External/NRIFramework/Source/Utils.cpp - master - redgpu/nv_rt

External/NRIFramework/Source/Utils.cpp
1 977 строк77 KB
Constantine Tarasenkov
NRDSample commit 3dd5136f292ad958c698627d2ee19959a4117f7e, NRI commit b5cfe2c4161ccc39421041ba9ec55331af9221d1
19 апр 2024, 05:54
19 апр 2024, 05:54491b2d5
// © 2021 NVIDIA Corporation

#if _WIN32
    #include <io.h>
#endif

#include <array>
#include <map>
#include <functional>

#include <algorithm>
#include <fstream>
#include <filesystem>

#include "Detex/detex.h"

#include "MathLib/MathLib.h"

#include "NRI.h"
#include "Extensions/NRIHelper.h"

#include "Helper.h"
#include "Utils.h"

#define CGLTF_IMPLEMENTATION
#include "cgltf.h"

#include "Detex/stb_image.h"

struct Shader
{
    const char* ext;
    nri::StageBits stage;
};

constexpr std::array<Shader, 13> gShaderExts =
{{
    {"", nri::StageBits::NONE},
    {".vs.", nri::StageBits::VERTEX_SHADER},
    {".tcs.", nri::StageBits::TESS_CONTROL_SHADER},
    {".tes.", nri::StageBits::TESS_EVALUATION_SHADER},
    {".gs.", nri::StageBits::GEOMETRY_SHADER},
    {".fs.", nri::StageBits::FRAGMENT_SHADER},
    {".cs.", nri::StageBits::COMPUTE_SHADER},
    {".rgen.", nri::StageBits::RAYGEN_SHADER},
    {".rmiss.", nri::StageBits::MISS_SHADER},
    {"<noimpl>", nri::StageBits::INTERSECTION_SHADER},
    {".rchit.", nri::StageBits::CLOSEST_HIT_SHADER},
    {".rahit.", nri::StageBits::ANY_HIT_SHADER},
    {"<noimpl>", nri::StageBits::CALLABLE_SHADER},
}};

//========================================================================================================================
// MISC
//========================================================================================================================
static void GenerateMorphTargetVertices(utils::Scene& scene, const utils::Mesh& mesh, uint32_t morphTargetIndex,
    const uint8_t* positionSrc, size_t positionStride, const uint8_t* normalSrc, size_t normalStride)
{
    std::vector<float3> tangents(mesh.vertexNum, float3::Zero());
    std::vector<float3> bitangents(mesh.vertexNum, float3::Zero());

    for (size_t j = 0; j < mesh.indexNum; j += 3)
    {
        size_t primitiveBaseIndex = mesh.indexOffset + j;

        size_t i0 = scene.indices[primitiveBaseIndex];
        size_t i1 = scene.indices[primitiveBaseIndex + 1];
        size_t i2 = scene.indices[primitiveBaseIndex + 2];

        const utils::UnpackedVertex& v0 = scene.unpackedVertices[mesh.vertexOffset + i0];
        const utils::UnpackedVertex& v1 = scene.unpackedVertices[mesh.vertexOffset + i1];
        const utils::UnpackedVertex& v2 = scene.unpackedVertices[mesh.vertexOffset + i2];

        // base verts
        float3 pb0 = v0.position;
        float3 pb1 = v1.position;
        float3 pb2 = v2.position;

        // src morph target data is delta
        float3 p0 = float3((float *)(positionSrc + positionStride * i0)) + pb0;
        float3 p1 = float3((float *)(positionSrc + positionStride * i1)) + pb1;
        float3 p2 = float3((float *)(positionSrc + positionStride * i2)) + pb2;

        float3 uvEdge20 = float3(v2.uv[0], v2.uv[1], 0.0f) - float3(v0.uv[0], v0.uv[1], 0.0f);
        float3 uvEdge10 = float3(v1.uv[0], v1.uv[1], 0.0f) - float3(v0.uv[0], v0.uv[1], 0.0f);

        // base normals
        float3 nb0 = v0.normal;
        float3 nb1 = v1.normal;
        float3 nb2 = v2.normal;

        // src morph target data is delta
        float3 n0 = float3((float *)(normalSrc + normalStride * i0)) + nb0;
        float3 n1 = float3((float *)(normalSrc + normalStride * i1)) + nb1;
        float3 n2 = float3((float *)(normalSrc + normalStride * i2)) + nb2;

        // Tangent
        float r = uvEdge10.x * uvEdge20.y - uvEdge20.x * uvEdge10.y;

        float3 tangent, bitangent;
        if (Abs(r) < 1e-9f)
        {
            n1.z += 1e-6f;

            tangent = GetPerpendicularVector(n1);
            bitangent = Cross(n1, tangent);
        }
        else
        {
            float invr = 1.0f / r;

            float3 a = (p1 - p0) * invr;
            float3 b = (p2 - p0) * invr;

            tangent = a * uvEdge20.y - b * uvEdge10.y;
            bitangent = b * uvEdge10.x - a * uvEdge20.x;
        }

        tangents[i0] += tangent;
        tangents[i1] += tangent;
        tangents[i2] += tangent;

        bitangents[i0] += bitangent;
        bitangents[i1] += bitangent;
        bitangents[i2] += bitangent;
    }

    uint32_t vertexOffset = mesh.morphTargetVertexOffset + morphTargetIndex * mesh.vertexNum;
    for (size_t j = 0; j < mesh.vertexNum; j++)
    {
        const utils::UnpackedVertex& v = scene.unpackedVertices[mesh.vertexOffset + j];
        float3 pb = v.position;
        float3 nb = v.normal;

        float3 P = float3((float*)(positionSrc + positionStride * j)) + pb;
        float3 N = float3((float*)(normalSrc + normalStride * j)) + nb;
        float3 T = tangents[j];
        if (Length(T) < 1e-9f)
            T = Cross(bitangents[j], N);
        else // Gram-Schmidt orthogonalize
            T -= N * Dot33(N, T);
        T = Normalize(T);

        // Calculate handedness
        float handedness = Sign(Dot33(Cross(N, T), bitangents[j]));

        // Output
        float2 n = Packed::EncodeUnitVector( N, true );
        float2 t = Packed::EncodeUnitVector( T, true );

        utils::MorphVertex& morphVertex = scene.morphVertices[vertexOffset + j];
        morphVertex.position[0] = Packed::sf2_to_h2(P.x, P.y);
        morphVertex.position[1] = Packed::sf2_to_h2(P.z, handedness);
        morphVertex.normal = Packed::sf2_to_h2(n.x, n.y);
        morphVertex.tangent = Packed::sf2_to_h2(t.x, t.y);
    }
}

static void GeneratePrimitiveDataAndTangents(utils::Scene& scene, const utils::Mesh& mesh)
{
    std::vector<float3> tangents(mesh.vertexNum, float3::Zero());
    std::vector<float3> bitangents(mesh.vertexNum, float3::Zero());

    std::vector<double> curvatures(mesh.vertexNum, 0.0);
    std::vector<double> curvatureWeights(mesh.vertexNum, 0.0);

    for (size_t j = 0; j < mesh.indexNum; j += 3)
    {
        size_t primitiveBaseIndex = mesh.indexOffset + j;

        size_t i0 = scene.indices[primitiveBaseIndex];
        size_t i1 = scene.indices[primitiveBaseIndex + 1];
        size_t i2 = scene.indices[primitiveBaseIndex + 2];

        const utils::UnpackedVertex& v0 = scene.unpackedVertices[mesh.vertexOffset + i0];
        const utils::UnpackedVertex& v1 = scene.unpackedVertices[mesh.vertexOffset + i1];
        const utils::UnpackedVertex& v2 = scene.unpackedVertices[mesh.vertexOffset + i2];

        float3 p0(v0.position);
        float3 p1(v1.position);
        float3 p2(v2.position);

        float3 edge20 = p2 - p0;
        float3 edge10 = p1 - p0;
        float worldArea = Max( Length( Cross(edge20, edge10) ), 1e-9f );

        float3 uvEdge20 = float3(v2.uv[0], v2.uv[1], 0.0f) - float3(v0.uv[0], v0.uv[1], 0.0f);
        float3 uvEdge10 = float3(v1.uv[0], v1.uv[1], 0.0f) - float3(v0.uv[0], v0.uv[1], 0.0f);
        float uvArea = Length( Cross(uvEdge20, uvEdge10) );

        utils::Primitive& primitive = scene.primitives[primitiveBaseIndex / 3];
        primitive.worldToUvUnits = uvArea == 0 ? 1.0f : Sqrt( uvArea / worldArea );

        // Unsigned curvature // TODO: make signed?
        // https://computergraphics.stackexchange.com/questions/1718/what-is-the-simplest-way-to-compute-principal-curvature-for-a-mesh-triangle
        float3 n0 = float3(v0.normal);
        float3 n1 = float3(v1.normal);
        float3 n2 = float3(v2.normal);

        double curvature10 = Abs( Dot33(n1 - n0, p1 - p0) ) / LengthSquared(p1 - p0);
        double curvature21 = Abs( Dot33(n2 - n1, p2 - p1) ) / LengthSquared(p2 - p1);
        double curvature02 = Abs( Dot33(n0 - n2, p0 - p2) ) / LengthSquared(p0 - p2);

        curvatures[i0] += Max(curvature10, curvature02) * worldArea;
        curvatures[i1] += Max(curvature10, curvature21) * worldArea;
        curvatures[i2] += Max(curvature02, curvature21) * worldArea;

        curvatureWeights[i0] += worldArea;
        curvatureWeights[i1] += worldArea;
        curvatureWeights[i2] += worldArea;

