poses

.gitignore

@@ -1 +1,2 @@
-/build
+/build
+imgui.ini

CMakeLists.txt

@@ -10,7 +10,7 @@ if(NOT CMAKE_BUILD_TYPE)
 endif()
 
 find_package(OpenSceneGraph REQUIRED COMPONENTS
-  osgDB osgGA osgUtil osgViewer osgText osgSim)
+  osgDB osgGA osgUtil osgViewer osgText osgSim osgAnimation)
 find_package(assimp REQUIRED)
 find_package(OpenGL REQUIRED)
 find_package(PkgConfig REQUIRED)
@@ -26,6 +26,9 @@ set(SOURCES
   src/OrbitManipulator.cpp
   src/ShaderManager.cpp
   src/AppConfig.cpp
+  src/SkeletonLoader.cpp
+  src/PoseManager.cpp
+  src/BoneSelector.cpp
 )
 
 add_executable(${PROJECT_NAME} ${SOURCES})

include/Application.h

@@ -14,9 +14,12 @@
 
 #include "ShaderManager.h"
 #include "AppConfig.h"
+#include "PoseManager.h"
 
 class MorphManager;
 class ImGuiLayer;
+class SkeletonLoader;
+class BoneSelector;
 
 class Application : public osgGA::GUIEventHandler {
 public:
@@ -33,27 +36,35 @@ public:
 
     void applyPendingShader();   // called by update callback
     void applyMorphWeights();    // called by update callback
+    void applyPoseUpdate();      // called by update callback
 
 private:
     void setupLighting();
     void setupGrid();
     void requestShader(const std::string& mode);
     void setModelScale(float scale);
+    void setPoseMode(bool enabled);
+    void handleViewportClick(float x, float y);
 
     osg::ref_ptr<osgViewer::Viewer> m_viewer;
     osg::ref_ptr<osg::Group>        m_sceneRoot;
     osg::ref_ptr<osg::Group>        m_shaderGroup;
     osg::ref_ptr<osg::Node>            m_modelNode;
-    osg::ref_ptr<osg::MatrixTransform> m_modelXform;  // scale/transform wrapper
+    osg::ref_ptr<osg::MatrixTransform> m_modelXform;
+    osg::ref_ptr<osg::Group>           m_skeletonRoot;
 
     AppConfig                       m_config;
     std::unique_ptr<ShaderManager>  m_shaderMgr;
     std::unique_ptr<MorphManager>   m_morphMgr;
+    std::unique_ptr<PoseManager>    m_poseMgr;
+    std::unique_ptr<BoneSelector>   m_boneSel;
     std::unique_ptr<ImGuiLayer>     m_imguiLayer;
 
+    bool m_poseMode = false;
+
     std::mutex   m_shaderMutex;
     std::string  m_pendingShader;
     std::string  m_currentShader = "toon";
     bool         m_shaderDirty   = false;
     bool         m_reloadShaders = false;
-};
+};

include/BoneSelector.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <osg/ref_ptr>
+#include <osg/Vec3>
+#include <osg/Geode>
+#include <osg/Group>
+#include <osg/Geometry>
+#include <osgViewer/Viewer>
+#include <osgAnimation/Bone>
+
+class PoseManager;
+
+class BoneSelector {
+public:
+    explicit BoneSelector(PoseManager* poseMgr);
+
+    void init(osgViewer::Viewer* viewer, osg::Group* sceneRoot);
+
+    /// Update bone positions each frame. Only rebuilds geometry when
+    /// selection changes — sphere positions update via vertex array dirty().
+    void updateVisualization();
+
+    std::string pick(float mouseX, float mouseY, osgViewer::Viewer* viewer);
+
+    void setSelected(const std::string& boneName);
+    const std::string& selected() const { return m_selected; }
+
+    void setVisible(bool v);
+    bool isVisible() const { return m_visible; }
+
+private:
+    void buildInitialGeometry();   // called once on init
+    void updatePositions();        // cheap per-frame position update
+
+    PoseManager*              m_poseMgr = nullptr;
+    osg::ref_ptr<osg::Group>  m_root;
+    osg::ref_ptr<osg::Geode>  m_lines;
+    osg::ref_ptr<osg::Geode>  m_spheres;
+
+    // Line geometry arrays — updated in place each frame
+    osg::ref_ptr<osg::Vec3Array>  m_lineVerts;
+    osg::ref_ptr<osg::Vec4Array>  m_lineColors;
+
+    // Sphere positions — one MatrixTransform per bone
+    std::vector<osg::ref_ptr<osg::MatrixTransform>> m_sphereXforms;
+    std::vector<std::string>                        m_sphereBoneNames;
+
+    std::string m_selected;
+    std::string m_prevSelected;  // detect selection changes
+    bool        m_visible        = true;
+    bool        m_geometryBuilt  = false;
+};

