read animation data

Cargo.lock

@@ -2804,6 +2804,7 @@ dependencies = [
  "criterion",
  "gltf",
  "gltf-json",
+ "half",
  "iai",
  "image",
  "itertools 0.13.0",

Cargo.toml

@@ -18,6 +18,7 @@ tracing = "0.1.40"
 bytemuck = { version = "1.17.0", features = ["derive"] }
 cgmath = "0.18.0"
 num_enum = "0.7.3"
+half = "2.4.1"
 
 [dev-dependencies]
 three-d = { version = "0.14.1", features = ["egui-gui"] }

examples/parse.rs

@@ -1,4 +1,4 @@
-use cgmath::{Euler, Matrix4, Quaternion};
+use cgmath::Euler;
 use std::env::args;
 use std::fs;
 use std::path::PathBuf;
@@ -21,16 +21,23 @@ fn main() -> Result<(), vmdl::ModelError> {
 
     // dbg!(&mdl.header2);
 
-    for bone in &mdl.bones {
+    // for bone in &mdl.bones {
-        println!(
+    //     println!(
-            "{}: from {} at\n\t{:?}\n\t{:?}\n\t{:?}",
+    //         "{}: from {} at\n\t{:?}\n\t{:?}\n\t{:?}",
-            bone.name, bone.parent, bone.rot, bone.q_alignment, bone.pose_to_bone
+    //         bone.name, bone.parent, bone.rot, bone.q_alignment, bone.pose_to_bone
-        );
+    //     );
-    }
+    // }
-    dbg!(&mdl.animation_blocks);
+    dbg!(&mdl.local_animations[0]);
+    let transform = mdl
+        .local_animations
+        .first()
+        .map(|a| a.animations[0].rotation(0))
+        .unwrap();
+    dbg!(transform);
+    dbg!(Euler::from(cgmath::Quaternion::from(transform)));
 
     // dbg!(&mdl.attachments);
-    let model = Model::from_parts(mdl, vtx, vvd);
+    let _model = Model::from_parts(mdl, vtx, vvd);
     // dbg!(Euler::from(Quaternion::from(model.root_transform())));
     // for strip in model.vertex_strips() {
     //     for vertex in strip {

examples/view/main.rs

@@ -251,7 +251,8 @@ fn model_to_model(model: &Model, loader: &Loader, skin: usize) -> CpuModel {
     let skin = model.skin_tables().nth(skin).unwrap();
 
     let transforms = model.root_transform();
-    let transforms = Matrix4::identity();
+    let transforms = dbg!(model.idle_transform());
+    // let transforms = Matrix4::identity();
 
     let geometries = model
         .meshes()