        // Tangent
        float r = uvEdge10.x * uvEdge20.y - uvEdge20.x * uvEdge10.y;

        float3 tangent, bitangent;
        if (Abs(r) < 1e-9f)
        {
            n1.z += 1e-6f;

            tangent = GetPerpendicularVector(n1);
            bitangent = Cross(n1, tangent);
        }
        else
        {
            float invr = 1.0f / r;

            float3 a = (p1 - p0) * invr;
            float3 b = (p2 - p0) * invr;

            tangent = a * uvEdge20.y - b * uvEdge10.y;
            bitangent = b * uvEdge10.x - a * uvEdge20.x;
        }

        tangents[i0] += tangent;
        tangents[i1] += tangent;
        tangents[i2] += tangent;

        bitangents[i0] += bitangent;
        bitangents[i1] += bitangent;
        bitangents[i2] += bitangent;
    }

    for (size_t j = 0; j < mesh.vertexNum; j++)
    {
        utils::UnpackedVertex& unpackedVertex = scene.unpackedVertices[mesh.vertexOffset + j];
        float3 N = float3(unpackedVertex.normal);

        float3 T = tangents[j];
        if (Length(T) < 1e-9f)
            T = Cross(bitangents[j], N);
        else // Gram-Schmidt orthogonalize
            T -= N * Dot33(N, T);
        T = Normalize(T);

        // Calculate handedness
        float handedness = Sign( Dot33(Cross(N, T), bitangents[j]) );

        // Output
        float4 result = float4(T.x, T.y, T.z, handedness);
        unpackedVertex.tangent[0] = result.x;
        unpackedVertex.tangent[1] = result.y;
        unpackedVertex.tangent[2] = result.z;
        unpackedVertex.tangent[3] = result.w;
        unpackedVertex.curvature =  float(curvatures[j] / curvatureWeights[j]);

        utils::Vertex& vertex = scene.vertices[mesh.vertexOffset + j];
        vertex.tangent = Packed::uf4_to_uint<10, 10, 10, 2>(result * 0.5f + 0.5f);
    }
}

inline const char* GetShaderExt(nri::GraphicsAPI graphicsAPI)
{
    if (graphicsAPI == nri::GraphicsAPI::D3D11)
        return ".dxbc";
    else if (graphicsAPI == nri::GraphicsAPI::D3D12)
        return ".dxil";

    return ".spirv";
}

static struct FormatMapping
{
    uint32_t detexFormat;
    nri::Format nriFormat;
} formatTable[] = {
    // Uncompressed formats.
    { DETEX_PIXEL_FORMAT_RGB8, nri::Format::UNKNOWN },
    { DETEX_PIXEL_FORMAT_RGBA8, nri::Format::RGBA8_UNORM },
    { DETEX_PIXEL_FORMAT_R8, nri::Format::R8_UNORM },
    { DETEX_PIXEL_FORMAT_SIGNED_R8, nri::Format::R8_SNORM },
    { DETEX_PIXEL_FORMAT_RG8, nri::Format::RG8_UNORM },
    { DETEX_PIXEL_FORMAT_SIGNED_RG8, nri::Format::RG8_SNORM },
    { DETEX_PIXEL_FORMAT_R16, nri::Format::R16_UNORM },
    { DETEX_PIXEL_FORMAT_SIGNED_R16, nri::Format::R16_SNORM },
    { DETEX_PIXEL_FORMAT_RG16, nri::Format::RG16_UNORM },
    { DETEX_PIXEL_FORMAT_SIGNED_RG16, nri::Format::RG16_SNORM },
    { DETEX_PIXEL_FORMAT_RGB16, nri::Format::UNKNOWN },
    { DETEX_PIXEL_FORMAT_RGBA16, nri::Format::RGBA16_UNORM },
    { DETEX_PIXEL_FORMAT_FLOAT_R16, nri::Format::R16_SFLOAT },
    { DETEX_PIXEL_FORMAT_FLOAT_RG16, nri::Format::RG16_SFLOAT },
    { DETEX_PIXEL_FORMAT_FLOAT_RGB16, nri::Format::UNKNOWN },
    { DETEX_PIXEL_FORMAT_FLOAT_RGBA16, nri::Format::RGBA16_SFLOAT },
    { DETEX_PIXEL_FORMAT_FLOAT_R32, nri::Format::R32_SFLOAT },
    { DETEX_PIXEL_FORMAT_FLOAT_RG32, nri::Format::RG32_SFLOAT },
    { DETEX_PIXEL_FORMAT_FLOAT_RGB32, nri::Format::RGB32_SFLOAT },
    { DETEX_PIXEL_FORMAT_FLOAT_RGBA32, nri::Format::RGBA32_SFLOAT },
    { DETEX_PIXEL_FORMAT_A8, nri::Format::UNKNOWN },
    // Compressed formats.
    { DETEX_TEXTURE_FORMAT_BC1, nri::Format::BC1_RGBA_UNORM },
    { DETEX_TEXTURE_FORMAT_BC1A, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_BC2, nri::Format::BC2_RGBA_UNORM },
    { DETEX_TEXTURE_FORMAT_BC3, nri::Format::BC3_RGBA_UNORM },
    { DETEX_TEXTURE_FORMAT_RGTC1, nri::Format::BC4_R_UNORM },
    { DETEX_TEXTURE_FORMAT_SIGNED_RGTC1, nri::Format::BC4_R_SNORM },
    { DETEX_TEXTURE_FORMAT_RGTC2, nri::Format::BC5_RG_UNORM },
    { DETEX_TEXTURE_FORMAT_SIGNED_RGTC2, nri::Format::BC5_RG_SNORM },
    { DETEX_TEXTURE_FORMAT_BPTC_FLOAT, nri::Format::BC6H_RGB_UFLOAT },
    { DETEX_TEXTURE_FORMAT_BPTC_SIGNED_FLOAT, nri::Format::BC6H_RGB_SFLOAT },
    { DETEX_TEXTURE_FORMAT_BPTC, nri::Format::BC7_RGBA_UNORM },
    { DETEX_TEXTURE_FORMAT_ETC1, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_ETC2, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_ETC2_PUNCHTHROUGH, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_ETC2_EAC, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_EAC_R11, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_EAC_SIGNED_R11, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_EAC_RG11, nri::Format::UNKNOWN },
    { DETEX_TEXTURE_FORMAT_EAC_SIGNED_RG11, nri::Format::UNKNOWN }
};

static nri::Format GetFormatNRI(uint32_t detexFormat)
{
    for (auto& entry : formatTable)
    {
        if (entry.detexFormat == detexFormat)
            return entry.nriFormat;
    }

    return nri::Format::UNKNOWN;
}

static nri::Format MakeSRGBFormat(nri::Format format)
{
    switch (format)
    {
    case nri::Format::RGBA8_UNORM:
        return nri::Format::RGBA8_SRGB;

    case nri::Format::BC1_RGBA_UNORM:
        return nri::Format::BC1_RGBA_SRGB;

    case nri::Format::BC2_RGBA_UNORM:
        return nri::Format::BC2_RGBA_SRGB;

    case nri::Format::BC3_RGBA_UNORM:
        return nri::Format::BC3_RGBA_SRGB;

    case nri::Format::BC7_RGBA_UNORM:
        return nri::Format::BC7_RGBA_SRGB;

    default:
        return format;
    }
}

//========================================================================================================================
// TEXTURE
//========================================================================================================================

inline detexTexture** ToTexture(utils::Mip* mips)
{
    return (detexTexture**)mips;
}

inline detexTexture* ToMip(utils::Mip mip)
{
    return (detexTexture*)mip;
}

utils::Texture::~Texture()
{
    detexFreeTexture(ToTexture(mips), mipNum);
}

void utils::Texture::GetSubresource(nri::TextureSubresourceUploadDesc& subresource, uint32_t mipIndex, uint32_t arrayIndex) const
{
    // TODO: 3D images are not supported, "subresource.slices" needs to be allocated to store pointers to all slices of the current mipmap
    assert(GetDepth() == 1);
    (void)(arrayIndex); // TODO: unused

    detexTexture* mip = ToMip(mips[mipIndex]);

    int rowPitch, slicePitch;
    detexComputePitch(mip->format, mip->width, mip->height, &rowPitch, &slicePitch);

    subresource.slices = mip->data;
    subresource.sliceNum = 1;
    subresource.rowPitch = (uint32_t)rowPitch;
    subresource.slicePitch = (uint32_t)slicePitch;
}

bool utils::Texture::IsBlockCompressed() const
{
    return detexFormatIsCompressed( ToMip(mips[0])->format );
}

const char* utils::GetFileName(const std::string& path)
{
    const size_t slashPos = path.find_last_of("\\/");
    if (slashPos != std::string::npos)
        return path.c_str() + slashPos + 1;

    return "";
}

//========================================================================================================================
// UTILS
//========================================================================================================================

std::string utils::GetFullPath(const std::string& localPath, DataFolder dataFolder)
{
    std::string path = "_Data/"; // it's a symbolic link
    if (dataFolder == DataFolder::SHADERS)
        path = "_Shaders/"; // special folder with generated files
    else if (dataFolder == DataFolder::TEXTURES)
        path += "Textures/";
    else if (dataFolder == DataFolder::SCENES)
        path += "Scenes/";
    else if (dataFolder == DataFolder::TESTS)
        path = "Tests/"; // special folder stored in Git

    return path + localPath;
}

bool utils::LoadFile(const std::string& path, std::vector<uint8_t>& data)
{
    FILE* file = fopen(path.c_str(), "rb");

    if (file == nullptr)
    {
        printf("ERROR: File '%s' is not found!\n", path.c_str());
        data.clear();
        return false;
    }

    printf("Loading file '%s'...\n", GetFileName(path));

    fseek(file, 0, SEEK_END);
    const size_t size = ftell(file); // 32-bit size
    fseek(file, 0, SEEK_SET);

    data.resize(size);
    const size_t readSize = fread(&data[0], size, 1, file);
    fclose(file);

    return !data.empty() && readSize == 1;
}

nri::ShaderDesc utils::LoadShader(nri::GraphicsAPI graphicsAPI, const std::string& shaderName, ShaderCodeStorage& storage, const char* entryPointName)
{
    const char* ext = GetShaderExt(graphicsAPI);
    std::string path = GetFullPath(shaderName + ext, DataFolder::SHADERS);
    nri::ShaderDesc shaderDesc = {};

    size_t i = 1;
    for (; i < gShaderExts.size(); i++)
    {
        if (path.rfind(gShaderExts[i].ext) != std::string::npos)
        {
            storage.push_back( std::vector<uint8_t>() );
            std::vector<uint8_t>& code = storage.back();

            if (LoadFile(path, code))
            {
                shaderDesc.stage = gShaderExts[i].stage;
                shaderDesc.bytecode = code.data();
                shaderDesc.size = code.size();
                shaderDesc.entryPointName = entryPointName;
            }

            break;
        }
    }

    if (i == gShaderExts.size())
    {
        printf("ERROR: Shader '%s' has invalid shader extension!\n", shaderName.c_str());