include/ImGuiLayer.h

@@ -7,45 +7,70 @@
 #include <osgGA/GUIEventAdapter>
 
 class MorphManager;
+class PoseManager;
+class BoneSelector;
 class AppConfig;
 
 class ImGuiLayer {
 public:
-    explicit ImGuiLayer(MorphManager* morphMgr, const AppConfig* cfg);
+    explicit ImGuiLayer(MorphManager*  morphMgr,
+                        const AppConfig* cfg);
     ~ImGuiLayer();
 
     void init(osgViewer::Viewer* viewer);
     bool handleEvent(const osgGA::GUIEventAdapter& ea);
 
-    void renderPanel();         // called by ImGuiDrawCallback each frame
+    void renderPanel();
     void markGLInitialized();
 
-    // Callbacks set by Application so ImGui can drive app state
+    // Callbacks
     std::function<void(const std::string&)> onShaderChange;
     std::function<void()>                   onShaderReload;
     std::function<void(float)>              onScaleChange;
+    // Pose callbacks
+    std::function<void(bool)>               onPoseModeToggle;
+    std::function<void(bool)>               onBoneVisToggle;
 
-    // Called by Application each frame so the shader tab shows current state
     void setCurrentShader(const std::string& s) { m_currentShader = s; }
     void setInitialScale(float s) { m_scale = s; m_scaleBuf[0] = 0; }
 
+    // Set pose subsystem references so the Pose tab can drive them
+    void setPoseManager(PoseManager*  pm) { m_poseMgr  = pm; }
+    void setBoneSelector(BoneSelector* bs) { m_boneSel  = bs; }
+
+    // Called by Application when the user clicks a bone in the viewport
+    void selectBone(const std::string& name) { m_selectedBone = name; }
+
 private:
     void renderMorphTab();
     void renderShaderTab();
     void renderTransformTab();
+    void renderPoseTab();
+    void renderBoneTree(const std::string& boneName, int depth);
 
     MorphManager*             m_morphMgr       = nullptr;
+    PoseManager*              m_poseMgr        = nullptr;
+    BoneSelector*             m_boneSel        = nullptr;
     const AppConfig*          m_cfg            = nullptr;
     osgViewer::Viewer*        m_viewer         = nullptr;
     osg::ref_ptr<osg::Camera> m_camera;
 
     bool  m_contextCreated = false;
     bool  m_glInitialized  = false;
-    float m_panelWidth     = 380.f;  // wider default so names are visible
+    float m_panelWidth     = 380.f;
 
-    char  m_searchBuf[256] = {};
-    bool  m_showOnlyActive = false;
+    char  m_searchBuf[256]  = {};
+    char  m_boneSearch[256] = {};
+    bool  m_showOnlyActive  = false;
     std::string m_currentShader = "toon";
     float       m_scale         = 1.0f;
     char        m_scaleBuf[32]  = {};
-};
+
+    // Pose tab state
+    bool        m_poseEnabled  = false;
+    bool        m_bonesVisible = true;
+    std::string m_selectedBone;
+    // Euler angles for selected bone (degrees, for display)
+    float       m_boneEuler[3]  = {};
+    float       m_boneTrans[3]  = {};
+};

