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C# Load COLLADA Weigts

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Hello Everyone,

I write COLLADA Importer and my next goal was to import rigged Characters, so check up the file ,but don't understand one step. I see where the joints and the weigts are, but not where the file say which vertex has which weight. So maybe you guys can help me and explain it?

<vertex_weights> has only the indices of the joints and weights :(

Here's a part of my COLLADA file:

<library_controllers>
    <controller id="pCube1Controller">
      <skin source="#pCube1-lib">
        <bind_shape_matrix>1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
</bind_shape_matrix>
        <source id="pCube1Controller-Joints">
          <Name_array id="pCube1Controller-Joints-array" count="18">
 Hip LegL FootL ToeL LegR FootR ToeR Belly ShoulderR ArmR HandR FingerR ShoulderL
ArmL HandL FingerL Neck Head</Name_array>
          <technique_common>
            <accessor source="#pCube1Controller-Joints-array" count="18">
              <param type="name"/>
            </accessor>
          </technique_common>
        </source>
        <source id="pCube1Controller-Matrices">
          <float_array id="pCube1Controller-Matrices-array" count="288">

-0.941340 -0.337461 -0.000000 -0.139955 -0.337461 0.941340 -0.000000 0.371721 0.000000 -0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.248803 -0.968554 -0.000000 -0.585359 -0.968554 0.248803 -0.000000 -0.201095 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
-0.034984 -0.999388 -0.000000 -1.221391 -0.999388 0.034984 -0.000000 -0.474481 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
1.000000 -0.000000 0.000000 0.541746 0.000000 1.000000 0.000000 1.913253 -0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.248802 0.968554 0.000000 0.585358 -0.968554 -0.248802 -0.000000 0.201094 -0.000000 -0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
-0.034983 0.999388 0.000000 1.221387 -0.999388 -0.034983 -0.000000 0.474481 -0.000000 -0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
1.000000 -0.000001 0.000000 -0.541746 -0.000001 -1.000000 -0.000000 -1.913249 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
0.043672 0.999046 0.000000 -0.000137 -0.999046 0.043672 -0.000000 0.003133 -0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.995861 0.090881 -0.000000 -0.021829 -0.090881 -0.995861 -0.000000 0.184414 -0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.987330 0.158679 -0.000000 0.470613 -0.158679 -0.987330 -0.000000 0.217060 -0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-1.000000 0.000001 -0.000000 1.419031 -0.000001 -1.000000 -0.000000 -0.008213 -0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.941340 0.337462 -0.000000 1.988030 -0.337462 -0.941340 -0.000000 0.703965 -0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.995861 -0.090881 -0.000000 0.028074 -0.090881 0.995861 0.000000 -0.183843 0.000000 0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.987330 -0.158678 -0.000000 -0.464421 -0.158678 0.987330 0.000000 -0.216064 0.000000 0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-1.000000 -0.000000 -0.000000 -1.412754 -0.000000 1.000000 0.000000 0.008213 0.000000 0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
-0.941340 -0.337462 -0.000000 -1.982131 -0.337462 0.941340 0.000000 -0.701850 0.000000 0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
0.043673 0.999046 0.000000 -0.483504 -0.999046 0.043673 -0.000000 -0.018032 -0.000000 -0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
0.043673 0.999046 0.000000 -0.963774 -0.999046 0.043673 -0.000000 -0.039026 -0.000000 -0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</float_array>
          <technique_common>
            <accessor source="#pCube1Controller-Matrices-array" count="18" stride="16">
              <param type="float4x4"/>
            </accessor>
          </technique_common>
        </source>
        <source id="pCube1Controller-Weights">
          <float_array id="pCube1Controller-Weights-array" count="534">

