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|                                                                              |
|                       cal3d fileformat description                           |
|                                                                              |
|                                Version 0.10.0                                |
|                             (12. january 2005)                               |
|                                                                              |
|        Copyright (C) 2001, 2002, 2003 Bruno 'Beosil' Heidelberger            |
|                                                                              |
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| Table of Contents                                                            |
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  1 What is this document for?
  2 cal3d skeleton file (.csf)
  3 cal3d animation file (.caf)
  4 cal3d mesh file (.cmf)
  5 cal3d material file (.crf)
  6 cal3d skeleton xml file (.xsf)
  7 cal3d animation xml file (.xaf)
  8 cal3d mesh xml file (.xmf)
  9 cal3d material xml file (.xrf)
  10 Website
  11 Author


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| 1 What is this document for?                                                 |
o------------------------------------------------------------------------------o

This document describes the format of the different files used in the cal3d
character animation library version 0.10.0.

********************************************************************************
********************************************************************************
********************************************************************************

 IMPORTANT: As the cal3d library is still in heavy development, the fileformats
 described in this document will most likely become obsolete as soon as a new
 version of the library is released. Furthermore, the fileformat itself is not
 yet big-/little-endian independent and may contain fields that are either
 ignored or misinterpreted by the library.

********************************************************************************
********************************************************************************
********************************************************************************


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| 2 cal3d skeleton file (.csf)                                                 |
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Stored in this file is the hierarchy of bones that composes the skeleton.


description                length  type      comments
-------------------------  ------  --------  -----------------------------------
[header]
  magic token              4       const     "CSF\0"
  file version             4       integer   700
  number of bones          4       integer

[first bone]
  length of bone name      4       integer
  bone name                var     string
  translation x            4       float     relative translation to parent bone
  translation y            4       float
  translation z            4       float
  rotation x               4       float     relative rotation to parent bone
  rotation y               4       float     stored as a quaternion
  rotation z               4       float
  rotation w               4       float
  local translation x      4       float     translation to bring a vertex from
  local translation y      4       float     model space into bone space
  local translation z      4       float
  local rotation x         4       float     rotation to bring a vertex from
  local rotation y         4       float     model space into bone space
  local rotation z         4       float
  local rotation w         4       float
  parent bone id           4       integer   index to parent bone
  number of children       4       integer

  [first child]
    child bone id          4       integer   index to child bone

  [all other children]
    ...

[all other bones]
  ...


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| 3 cal3d animation file (.caf)                                                |
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All the keyframes of an animation are stored in this file. They are grouped by
tracks (one track per animated bone) and contain the time, the relative position
and the relative rotation to the parent bone.


description                length  type      comments
-------------------------  ------  --------  -----------------------------------
[header]
  magic token              4       const     "CAF\0"
  file version             4       integer   700
  duration                 4       float     length of animation in seconds
  number of tracks         4       integer

[first track]
  bone id                  4       integer   index to bone
  number of keyframes      4       integer

  [first keyframe]
    time                   4       float     time of keyframe in seconds
    translation x          4       float     relative translation to parent bone
    translation y          4       float
    translation z          4       float
    rotation x             4       float     relative rotation to parent bone
    rotation y             4       float     stored as a quaternion
    rotation z             4       float
    rotation w             4       float

  [all other keyframes]
    ...

[all other tracks]
  ...


o------------------------------------------------------------------------------o
| 4 cal3d mesh file (.cmf)                                                     |
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This file contains all the mesh data, such as the weighted influences of the
bones on each vertex. The mesh is splitted into submeshes to group faces with
the same material thread.


description                length  type      comments
-------------------------  ------  --------  -----------------------------------
[header]
  magic token              4       const     "CMF\0"
  file version             4       integer   700
  number of submeshes      4       integer

[first submesh]
  material thread id       4       integer
  number of vertices       4       integer
  number of faces          4       integer
  number of lod steps      4       integer   number of vertices to collapse
  number of springs        4       integer   number of springs
  number of maps           4       integer

  [first vertex]
    position x             4       float     position in model space
    position y             4       float
    position z             4       float
    normal x               4       float     normal in model space
    normal y               4       float
    normal z               4       float
    collapse id            4       integer   index to vertex to collapse to
    face collapse count    4       integer   number of collapsing faces when
                                             this vertex gets collapsed

    [first map]
      u coordinate         4       float     map coordinates
      v coordinate         4       float

    [all other maps]
      ...

    number of influences   4       integer

    [first influence]
      bone id              4       integer   index to bone
      weight               4       float     weight of influence (1.0 == 100%)

    [all other influences]
      ...

    {physical property (only stored when #springs > 0 !)]
      weight               4       float     weight of vertex for cloth-/hair-
                                             animation (0.0 == rigid)

  [all other vertices]
    ...

  [first spring]
    vertex id 1            4       integer   index to vertex
    vertex id 2            4       integer   "
    spring coefficient     4       float
    idle length            4       float     rest length of the spring

  [all other springs]
    ...

  [first face]
    vertex id 1            4       integer   index to vertex
    vertex id 2            4       integer   "
    vertex id 3            4       integer   "

  [all other faces]
    ...