include/PoseManager.h

@@ -0,0 +1,94 @@
+#pragma once
+
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include <osg/ref_ptr>
+#include <osg/Quat>
+#include <osg/Vec3>
+#include <osg/Matrix>
+#include <osg/NodeVisitor>
+#include <osgAnimation/Bone>
+#include <osgAnimation/Skeleton>
+
+/**
+ * PoseManager
+ * -----------
+ * Owns the current pose as a map of bone name → local rotation + translation
+ * offsets from the bind pose. Applies them to the osgAnimation bone tree
+ * each frame during the update traversal.
+ *
+ * Usage:
+ *   // At load time:
+ *   mgr.init(skeleton, boneMap);
+ *
+ *   // From ImGui / bone gizmo:
+ *   mgr.setBoneRotation("Head", osg::Quat(...));
+ *
+ *   // In update callback:
+ *   mgr.applyPose();
+ *
+ *   // Reset:
+ *   mgr.resetBone("Head");
+ *   mgr.resetAll();
+ */
+class PoseManager {
+public:
+    struct BonePose {
+        osg::Quat  rotation    = { 0, 0, 0, 1 };  // local rotation delta
+        osg::Vec3  translation = { 0, 0, 0 };      // local translation delta
+        bool       modified    = false;
+    };
+
+    PoseManager() = default;
+
+    /// Called once after skeleton is loaded.
+    void init(osgAnimation::Skeleton* skeleton,
+              const std::unordered_map<std::string,
+                  osg::ref_ptr<osgAnimation::Bone>>& boneMap);
+
+    /// Sorted list of all bone names (for UI tree).
+    const std::vector<std::string>& boneNames() const { return m_boneNames; }
+
+    /// Bone hierarchy as parent name → child names (for tree display).
+    const std::unordered_map<std::string, std::vector<std::string>>&
+        boneChildren() const { return m_children; }
+
+    std::string boneParent(const std::string& name) const;
+
+    // ── Pose setters ──────────────────────────────────────────────────────────
+    void setBoneRotation(const std::string& name, const osg::Quat& q);
+    void setBoneTranslation(const std::string& name, const osg::Vec3& t);
+    void resetBone(const std::string& name);
+    void resetAll();
+
+    // ── Pose getters ──────────────────────────────────────────────────────────
+    const BonePose& getBonePose(const std::string& name) const;
+    osg::Vec3  getBoneWorldPos(const std::string& name) const;
+
+    // ── Per-frame update ──────────────────────────────────────────────────────
+    /// Apply current pose to the osgAnimation bone tree.
+    void applyPose();
+
+    /// Run a skeleton update traversal to refresh world-space bone matrices.
+    /// Call every frame so getBoneWorldPos() returns current positions.
+    void updateSkeletonMatrices();
+
+    bool isInitialized() const { return m_initialized; }
+
+private:
+    bool         m_initialized    = false;
+    unsigned int m_traversalCount  = 1000;
+
+    osg::ref_ptr<osgAnimation::Skeleton>  m_skeleton;
+    std::unordered_map<std::string, osg::ref_ptr<osgAnimation::Bone>> m_boneMap;
+    std::unordered_map<std::string, BonePose>       m_poses;
+    std::unordered_map<std::string, osg::Matrix>    m_bindMatrices; // local bind pose
+    std::unordered_map<std::string, std::string>    m_parents;      // child → parent
+    std::unordered_map<std::string, std::vector<std::string>> m_children;
+    std::vector<std::string>                        m_boneNames;    // sorted
+    BonePose                                        m_defaultPose;  // returned for unknowns
+
+    void buildHierarchy(osgAnimation::Bone* bone, const std::string& parentName);
+};