        NRI_ABORT_ON_FALSE(false);
    };

    return shaderDesc;
}

namespace utils
{
static void PostProcessTexture(const std::string &name, Texture& texture, bool computeAvgColorAndAlphaMode, detexTexture** dTexture, int mipNum)
{
    texture.mips = (Mip*)dTexture;
    texture.name = name;
    texture.format = GetFormatNRI(dTexture[0]->format);
    texture.width = (uint16_t)dTexture[0]->width;
    texture.height = (uint16_t)dTexture[0]->height;
    texture.mipNum = (uint8_t)mipNum;

    // TODO: detex doesn't support cubemaps and 3D textures
    texture.arraySize = 1;
    texture.depth = 1;

    texture.alphaMode = AlphaMode::OPAQUE;
    if (computeAvgColorAndAlphaMode)
    {
        // Alpha mode
        if (texture.format == nri::Format::BC1_RGBA_UNORM || texture.format == nri::Format::BC1_RGBA_SRGB)
        {
            bool hasTransparency = false;
            for (int i = mipNum - 1; i >= 0 && !hasTransparency; i--) {
                const size_t size = detexTextureSize(dTexture[i]->width_in_blocks, dTexture[i]->height_in_blocks, dTexture[i]->format);
                const uint8_t* bc1 = dTexture[i]->data;

                for (size_t j = 0; j < size && !hasTransparency; j += 8)
                {
                    const uint16_t* c = (uint16_t*)bc1;
                    if (c[0] <= c[1])
                    {
                        const uint32_t bits = *(uint32_t*)(bc1 + 4);
                        for (uint32_t k = 0; k < 32 && !hasTransparency; k += 2)
                            hasTransparency = ((bits >> k) & 0x3) == 0x3;
                    }
                    bc1 += 8;
                }
            }

            if (hasTransparency)
                texture.alphaMode = AlphaMode::PREMULTIPLIED;
        }

        // Decompress last mip
        std::vector<uint8_t> image;
        detexTexture* lastMip = dTexture[mipNum - 1];
        uint8_t* rgba8 = lastMip->data;
        if (lastMip->format != DETEX_PIXEL_FORMAT_RGBA8)
        {
            // Convert to RGBA8 if the texture is compressed
            image.resize(lastMip->width * lastMip->height * detexGetPixelSize(DETEX_PIXEL_FORMAT_RGBA8));
            detexDecompressTextureLinear(lastMip, &image[0], DETEX_PIXEL_FORMAT_RGBA8);
            rgba8 = &image[0];
        }

        // Average color
        float4 avgColor = float4::Zero();
        const size_t pixelNum = lastMip->width * lastMip->height;
        for (size_t i = 0; i < pixelNum; i++)
            avgColor += Packed::uint_to_uf4<8, 8, 8, 8>(*(uint32_t*)(rgba8 + i * 4));
        avgColor /= float(pixelNum);

        if (texture.alphaMode != AlphaMode::PREMULTIPLIED && avgColor.w < 254.0f / 255.0f)
            texture.alphaMode = AlphaMode::TRANSPARENT;

        if (texture.alphaMode == AlphaMode::TRANSPARENT && avgColor.w == 0.0f)
        {
            printf("WARNING: Texture '%s' is fully transparent!\n", name.c_str());
            texture.alphaMode = AlphaMode::OFF;
        }
    }
}
}

bool utils::LoadTextureFromMemory(const std::string& name, const uint8_t* data, int dataSize,
    Texture& texture, bool computeAvgColorAndAlphaMode)
{
    printf("Loading embedded texture '%s'...\n", name.c_str());

    int x, y, comp;
    unsigned char* image = stbi_load_from_memory((stbi_uc const*)data, dataSize, &x, &y, &comp, STBI_rgb_alpha);
    if (!image)
    {
        printf("Could not read memory for embedded texture %s. Reason: %s", name.c_str(), stbi_failure_reason());
        return false;
    }
    detexTexture** dTexture = (detexTexture**)malloc(sizeof(detexTexture*));
    dTexture[0] = (detexTexture*)malloc(sizeof(detexTexture));
    dTexture[0]->format = DETEX_PIXEL_FORMAT_RGBA8;
    dTexture[0]->width = x;
    dTexture[0]->height = y;
    dTexture[0]->width_in_blocks = x;
    dTexture[0]->height_in_blocks = y;
    size_t size = x * y * detexGetPixelSize(DETEX_PIXEL_FORMAT_RGBA8);
    dTexture[0]->data = (uint8_t*)malloc(size);
    memcpy(dTexture[0]->data, image, size);
    stbi_image_free(image);

    const int kMipNum = 1;
    PostProcessTexture(name, texture, computeAvgColorAndAlphaMode, dTexture, kMipNum);
    return true;
}

bool utils::LoadTexture(const std::string& path, Texture& texture, bool computeAvgColorAndAlphaMode)
{
    printf("Loading texture '%s'...\n", GetFileName(path));

    detexTexture** dTexture = nullptr;
    int mipNum = 0;

    if (!detexLoadTextureFileWithMipmaps(path.c_str(), 32, &dTexture, &mipNum))
    {
        printf("ERROR: Can't load texture '%s'\n", path.c_str());

        return false;
    }

    PostProcessTexture(path, texture, computeAvgColorAndAlphaMode, dTexture, mipNum);

    return true;
}

void utils::LoadTextureFromMemory(nri::Format format, uint32_t width, uint32_t height, const uint8_t *pixels, Texture &texture)
{
    assert(format == nri::Format::R8_UNORM);

    detexTexture **dTexture;
    detexLoadTextureFromMemory(DETEX_PIXEL_FORMAT_R8, width, height, pixels, &dTexture);

    texture.mipNum = 1;
    texture.arraySize = 1;
    texture.depth = 1;
    texture.format = format;
    texture.alphaMode = AlphaMode::OPAQUE;
    texture.mips = (Mip*)dTexture;
}

static const char* cgltfErrorToString(cgltf_result res)
{
    switch (res)
    {
        case cgltf_result_success:
            return "Success";
        case cgltf_result_data_too_short:
            return "Data is too short";
        case cgltf_result_unknown_format:
            return "Unknown format";
        case cgltf_result_invalid_json:
            return "Invalid JSON";
        case cgltf_result_invalid_gltf:
            return "Invalid GLTF";
        case cgltf_result_invalid_options:
            return "Invalid options";
        case cgltf_result_file_not_found:
            return "File not found";
        case cgltf_result_io_error:
            return "I/O error";
        case cgltf_result_out_of_memory:
            return "Out of memory";
        case cgltf_result_legacy_gltf:
            return "Legacy GLTF";
        default:
            return "Unknown error";
    }
}

static std::pair<const uint8_t*, size_t> cgltfBufferIterator(const cgltf_accessor* accessor, size_t defaultStride)
{
    // TODO: sparse accessor support
    const cgltf_buffer_view* view = accessor->buffer_view;
    const uint8_t* data = (uint8_t*)view->buffer->data + view->offset + accessor->offset;
    const size_t stride = view->stride ? view->stride : defaultStride;

    return std::make_pair(data, stride);
}

// GLTF only support DDS images through the MSFT_texture_dds extension.
// Since cgltf does not support this extension, we parse the custom extension string as json here.
// See https://github.com/KhronosGroup/GLTF/tree/master/extensions/2.0/Vendor/MSFT_texture_dds
static const cgltf_image* ParseDdsImage(const cgltf_texture* texture, const cgltf_data* objects)
{
    for (size_t i = 0; i < texture->extensions_count; i++)
    {
        const cgltf_extension& ext = texture->extensions[i];

        if (!ext.name || !ext.data)
            continue;

        if (strcmp(ext.name, "MSFT_texture_dds") != 0)
            continue;

        size_t extensionLength = strlen(ext.data);
        if (extensionLength > 1024)
            return nullptr; // safeguard against weird inputs

        jsmn_parser parser;
        jsmn_init(&parser);

        // count the tokens, normally there are 3
        int numTokens = jsmn_parse(&parser, ext.data, extensionLength, nullptr, 0);

        // allocate the tokens on the stack
        jsmntok_t* tokens = (jsmntok_t*)alloca(numTokens * sizeof(jsmntok_t));