[all other submeshes]
  ...


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| 5 cal3d material file (.crf)                                                 |
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Material properties like ambient, diffuse and specular color and the shininess
factor are stored in this file. If the material contains texture maps, the
(file-)names of the textures are stored here too.


description                length  type      comments
-------------------------  ------  --------  -----------------------------------
[header]
  magic token              4       const     "CRF\0"
  file version             4       integer   700
  ambient color red        1       byte
  ambient color green      1       byte
  ambient color blue       1       byte
  ambient color alpha      1       byte
  diffuse color red        1       byte
  diffuse color green      1       byte
  diffuse color blue       1       byte
  diffuse color alpha      1       byte
  specular color red       1       byte
  specular color green     1       byte
  specular color blue      1       byte
  specular color alpha     1       byte
  shininess                4       float
  number of maps           4       integer

  [first map]
    length of texture name 4       integer
    texture name           var     string    most likely a filename

  {all other maps]
    ...

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| 6 skeleton Xml file (.xsf)                                                  |
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this is the text/Xml file format of cal3d skeleton file, 
see cal3d skeleton file (.csf) for more information

<HEADER MAGIC="XFS" VERSION="900"/>
<SKELETON NUMBONES="INT">
   <BONE ID="INT" NAME="STRING" NUMCHILD="INT">
      <TRANSLATION>FLOAT FLOAT FLOAT</TRANSLATION>
      <ROTATION>FLOAT FLOAT FLOAT FLOAT</ROTATION>
      <LOCALTRANSLATION>FLOAT FLOAT FLOAT</LOCALTRANSLATION>
      <LOCALROTATION>FLOAT FLOAT FLOAT FLOAT</LOCALROTATION>
      <PARENTID>INT</PARENTID>
      <CHILDID>INT</CHILDID>
      ...             		{all other childs}
    </BONE>
    ...				{all other bones}
</SKELETON>


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| 7 cal3d xml animation file (.xaf)                                           |
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this is the text/Xml file format of cal3d animation file, 
see cal3d skeleton file (.csf) for more information

<ANIMATION VERSION="1000" DURATION="FLOAT" NUMTRACKS="INT">
   <TRACK BONEID="INT" NUMKEYFRAMES="INT">
      <KEYFRAME TIME="FLOAT">
         <TRANSLATION>FLOAT FLOAT FLOAT</TRANSLATION>
         <ROTATION>FLOAT FLOAT FLOAT FLOAT</ROTATION>
      </KEYFRAME>
      ....                      {all other keyframes}
   </TRACK>
   ....                         {all other animation}
</ANIMATION>

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| 8 cal3d xml mesh file (.xmf)                                                |
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this is the text/Xml file format of cal3d mesh file, 
see cal3d mesh file (.cmf) for more information

<MESH VERSION="1000" NUMSUBMESH="INT">
   <SUBMESH MATERIAL="INT" NUMVERTICES="INT" NUMFACES="INT" NUMLODSTEPS="INT" NUMSPRINGS="INT" NUMTEXCOORDS="INT">
       <VERTEX ID="INT" NUMINFLUENCES="INT">
          <POS>FLOAT FLOAT FLOAT</POS>
          <NORMFLOAT FLOAT FLOAT</NORM>
          [<COLLAPSEID>INT</COLLAPSEID>]
          [<COLLAPSECOUNT>INT</COLLAPSECOUNT>]
          <TEXCOORD>FLOAT FLOAT</TEXCOORD>
          ...                                 {all the other texture coordinates}
          <INFLUENCE ID="INT">FLOAT FLOAT FLOAT</INFLUENCE>
          ...                                 {all the other bone influances}
          [<PHYSIQUE>FLOAT</PHYSIQUE>]
       </VERTEX>
       ....                                   {all the other vertices}
       <SPRING VERTEXID="INT INT" COEF="FLOAT" LENGTH ="FLOAT"/>
       ...                                    {all the other springs}
       <FACE VERTEXID="INT INT INT"/>
       ...                                    {all the other faces}
    </SUBMESH>
    ...
</MESH>

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| 9 cal3d xml material file (.xrf)                                            |
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this is the text/Xml file format of cal3d material file, 
see cal3d material file (.crf) for more information

<MATERIAL VERSION="1000" NUMMAPS="INT">
   <AMBIENT>FLOAT FLOAT FLOAT FLOAT</AMBIENT>
   <DIFFUSE>FLOAT FLOAT FLOAT FLOAT</DIFFUSE>
   <SPECULAR>FLOAT FLOAT FLOAT FLOAT</SPECULAR>
   <SHININESS>FLOAT</SHININESS>
   <MAP>STRING</MAP>
   ...                     {all other maps}
</MATERIAL>

o-----------------------------------------------------------------------------o
| 10 Website                                                                  |
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  The official website of cal3d can be found at: http://cal3d.sourceforge.net


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| 11 Author                                                                   |
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  This document was written by Bruno 'Beosil' Heidelberger.
  the Xml format has been added by Laurent Desmecht


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