include/SkeletonLoader.h

@@ -0,0 +1,93 @@
+#pragma once
+
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include <osg/ref_ptr>
+#include <osg/Group>
+#include <osgAnimation/Skeleton>
+#include <osgAnimation/Bone>
+#include <osgAnimation/RigGeometry>
+#include <osgAnimation/MorphGeometry>
+
+// Forward declarations
+struct aiScene;
+struct aiNode;
+struct aiMesh;
+
+/**
+ * SkeletonLoader
+ * --------------
+ * Reads the Assimp scene's bone hierarchy and mesh skin weights,
+ * and builds an osgAnimation scene graph:
+ *
+ *   osgAnimation::Skeleton
+ *     └─ osgAnimation::Bone  (Hips)
+ *          └─ osgAnimation::Bone  (Spine)
+ *               └─ ...
+ *
+ * Each skinned aiMesh becomes an osgAnimation::RigGeometry instead
+ * of a plain osg::Geometry, so the GPU handles skinning automatically.
+ *
+ * Usage:
+ *   SkeletonLoader loader;
+ *   auto result = loader.load(assimpScene, baseDir, morphMgr);
+ *   // result.root    — attach to scene graph
+ *   // result.boneMap — name → Bone* for posing
+ */
+class MorphManager;
+
+class SkeletonLoader {
+public:
+    struct Result {
+        osg::ref_ptr<osg::Group>                            root;
+        osg::ref_ptr<osgAnimation::Skeleton>                skeleton;
+        std::unordered_map<std::string,
+            osg::ref_ptr<osgAnimation::Bone>>               boneMap;
+        bool valid = false;
+    };
+
+    Result load(const struct aiScene* scene,
+                const std::string&   baseDir,
+                MorphManager*        morphMgr = nullptr);
+
+private:
+    // ── Bone hierarchy ────────────────────────────────────────────────────────
+
+    /// Recursively build Bone nodes from the aiNode tree.
+    osg::ref_ptr<osgAnimation::Bone> buildBoneTree(
+        const aiNode*  node,
+        const std::unordered_map<std::string, bool>& boneNames,
+        std::unordered_map<std::string,
+            osg::ref_ptr<osgAnimation::Bone>>& boneMap,
+        const osg::Matrix& parentAccum = osg::Matrix::identity());
+
+    /// Find the armature root node (first ancestor whose children are all bones).
+    const aiNode* findArmatureRoot(const aiNode* root,
+        const std::unordered_map<std::string, bool>& boneNames);
+
+    // ── Mesh conversion ───────────────────────────────────────────────────────
+
+    /// Convert a skinned aiMesh to RigGeometry.
+    osg::ref_ptr<osgAnimation::RigGeometry> convertSkinnedMesh(
+        const aiMesh*  mesh,
+        const aiScene* scene,
+        const std::string& baseDir,
+        MorphManager*  morphMgr,
+        const std::unordered_map<std::string,
+            osg::ref_ptr<osgAnimation::Bone>>& boneMap);
+
+    /// Convert an unskinned aiMesh to plain osg::Geometry (same as before).
+    osg::ref_ptr<osg::Geode> convertStaticMesh(
+        const aiMesh*  mesh,
+        const aiScene* scene,
+        const std::string& baseDir,
+        MorphManager*  morphMgr);
+
+    /// Shared material/texture setup used by both converters.
+    void applyMaterial(osg::StateSet* ss,
+                       const aiMesh*  mesh,
+                       const aiScene* scene,
+                       const std::string& baseDir);
+};

logs.txt

@@ -0,0 +1,65 @@
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f36c1ae050 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1ae050 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f36c1ae150 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1ae150 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f374ff0910 RigTransformSoftware::VertexGroup no bones found
+0x55f374ff0910 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f372abe300 RigTransformSoftware::VertexGroup no bones found
+0x55f372abe300 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f372986100 RigTransformSoftware::VertexGroup no bones found
+0x55f372986100 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f36bd40a10 RigTransformSoftware::VertexGroup no bones found
+0x55f36bd40a10 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f36bf07ac0 RigTransformSoftware::VertexGroup no bones found
+0x55f36bf07ac0 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f3755f8410 RigTransformSoftware::VertexGroup no bones found
+0x55f3755f8410 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f37527b890 RigTransformSoftware::VertexGroup no bones found
+0x55f37527b890 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f36c180aa0 RigTransformSoftware::VertexGroup no bones found
+0x55f36c180aa0 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f36c1807d0 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1807d0 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f37526bc40 RigTransformSoftware::VertexGroup no bones found
+0x55f37526bc40 RigTransformSoftware::VertexGroup no bones found
+RigTransformSoftware::VertexGroup: warning try to normalize a zero sum vertexgroup
+0x55f37526cb80 RigTransformSoftware::VertexGroup no bones found
+0x55f37526cb80 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1ae050 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1ae050 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1ae150 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1ae150 RigTransformSoftware::VertexGroup no bones found
+0x55f374ff0910 RigTransformSoftware::VertexGroup no bones found
+0x55f374ff0910 RigTransformSoftware::VertexGroup no bones found
+0x55f372abe300 RigTransformSoftware::VertexGroup no bones found
+0x55f372abe300 RigTransformSoftware::VertexGroup no bones found
+0x55f372986100 RigTransformSoftware::VertexGroup no bones found
+0x55f372986100 RigTransformSoftware::VertexGroup no bones found
+0x55f36bd40a10 RigTransformSoftware::VertexGroup no bones found
+0x55f36bd40a10 RigTransformSoftware::VertexGroup no bones found
+0x55f36bf07ac0 RigTransformSoftware::VertexGroup no bones found
+0x55f36bf07ac0 RigTransformSoftware::VertexGroup no bones found
+0x55f3755f8410 RigTransformSoftware::VertexGroup no bones found
+0x55f3755f8410 RigTransformSoftware::VertexGroup no bones found
+0x55f37527b890 RigTransformSoftware::VertexGroup no bones found
+0x55f37527b890 RigTransformSoftware::VertexGroup no bones found
+0x55f36c180aa0 RigTransformSoftware::VertexGroup no bones found
+0x55f36c180aa0 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1807d0 RigTransformSoftware::VertexGroup no bones found
+0x55f36c1807d0 RigTransformSoftware::VertexGroup no bones found
+0x55f37526bc40 RigTransformSoftware::VertexGroup no bones found
+0x55f37526bc40 RigTransformSoftware::VertexGroup no bones found
+0x55f37526cb80 RigTransformSoftware::VertexGroup no bones found
+0x55f37526cb80 RigTransformSoftware::VertexGroup no bones found