        // reset the parser and prse
        jsmn_init(&parser);
        int numParsed = jsmn_parse(&parser, ext.data, extensionLength, tokens, numTokens);
        if (numParsed != numTokens)
            goto fail;

        if (tokens[0].type != JSMN_OBJECT)
            goto fail; // expecting that the extension is an object

        for (int k = 1; k < numTokens; k++)
        {
            if (tokens[k].type != JSMN_STRING)
                goto fail; // expecting a string key

            if (cgltf_json_strcmp(tokens + k, (const uint8_t*)ext.data, "source") == 0)
            {
                ++k;
                int index = cgltf_json_to_int(tokens + k, (const uint8_t*)ext.data);
                if (index < 0)
                    goto fail; // expecting a non-negative integer; non-value results in CGLTF_ERROR_JSON which is negative

                if (size_t(index) >= objects->images_count)
                {
                    printf("WARNING: Invalid image index %d specified in GLTF texture definition\n", index);
                    return nullptr;
                }

                return objects->images + index;
            }

            // this was something else - skip it
            k = cgltf_skip_json(tokens, k);
        }

    fail:
        printf("WARNING: Failed to parse the DDS GLTF extension: %s\n", ext.data);
        return nullptr;
    }

    return nullptr;
}

void DecomposeAffine(const float4x4& transform, float3& translation, float4& rotation, float3& scale)
{
    translation = transform.col3;

    float3 col0 = transform.col0;
    float3 col1 = transform.col1;
    float3 col2 = transform.col2;

    scale.x = Length(col0);
    scale.y = Length(col1);
    scale.z = Length(col2);
    if (scale.x > 0.f) col0 /= scale.x;
    if (scale.y > 0.f) col1 /= scale.y;
    if (scale.z > 0.f) col2 /= scale.z;

    float3 zAxis = Cross(col0, col1);
    if (Dot33(zAxis, col2) < 0.0f)
    {
        scale.x = -scale.x;
        col0 = -col0;
    }

    // https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
    rotation.w = Sqrt(Max(0.0f, 1.0f + col0.x + col1.y + col2.z)) * 0.5f;
    rotation.x = Sqrt(Max(0.0f, 1.0f + col0.x - col1.y - col2.z)) * 0.5f;
    rotation.y = Sqrt(Max(0.0f, 1.0f - col0.x + col1.y - col2.z)) * 0.5f;
    rotation.z = Sqrt(Max(0.0f, 1.0f - col0.x - col1.y + col2.z)) * 0.5f;
    rotation.x = std::copysign(rotation.x, col2.y - col1.z);
    rotation.y = std::copysign(rotation.y, col0.z - col2.x);
    rotation.z = std::copysign(rotation.z, col1.x - col0.y);
}

bool utils::LoadScene(const std::string& path, Scene& scene, bool allowUpdate)
{
    printf("Loading scene '%s'...\n", GetFileName(path));

    std::filesystem::path normPath(path.c_str());
    normPath = std::filesystem::canonical(normPath);

    cgltf_options options{};

    cgltf_data* objects{};
    cgltf_result res = cgltf_parse_file(&options, path.c_str(), &objects);
    if (res != cgltf_result_success)
    {
        printf("Couldn't load GLTF file '%s': %s", path.c_str(), cgltfErrorToString(res));
        return false;
    }

    res = cgltf_load_buffers(&options, objects, path.c_str());
    if (res != cgltf_result_success)
    {
        printf("Failed to load buffers for GLTF file '%s': %s", path.c_str(), cgltfErrorToString(res));
        return false;
    }

    // Meshes
    // TODO: framework doesn't support multiple submeshes per instance, treat every primitive as a separate mesh
    std::vector<std::vector<size_t>> meshesPrimMap;
    meshesPrimMap.resize(objects->meshes_count);

    size_t meshNum = 0;
    for (size_t mesh_idx = 0; mesh_idx < objects->meshes_count; mesh_idx++)
    {
        const cgltf_mesh& gltfMesh = objects->meshes[mesh_idx];

        std::vector<size_t>& meshPrimMap = meshesPrimMap[mesh_idx];
        meshPrimMap.resize(gltfMesh.primitives_count);

        for (size_t prim_idx = 0; prim_idx < gltfMesh.primitives_count; prim_idx++)
        {
            const cgltf_primitive& gltfSubmesh = gltfMesh.primitives[prim_idx];
            if (gltfSubmesh.type != cgltf_primitive_type_triangles || gltfSubmesh.attributes_count == 0)
                continue;

            meshPrimMap[prim_idx] = meshNum++;
        }
    }

    size_t materialNum = objects->materials_count;
    size_t materialOffset = scene.materials.size();
    scene.materials.resize(materialOffset + materialNum);

    uint32_t meshOffset = (uint32_t)scene.meshes.size();
    scene.meshes.resize(meshOffset + meshNum);

    size_t totalIndices = scene.indices.size();
    size_t totalVertices = scene.vertices.size();
    size_t totalMorphMeshVertices = scene.morphVertices.size();

    for (size_t mesh_idx = 0; mesh_idx < objects->meshes_count; mesh_idx++)
    {
        const cgltf_mesh& gltfMesh = objects->meshes[mesh_idx];

        for (size_t prim_idx = 0; prim_idx < gltfMesh.primitives_count; prim_idx++)
        {
            const cgltf_primitive& gltfSubmesh = gltfMesh.primitives[prim_idx];
            if (gltfSubmesh.type != cgltf_primitive_type_triangles || gltfSubmesh.attributes_count == 0)
                continue;

            size_t meshVertices = 0;

            // search for position, first attribute may not be position and may have different size if malformed
            for (size_t attr_idx = 0; attr_idx < gltfSubmesh.attributes_count; attr_idx++)
            {
                const cgltf_attribute& attr = gltfSubmesh.attributes[attr_idx];
                if (attr.type == cgltf_attribute_type_position)
                {
                    meshVertices = attr.data->count;
                    break;
                }
            }

            if (meshVertices == 0)
                continue;

            size_t meshIndices = gltfSubmesh.indices ? gltfSubmesh.indices->count : meshVertices;
            uint32_t meshIndex = meshOffset + (uint32_t)meshesPrimMap[mesh_idx][prim_idx];

            Mesh& mesh = scene.meshes[meshIndex];
            mesh.indexOffset = (uint32_t)totalIndices;
            mesh.vertexOffset = (uint32_t)totalVertices;
            mesh.indexNum = (uint32_t)meshIndices;
            mesh.vertexNum = (uint32_t)meshVertices;

            totalIndices += mesh.indexNum;
            totalVertices += mesh.vertexNum;

            bool hasMorphTargets = gltfSubmesh.targets_count > 0;
            for (uint32_t target_idx = 0; target_idx < gltfSubmesh.targets_count; target_idx++)
            {
                const cgltf_morph_target &morphTarget = gltfSubmesh.targets[target_idx];
                if (morphTarget.attributes_count == 0)
                {
                    hasMorphTargets = false;
                    break;
                }

                bool hasPositions = false;
                bool hasNormals = false;
                for (uint32_t attr_idx = 0; attr_idx < morphTarget.attributes_count; attr_idx++)
                {
                    if (morphTarget.attributes[attr_idx].type == cgltf_attribute_type_position)
                    {
                        hasPositions = morphTarget.attributes[attr_idx].data->count == mesh.vertexNum;
                    }
                    else if (morphTarget.attributes[attr_idx].type == cgltf_attribute_type_normal)
                    {
                        hasNormals = morphTarget.attributes[attr_idx].data->count == mesh.vertexNum;
                    }
                }

                if (!hasPositions || !hasNormals)
                {
                    hasMorphTargets = false;
                    break;
                }
            }

            if (hasMorphTargets)
            {
                mesh.morphMeshIndexOffset = scene.morphMeshTotalIndicesNum;
                mesh.morphTargetVertexOffset = (uint32_t)totalMorphMeshVertices;
                mesh.morphTargetNum = (uint32_t)gltfSubmesh.targets_count;

                scene.morphMeshTotalIndicesNum += mesh.indexNum;
                totalMorphMeshVertices += mesh.vertexNum * mesh.morphTargetNum;

                scene.morphMeshes.push_back(meshIndex);
            }
        }
    }

    scene.indices.resize(totalIndices);
    scene.primitives.resize(totalIndices / 3);
    scene.vertices.resize(totalVertices);
    scene.unpackedVertices.resize(totalVertices);
    scene.morphVertices.resize(totalMorphMeshVertices);

    // Geometry
    for (size_t mesh_idx = 0; mesh_idx < objects->meshes_count; mesh_idx++)
    {
        const cgltf_mesh& gltfMesh = objects->meshes[mesh_idx];

        for (size_t prim_idx = 0; prim_idx < gltfMesh.primitives_count; prim_idx++)
        {
            const cgltf_primitive& gltfSubmesh = gltfMesh.primitives[prim_idx];
            if (gltfSubmesh.type != cgltf_primitive_type_triangles || gltfSubmesh.attributes_count == 0)
                continue;

            size_t meshIndex = meshOffset + meshesPrimMap[mesh_idx][prim_idx];
            Mesh& mesh = scene.meshes[meshIndex];
            mesh.aabb.Clear();

            const cgltf_accessor* positions = nullptr;
            const cgltf_accessor* normals = nullptr;
            const cgltf_accessor* texcoords = nullptr;
            const cgltf_accessor* joint_weights = nullptr;
            const cgltf_accessor* joint_indices = nullptr;

            for (size_t attr_idx = 0; attr_idx < gltfSubmesh.attributes_count; attr_idx++)
            {
                const cgltf_attribute& attr = gltfSubmesh.attributes[attr_idx];

                switch (attr.type)
                {
                    case cgltf_attribute_type_position:
                        assert(attr.data->type == cgltf_type_vec3);
                        assert(attr.data->component_type == cgltf_component_type_r_32f);
                        positions = attr.data;
                        break;
                    case cgltf_attribute_type_normal:
                        assert(attr.data->type == cgltf_type_vec3);
                        assert(attr.data->component_type == cgltf_component_type_r_32f);
                        normals = attr.data;
                        break;
                    case cgltf_attribute_type_texcoord:
                        assert(attr.data->type == cgltf_type_vec2);
                        assert(attr.data->component_type == cgltf_component_type_r_32f);
                        if (attr.index == 0)
                            texcoords = attr.data;
                        break;
                    case cgltf_attribute_type_joints:
                        assert(attr.data->type == cgltf_type_vec4);
                        assert(attr.data->component_type == cgltf_component_type_r_8u || attr.data->component_type == cgltf_component_type_r_16u);
                        joint_indices = attr.data;
                        break;
                    case cgltf_attribute_type_weights:
                        assert(attr.data->type == cgltf_type_vec4);
                        assert(attr.data->component_type == cgltf_component_type_r_8u || attr.data->component_type == cgltf_component_type_r_16u || attr.data->component_type == cgltf_component_type_r_32f);
                        joint_weights = attr.data;
                        break;
                }
            }

            assert(positions);
            assert(mesh.vertexNum == positions->count);

            if (gltfSubmesh.indices)
            { // indexed geometry
                assert(gltfSubmesh.indices->component_type == cgltf_component_type_r_32u || gltfSubmesh.indices->component_type == cgltf_component_type_r_16u || gltfSubmesh.indices->component_type == cgltf_component_type_r_8u);
                assert(gltfSubmesh.indices->type == cgltf_type_scalar);

                auto [indexSrc, indexStride] = cgltfBufferIterator(gltfSubmesh.indices, 0);

                switch (gltfSubmesh.indices->component_type)
                {
                    case cgltf_component_type_r_8u:
                        if (!indexStride)
                            indexStride = sizeof(uint8_t);