1.000000 0.446680 0.448446 0.061039 0.006715 0.037120 0.423137 0.341108 0.035586 0.104220 0.095948 0.430593 0.105918 0.018535 0.346667 0.098287
0.446679 0.037120 0.448446 0.061040 0.006715 0.163148 0.388913 0.396025 0.037444 0.014469 0.396151 0.187946 0.014532 0.076902 0.324469 0.394204
0.076828 0.187766 0.328622 0.012580 0.166741 0.388259 0.393852 0.036607 0.014542 0.108793 0.424549 0.424576 0.021527 0.020555 0.255692 0.255431
0.312440 0.153135 0.023302 0.258375 0.311167 0.149047 0.258097 0.023313 0.102002 0.388360 0.388353 0.019283 0.102002 0.174648 0.125476 0.307658
0.306598 0.085620 0.287311 0.159158 0.174218 0.287850 0.091463 0.288312 0.172606 0.159037 0.288857 0.091188 0.177388 0.305490 0.303861 0.126946
0.086316 0.120822 0.069144 0.387268 0.384055 0.038711 0.422697 0.058575 0.073700 0.426612 0.018416 0.426332 0.069409 0.056317 0.430430 0.017513
0.124944 0.385012 0.380074 0.070711 0.039259 0.120822 0.069144 0.387268 0.384055 0.038711 0.422697 0.058575 0.073700 0.426612 0.018416 0.426332
0.069409 0.056317 0.430430 0.017513 0.124944 0.385012 0.380074 0.070711 0.039259 0.174648 0.125476 0.307658 0.306598 0.085620 0.287311 0.159158
0.174218 0.287850 0.091463 0.288312 0.172606 0.159037 0.288857 0.091188 0.177388 0.305490 0.303861 0.126946 0.086316 0.108793 0.424549 0.424576
0.021527 0.020555 0.255692 0.255431 0.312440 0.153135 0.023302 0.258375 0.311167 0.149047 0.258097 0.023313 0.102002 0.388360 0.388353 0.019283
0.102002 0.163148 0.388913 0.396025 0.037444 0.014469 0.396151 0.187946 0.014532 0.076902 0.324469 0.394204 0.076828 0.187766 0.328622 0.012580
0.166741 0.388259 0.393852 0.036607 0.014542 0.446680 0.448446 0.061039 0.006715 0.037120 0.423137 0.341108 0.035586 0.104220 0.095948 0.430593
0.105918 0.018535 0.346667 0.098287 0.446679 0.037120 0.448446 0.061040 0.006715 0.490897 0.501024 0.005129 0.002609 0.780985 0.201682 0.001639
0.008414 0.007279 0.783532 0.008348 0.200106 0.007322 0.490896 0.002609 0.501024 0.005129 0.490897 0.501024 0.005129 0.002609 0.780985 0.201682
0.001639 0.008414 0.007279 0.783532 0.008348 0.200106 0.007322 0.490896 0.002609 0.501024 0.005129 0.072569 0.448896 0.467547 0.008240 0.002747
0.072569 0.448896 0.467547 0.008240 0.002747 0.005633 0.494163 0.494079 0.005633 0.005633 0.494163 0.494079 0.005633 0.069536 0.447783 0.471519
0.008441 0.002721 0.069536 0.447783 0.471519 0.008441 0.002721 0.005428 0.496654 0.496927 0.005428 0.496654 0.496927 0.027277 0.465805 0.466166
0.034322 0.006429 0.032529 0.465155 0.458960 0.027694 0.015662 0.001002 0.524597 0.473182 0.002078 0.496491 0.498270 0.002770 0.015604 0.487493
0.476849 0.013049 0.007005 0.014109 0.482061 0.482639 0.018164 0.003027 0.086141 0.395004 0.392832 0.076562 0.049460 0.072924 0.408978 0.409117
0.086668 0.022313 0.025344 0.009121 0.470943 0.470334 0.024259 0.034082 0.007470 0.455706 0.456255 0.046487 0.007387 0.001314 0.489449 0.491035
0.010816 0.510801 0.489110 0.021297 0.004277 0.471874 0.472667 0.029885 0.010295 0.003391 0.488816 0.487692 0.009806 0.075808 0.021321 0.403240