src/Application.cpp

@@ -5,6 +5,13 @@
 #include "OrbitManipulator.h"
 #include "MorphManager.h"
 #include "AppConfig.h"
+#include "SkeletonLoader.h"
+#include "PoseManager.h"
+#include "BoneSelector.h"
+#include <assimp/Importer.hpp>
+#include <assimp/scene.h>
+#include <assimp/postprocess.h>
+#include <filesystem>
 #include "ImGuiLayer.h"
 
 #include <iostream>
@@ -15,6 +22,7 @@
 #include <osg/CullFace>
 #include <osg/Program>
 #include <osg/NodeCallback>
+#include <osg/NodeVisitor>
 #include <osg/MatrixTransform>
 #include <osgViewer/ViewerEventHandlers>
 
@@ -24,8 +32,9 @@ class AppUpdateCallback : public osg::NodeCallback {
 public:
     explicit AppUpdateCallback(Application* app) : m_app(app) {}
     void operator()(osg::Node* node, osg::NodeVisitor* nv) override {
-        m_app->applyPendingShader();   // shader switches
-        m_app->applyMorphWeights();    // morph deformation — must be in update traversal
+        m_app->applyPendingShader();
+        m_app->applyMorphWeights();
+        m_app->applyPoseUpdate();      // bone posing
         traverse(node, nv);
     }
 private:
@@ -37,6 +46,7 @@ private:
 Application::Application()
     : m_shaderMgr(std::make_unique<ShaderManager>("assets/shaders"))
     , m_morphMgr (std::make_unique<MorphManager>())
+    , m_poseMgr  (std::make_unique<PoseManager>())
 {
     m_config.load();
     m_imguiLayer = std::make_unique<ImGuiLayer>(m_morphMgr.get(), &m_config);
@@ -109,18 +119,61 @@ bool Application::init(int width, int height, const std::string& title) {
 bool Application::loadModel(const std::string& filepath) {
     std::cout << "[app] Loading model: " << filepath << "\n";
 
-    ModelLoader loader;
-    m_modelNode = loader.load(filepath, m_morphMgr.get());
-    if (!m_modelNode) return false;
+    // Try skeleton loader (handles FBX with bones)
+    Assimp::Importer importer;
+    constexpr unsigned flags =
+        aiProcess_Triangulate | aiProcess_GenSmoothNormals |
+        aiProcess_SortByPType | aiProcess_ImproveCacheLocality;
+    const aiScene* scene = importer.ReadFile(filepath, flags);
 