                        for (size_t i_idx = 0; i_idx < mesh.indexNum; i_idx++)
                        {
                            scene.indices[mesh.indexOffset + i_idx] = (Index)(*(const uint8_t*)indexSrc);
                            indexSrc += indexStride;
                        }
                        break;
                    case cgltf_component_type_r_16u:
                        if (!indexStride)
                            indexStride = sizeof(uint16_t);

                        for (size_t i_idx = 0; i_idx < mesh.indexNum; i_idx++)
                        {
                            scene.indices[mesh.indexOffset + i_idx] = (Index)(*(const uint16_t*)indexSrc);
                            indexSrc += indexStride;
                        }
                        break;
                    case cgltf_component_type_r_32u:
                        if (!indexStride)
                            indexStride = sizeof(uint32_t);

                        for (size_t i_idx = 0; i_idx < mesh.indexNum; i_idx++)
                        {
                            scene.indices[mesh.indexOffset + i_idx] = (Index)(*(const uint32_t*)indexSrc);
                            indexSrc += indexStride;
                        }
                        break;
                    default:
                        assert(false);
                }
            }
            else
            { // unindexed geometry
                for (size_t i_idx = 0; i_idx < mesh.vertexNum; i_idx++)
                    scene.indices[mesh.indexOffset + i_idx] = (Index)i_idx;
            }

            if (positions)
            {
                auto [positionSrc, positionStride] = cgltfBufferIterator(positions, sizeof(float) * 3);

                for (size_t v_idx = 0; v_idx < mesh.vertexNum; v_idx++)
                {
                    float3 position((const float*)positionSrc);

                    UnpackedVertex& unpackedVertex = scene.unpackedVertices[mesh.vertexOffset + v_idx];
                    unpackedVertex.position[0] = position.x;
                    unpackedVertex.position[1] = position.y;
                    unpackedVertex.position[2] = position.z;

                    Vertex& vertex = scene.vertices[mesh.vertexOffset + v_idx];
                    vertex.position[0] = position.x;
                    vertex.position[1] = position.y;
                    vertex.position[2] = position.z;

                    mesh.aabb.Add(position);

                    positionSrc += positionStride;
                }
            }

            if (normals)
            {
                assert(normals->count == positions->count);

                auto [normalSrc, normalStride] = cgltfBufferIterator(normals, sizeof(float) * 3);

                for (size_t v_idx = 0; v_idx < mesh.vertexNum; v_idx++)
                {
                    float3 normal((const float*)normalSrc);

                    UnpackedVertex& unpackedVertex = scene.unpackedVertices[mesh.vertexOffset + v_idx];
                    unpackedVertex.normal[0] = normal.x;
                    unpackedVertex.normal[1] = normal.y;
                    unpackedVertex.normal[2] = normal.z;

                    Vertex& vertex = scene.vertices[mesh.vertexOffset + v_idx];
                    vertex.normal = Packed::uf4_to_uint<10, 10, 10, 2>(normal * 0.5f + 0.5f);

                    normalSrc += normalStride;
                }
            }

            if (texcoords)
            {
                assert(texcoords->count == positions->count);

                auto [texcoordSrc, texcoordStride] = cgltfBufferIterator(texcoords, sizeof(float) * 2);

                for (size_t v_idx = 0; v_idx < mesh.vertexNum; v_idx++)
                {
                    const float* uv = (const float*)texcoordSrc;

                    float u = Min(uv[0], 65504.0f);
                    float v = Min(uv[1], 65504.0f);

                    UnpackedVertex& unpackedVertex = scene.unpackedVertices[mesh.vertexOffset + v_idx];
                    unpackedVertex.uv[0] = u;
                    unpackedVertex.uv[1] = v;

                    Vertex& vertex = scene.vertices[mesh.vertexOffset + v_idx];
                    vertex.uv = Packed::sf2_to_h2(u, v);

                    texcoordSrc += texcoordStride;
                }
            }
            else
            {
                for (size_t v_idx = 0; v_idx < mesh.vertexNum; v_idx++)
                {
                    UnpackedVertex& unpackedVertex = scene.unpackedVertices[mesh.vertexOffset + v_idx];
                    unpackedVertex.uv[0] = 0.0f;
                    unpackedVertex.uv[1] = 0.0f;

                    Vertex& vertex = scene.vertices[mesh.vertexOffset + v_idx];
                    vertex.uv = 0;
                }
            }

            for (uint32_t target_idx = 0; target_idx < gltfSubmesh.targets_count; target_idx++)
            {
                const cgltf_morph_target& target = gltfSubmesh.targets[target_idx];
                const cgltf_accessor* target_positions = nullptr;
                const cgltf_accessor* target_normals = nullptr;

                for (size_t attr_idx = 0; attr_idx < target.attributes_count; attr_idx++)
                {
                    const cgltf_attribute& attr = target.attributes[attr_idx];

                    switch (attr.type)
                    {
                    case cgltf_attribute_type_position:
                        assert(attr.data->type == cgltf_type_vec3);
                        assert(attr.data->component_type == cgltf_component_type_r_32f);
                        target_positions = attr.data;
                        break;
                    case cgltf_attribute_type_normal:
                        assert(attr.data->type == cgltf_type_vec3);
                        assert(attr.data->component_type == cgltf_component_type_r_32f);
                        target_normals = attr.data;
                        break;
                    }
                }

                assert(target_positions && target_normals);

                auto [positionSrc, positionStride] = cgltfBufferIterator(target_positions, sizeof(float) * 3);
                auto [normalSrc, normalStride] = cgltfBufferIterator(target_normals, sizeof(float) * 3);

                GenerateMorphTargetVertices(scene, mesh, target_idx, positionSrc, positionStride, normalSrc, normalStride);
            }

            // Per primitive data and tangents
            GeneratePrimitiveDataAndTangents(scene, mesh);
        }
    }

    // Walk through the nodes and fill instances
    const uint32_t instanceOffset = (uint32_t)scene.instances.size();
    scene.instances.reserve(instanceOffset + objects->nodes_count);

    size_t currentSceneMeshCount = scene.meshes.size() - meshOffset;
    std::vector<uint32_t> sharedMeshInstanceIndices(currentSceneMeshCount, InvalidIndex);

    std::map<cgltf_node*, std::vector<uint32_t>> nodeToInstanceMap;

    auto AddMeshInstance = [&scene, &sharedMeshInstanceIndices, meshOffset](uint32_t meshIndex)
    {
        Mesh& mesh = scene.meshes[meshIndex];

        uint32_t currentSceneMeshIndex = meshIndex - meshOffset;
        uint32_t meshInstanceIndex = (uint32_t)scene.meshInstances.size();
        if (!mesh.HasMorphTargets())
        {
            // check if we already made a sharable mesh instance for this mesh
            if (sharedMeshInstanceIndices[currentSceneMeshIndex] != InvalidIndex)
                return sharedMeshInstanceIndices[currentSceneMeshIndex];

            // Update cache for new mesh Instance Index
            sharedMeshInstanceIndices[currentSceneMeshIndex] = meshInstanceIndex;
        }

        scene.meshInstances.push_back({});

        MeshInstance& meshInstance = scene.meshInstances.back();
        meshInstance.meshIndex = meshIndex;
        meshInstance.primitiveOffset = scene.totalInstancedPrimitivesNum;
        meshInstance.blasIndex = InvalidIndex;

        uint32_t numPrimitives = mesh.indexNum / 3;
        if (mesh.HasMorphTargets())
        {
            meshInstance.morphedVertexOffset = scene.morphedVerticesNum;
            scene.morphedVerticesNum += mesh.vertexNum;

            meshInstance.morphedPrimitiveOffset = scene.morphedPrimitivesNum;
            scene.morphedPrimitivesNum += numPrimitives;
        }

        scene.totalInstancedPrimitivesNum += numPrimitives;

        return meshInstanceIndex;
    };

    std::function<void(cgltf_node*, float4x4)> traverseNode = [&](cgltf_node* node, const float4x4& parentTransform)
    {
        float4x4 worldTransform;
        if (node->has_matrix)
        {
            const auto& tr = node->matrix;
            float4x4 transform
            (
                tr[0], tr[4], tr[8], tr[12],
                tr[1], tr[5], tr[9], tr[13],
                tr[2], tr[6], tr[10], tr[14],
                tr[3], tr[7], tr[11], tr[15]
            );
            worldTransform = parentTransform * transform;
        }
        else
        {
            float4x4 scale = float4x4::Identity();
            if (node->has_scale)
                scale.SetupByScale(node->scale);

            float4x4 rotation = float4x4::Identity();
            if (node->has_rotation)
                rotation.SetupByQuaternion(node->rotation);

            float4x4 translation = float4x4::Identity();
            if (node->has_translation)
                translation.SetupByTranslation(node->translation);

            float4x4 localTransform = translation * (rotation * scale);
            worldTransform = parentTransform * localTransform;
        }

        if (node->mesh)
        {
            float4x4 transform = worldTransform;
            double3 position = ToDouble(transform.GetCol3().To3d());
            transform.SetTranslation( float3::Zero() );

            size_t meshIndex = node->mesh - objects->meshes;

            std::vector<uint32_t>& vec = nodeToInstanceMap[node];

            for (uint32_t primIndex = 0; primIndex < node->mesh->primitives_count; ++primIndex)
            {
                const cgltf_primitive& gltfSubmesh = node->mesh->primitives[primIndex];

                size_t materialIndex = gltfSubmesh.material ? (gltfSubmesh.material - objects->materials) : 0;
                size_t remappedMeshIndex = meshOffset + meshesPrimMap[meshIndex][primIndex];