0.403478 0.096154 0.078335 0.035448 0.405277 0.405075 0.075866 0.101905 0.429125 0.429095 0.016145 0.023730 0.099890 0.407814 0.407384 0.030245
0.054666 0.023975 0.481476 0.479747 0.004706 0.010096 0.023316 0.485651 0.485533 0.002137 0.003363 0.001426 0.503487 0.494347 0.001458 0.499436
0.498840 0.023912 0.481531 0.479799 0.004692 0.010066 0.023254 0.485691 0.485573 0.002130 0.003352 0.023299 0.039289 0.097061 0.420322 0.420031
0.016873 0.022080 0.108912 0.426068 0.426067 0.003085 0.004216 0.033460 0.479621 0.479618 0.002649 0.005089 0.018149 0.487709 0.486404 0.007248
0.495761 0.495752 0.515491 0.484439 0.003078 0.004206 0.033395 0.479662 0.479659 0.002639 0.005071 0.018089 0.487755 0.486447 0.001437 0.495838
0.497206 0.005199 0.001437 0.495838 0.497206 0.005199 0.002118 0.498222 0.493106 0.006148 0.002118 0.498222 0.493106 0.006148 0.001407 0.494389
0.498501 0.005388 0.001407 0.494389 0.498501 0.005388 0.002075 0.495166 0.495968 0.006390 0.002075 0.495166 0.495968 0.006390 0.001348 0.499290
0.499290 0.001654 0.029342 0.484184 0.484184 0.001867 0.499012 0.499012 0.001874 0.030698 0.483368 0.483368 0.001352 0.499287 0.499287 0.001642
0.028780 0.484473 0.484473 0.001859 0.030111 0.483671 0.483671 0.001863 0.499013 0.499013 0.017793 0.003436 0.003494 0.487638 0.487638 0.016776
0.003258 0.003214 0.488376 0.488376 0.016776 0.003258 0.003214 0.488376 0.488376 0.017793 0.003436 0.003494 0.487638 0.487638 0.080146 0.034481
0.036694 0.424340 0.424340 0.079527 0.036205 0.034127 0.425070 0.425070 0.079527 0.036205 0.034127 0.425070 0.425070 0.080146 0.034481 0.036694
0.424340 0.424340 0.106011 0.033886 0.040327 0.409888 0.409888 0.104594 0.039175 0.033170 0.411531 0.411531 0.104594 0.039175 0.033170 0.411531
0.411531 0.106011 0.033886 0.040327 0.409888 0.409888</float_array>
          <technique_common>
            <accessor source="#pCube1Controller-Weights-array" count="534">
              <param type="float"/>
            </accessor>
          </technique_common>
        </source>
        <joints>
          <input semantic="JOINT" source="#pCube1Controller-Joints"/>
          <input semantic="INV_BIND_MATRIX" source="#pCube1Controller-Matrices"/>
        </joints>
        <vertex_weights count="116">
          <input semantic="JOINT" offset="0" source="#pCube1Controller-Joints"/>
          <input semantic="WEIGHT" offset="1" source="#pCube1Controller-Weights"/>
          <vcount>5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 4 5 4 4 4 5 4 4 5 5 4 4 5 5 3 3 5 5 3 4 5 5 5 5 5 5 5 2 5 5 5 5 5 5 5 5 3 3 5 5 5 5 5 5 3 2 5 5 4 4 4 4 4 4 4 4 3 4 3 4 3 4 4 3 5 5 5 5 5 5 5 5 5 5 5 5</vcount>