src/compressed_vector.rs

@@ -0,0 +1,132 @@
+use crate::{Quaternion, ReadableRelative, Vector};
+use bytemuck::{Pod, Zeroable};
+use cgmath::{InnerSpace, Vector4};
+use half::f16;
+
+#[derive(Zeroable, Pod, Copy, Clone, Debug)]
+#[repr(C)]
+pub struct Vector48 {
+    x: u16,
+    y: u16,
+    z: u16,
+}
+
+impl ReadableRelative for Vector48 {}
+
+impl Vector48 {
+    pub fn x(&self) -> f32 {
+        f16::from_bits(self.x).into()
+    }
+    pub fn y(&self) -> f32 {
+        f16::from_bits(self.y).into()
+    }
+    pub fn z(&self) -> f32 {
+        f16::from_bits(self.z).into()
+    }
+}
+
+impl From<Vector48> for Vector {
+    fn from(value: Vector48) -> Self {
+        Vector {
+            x: value.x(),
+            y: value.y(),
+            z: value.z(),
+        }
+    }
+}
+
+#[derive(Zeroable, Pod, Copy, Clone, Debug)]
+#[repr(C)]
+pub struct Quaternion48 {
+    x: u16,
+    y: u16,
+    z: u16,
+}
+
+impl ReadableRelative for Quaternion48 {}
+
+fn calc_w(x: f32, y: f32, z: f32, w_neg: bool) -> f32 {
+    let w_sign = if w_neg { -1.0 } else { 1.0 };
+    f32::sqrt(1.0 - ((x * x) - (y * y) - (z * z))) * w_sign
+}
+
+impl Quaternion48 {
+    const Z_MASK: u16 = 0x7F_FF;
+    const W_NEG_MASK: u16 = 0x80_00;
+
+    pub fn x(&self) -> f32 {
+        ((self.x as f32) - 32768.0) / 32768.0
+    }
+    pub fn y(&self) -> f32 {
+        ((self.y as f32) - 32768.0) / 32768.0
+    }
+    pub fn z(&self) -> f32 {
+        (((self.z & Self::Z_MASK) as f32) - 16384.0) / 16384.0
+    }
+    pub fn w(&self) -> f32 {
+        calc_w(
+            self.x(),
+            self.y(),
+            self.z(),
+            self.z & Self::W_NEG_MASK == Self::W_NEG_MASK,
+        )
+    }
+}
+
+impl From<Quaternion48> for Quaternion {
+    fn from(value: Quaternion48) -> Self {
+        let normalized = Vector4::new(value.x(), value.y(), value.z(), value.w()).normalize();
+        Quaternion {
+            x: normalized.x,
+            y: normalized.y,
+            z: normalized.z,
+            w: normalized.w,
+        }
+    }
+}
+
+#[derive(Zeroable, Pod, Copy, Clone, Debug)]
+#[repr(C)]
+pub struct Quaternion64(u64);
+
+impl ReadableRelative for Quaternion64 {}
+
+impl Quaternion64 {
+    const MASK_21_BIT: u64 = 0b111111111111111111111;
+    const W_NEG_MASK: u64 = 0x80_00_00_00_00_00_00_00;
+
+    fn val(&self, offset: i32) -> f32 {
+        let raw = (self.0 >> offset) & Self::MASK_21_BIT;
+        (raw as f32 - 1048576.0) / 1048576.5
+    }
+
+    pub fn x(&self) -> f32 {
+        self.val(0)
+    }
+    pub fn y(&self) -> f32 {
+        self.val(21)
+    }
+    pub fn z(&self) -> f32 {
+        self.val(42)
+    }
+    pub fn w(&self) -> f32 {
+        calc_w(
+            self.x(),
+            self.y(),
+            self.z(),
+            self.0 & Self::W_NEG_MASK == Self::W_NEG_MASK,
+        )
+    }
+}
+
+impl From<Quaternion64> for Quaternion {
+    fn from(value: Quaternion64) -> Self {
+        let normalized = Vector4::new(value.x(), value.y(), value.z(), value.w()).normalize();
+        Quaternion {
+            x: normalized.x,
+            y: normalized.y,
+            z: normalized.z,
+            w: normalized.w,
+        }
+    }
+}

src/lib.rs

@@ -1,3 +1,4 @@
+mod compressed_vector;
 mod error;
 mod handle;
 pub mod mdl;
@@ -11,7 +12,7 @@ pub use crate::vtx::Vtx;
 use crate::vvd::Vertex;
 pub use crate::vvd::Vvd;
 use bytemuck::{pod_read_unaligned, Contiguous, Pod};
-use cgmath::{Matrix4, SquareMatrix, Transform, Vector3};
+use cgmath::{Matrix4, SquareMatrix};
 pub use error::*;
 pub use handle::Handle;
 use itertools::Either;
@@ -145,6 +146,20 @@ impl Model {
             .unwrap_or_else(Matrix4::identity)
     }
 
