aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Framework/Scenes/BinBVHAnimation.cs
blob: 54f6d68bf2c0011b0629c4b7f48e72b93a72f0c4 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSim Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

using System;
using System.IO;
using OpenMetaverse;

namespace OpenSim.Region.Framework.Scenes
{
    /// <summary>
    /// Written to decode and encode a binary animation asset.
    /// The SecondLife Client reads in a BVH file and converts 
    /// it to the format described here.  This isn't 
    /// </summary>
    public class BinBVHAnimation
    {
        /// <summary>
        /// Rotation Keyframe count (used internally)
        /// Don't use this, use the rotationkeys.Length on each joint
        /// </summary>
        private int rotationkeys;

        /// <summary>
        /// Position Keyframe count (used internally)
        /// Don't use this, use the positionkeys.Length on each joint
        /// </summary>
        private int positionkeys;

        public UInt16 unknown0; // Always 1
        public UInt16 unknown1; // Always 0

        /// <summary>
        /// Animation Priority
        /// </summary>
        public int Priority;

        /// <summary>
        /// The animation length in seconds.
        /// </summary>
        public Single Length;

        /// <summary>
        /// Expression set in the client.  Null if [None] is selected
        /// </summary>
        public string ExpressionName; // "" (null)

        /// <summary>
        /// The time in seconds to start the animation
        /// </summary>
        public Single InPoint;

        /// <summary>
        /// The time in seconds to end the animation
        /// </summary>
        public Single OutPoint;

        /// <summary>
        /// Loop the animation
        /// </summary>
        public bool Loop;

        /// <summary>
        /// Meta data. Ease in Seconds.
        /// </summary>
        public Single EaseInTime;

        /// <summary>
        /// Meta data. Ease out seconds.
        /// </summary>
        public Single EaseOutTime;

        /// <summary>
        /// Meta Data for the Hand Pose
        /// </summary>
        public uint HandPose;

        /// <summary>
        /// Number of joints defined in the animation
        /// Don't use this..  use joints.Length
        /// </summary>
        private uint m_jointCount;


        /// <summary>
        /// Contains an array of joints
        /// </summary>
        public binBVHJoint[] Joints;
        

        public byte[] ToBytes()
        {
            byte[] outputbytes = new byte[0];

            BinaryWriter iostream = new BinaryWriter(new MemoryStream());
            iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(unknown0)));
            iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(unknown1)));
            iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(Priority)));
            iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(Length)));
            iostream.Write(BinBVHUtil.WriteNullTerminatedString(ExpressionName));
            iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(InPoint)));
            iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(OutPoint)));
            iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(Loop ? 1 : 0)));
            iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(EaseInTime)));
            iostream.Write(BinBVHUtil.ES(Utils.FloatToBytes(EaseOutTime)));
            iostream.Write(BinBVHUtil.ES(Utils.UIntToBytes(HandPose)));
            iostream.Write(BinBVHUtil.ES(Utils.UIntToBytes((uint)(Joints.Length))));
            
            for (int i = 0; i < Joints.Length; i++)
            {
                Joints[i].WriteBytesToStream(iostream, InPoint, OutPoint);
            }
            iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(0)));
            MemoryStream ms = (MemoryStream)iostream.BaseStream;
            outputbytes = ms.ToArray();
            ms.Close();
            iostream.Close();
            return outputbytes;
        }
        
        public BinBVHAnimation()
        {
            rotationkeys = 0;
            positionkeys = 0;
            unknown0 = 1;
            unknown1 = 0;
            Priority = 1;
            Length = 0;
            ExpressionName = string.Empty;
            InPoint = 0;
            OutPoint = 0;
            Loop = false;
            EaseInTime = 0;
            EaseOutTime = 0;
            HandPose = 1;
            m_jointCount = 0;
            
            Joints = new binBVHJoint[1];
            Joints[0] = new binBVHJoint();
            Joints[0].Name = "mPelvis";
            Joints[0].Priority = 7;
            Joints[0].positionkeys = new binBVHJointKey[1];
            Joints[0].rotationkeys = new binBVHJointKey[1];
            Random rnd = new Random();

            Joints[0].rotationkeys[0] = new binBVHJointKey();
            Joints[0].rotationkeys[0].time = (0f);
            Joints[0].rotationkeys[0].key_element.X = ((float)rnd.NextDouble() * 2 - 1);
            Joints[0].rotationkeys[0].key_element.Y = ((float)rnd.NextDouble() * 2 - 1);
            Joints[0].rotationkeys[0].key_element.Z = ((float)rnd.NextDouble() * 2 - 1);

            Joints[0].positionkeys[0] = new binBVHJointKey();
            Joints[0].positionkeys[0].time = (0f);
            Joints[0].positionkeys[0].key_element.X = ((float)rnd.NextDouble() * 2 - 1);
            Joints[0].positionkeys[0].key_element.Y = ((float)rnd.NextDouble() * 2 - 1);
            Joints[0].positionkeys[0].key_element.Z = ((float)rnd.NextDouble() * 2 - 1);
            