          <v>0 1 1 2 2 3 3 4 4 5 0 6 1 7 2 8 4 9 7 10 0 11 1 12 2 13 4 14 7 15 0 16 1 17 4 18 5 19 6 20 7 21 12 22 13 23 14 24 17 25 0 26 1 27 2 28 4 29 7 30 0 31 1 32 4 33 7 34 17 35 7 36 8 37 9 38 10 39 17 40 7 41 12 42 13 43 14 44 17 45 7 46 8 47 12 48 13 49 17 50 7 51 8 52 9 53 12 54 17 55 7 56 8 57 9 58 10 59 12 60 7 61 8 62 12 63 13 64 17 65 7 66 8 67 12 68 16 69 17 70 7 71 8 72 12 73 16 74 17 75 7 76 8 77 9 78 12 79 17 80 7 81 8 82 12 83 13 84 17 85 7 86 8 87 12 88 16 89 17 90 7 91 8 92 12 93 16 94 17 95 7 96 8 97 9 98 12 99 17 100 7 101 8 102 12 103 13 104 17 105 7 106 8 107 12 108 16 109 17 110 7 111 8 112 12 113 16 114 17 115 7 116 8 117 9 118 12 119 17 120 7 121 8 122 12 123 13 124 17 125 7 126 8 127 12 128 16 129 17 130 7 131 8 132 12 133 16 134 17 135 7 136 8 137 9 138 12 139 17 140 7 141 12 142 13 143 14 144 17 145 7 146 8 147 12 148 13 149 17 150 7 151 8 152 9 153 12 154 17 155 7 156 8 157 9 158 10 159 12 160 7 161 12 162 13 163 14 164 17 165 0 166 1 167 2 168 4 169 7 170 0 171 1 172 4 173 7 174 17 175 7 176 8 177 9 178 10 179 17 180 0 181 1 182 2 183 3 184 4 185 0 186 1 187 2 188 4 189 7 190 0 191 1 192 2 193 4 194 7 195 0 196 1 197 4 198 5 199 6 200 0 201 1 202 2 203 4 204 0 205 1 206 2 207 4 208 7 209 0 210 1 211 4 212 7 213 0 214 1 215 4 216 5 217 0 218 1 219 2 220 4 221 0 222 1 223 2 224 4 225 7 226 0 227 1 228 4 229 7 230 0 231 1 232 4 233 5 234 7 235 8 236 9 237 10 238 17 239 7 240 8 241 9 242 10 243 17 244 7 245 8 246 9 247 12 248 7 249 8 250 9 251 12 252 7 253 12 254 13 255 14 256 17 257 7 258 12 259 13 260 14 261 17 262 7 263 12 264 13 265 7 266 12 267 13 268 0 269 1 270 2 271 3 272 4 273 0 274 1 275 2 276 3 277 4 278 0 279 1 280 2 281 0 282 1 283 2 284 3 285 0 286 1 287 2 288 3 289 4 290 0 291 1 292 2 293 3 294 4 295 0 296 1 297 2 298 3 299 4 300 0 301 1 302 2 303 3 304 4 305 0 306 1 307 4 308 5 309 6 310 0 311 1 312 4 313 5 314 6 315 0 316 1 317 4 318 5 319 6 320 4 321 5 322 0 323 1 324 4 325 5 326 6 327 0 328 1 329 4 330 5 331 6 332 0 333 1 334 4 335 5 336 6 337 0 338 1 339 4 340 5 341 6 342 1 343 2 344 3 345 4 346 6 347 1 348 2 349 3 350 4 351 6 352 1 353 2 354 3 355 4 356 6 357 1 358 2 359 3 360 4 361 6 362 1 363 2 364 3 365 1 366 2 367 3 368 1 369 2 370 3 371 4 372 6 373 1 374 2 375 3 376 4 377 6 378 1 379 3 380 4 381 5 382 6 383 0 384 3 385 4 386 5 387 6 388 0 389 3 390 4 391 5 392 6 393 1 394 3 395 4 396 5 397 6 398 4 399 5 400 6 401 5 402 6 403 0 404 3 405 4 406 5 407 6 408 1 409 3 410 4 411 5 412 6 413 8 414 9 415 10 416 11 417 8 418 9 419 10 420 11 421 8 422 9 423 10 424 11 425 8 426 9 427 10 428 11 429 12 430 13 431 14 432 15 433 12 434 13 435 14 436 15 437 12 438 13 439 14 440 15 441 12 442 13 443 14 444 15 445 9 446 10 447 11 448 8 449 9 450 10 451 11 452 9 453 10 454 11 455 8 456 9 457 10 458 11 459 13 460 14 461 15 462 12 463 13 464 14 465 15 466 12 467 13 468 14 469 15 470 13 471 14 472 15 473 7 474 8 475 12 476 16 477 17 478 7 479 8 480 12 481 16 482 17 483 7 484 8 485 12 486 16 487 17 488 7 489 8 490 12 491 16 492 17 493 7 494 8 495 12 496 16 497 17 498 7 499 8 500 12 501 16 502 17 503 7 504 8 505 12 506 16 507 17 508 7 509 8 510 12 511 16 512 17 513 7 514 8 515 12 516 16 517 17 518 7 519 8 520 12 521 16 522 17 523 7 524 8 525 12 526 16 527 17 528 7 529 8 530 12 531 16 532 17 533</v>
        </vertex_weights>
      </skin>
    </controller>
  </library_controllers>