+    pub fn idle_transform(&self) -> Matrix4<f32> {
+        if self.mdl.header.flags.contains(ModelFlags::STATIC_PROP) {
+            return Matrix4::identity();
+        }
+
+        self.mdl
+            .local_animations
+            .first()
+            .and_then(|desc| desc.animations.first())
+            .map(|animation| animation.rotation(0))
+            .map(Matrix4::from)
+            .unwrap_or_else(Matrix4::identity)
+    }
+
     pub fn surface_prop(&self) -> &str {
         self.mdl.surface_prop.as_str()
     }
@@ -154,7 +169,9 @@ impl Model {
     }
 
     pub fn vertex_to_world_space(&self, vertex: &Vertex) -> Vector {
-        vertex.position.transformed(self.root_transform())
+        // vertex.position.transformed(self.root_transform())
+        vertex.position.transformed(self.idle_transform())
+
         // let mut pos = Vector3::from(vertex.position);
         // for weights in vertex.bone_weights.weights() {
         //     if let Some(bone) = self.mdl.bones.get(weights.bone_id as usize) {

src/mdl/mod.rs

@@ -1,6 +1,5 @@
 mod raw;
 
-use bytemuck::{Pod, Zeroable};
 pub use raw::header::*;
 pub use raw::header2::*;
 pub use raw::*;
@@ -63,7 +62,16 @@ impl Mdl {
         let key_values = (header.key_value_size > 0)
             .then(|| read_single(data, header.key_value_index))
             .transpose()?;
-        let local_animations = read_relative(data, header.local_animation_indexes())?;
+        let mut local_animations: Vec<AnimationDescription> =
+            read_relative(data, header.local_animation_indexes())?;
+        local_animations
+            .iter_mut()
+            .flat_map(|desc| desc.animations.iter_mut())
+            .for_each(|animation| {
+                if let Some(bone) = bones.get(animation.bone as usize) {
+                    animation.set_scales(bone);
+                }
+            });
         let animation_block_source: String = read_single(data, header.anim_blocks_name_index)?;
         let animation_blocks = read_relative(data, header.animation_block_indexes())?;
 

src/mdl/raw/animation.rs

@@ -1,5 +1,9 @@
-use crate::vvd::Vertex;
+use crate::compressed_vector::{Quaternion48, Quaternion64, Vector48};
-use crate::{ModelError, ReadRelative, ReadableRelative};
+use crate::mdl::Bone;
+use crate::{
+    read_single, ModelError, Quaternion, RadianEuler, ReadRelative, Readable, ReadableRelative,
+    Vector,
+};
 use bitflags::bitflags;
 use bytemuck::{Pod, Zeroable};
 use std::mem::size_of;
@@ -29,14 +33,8 @@ impl ReadRelative for PoseParameterDescription {
     type Header = PoseParameterDescriptionHeader;
 
     fn read(data: &[u8], header: Self::Header) -> Result<Self, ModelError> {
-        let name_bytes = data
-            .get(header.name_index as usize..)
-            .ok_or(ModelError::OutOfBounds {
-                data: "pose name",
-                offset: header.name_index as usize,
-            })?;
         Ok(PoseParameterDescription {
-            name: String::read(name_bytes, ())?,
+            name: read_single(data, header.name_index)?,
             flags: header.flags,
             start: header.start,
             end: header.end,
@@ -87,26 +85,33 @@ pub struct AnimationDescription {
     pub name: String,
     pub fps: f32,
     pub frame_count: i32,
-    pub animation_block: i32,
+    pub animations: Vec<Animation>,
-    pub animation: i32,
 }
 
 impl ReadRelative for AnimationDescription {
     type Header = AnimationDescriptionHeader;
 