                Instance& instance = scene.instances.emplace_back();
                Mesh& m = scene.meshes[remappedMeshIndex];

                instance.meshInstanceIndex = AddMeshInstance((uint32_t)remappedMeshIndex);
                instance.position = position;
                instance.rotation = transform;
                instance.materialIndex = (uint32_t)(materialOffset + materialIndex);
                instance.allowUpdate = allowUpdate || m.HasMorphTargets();

                vec.push_back((uint32_t)(scene.instances.size() - 1));

                cBoxf aabb;
                TransformAabb(worldTransform, m.aabb, aabb);

                scene.aabb.Add(aabb);
            }
        }

        for (cgltf_size nodeIndex = 0; nodeIndex < node->children_count; ++nodeIndex)
            traverseNode(node->children[nodeIndex], worldTransform);
    };

    // GLTF models expect Y up whereas framework has Z up
    scene.mSceneToWorld.SetupByRotationX( Pi(0.5f) );

    for (cgltf_size nodeIndex = 0; nodeIndex < objects->scene->nodes_count; ++nodeIndex)
        traverseNode(objects->scene->nodes[nodeIndex], scene.mSceneToWorld);

    // TODO: properly update "allowUpdate"
    if (objects->animations_count)
    {
        for (uint32_t animIndex = 0; animIndex < objects->animations_count; ++animIndex)
        {
            cgltf_animation* gltfAnim = objects->animations + animIndex;

            scene.animations.push_back(Animation());
            Animation& animation = scene.animations.back();
            animation.name = gltfAnim->name ? gltfAnim->name : "";

            { // Setup scene graph
                animation.sceneNodes.resize(objects->nodes_count);
                for (uint32_t nodeIndex = 0; nodeIndex < objects->nodes_count; ++nodeIndex)
                {
                    cgltf_node* gltfNode = objects->nodes + nodeIndex;
                    SceneNode& sceneNode = animation.sceneNodes[nodeIndex];

                    sceneNode.children.resize(gltfNode->children_count);
                    for (uint32_t childIndex = 0; childIndex < gltfNode->children_count; ++childIndex)
                    {
                        uint32_t index = (uint32_t)(gltfNode->children[childIndex] - objects->nodes);
                        sceneNode.children[childIndex] = &animation.sceneNodes[index];
                    }

                    if (gltfNode->has_matrix)
                    {
                        const auto& tr = gltfNode->matrix;
                        float4x4 transform
                        (
                            tr[0], tr[4], tr[8], tr[12],
                            tr[1], tr[5], tr[9], tr[13],
                            tr[2], tr[6], tr[10], tr[14],
                            tr[3], tr[7], tr[11], tr[15]
                        );
                        DecomposeAffine(transform, sceneNode.translation, sceneNode.rotation, sceneNode.scale);
                    }
                    else
                    {
                        sceneNode.translation = gltfNode->has_translation ? float3(gltfNode->translation) : float3(0.0f, 0.0f, 0.0f);
                        sceneNode.rotation = gltfNode->has_rotation ? float4(gltfNode->rotation) : float4(0.0f, 0.0f, 0.0f, 1.0f);
                        sceneNode.scale = gltfNode->has_scale ? float3(gltfNode->scale) : float3(1.0f, 1.0f, 1.0f);
                    }

                    float4x4 translation;
                    translation.SetupByTranslation(sceneNode.translation);
                    float4x4 rotation;
                    rotation.SetupByQuaternion(sceneNode.rotation);
                    float4x4 scale;
                    scale.SetupByScale(sceneNode.scale);

                    sceneNode.localTransform = translation * (rotation * scale);

                    if (gltfNode->mesh)
                    {
                        sceneNode.instances = nodeToInstanceMap[gltfNode];
                        sceneNode.name = gltfNode->mesh->name ? gltfNode->mesh->name : ""; // TODO: gltfNode->name?
                    }
                }

                std::function<void(SceneNode*, SceneNode*)> setupGraphNodes = [&](SceneNode* parentNode, SceneNode* node)
                {
                    node->worldTransform = parentNode ? (parentNode->worldTransform * node->localTransform) : (scene.mSceneToWorld * node->localTransform);
                    node->parent = parentNode;

                    for (auto child : node->children)
                        setupGraphNodes(node, child);
                };

                for (cgltf_size nodeIndex = 0; nodeIndex < objects->scene->nodes_count; ++nodeIndex)
                {
                    uint32_t idx = (uint32_t)(objects->scene->nodes[nodeIndex] - objects->nodes);
                    setupGraphNodes(nullptr, &animation.sceneNodes[idx]);
                }
            }

            float animationTotalSec = 0.0f;
            for (uint32_t samplerIndex = 0; samplerIndex < gltfAnim->samplers_count; ++samplerIndex)
            {
                cgltf_animation_sampler* animSampler = gltfAnim->samplers + samplerIndex;
                float animTimeMaxSec = animSampler->input->has_max ? animSampler->input->max[0] : 0.0f;
                animationTotalSec = Max(animationTotalSec, animTimeMaxSec);
            }
            animation.animationTimeSec = animationTotalSec;
            animation.durationMs = animationTotalSec * 1000.0f;

            std::function<AnimationTrackType(cgltf_interpolation_type)> convertTrackType = [](cgltf_interpolation_type value)
            {
                switch (value)
                {
                    default:
                    case cgltf_interpolation_type_linear:
                        return AnimationTrackType::Linear;
                    case cgltf_interpolation_type_step:
                        return AnimationTrackType::Step;
                    case cgltf_interpolation_type_cubic_spline:
                        return AnimationTrackType::CubicSpline;
                }
            };

            for (uint32_t channelIndex = 0; channelIndex < gltfAnim->channels_count; ++channelIndex)
            {
                cgltf_animation_channel* animChannel = gltfAnim->channels + channelIndex;

                uint32_t index = (uint32_t)(animChannel->target_node - objects->nodes);
                SceneNode* sceneNode = animation.sceneNodes.data() + index;

                if (animChannel->sampler->input->count == 0)
                    continue;

                if (std::find(animation.dynamicNodes.begin(), animation.dynamicNodes.end(), sceneNode) == animation.dynamicNodes.end())
                    animation.dynamicNodes.push_back(sceneNode);

                switch (animChannel->target_path)
                {
                    case cgltf_animation_path_type_translation:
                    case cgltf_animation_path_type_scale:
                    {
                        bool isPosition = animChannel->target_path == cgltf_animation_path_type_translation;
                        if (isPosition)
                            animation.positionTracks.push_back(VectorAnimationTrack());
                        else
                            animation.scaleTracks.push_back(VectorAnimationTrack());

                        VectorAnimationTrack& track = isPosition ? animation.positionTracks.back() : animation.scaleTracks.back();
                        uint32_t frameCount = (uint32_t)animChannel->sampler->input->count;

                        track.node = sceneNode;
                        track.type = convertTrackType(animChannel->sampler->interpolation);
                        auto [keysSrc, keysStride] = cgltfBufferIterator(animChannel->sampler->input, sizeof(float));
                        auto [valuesSrc, valuesStride] = cgltfBufferIterator(animChannel->sampler->output, sizeof(float) * 3);
                        track.keys.reserve(frameCount);
                        track.values.reserve(frameCount);
                        for (uint32_t frameIndex = 0; frameIndex < frameCount; ++frameIndex)
                        {
                            float key = *(float*)keysSrc;
                            keysSrc += keysStride;
                            track.keys.push_back(key);

                            float3 value = float3((float*)valuesSrc);
                            valuesSrc += valuesStride;
                            track.values.push_back(value);
                        }
                        track.frameCount = frameCount;
                    }
                    break;

                    case cgltf_animation_path_type_rotation:
                    {
                        animation.rotationTracks.push_back(QuatAnimationTrack());
                        QuatAnimationTrack& track = animation.rotationTracks.back();
                        uint32_t frameCount = (uint32_t)animChannel->sampler->input->count;

                        track.node = sceneNode;
                        track.type = convertTrackType(animChannel->sampler->interpolation);
                        auto [keysSrc, keysStride] = cgltfBufferIterator(animChannel->sampler->input, sizeof(float));
                        auto [valuesSrc, valuesStride] = cgltfBufferIterator(animChannel->sampler->output, sizeof(float) * 4);
                        track.keys.reserve(frameCount);
                        track.values.reserve(frameCount);
                        for (uint32_t frameIndex = 0; frameIndex < frameCount; ++frameIndex)
                        {
                            float key = *(float*)keysSrc;
                            keysSrc += keysStride;
                            track.keys.push_back(key);