        }

        public BinBVHAnimation(byte[] animationdata)
        {
            int i = 0;
            if (!BitConverter.IsLittleEndian)
            {
                unknown0 = Utils.BytesToUInt16(BinBVHUtil.EndianSwap(animationdata,i,2)); i += 2; // Always 1
                unknown1 = Utils.BytesToUInt16(BinBVHUtil.EndianSwap(animationdata, i, 2)); i += 2; // Always 0
                Priority = Utils.BytesToInt(BinBVHUtil.EndianSwap(animationdata, i, 4)); i += 4;
                Length = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
            }
            else
            {
                unknown0 = Utils.BytesToUInt16(animationdata, i); i += 2; // Always 1
                unknown1 = Utils.BytesToUInt16(animationdata, i); i += 2; // Always 0
                Priority = Utils.BytesToInt(animationdata, i); i += 4;
                Length = Utils.BytesToFloat(animationdata, i); i += 4;
            }
            ExpressionName = ReadBytesUntilNull(animationdata, ref i);
            if (!BitConverter.IsLittleEndian)
            {
                InPoint = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
                OutPoint = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
                Loop = (Utils.BytesToInt(BinBVHUtil.EndianSwap(animationdata, i, 4)) != 0); i += 4;
                EaseInTime = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
                EaseOutTime = Utils.BytesToFloat(BinBVHUtil.EndianSwap(animationdata, i, 4), 0); i += 4;
                HandPose = Utils.BytesToUInt(BinBVHUtil.EndianSwap(animationdata, i, 4)); i += 4; // Handpose?

                m_jointCount = Utils.BytesToUInt(animationdata, i); i += 4; // Get Joint count
            }
            else
            {
                InPoint = Utils.BytesToFloat(animationdata, i); i += 4;
                OutPoint = Utils.BytesToFloat(animationdata, i); i += 4;
                Loop = (Utils.BytesToInt(animationdata, i) != 0); i += 4;
                EaseInTime = Utils.BytesToFloat(animationdata, i); i += 4;
                EaseOutTime = Utils.BytesToFloat(animationdata, i); i += 4;
                HandPose = Utils.BytesToUInt(animationdata, i); i += 4; // Handpose?

                m_jointCount = Utils.BytesToUInt(animationdata, i); i += 4; // Get Joint count
            }
            Joints = new binBVHJoint[m_jointCount];

            // deserialize the number of joints in the animation.
            // Joints are variable length blocks of binary data consisting of joint data and keyframes
            for (int iter = 0; iter < m_jointCount; iter++)
            {
                binBVHJoint joint = readJoint(animationdata, ref i);
                Joints[iter] = joint;
            }
        }

        
        /// <summary>
        /// Variable length strings seem to be null terminated in the animation asset..    but..   
        /// use with caution, home grown.
        /// advances the index.
        /// </summary>
        /// <param name="data">The animation asset byte array</param>
        /// <param name="i">The offset to start reading</param>
        /// <returns>a string</returns>
        private static string ReadBytesUntilNull(byte[] data, ref int i)
        {
            char nterm = '\0'; // Null terminator
            int endpos = i;
            int startpos = i;

            // Find the null character
            for (int j = i; j < data.Length; j++)
            {
                char spot = Convert.ToChar(data[j]);
                if (spot == nterm)
                {
                    endpos = j;
                    break;
                }
            }

            // if we got to the end, then it's a zero length string
            if (i == endpos)
            {
                // advance the 1 null character
                i++;
                return string.Empty;
            }
            else
            {
                // We found the end of the string
                // append the bytes from the beginning of the string to the end of the string
                // advance i
                byte[] interm = new byte[endpos-i];
                for (; i<endpos; i++)
                {
                    interm[i-startpos] = data[i];       
                }
                i++;  // advance past the null character

                return Utils.BytesToString(interm);
            }
        }

        /// <summary>
        /// Read in a Joint from an animation asset byte array
        /// Variable length Joint fields, yay!
        /// Advances the index
        /// </summary>
        /// <param name="data">animation asset byte array</param>
        /// <param name="i">Byte Offset of the start of the joint</param>
        /// <returns>The Joint data serialized into the binBVHJoint structure</returns>
        private binBVHJoint readJoint(byte[] data, ref int i)
        {
           
            binBVHJointKey[] positions;
            binBVHJointKey[] rotations;

            binBVHJoint pJoint = new binBVHJoint();

            /*
                109
                84
                111
                114
                114
                111
                0 <--- Null terminator
            */

            pJoint.Name = ReadBytesUntilNull(data, ref i); // Joint name

            /* 
                 2 <- Priority Revisited
                 0
                 0
                 0
            */