     fn read(data: &[u8], header: Self::Header) -> Result<Self, ModelError> {
-        let name_bytes =
+        let mut animations = Vec::with_capacity(1);
-            data.get(header.name_offset as usize..)
+        let mut offset = header.animation_index as usize;
-                .ok_or(ModelError::OutOfBounds {
+        loop {
-                    data: "animation name",
+            let (animation, next_offset) = if header.animation_block == 0 {
-                    offset: header.name_offset as usize,
+                read_animation(data, offset, header.frame_count as usize)?
-                })?;
+            } else {
+                todo!("read animation from animation block");
+            };
+            animations.push(animation);
+            if next_offset == 0 {
+                break;
+            }
+            offset += next_offset;
+        }
+
         Ok(AnimationDescription {
-            name: String::read(name_bytes, ())?,
+            name: read_single(data, header.name_offset)?,
             fps: header.fps,
             frame_count: header.frame_count,
-            animation_block: header.animation_block,
+            animations,
-            animation: header.animation_index,
         })
     }
 }
@@ -147,3 +152,234 @@ bitflags! {
         const STUDIO_ANIM_RAWROT2 = 0x00000020;
     }
 }
+
+#[derive(Zeroable, Pod, Copy, Clone, Debug)]
+#[repr(C)]
+struct AnimationValuePointer([u16; 3]);
+impl ReadableRelative for AnimationValuePointer {}
+
+#[derive(Zeroable, Pod, Copy, Clone, Debug, Default)]
+#[repr(C)]
+struct ValueHeader {
+    valid: u8,
+    total: u8,
+}
+impl ReadableRelative for ValueHeader {}
+
+fn read_animation_values(
+    data: &[u8], // data starting at the AnimationValuePointer
+    frame: usize,
+    base_pointers: AnimationValuePointer,
+) -> Result<[f32; 3], ModelError> {
+    let mut result = [0.0; 3];
+    for (out, base_pointer) in result.iter_mut().zip(base_pointers.0) {
+        if base_pointer == 0 {
+            *out = 0.0;
+        } else {
+            let header: ValueHeader = read_single(data, base_pointer)?;
+            let values = FrameValues {
+                header,
+                data: &data[base_pointer as usize..],
+            };
+            *out = values.get(frame as u8).map(|val| val as f32)?;
+        }
+    }
+    Ok(result)
+}
+
+/// I hate this data structure
+///
+/// Seems to be an array of
+///
+/// FrameValues {
+///     header: ValueHeader,
+///     values: [u16; self.header.valid]
+/// }
+///
+/// each item containing `header.total` worth of frames (for frames larger than `header.valid` it re-uses the last valid data)
+/// when looking up frame `k` we skip through the list of values until we find the value range for the frame
+struct FrameValues<'a> {
+    header: ValueHeader,
+    data: &'a [u8], // data starting at self.header
+}
+
+impl<'a> FrameValues<'a> {
+    pub fn get(&self, index: u8) -> Result<u16, ModelError> {
+        if self.header.total <= index {
+            let offset_count = self.header.valid + 1;
+            let offset = (offset_count as usize) * size_of::<u16>();
+            let next_header: ValueHeader = read_single(self.data, offset)?;
+            let next = FrameValues {
+                header: next_header,
+                data: &self.data[offset..],
+            };
+            if next_header.total == 0 {
+                return Err(ModelError::OutOfBounds {
+                    data: "animation value",
+                    offset,
+                });
+            }
+            next.get(index - self.header.total)
+        } else {
+            let offset_count = if self.header.valid > index {
+                index + 1
+            } else {
+                self.header.valid
+            };
+            let offset = (offset_count as usize) * size_of::<u16>();
+            read_single(self.data, offset)
+        }
+    }
+}
+
+#[derive(Clone, Debug)]
+pub enum RotationData {
+    Quaternion48(Quaternion48),
+    Quaternion64(Quaternion64),
+    RotationValues(Vec<RadianEuler>),
+    None,
+}
+
+impl RotationData {
+    pub fn rotation(&self, frame: usize) -> Quaternion {
+        match self {
+            RotationData::Quaternion48(q) => Quaternion::from(*q),
+            RotationData::Quaternion64(q) => Quaternion::from(*q),
+            RotationData::RotationValues(values) => {
+                values.get(frame).copied().unwrap_or_default().into()