-    // Wrap model in a transform so scale/position can be adjusted at runtime
+    if (scene && scene->mRootNode) {
+        const std::string baseDir =
+            std::filesystem::path(filepath).parent_path().string();
+        SkeletonLoader skelLoader;
+        auto skelResult = skelLoader.load(scene, baseDir, m_morphMgr.get());
+        if (skelResult.valid) {
+            m_modelNode = skelResult.root;
+            m_poseMgr->init(skelResult.skeleton.get(), skelResult.boneMap);
+            m_boneSel = std::make_unique<BoneSelector>(m_poseMgr.get());
+            m_boneSel->init(m_viewer.get(), m_sceneRoot.get());
+            m_imguiLayer->setPoseManager(m_poseMgr.get());
+            m_imguiLayer->setBoneSelector(m_boneSel.get());
+            m_imguiLayer->onPoseModeToggle = [this](bool e) { setPoseMode(e); };
+            m_imguiLayer->onBoneVisToggle  = [this](bool v) {
+                if (m_boneSel) m_boneSel->setVisible(v);
+            };
+            // Force a skeleton update traversal immediately so the bone map
+            // is populated before the first draw call. Without this, RigGeometry
+            // tries to skin on frame 0 before bones are linked, collapsing verts.
+            // We run it twice — once to build the bone map, once to propagate.
+            for (int warmup = 0; warmup < 3; ++warmup) {
+                osg::NodeVisitor uv(osg::NodeVisitor::UPDATE_VISITOR,
+                                    osg::NodeVisitor::TRAVERSE_ALL_CHILDREN);
+                uv.setTraversalNumber(warmup);
+                skelResult.root->accept(uv);
+            }
+            std::cout << "[app] Skeleton warmup done.\n";
+            std::cout << "[app] Skeleton loaded: "
+                      << m_poseMgr->boneNames().size() << " bones.\n";
+        }
+    }
+
+    // Fallback to plain loader if skeleton load failed
+    if (!m_modelNode) {
+        ModelLoader loader;
+        m_modelNode = loader.load(filepath, m_morphMgr.get());
+        if (!m_modelNode) return false;
+        std::cout << "[app] Loaded as static mesh.\n";
+    }
+
+    // Wrap in scale transform
     m_modelXform = new osg::MatrixTransform;
     m_modelXform->setName("ModelTransform");
-
     float initScale = m_config.getFloat("model.scale", 1.0f);
     m_modelXform->setMatrix(osg::Matrix::scale(initScale, initScale, initScale));
     m_modelXform->addChild(m_modelNode);
     m_shaderGroup->addChild(m_modelXform);
+
     requestShader(m_currentShader);
     m_viewer->home();
 
@@ -149,6 +202,14 @@ bool Application::handle(const osgGA::GUIEventAdapter& ea,
     // Forward to ImGui first — if it wants the event, don't pass to camera
     if (m_imguiLayer->handleEvent(ea)) return true;
 
+    // Bone picking on left click in pose mode
+    if (m_poseMode &&
+        ea.getEventType() == osgGA::GUIEventAdapter::PUSH &&
+        ea.getButton()    == osgGA::GUIEventAdapter::LEFT_MOUSE_BUTTON) {
+        handleViewportClick(ea.getX(), ea.getY());
+        // Don't consume — let camera manipulator also handle it
+    }
+
     if (ea.getEventType() != osgGA::GUIEventAdapter::KEYDOWN) return false;
     if (!m_modelNode) return false;
 
@@ -191,6 +252,30 @@ void Application::applyMorphWeights() {
     if (m_morphMgr) m_morphMgr->applyWeights();
 }
 
+void Application::setPoseMode(bool enabled) {
+    m_poseMode = enabled;
+    if (m_boneSel) m_boneSel->setVisible(enabled);
+    std::cout << "[app] Pose mode: " << (enabled ? "ON" : "OFF") << "\n";
+}
+
+void Application::applyPoseUpdate() {
+    if (!m_poseMgr || !m_poseMgr->isInitialized()) return;
+    // applyPose sets local matrices, then updateSkeletonMatrices propagates FK
+    if (m_poseMode) m_poseMgr->applyPose();
+    m_poseMgr->updateSkeletonMatrices();  // always keep world positions fresh
+    if (m_poseMode && m_boneSel) m_boneSel->updateVisualization();
+}
+
+void Application::handleViewportClick(float x, float y) {
+    if (!m_poseMode || !m_boneSel) return;
+    std::string hit = m_boneSel->pick(x, y, m_viewer.get());
+    if (!hit.empty()) {
+        m_boneSel->setSelected(hit);
+        m_imguiLayer->selectBone(hit);
+        std::cout << "[app] Selected bone: " << hit << "\n";
+    }
+}
+
 void Application::setModelScale(float scale) {
     if (m_modelXform) {
         scale = std::max(0.001f, scale);