            /* 
                5 <-- 5 keyframes
                0
                0
                0
                ... 5 Keyframe data blocks
            */

            /* 
                2 <-- 2 keyframes
                0
                0
                0
                ..  2 Keyframe data blocks
            */
            if (!BitConverter.IsLittleEndian)
            {
                pJoint.Priority = Utils.BytesToInt(BinBVHUtil.EndianSwap(data, i, 4)); i += 4; // Joint Priority override?
                rotationkeys = Utils.BytesToInt(BinBVHUtil.EndianSwap(data, i, 4)); i += 4; // How many rotation keyframes
            }
            else
            {
                pJoint.Priority = Utils.BytesToInt(data, i); i += 4; // Joint Priority override?
                rotationkeys = Utils.BytesToInt(data, i); i += 4; // How many rotation keyframes
            }

            // argh! floats into two bytes!..   bad bad bad bad
            // After fighting with it for a while..  -1, to 1 seems to give the best results
            rotations = readKeys(data, ref i, rotationkeys, -1f, 1f);


            if (!BitConverter.IsLittleEndian)
            {
                positionkeys = Utils.BytesToInt(BinBVHUtil.EndianSwap(data, i, 4)); i += 4; // How many position keyframes
            }
            else
            {
                positionkeys = Utils.BytesToInt(data, i); i += 4; // How many position keyframes
            }

            // Read in position keyframes
            // argh! more floats into two bytes!..  *head desk*
            // After fighting with it for a while..  -5, to 5 seems to give the best results
            positions = readKeys(data, ref i, positionkeys, -5f, 5f);

            pJoint.rotationkeys = rotations;
            pJoint.positionkeys = positions;

            return pJoint;
        }

        /// <summary>
        /// Read Keyframes of a certain type
        /// advance i
        /// </summary>
        /// <param name="data">Animation Byte array</param>
        /// <param name="i">Offset in the Byte Array.  Will be advanced</param>
        /// <param name="keycount">Number of Keyframes</param>
        /// <param name="min">Scaling Min to pass to the Uint16ToFloat method</param>
        /// <param name="max">Scaling Max to pass to the Uint16ToFloat method</param>
        /// <returns></returns>
        private binBVHJointKey[] readKeys(byte[] data, ref int i, int keycount, float min, float max)
        {
            float x;
            float y;
            float z;

            /*
                0.o, Float values in Two bytes.. this is just wrong >:(
                17          255  <-- Time Code
                17          255  <-- Time Code
                255         255  <-- X
                127         127  <-- X
                255         255  <-- Y
                127         127  <-- Y
                213         213  <-- Z
                142         142  <---Z

            */

            binBVHJointKey[] m_keys = new binBVHJointKey[keycount];
            for (int j = 0; j < keycount; j++)
            {
                binBVHJointKey pJKey = new binBVHJointKey();
                if (!BitConverter.IsLittleEndian)
                {
                    pJKey.time = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, InPoint, OutPoint); i += 2;
                    x = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, min, max); i += 2;
                    y = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, min, max); i += 2;
                    z = Utils.UInt16ToFloat(BinBVHUtil.EndianSwap(data, i, 2), 0, min, max); i += 2;
                }
                else
                {
                    pJKey.time = Utils.UInt16ToFloat(data, i, InPoint, OutPoint); i += 2;
                    x = Utils.UInt16ToFloat(data, i, min, max); i += 2;
                    y = Utils.UInt16ToFloat(data, i, min, max); i += 2;
                    z = Utils.UInt16ToFloat(data, i, min, max); i += 2;
                }
                pJKey.key_element = new Vector3(x, y, z);
                m_keys[j] = pJKey;
            }
            return m_keys;
        }
    
       

    }
    /// <summary>
    /// A Joint and it's associated meta data and keyframes
    /// </summary>
    public struct binBVHJoint
    {
        /// <summary>
        /// Name of the Joint.  Matches the avatar_skeleton.xml in client distros
        /// </summary>
        public string Name;

        /// <summary>
        /// Joint Animation Override?   Was the same as the Priority in testing.. 
        /// </summary>
        public int Priority;

        /// <summary>
        /// Array of Rotation Keyframes in order from earliest to latest
        /// </summary>
        public binBVHJointKey[] rotationkeys;