+            }
+            RotationData::None => Quaternion::default(),
+        }
+    }
+
+    pub fn size(&self) -> usize {
+        match self {
+            RotationData::Quaternion48(_) => size_of::<Quaternion48>(),
+            RotationData::Quaternion64(_) => size_of::<Quaternion64>(),
+            RotationData::RotationValues(_) => size_of::<AnimationValuePointer>(),
+            RotationData::None => 0,
+        }
+    }
+
+    fn set_scale(&mut self, scale: Vector) {
+        if let RotationData::RotationValues(values) = self {
+            values.iter_mut().for_each(|value| {
+                *value = RadianEuler {
+                    x: value.x * scale.x,
+                    y: value.y * scale.y,
+                    z: value.z * scale.z,
+                }
+            });
+        }
+    }
+}
+
+#[derive(Clone, Debug)]
+pub enum PositionData {
+    Vector48(Vector48),
+    PositionValues(Vec<Vector>),
+    None,
+}
+
+impl PositionData {
+    pub fn position(&self, frame: usize) -> Vector {
+        match self {
+            PositionData::Vector48(vector) => Vector::from(*vector),
+            PositionData::PositionValues(values) => values.get(frame).copied().unwrap_or_default(),
+            PositionData::None => Vector::default(),
+        }
+    }
+
+    fn set_scale(&mut self, scale: Vector) {
+        if let PositionData::PositionValues(values) = self {
+            values.iter_mut().for_each(|value| {
+                *value = Vector {
+                    x: value.x * scale.x,
+                    y: value.y * scale.y,
+                    z: value.z * scale.z,
+                }
+            });
+        }
+    }
+}
+
+/// Per bone animation data
+#[derive(Clone, Debug)]
+pub struct Animation {
+    pub bone: u8,
+    pub flags: AnimationFlags,
+    rotation_data: RotationData,
+    position_data: PositionData,
+}
+
+impl Animation {
+    pub fn rotation(&self, frame: usize) -> Quaternion {
+        self.rotation_data.rotation(frame)
+    }
+
+    pub fn position(&self, frame: usize) -> Vector {
+        self.position_data.position(frame)
+    }
+
+    pub(crate) fn set_scales(&mut self, bone: &Bone) {
+        self.rotation_data.set_scale(bone.rot_scale);
+        self.position_data.set_scale(bone.pos_scale);
+    }
+}
+
+fn read_animation(
+    data: &[u8],
+    header_offset: usize,
+    frames: usize,
+) -> Result<(Animation, usize), ModelError> {
+    let data = data
+        .get(header_offset..)
+        .ok_or_else(|| ModelError::OutOfBounds {
+            data: "animation data",
+            offset: header_offset,
+        })?;
+    let header = <AnimationHeader as Readable>::read(data)?;
+
+    let offset = size_of::<AnimationHeader>();
+
+    let rotation_data = if header.flags.contains(AnimationFlags::STUDIO_ANIM_RAWROT) {
+        RotationData::Quaternion48(read_single(data, offset)?)
+    } else if header.flags.contains(AnimationFlags::STUDIO_ANIM_RAWROT2) {
+        RotationData::Quaternion64(read_single(data, offset)?)
+    } else if header.flags.contains(AnimationFlags::STUDIO_ANIM_ANIMROT) {
+        let pointers: AnimationValuePointer = read_single(data, offset)?;
+        let value_data = &data[offset..];
+        let values = (0..frames)
+            .map(|frame| read_animation_values(value_data, frame, pointers))
+            .map(|r| r.map(|[x, y, z]| RadianEuler { x, y, z }))
+            .collect::<Result<_, ModelError>>()?;
+        RotationData::RotationValues(values)
+    } else {
+        RotationData::None
+    };
+
+    let position_offset = offset + rotation_data.size();
+    let position_data = if header.flags.contains(AnimationFlags::STUDIO_ANIM_RAWPOS) {
+        PositionData::Vector48(read_single(data, position_offset)?)
+    } else if header.flags.contains(AnimationFlags::STUDIO_ANIM_ANIMPOS) {
+        let pointers: AnimationValuePointer = read_single(data, offset)?;
+        let value_data = &data[offset..];
+        let values = (0..frames)
+            .map(|frame| read_animation_values(value_data, frame, pointers))
+            .map(|r| r.map(Vector::from))
+            .collect::<Result<_, ModelError>>()?;
+        PositionData::PositionValues(values)
+    } else {
+        PositionData::None
+    };
+
+    Ok((
+        Animation {
+            bone: header.bone,
+            flags: header.flags,
+            rotation_data,
+            position_data,
+        },
+        header.next_offset as usize,
+    ))
+}