                            float4 value = float4((float*)valuesSrc);
                            valuesSrc += valuesStride;
                            track.values.push_back(value);
                        }
                        track.frameCount = frameCount;
                    }
                    break;

                    case cgltf_animation_path_type_weights:
                    {
                        uint32_t weightTrackIndex = (uint32_t)animation.weightTracks.size();
                        bool hasMeshInstance = false;
                        for (auto instanceIndex : sceneNode->instances)
                        {
                            Instance& instance = scene.instances[instanceIndex];
                            MeshInstance& meshInstance = scene.meshInstances[instance.meshInstanceIndex];
                            Mesh& mesh = scene.meshes[meshInstance.meshIndex];
                            if (mesh.HasMorphTargets())
                            {
                                // only take the first animation track
                                if (std::find_if(animation.morphMeshInstances.begin(), animation.morphMeshInstances.end(),
                                    [&instance](auto &x) { return x.meshInstanceIndex == instance.meshInstanceIndex; }) ==
                                    animation.morphMeshInstances.end())
                                {
                                    animation.morphMeshInstances.push_back({ weightTrackIndex, instance.meshInstanceIndex });
                                    hasMeshInstance = true;
                                }
                            }
                        }

                        if (hasMeshInstance)
                        {
                            animation.weightTracks.push_back(WeightsAnimationTrack());
                            WeightsAnimationTrack& track = animation.weightTracks.back();
                            uint32_t frameCount = (uint32_t)animChannel->sampler->input->count;
                            uint32_t outputCount = (uint32_t)animChannel->sampler->output->count;

                            track.type = convertTrackType(animChannel->sampler->interpolation);
                            auto [keysSrc, keysStride] = cgltfBufferIterator(animChannel->sampler->input, sizeof(float));
                            auto [valuesSrc, valuesStride] = cgltfBufferIterator(animChannel->sampler->output, sizeof(float));
                            track.keys.reserve(frameCount);
                            track.values.reserve(frameCount);
                            uint32_t numTargetsPerFrame = outputCount / frameCount;
                            track.frameCount = frameCount;

                            for (uint32_t frameIndex = 0; frameIndex < frameCount; ++frameIndex)
                            {
                                float key = *(float*)keysSrc;
                                keysSrc += keysStride;
                                track.keys.push_back(key);
                                track.values.push_back({});
                                auto& perFrameValues = track.values.back();
                                for (uint32_t targetIndex = 0; targetIndex < numTargetsPerFrame; targetIndex++)
                                {
                                    float weight = *(float*)valuesSrc;
                                    if (weight > 0.f)
                                    {
                                        perFrameValues.push_back(MorphTargetIndexWeight(targetIndex, weight));
                                    }
                                    valuesSrc += valuesStride;
                                }
                            }
                        }
                    }
                    break;
                }
            }
        }
    }

    uint32_t textureNum = (uint32_t)objects->textures_count;
    size_t newCapacity = scene.textures.size() + textureNum;
    scene.textures.reserve(newCapacity);

    if (scene.textures.empty())
    {
        // StaticTexture::Black
        {
            Texture* texture = new Texture;
            const std::string& texPath = GetFullPath("black.png", DataFolder::TEXTURES);
            NRI_ABORT_ON_FALSE(LoadTexture(texPath, *texture));
            scene.textures.push_back(texture);
        }

        // StaticTexture::White
        {
            Texture* texture = new Texture;
            const std::string& texPath = GetFullPath("white.png", DataFolder::TEXTURES);
            NRI_ABORT_ON_FALSE(LoadTexture(texPath, *texture));
            scene.textures.push_back(texture);
        }

        // StaticTexture::Invalid
        {
            Texture* texture = new Texture;
            const std::string& texPath = GetFullPath("checkerboard0.dds", DataFolder::TEXTURES);
            NRI_ABORT_ON_FALSE(LoadTexture(texPath, *texture, true));
            scene.textures.push_back(texture);
        }

        // StaticTexture::FlatNormal
        {
            Texture* texture = new Texture;
            const std::string& texPath = GetFullPath("flatnormal.png", DataFolder::TEXTURES);
            NRI_ABORT_ON_FALSE(LoadTexture(texPath, *texture));
            scene.textures.push_back(texture);
        }

        // StaticTexture::ScramblingRanking16spp
        {
            Texture* texture = new Texture;
            const std::string& texPath = GetFullPath("scrambling_ranking_128x128_2d_16spp.png", DataFolder::TEXTURES);
            NRI_ABORT_ON_FALSE(LoadTexture(texPath, *texture));
            texture->OverrideFormat(nri::Format::RGBA8_UINT);
            scene.textures.push_back(texture);
        }

        // StaticTexture::SobolSequence
        {
            Texture* texture = new Texture;
            const std::string& texPath = GetFullPath("sobol_256_4d.png", DataFolder::TEXTURES);
            NRI_ABORT_ON_FALSE(LoadTexture(texPath, *texture));
            texture->OverrideFormat(nri::Format::RGBA8_UINT);
            scene.textures.push_back(texture);
        }
    }

    // Materials
    std::unordered_map<const cgltf_image*, uint32_t> textures;
    for (uint32_t i = 0; i < materialNum; i++)
    {
        Material& material = scene.materials[materialOffset + i];

        const cgltf_material& gltfMaterial = objects->materials[i];

        uint32_t* textureIndices = &material.baseColorTexIndex;
        cgltf_texture* maps[4] = {nullptr};

        if (gltfMaterial.has_pbr_metallic_roughness)
        {
            maps[0] = gltfMaterial.pbr_metallic_roughness.base_color_texture.texture;
            maps[1] = gltfMaterial.pbr_metallic_roughness.metallic_roughness_texture.texture;
            material.baseColorAndMetalnessScale.x = gltfMaterial.pbr_metallic_roughness.base_color_factor[0];
            material.baseColorAndMetalnessScale.y = gltfMaterial.pbr_metallic_roughness.base_color_factor[1];
            material.baseColorAndMetalnessScale.z = gltfMaterial.pbr_metallic_roughness.base_color_factor[2];
            material.baseColorAndMetalnessScale.w = gltfMaterial.pbr_metallic_roughness.metallic_factor;
            material.emissiveAndRoughnessScale.w = gltfMaterial.pbr_metallic_roughness.roughness_factor;
            // TODO: opacity = gltfMaterial.pbr_metallic_roughness.base_color_factor[3]
        }
        else if (gltfMaterial.has_pbr_specular_glossiness)
        {
            // TODO: "pbr_specular_glossiness" model is not supported!
            maps[0] = gltfMaterial.pbr_specular_glossiness.diffuse_texture.texture;
            maps[1] = gltfMaterial.pbr_specular_glossiness.specular_glossiness_texture.texture;
        }


        bool useTransmission = false;
        if (gltfMaterial.has_transmission)
        {
            // TODO: use "gltfMaterial.transmission"
            useTransmission = true;
        }

        maps[2] = gltfMaterial.normal_texture.texture;
        // TODO: use "gltfMaterial.alpha_cutoff"?
        // TODO: use "gltfMaterial.double_sided"?

        maps[3] = gltfMaterial.emissive_texture.texture;
        material.emissiveAndRoughnessScale.x = gltfMaterial.emissive_factor[0];
        material.emissiveAndRoughnessScale.y = gltfMaterial.emissive_factor[1];
        material.emissiveAndRoughnessScale.z = gltfMaterial.emissive_factor[2];

        for (uint32_t j = 0; j < 4; j++)
        {
            cgltf_texture* texture = maps[j];
            if (!texture)
                continue;

            // See if the extensions include a DDS image
            const cgltf_image* ddsImage = ParseDdsImage(texture, objects);
            if ((!texture->image || (!texture->image->uri && !texture->image->buffer_view)) && (!ddsImage || (!ddsImage->uri && !ddsImage->buffer_view)))
                continue;

            // Pick either DDS or standard image, prefer DDS
            const cgltf_image* activeImage = (ddsImage && (ddsImage->uri || ddsImage->buffer_view)) ? ddsImage : texture->image;

            // Load a texture if not already loaded
            uint32_t textureIndex = 0;

            auto it = textures.find(activeImage);
            if (it == textures.end())
            {
                Texture* tex = new Texture;

                const bool computeAlphaMode = j == 0;
                const bool makeSRGB = j != 2;

                bool isLoaded = false;
                if (activeImage->buffer_view)
                {
                    assert(activeImage->buffer_view->size < std::numeric_limits<int>::max());

                    const uint8_t* data = ((const uint8_t*)activeImage->buffer_view->buffer->data) + activeImage->buffer_view->offset;
                    isLoaded = LoadTextureFromMemory(std::string(activeImage->name), data,
                        (int)activeImage->buffer_view->size, *tex, computeAlphaMode);
                }
                else
                {
                    std::string filename = (normPath.parent_path() / activeImage->uri).string();
                    isLoaded = LoadTexture(filename, *tex, computeAlphaMode);
                    if (!isLoaded)
                    {
                        std::string filenameDDS = filename.substr(0, filename.find_last_of('.')) + ".dds";
                        isLoaded = LoadTexture(filenameDDS, *tex, computeAlphaMode);
                    }
                }

                if (isLoaded)
                {
                    if (makeSRGB)
                        tex->OverrideFormat(MakeSRGBFormat(tex->format));

                    textureIndex = (uint32_t)scene.textures.size();
                    scene.textures.push_back(tex);

                    textures[activeImage] = textureIndex;
                }
                else
                    delete tex;



            }
            else
                textureIndex = it->second;

            textureIndices[j] = textureIndex;
        }

        if (material.emissiveTexIndex == StaticTexture::Black && (material.emissiveAndRoughnessScale.x != 0.0f || material.emissiveAndRoughnessScale.y != 0.0f || material.emissiveAndRoughnessScale.z != 0.0f))
            material.emissiveTexIndex = StaticTexture::White;

        if (material.baseColorTexIndex == StaticTexture::Black && (material.baseColorAndMetalnessScale.x != 0.0f || material.baseColorAndMetalnessScale.y != 0.0f || material.baseColorAndMetalnessScale.z != 0.0f))
            material.baseColorTexIndex = StaticTexture::White;

        if (material.roughnessMetalnessTexIndex == StaticTexture::Black && (material.emissiveAndRoughnessScale.w != 0.0f || material.baseColorAndMetalnessScale.w != 0.0f))
            material.roughnessMetalnessTexIndex = StaticTexture::White;

        const Texture* diffuseTexture = scene.textures[material.baseColorTexIndex];
        material.alphaMode = useTransmission ? AlphaMode::TRANSPARENT : diffuseTexture->alphaMode;
        material.isHair = strstr(gltfMaterial.name, "hair") != 0;