        /// <summary>
        /// Array of Position Keyframes in order from earliest to latest
        /// This seems to only be for the Pelvis?
        /// </summary>
        public binBVHJointKey[] positionkeys;



        public void WriteBytesToStream(BinaryWriter iostream, float InPoint, float OutPoint)
        {
            iostream.Write(BinBVHUtil.WriteNullTerminatedString(Name));
            iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(Priority)));
            iostream.Write(BinBVHUtil.ES(Utils.IntToBytes(rotationkeys.Length)));
            for (int i=0;i<rotationkeys.Length;i++)
            {
                rotationkeys[i].WriteBytesToStream(iostream, InPoint, OutPoint,  -1f, 1f);
            }
            iostream.Write(BinBVHUtil.ES(Utils.IntToBytes((positionkeys.Length))));
            for (int i = 0; i < positionkeys.Length; i++)
            {
                positionkeys[i].WriteBytesToStream(iostream, InPoint, OutPoint, -256f, 256f);
            }
        }
    }

    /// <summary>
    /// A Joint Keyframe.  This is either a position or a rotation.
    /// </summary>
    public struct binBVHJointKey
    {
        // Time in seconds for this keyframe.
        public float time;

        /// <summary>
        /// Either a Vector3 position or a Vector3 Euler rotation
        /// </summary>
        public Vector3 key_element;

        public void WriteBytesToStream(BinaryWriter iostream, float InPoint, float OutPoint, float min, float max)
        {
            iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(time, InPoint, OutPoint))));
            iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(key_element.X, min, max))));
            iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(key_element.Y, min, max))));
            iostream.Write(BinBVHUtil.ES(Utils.UInt16ToBytes(BinBVHUtil.FloatToUInt16(key_element.Z, min, max))));
        }
    }

    /// <summary>
    /// Poses set in the animation metadata for the hands.
    /// </summary>
    public enum HandPose : uint
    {
        Spread = 0,
        Relaxed = 1,
        Point_Both = 2,
        Fist = 3,
        Relaxed_Left = 4,
        Point_Left = 5,
        Fist_Left = 6,
        Relaxed_Right = 7,
        Point_Right = 8,
        Fist_Right = 9,
        Salute_Right = 10,
        Typing = 11,
        Peace_Right = 12
    }
    public static class BinBVHUtil
    {
        public const float ONE_OVER_U16_MAX = 1.0f / UInt16.MaxValue;
       
        public static UInt16 FloatToUInt16(float val, float lower, float upper)
        {
            UInt16 uival = 0;
            //m_parentGroup.GetTimeDilation() * (float)ushort.MaxValue
            //0-1

            float difference = upper - lower;
            // we're trying to get a zero lower and modify all values equally so we get a percentage position
            if (lower > 0)
            {
                upper -= lower;
                val = val - lower;
                
                // start with 500 upper and 200 lower..    subtract 200 from the upper and the value
            }
            else //if (lower < 0 && upper > 0)
            {
                // double negative, 0 minus negative 5 is 5.
                upper += 0 - lower;
                lower += 0 - lower;
                val += 0 - lower;
            }

            if (upper == 0)
                val = 0;
            else
            {
                val /= upper;
            }

            uival = (UInt16)(val * UInt16.MaxValue);

            return uival;
        }
        
        
        /// <summary>
        /// Endian Swap
        /// Swaps endianness if necessary
        /// </summary>
        /// <param name="arr">Input array</param>
        /// <returns></returns>
        public static byte[] ES(byte[] arr)
        {
            if (!BitConverter.IsLittleEndian)
                Array.Reverse(arr);
            return arr;
        }
        public static byte[] EndianSwap(byte[] arr, int offset, int len)
        {
            byte[] bendian = new byte[offset + len];
            Buffer.BlockCopy(arr, offset, bendian, 0, len);
            Array.Reverse(bendian);
            return bendian;
        }

        public static byte[] WriteNullTerminatedString(string str)
        {
            byte[] output = new byte[str.Length + 1];
            Char[] chr = str.ToCharArray();
            int i = 0;
            for (i = 0; i < chr.Length; i++)
            {
                output[i] = Convert.ToByte(chr[i]);

            }
            
            output[i] = Convert.ToByte('\0');
            return output;
        }

    }
}
/*
switch (jointname)
                {
                    case "mPelvis":
                    case "mTorso":
                    case "mNeck":
                    case "mHead":
                    case "mChest":
                    case "mHipLeft":
                    case "mHipRight":
                    case "mKneeLeft":
                    case "mKneeRight":
                        // XYZ->ZXY
                        t = x;
                        x = y;
                        y = t;
                        break;
                    case "mCollarLeft":
                    case "mCollarRight":
                    case "mElbowLeft":
                    case "mElbowRight":
                        // YZX ->ZXY
                        t = z;
                        z = x;
                        x = y;
                        y = t;
                        break;
                    case "mWristLeft":
                    case "mWristRight":
                    case "mShoulderLeft":
                    case "mShoulderRight":    
                        // ZYX->ZXY
                        t = y;
                        y = z;
                        z = t;

                        break;
                    case "mAnkleLeft":
                    case "mAnkleRight":
                        // XYZ ->ZXY
                        t = x;
                        x = z;
                        z = y;
                        y = t;
                        break;
                }
*/