src/mdl/raw/bones.rs

@@ -1,4 +1,6 @@
-use crate::{ModelError, Quaternion, RadianEuler, ReadRelative, Readable, Transform3x4, Vector};
+use crate::{
+    read_single, ModelError, Quaternion, RadianEuler, ReadRelative, Readable, Transform3x4, Vector,
+};
 use bitflags::bitflags;
 use bytemuck::{Pod, Zeroable};
 use num_enum::TryFromPrimitive;
@@ -58,19 +60,6 @@ impl ReadRelative for Bone {
     type Header = BoneHeader;
 
     fn read(data: &[u8], header: Self::Header) -> Result<Self, ModelError> {
-        let name_bytes =
-            data.get(header.sz_name_index as usize..)
-                .ok_or(ModelError::OutOfBounds {
-                    data: "bone name",
-                    offset: header.sz_name_index as usize,
-                })?;
-        let surface_prop_bytes =
-            data.get(header.surface_prop_idx as usize..)
-                .ok_or(ModelError::OutOfBounds {
-                    data: "bone surface property",
-                    offset: header.surface_prop_idx as usize,
-                })?;
-
         let prop_type = ProceduralBoneType::try_from(header.proc_type).ok();
         let proc_bytes = (header.proc_index != 0)
             .then(|| {
@@ -103,7 +92,7 @@ impl ReadRelative for Bone {
             .transpose()?;
 
         Ok(Bone {
-            name: String::read(name_bytes, ())?,
+            name: read_single(data, header.sz_name_index)?,
             parent: header.parent,
             bone_controller: header.bone_controller,
             pos: header.pos,
@@ -116,7 +105,7 @@ impl ReadRelative for Bone {
             flags: header.flags,
             procedural_rules,
             physics_bone: header.physics_bone,
-            surface_prop: String::read(surface_prop_bytes, ())?,
+            surface_prop: read_single(data, header.surface_prop_idx)?,
             contents: header.contents,
         })
     }
@@ -336,17 +325,10 @@ impl ReadRelative for SourceBoneTransform {
     type Header = SourceBoneTransformHeader;
 
     fn read(data: &[u8], header: Self::Header) -> Result<Self, ModelError> {
-        let name_bytes =
-            data.get(header.sz_name_index as usize..)
-                .ok_or(ModelError::OutOfBounds {
-                    data: "source bone transform name",
-                    offset: header.sz_name_index as usize,
-                })?;
-
         Ok(SourceBoneTransform {
-            name: String::read(name_bytes, ())?,
+            name: read_single(data, header.sz_name_index)?,
             pre_transform: header.pre_transform,
             post_transform: header.post_transform,
         })
     }
-}
+}

src/mdl/raw/header.rs

@@ -1,6 +1,5 @@
 use crate::mdl::raw::*;
-use crate::mdl::StudioHeader2;
+use crate::{index_range, Vector};
-use crate::{index_range, read_single, Vector};
 use std::mem::size_of;
 
 pub const FILETYPE_ID: i32 = i32::from_be_bytes(*b"IDST");

src/mdl/raw/header2.rs

@@ -1,8 +1,8 @@
-use std::mem::size_of;
+use crate::mdl::SourceBoneTransformHeader;
 use crate::{index_range, ReadableRelative};
 use bytemuck::{Pod, Zeroable};
+use std::mem::size_of;
 use std::ops::Range;
-use crate::mdl::{BoneHeader, SourceBoneTransformHeader};
 