        // TODO: remove strange polygon on the window in Kitchen scene
        if (strstr(gltfMaterial.name, "Material_295"))
            material.alphaMode = AlphaMode::OFF;

        /*
        switch (gltfMaterial.alpha_mode)
        {
        case cgltf_alpha_mode_opaque:
            material.alphaMode = useTransmission ? AlphaMode::OPAQUE : AlphaMode::OPAQUE;
            break;
        case cgltf_alpha_mode_mask:
            material.alphaMode = useTransmission ? AlphaMode::PREMULTIPLIED : AlphaMode::PREMULTIPLIED;
            break;
        case cgltf_alpha_mode_blend:
            material.alphaMode = useTransmission ? AlphaMode::TRANSPARENT : AlphaMode::TRANSPARENT;
            break;
        }
        */
    }

    // Set "Instance::allowUpdate" state
    std::function<void(SceneNode*)> setAllowUpdate = [&](SceneNode* sceneNode)
    {
        for (auto instanceIndex : sceneNode->instances)
        {
            Instance& instance = scene.instances[instanceIndex];
            instance.allowUpdate = true;
        }

        for (auto child : sceneNode->children)
            setAllowUpdate(child);
    };

    for (Animation& animation : scene.animations)
    {
        for (auto node : animation.dynamicNodes)
            setAllowUpdate(node);
    }

    // Cleanup
    cgltf_free(objects);

    return true;
}

void utils::Scene::Animate(float animationSpeed, float elapsedTime, float& animationProgress, uint32_t animationIndex)
{
    Animation& animation = animations[animationIndex];

    // Time
    float animationDelta = animation.durationMs == 0.0f ? 0.0f : animationSpeed / animation.durationMs;

    float t = animationProgress * 0.01f + elapsedTime * animationDelta * animation.sign;
    if (t >= 1.0f || t < 0.0f)
    {
        animation.sign = -animation.sign;
        t = Saturate(t);
    }

    animationProgress = t * 100.0f;

    float animTimeSec = t * animation.animationTimeSec;

    std::function<uint32_t(std::vector<float>&, float)> findKeyIndex = [](std::vector<float>& keys, float time)
    {
        if (time <= keys[0])
            return (uint32_t)0;

        if (time >= keys.back())
            return (uint32_t)(keys.size() - 1);

        for (int32_t index = (int32_t)keys.size() - 1; index >= 1; --index)
        {
            if (time >= keys[index])
                return (uint32_t)index;
        }

        return (uint32_t)0;
    };

    for (auto& track : animation.weightTracks)
    {
        track.activeValues.clear();

        uint32_t from = findKeyIndex(track.keys, animTimeSec);
        uint32_t to = Min(track.frameCount - 1, from + 1);
        float keyFrom = track.keys[from];
        float keyTo = track.keys[to];
        float time = animTimeSec < keyFrom ? keyFrom : (animTimeSec > keyTo ? keyTo : animTimeSec);
        float factor = to != from ? (time - keyFrom) / (keyTo - keyFrom) : 0.0f;

        switch (track.type)
        {
            case AnimationTrackType::Step:
            {
                track.activeValues = track.values[from];
            }
            break;

            case AnimationTrackType::CubicSpline: //TODO implement CubicSpline
            case AnimationTrackType::Linear:
            {
                const auto& morphsFrom = track.values[from];
                const auto& morphsTo = track.values[to];

                // morphsFrom and morphsTo are pre-sorted by morph target id
                // do a merge operation to interpolate shared target ids
                // if a target id doesn't exist in a key, it means it's weight is 0
                uint32_t fromIndex = 0;
                uint32_t toIndex = 0;

                float totalWeight = 0.f;
                while (fromIndex < morphsFrom.size() || toIndex < morphsTo.size())
                {
                    float fromWeight = 0.f;
                    float toWeight = 0.f;
                    uint32_t fromTargetId = ~0x0u;
                    uint32_t toTargetId = ~0x0u;

                    if (fromIndex < morphsFrom.size())
                    {
                        fromTargetId = morphsFrom[fromIndex].first;
                        fromWeight = morphsFrom[fromIndex].second;
                    }
                    if (toIndex < morphsTo.size())
                    {
                        toTargetId = morphsTo[toIndex].first;
                        toWeight = morphsTo[toIndex].second;
                    }

                    if (fromTargetId < toTargetId)
                    {
                        float interpWeight = Lerp(fromWeight, 0.f, factor);
                        totalWeight += interpWeight;
                        track.activeValues.emplace_back(fromTargetId, interpWeight);
                        fromIndex++;
                    }
                    else if (toTargetId < fromTargetId)
                    {
                        float interpWeight = Lerp(0.f, toWeight, factor);
                        totalWeight += interpWeight;
                        track.activeValues.emplace_back(toTargetId, interpWeight);

                        toIndex++;
                    }
                    else //if (fromTargetId == toTargetId)
                    {
                        float interpWeight = Lerp(fromWeight, toWeight, factor);
                        totalWeight += interpWeight;
                        track.activeValues.emplace_back(fromTargetId, interpWeight);
                        fromIndex++;
                        toIndex++;
                    }
                }
                // sort by weight descending
                std::sort(track.activeValues.begin(), track.activeValues.end(), [](auto& elemA, auto& elemB) { return elemA.second >= elemB.second; });

                if (totalWeight != 1.0f)
                {
                    // renormalize
                    float totalWeightRcp = 1.0f / totalWeight;
                    for (auto& activeMorphValue : track.activeValues) {
                        activeMorphValue.second *= totalWeightRcp;
                    }
                }
            }
            break;
        }
    }

    for (auto& track : animation.positionTracks)
    {
        uint32_t from = findKeyIndex(track.keys, animTimeSec);
        uint32_t to = Min(track.frameCount - 1, from + 1);
        float keyFrom = track.keys[from];
        float keyTo = track.keys[to];
        float time = animTimeSec < keyFrom ? keyFrom : (animTimeSec > keyTo ? keyTo : animTimeSec);
        float factor = to != from ? (time - keyFrom) / (keyTo - keyFrom) : 0.0f;
        float3 value = float3(0.0f, 0.0f, 0.0f);

        switch (track.type)
        {
            case AnimationTrackType::Step:
            {
                value = track.values[from];
            }
            break;

            case AnimationTrackType::CubicSpline: //TODO implement CubicSpline
            case AnimationTrackType::Linear:
            {
                value = Lerp(track.values[from], track.values[to], float3(factor));
            }
            break;
        }

        track.node->translation = value;
    }

    for (auto& track : animation.rotationTracks)
    {
        uint32_t from = findKeyIndex(track.keys, animTimeSec);
        uint32_t to = Min(track.frameCount - 1, from + 1);
        float keyFrom = track.keys[from];
        float keyTo = track.keys[to];
        float time = animTimeSec < keyFrom ? keyFrom : (animTimeSec > keyTo ? keyTo : animTimeSec);
        float factor = to != from ? (time - keyFrom) / (keyTo - keyFrom) : 0.0f;
        float4 value = float4(0.0f, 0.0f, 0.0f, 1.0f);

        switch (track.type)
        {
            case AnimationTrackType::Step:
            {
                value = track.values[from];
            }
            break;

            case AnimationTrackType::CubicSpline: //TODO implement CubicSpline
            case AnimationTrackType::Linear:
            {
                float4 a = track.values[from];
                float4 b = track.values[to];
                float theta = Dot44(a, b);
                a = (theta < 0.0f) ? -a : a;
                value = Slerp(a, b, factor);
            }
            break;
        }

        track.node->rotation = value;
    }

    for (auto& track : animation.scaleTracks)
    {
        uint32_t from = findKeyIndex(track.keys, animTimeSec);
        uint32_t to = Min(track.frameCount - 1, from + 1);
        float keyFrom = track.keys[from];
        float keyTo = track.keys[to];
        float time = animTimeSec < keyFrom ? keyFrom : (animTimeSec > keyTo ? keyTo : animTimeSec);
        float factor = to != from ? (time - keyFrom) / (keyTo - keyFrom) : 0.0f;
        float3 value = float3(1.0f, 1.0f, 1.0f);

        switch (track.type)
        {
            case AnimationTrackType::Step:
                value = track.values[from];
                break;

            case AnimationTrackType::CubicSpline: //TODO implement CubicSpline
            case AnimationTrackType::Linear:
                value = Lerp(track.values[from], track.values[to], float3(factor));
                break;
        }

        track.node->scale = value;
    }

    std::function<void(SceneNode*)> updateChain = [&](SceneNode* sceneNode)
    {
        float4x4 translation;
        translation.SetupByTranslation(sceneNode->translation);
        float4x4 rotation;
        rotation.SetupByQuaternion(sceneNode->rotation);
        float4x4 scale;
        scale.SetupByScale(sceneNode->scale);

        sceneNode->localTransform = translation * (rotation * scale);
        sceneNode->worldTransform = sceneNode->parent ? (sceneNode->parent->worldTransform * sceneNode->localTransform) : (mSceneToWorld * sceneNode->localTransform);

        float4x4 transform = sceneNode->worldTransform;
        double3 position = ToDouble(transform.GetCol3().To3d());
        transform.SetTranslation(float3::Zero());

        for (auto instanceIndex : sceneNode->instances)
        {
            Instance& instance = this->instances[instanceIndex];
            instance.rotation = transform;
            instance.position = position;
        }

        for (auto child : sceneNode->children)
            updateChain(child);
    };

    // TODO: this could be optimized by only updating roots of the dynamic chains, i.e. when one dynamic node is hierarchical child of another
    for (auto node : animation.dynamicNodes)
        updateChain(node);
}