Greets

Benjamin

Edited by B. /

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AFAIS:

  • The value of vertex_weight/@count is identical to the count of vertices in the skin mesh. It is also the count of numbers in the vertex_weight/vcount array.
  • For each vertex in the mesh, in the order of the vertices, the value at index n in the vertex_weight/vcount array denotes how many influences are working on the vertex with index n. So in your example the vertex  #0 has 5 influences, the vertex #1 has 5 influence, and so on.
  • The numbers in vertex_weight/v array are to be interpreted as pairs. In your example the sequence of pairs is (0,1), (1,2), (2,3), (3,4), (4,5), (0,6), and so on. The first value of each pair denotes the bone (with the exception that a value -1 denotes the bind shape). The second value of each pair denotes the index into the weights array.
  • Beginning with vertex #0, read the first number from vertex_weight/vcount as n, and then read the first n pairs from vertex_weight/v and interpret them being all influences on vertex #0. 
  • Then the next vertex, read the next number from vertex_weight/vcount as n, and then read the next n pairs from vertex_weight/v and interpret them as all influences on that vertex. Continue this for all remaining vertices. 
Edited by haegarr

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Hello haegarr,

Thank you very much for your explain, you help me a lot :D

Greets

Benjamin

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Hello haegarr,

i had still problems with the Weights/BonesIndices per vertex.

You wrote that "The value of vertex_weight/@count is identical to the count of vertices in the skin mesh"

But in my case, if i export a Model from Maya 2018 with the house owner Collada Exporter or the Open Collada Exporter Plug-In the vertex weights count is only 12 of my mesh (one side of the mesh), but it has total 60 vertices and i had skin every single vertex on the 3 bones elbow. See image.

So the rest vertices, i dont know the weights/boneindices gets the default value by me of weight 1 0 0 0 and bone index 0 0 0 0 (Matrix Idetity Index). But this solution dosen't work in the end for GPU Skinning, the mesh will not draw right.

So can anyone tell me, where the missing 48 vertex influence details are, or to calculate these?