 #[derive(Debug, Clone, Copy, Zeroable, Pod)]
 #[repr(C)]
@@ -29,7 +29,11 @@ impl ReadableRelative for StudioHeader2 {}
 
 impl StudioHeader2 {
     pub fn source_bone_transforms(&self) -> impl Iterator<Item = usize> {
-        index_range(self.source_bone_transform_index, self.source_bone_transform_count, size_of::<SourceBoneTransformHeader>())
+        index_range(
+            self.source_bone_transform_index,
+            self.source_bone_transform_count,
+            size_of::<SourceBoneTransformHeader>(),
+        )
     }
 
     pub fn bone_flex_drivers(&self) -> Range<i32> {

src/mdl/raw/mod.rs

@@ -1,5 +1,5 @@
+use crate::Vector;
 use crate::{index_range, FixedString, Transform3x4};
-use crate::{ModelError, ReadRelative, Vector};
 use bitflags::bitflags;
 use bytemuck::{Pod, Zeroable};
 use std::mem::size_of;
@@ -145,7 +145,11 @@ pub struct HitBoxSetHeader {
 
 impl HitBoxSetHeader {
     pub fn hitbox_indexes(&self) -> impl Iterator<Item = usize> {
-        index_range(self.hitbox_offset, self.hitbox_count, size_of::<BoundingBoxHeader>())
+        index_range(
+            self.hitbox_offset,
+            self.hitbox_count,
+            size_of::<BoundingBoxHeader>(),
+        )
     }
 }
 
@@ -159,4 +163,4 @@ pub struct BoundingBoxHeader {
     pub bounding_box_max: Vector,
     pub name_index: i32,
     padding: [i32; 8],
-}
+}

src/shared.rs

@@ -6,7 +6,7 @@ use std::fmt;
 use std::fmt::{Display, Formatter};
 use std::ops::{Add, Mul};
 
-#[derive(Debug, Clone, Copy, Zeroable, Pod, PartialEq)]
+#[derive(Debug, Clone, Copy, Zeroable, Pod, PartialEq, Default)]
 #[repr(C)]
 pub struct Vector {
     pub x: f32,
@@ -100,6 +100,17 @@ pub struct Quaternion {
     pub w: f32,
 }
 
+impl Default for Quaternion {
+    fn default() -> Self {
+        Quaternion {
+            x: 1.0,
+            y: 0.0,
+            z: 0.0,
+            w: 0.0,
+        }
+    }
+}
+
 impl From<Quaternion> for cgmath::Quaternion<f32> {
     fn from(q: Quaternion) -> Self {
         [q.x, q.y, q.z, q.w].into()
@@ -123,7 +134,7 @@ impl From<Quaternion> for cgmath::Matrix4<f32> {
     }
 }
 
-#[derive(Debug, Clone, Copy, Zeroable, Pod)]
+#[derive(Debug, Clone, Copy, Zeroable, Pod, Default)]
 #[repr(C)]
 pub struct RadianEuler {
     pub x: f32,
@@ -244,14 +255,10 @@ impl Transform3x4 {
         // mat
         let quat = cgmath::Quaternion::from(mat);
         let euler = Euler::from(quat);
-        #[cfg(debug_assertions)]
-        dbg!(euler);
         let mapped_rotation = cgmath::Quaternion::from_angle_x(-euler.z)
             * cgmath::Quaternion::from_angle_y(euler.y)
             * cgmath::Quaternion::from_angle_z(euler.x);
 
-        #[cfg(debug_assertions)]
-        dbg!(Euler::from(mapped_rotation));
         mapped_rotation.into()
     }