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Skeletal Animation Problems

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Hiya people. :)

After working on this for about 2 weeks now, I'm -almost- there, but not quite. At the moment I'm quite lost, so I'm turning here for some assistance. I'm sorta confident that I have done the skinning correctly, and that I'm just screwing up my animation somehow. These are the results I have at the moment:


Left: Skinned model in bind pose.
Right: Skinned model being animated.

Following is the animation code that I'm using for this:


The joints are transformed hierarchically during the rendering of the model, so that has already been taken care of. As far as I understand, animation should be on a per-joint basis, without regard to what they are connected to. This is what I had in mind when I wrote this code.

I'm using Assimp to import a COLLADA model for this particular case. The model is a sample model from their test model bank.

EDIT: I should also mention that the animation contains non-zero rotation quaternions from keyframe 0 (which should more or less be the bind pose). To me this seems a bit odd, but someone more versed in this area might be able to clarify this. I can also confirm that the model animates fine in the Assimp Viewer program, so the problem should be on my end.

Any help is greatly appreciated!

EDIT #2: I might have posted this in the wrong forum. Sorry for any inconvenience. =/

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