bone" type="JOINT">
+          <matrix sid="transform">1 0 0 0 0 -4.37114e-8 -1 0 0 1 -4.37114e-8 -3 0 0 0 1</matrix>
+          <node id="Secondary-Bone" name="Secondary-Bone" sid="Secondary-Bone" type="JOINT">
+            <matrix sid="transform">-1 5.05191e-16 -1.50996e-7 0 1.37057e-14 1 -8.74228e-8 3 1.50996e-7 -8.74228e-8 -1 0 0 0 0 1</matrix>
+          </node>
+        </node>
+      </node>
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_controller url="#Armature_Cylinder-skin">
+          <skeleton>#Primary-Bone</skeleton>
+        </instance_controller>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>