Greets

Benjamin

 

<vertices id="pCube1-VERTEX">
          <input semantic="POSITION" source="#pCube1-POSITION"/>
        </vertices>
        <triangles count="20" material="lambert1"><input semantic="VERTEX" offset="0" source="#pCube1-VERTEX"/><input semantic="NORMAL" offset="1" source="#pCube1-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#pCube1-UV0"/><p> 3 0 3 2 1 2 0 2 0 3 3 3 0 4 0 1 5 1 3 6 3 5 7 5 2 8 2 2 9 2 5 10 5 4 11 4 7 12 7 6 13 6 4 14 4 7 15 7 4 16 4 5 17 5 1 18 9 0 19 8 6 20 6 1 21 9 6 22 6 7 23 7 11 24 17 9 25 14 10 26 16 9 27 14 8 28 15 10 29 16 2 30 2 6 31 12 0 32 0 6 33 12 2 34 2 4 35 13 7 36 10 8 37 15 1 38 1 9 39 14 1 40 1 8 41 15 5 42 11 10 43 16 7 44 10 8 45 15 7 46 10 10 47 16 11 48 17 5 49 11 3 50 3 5 51 11 11 52 17 10 53 16 1 54 1 9 55 14 3 56 3 11 57 17 3 58 3 9 59 14</p></triangles>
      </mesh>
    </geometry>
  </library_geometries>
  <library_controllers>
    <controller id="pCube1Controller">
      <skin source="#pCube1-lib">
        <bind_shape_matrix>1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000
</bind_shape_matrix>
        <source id="pCube1Controller-Joints">
          <Name_array id="pCube1Controller-Joints-array" count="3">
 joint1 joint2 joint3</Name_array>
          <technique_common>
            <accessor source="#pCube1Controller-Joints-array" count="3">
              <param type="name"/>
            </accessor>
          </technique_common>
        </source>
        <source id="pCube1Controller-Matrices">
          <float_array id="pCube1Controller-Matrices-array" count="48">

0.999999 0.001040 0.000000 0.375687 -0.001040 0.999999 0.000000 -0.000391 0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000
0.999783 -0.000978 0.020814 -1.665093 0.000978 1.000000 0.000021 -0.003751 -0.020814 -0.000001 0.999783 0.034664 0.000000 0.000000 0.000000 1.000000
1.000000 0.000000 -0.000000 -3.833521 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000 -0.045135 0.000000 0.000000 0.000000 1.000000</float_array>
          <technique_common>
            <accessor source="#pCube1Controller-Matrices-array" count="3" stride="16">
              <param type="float4x4"/>
            </accessor>
          </technique_common>
        </source>
        <source id="pCube1Controller-Weights">
          <float_array id="pCube1Controller-Weights-array" count="33">

1.000000 0.989534 0.009756 0.708022 0.289010 0.002968 0.989518 0.009771 0.708398 0.288669 0.002933 0.989525 0.009771 0.708446 0.288689 0.002866
0.989540 0.009756 0.708070 0.289030 0.002900 0.004697 0.497651 0.497651 0.003326 0.498337 0.498337 0.004704 0.497648 0.497648 0.003331 0.498334
0.498334</float_array>
          <technique_common>
            <accessor source="#pCube1Controller-Weights-array" count="33">
              <param type="float"/>
            </accessor>
          </technique_common>
        </source>
        <joints>
          <input semantic="JOINT" source="#pCube1Controller-Joints"/>
          <input semantic="INV_BIND_MATRIX" source="#pCube1Controller-Matrices"/>
        </joints>
        <vertex_weights count="12">
          <input semantic="JOINT" offset="0" source="#pCube1Controller-Joints"/>
          <input semantic="WEIGHT" offset="1" source="#pCube1Controller-Weights"/>
          <vcount>2 3 2 3 2 3 2 3 3 3 3 3</vcount>
          <v>0 1 1 2 0 3 1 4 2 5 0 6 1 7 0 8 1 9 2 10 0 11 1 12 0 13 1 14 2 15 0 16 1 17 0 18 1 19 2 20 0 21 1 22 2 23 0 24 1 25 2 26 0 27 1 28 2 29 0 30 1 31 2 32</v>
        </vertex_weights>
      </skin>
    </controller>
  </library_controllers>

 

 

03.jpg

Edited by B. /

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Found the solution, the 12 vertices is linked on the 12 vertices pos array in the geometry_lib :)

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