src/BoneSelector.cpp

@@ -0,0 +1,203 @@
+#include "BoneSelector.h"
+#include "PoseManager.h"
+
+#include <iostream>
+#include <algorithm>
+
+#include <osg/Geometry>
+#include <osg/ShapeDrawable>
+#include <osg/Shape>
+#include <osg/LineWidth>
+#include <osg/StateSet>
+#include <osg/MatrixTransform>
+#include <osgUtil/LineSegmentIntersector>
+#include <osgUtil/IntersectionVisitor>
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+BoneSelector::BoneSelector(PoseManager* poseMgr)
+    : m_poseMgr(poseMgr)
+{}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void BoneSelector::init(osgViewer::Viewer* viewer, osg::Group* sceneRoot) {
+    (void)viewer;
+
+    m_root = new osg::Group;
+    m_root->setName("BoneOverlay");
+
+    osg::StateSet* ss = m_root->getOrCreateStateSet();
+    ss->setMode(GL_LIGHTING,  osg::StateAttribute::OFF);
+    ss->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF);
+    ss->setRenderBinDetails(100, "RenderBin");
+
+    sceneRoot->addChild(m_root);
+    // Geometry built lazily on first updateVisualization() call
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void BoneSelector::buildInitialGeometry() {
+    if (!m_poseMgr || !m_poseMgr->isInitialized()) return;
+
+    const auto& names = m_poseMgr->boneNames();
+
+    // ── Lines ─────────────────────────────────────────────────────────────────
+    m_lineVerts  = new osg::Vec3Array;
+    m_lineColors = new osg::Vec4Array;
+    m_lineVerts->resize(names.size() * 2, osg::Vec3());
+    m_lineColors->resize(names.size() * 2, osg::Vec4(0.4f,0.8f,1.f,0.7f));
+
+    auto lineGeom = new osg::Geometry;
+    lineGeom->setDataVariance(osg::Object::DYNAMIC);
+    lineGeom->setVertexArray(m_lineVerts);
+    lineGeom->setColorArray(m_lineColors, osg::Array::BIND_PER_VERTEX);
+    lineGeom->addPrimitiveSet(
+        new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, m_lineVerts->size()));
+    lineGeom->getOrCreateStateSet()->setAttribute(new osg::LineWidth(1.5f));
+
+    m_lines = new osg::Geode;
+    m_lines->addDrawable(lineGeom);
+    m_root->addChild(m_lines);
+
+    // ── Spheres — one MatrixTransform per bone ────────────────────────────────
+    // We move them by updating their matrix, not rebuilding the drawables.
+    auto sphereGroup = new osg::Group;
+    m_root->addChild(sphereGroup);
+
+    m_sphereXforms.clear();
+    m_sphereBoneNames.clear();
+
+    for (const auto& name : names) {
+        auto xform = new osg::MatrixTransform;
+        xform->setName(name);
+        xform->setDataVariance(osg::Object::DYNAMIC);
+
+        auto sphere = new osg::ShapeDrawable(new osg::Sphere(osg::Vec3(), 0.012f));
+        sphere->setName(name);
+        sphere->setColor(osg::Vec4(0.3f, 0.9f, 1.f, 0.9f));
+
+        auto geode = new osg::Geode;
+        geode->addDrawable(sphere);
+        geode->setName(name);
+        xform->addChild(geode);
+
+        sphereGroup->addChild(xform);
+        m_sphereXforms.push_back(xform);
+        m_sphereBoneNames.push_back(name);
+    }
+
+    m_geometryBuilt = true;
+    std::cout << "[bones] Built overlay for " << names.size() << " bones.\n";
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void BoneSelector::updatePositions() {
+    if (!m_poseMgr) return;
+    // names accessed via m_sphereBoneNames
+    bool selChanged = (m_selected != m_prevSelected);
+    m_prevSelected = m_selected;
+
+    // Update line vertices and sphere transforms
+    int lineIdx = 0;
+    for (unsigned i = 0; i < m_sphereBoneNames.size() && i < m_sphereXforms.size(); ++i) {
+        const std::string& name = m_sphereBoneNames[i];
+        osg::Vec3 pos = m_poseMgr->getBoneWorldPos(name);
+
+        // Move sphere via transform
+        m_sphereXforms[i]->setMatrix(osg::Matrix::translate(pos));
+
+        // Update selection colour if changed
+        if (selChanged) {
+            bool isSel = (name == m_selected);
+            if (auto* geode = dynamic_cast<osg::Geode*>(
+                    m_sphereXforms[i]->getChild(0))) {
+                if (auto* sd = dynamic_cast<osg::ShapeDrawable*>(
+                        geode->getDrawable(0))) {
+                    sd->setColor(isSel
+                        ? osg::Vec4(1.f, 0.9f, 0.f, 1.f)
+                        : osg::Vec4(0.3f, 0.9f, 1.f, 0.9f));
+                }
+            }
+        }
+
+        // Line: parent → this bone
+        std::string parent = m_poseMgr->boneParent(name);
+        if (!parent.empty() && lineIdx + 1 < (int)m_lineVerts->size()) {
+            osg::Vec3 parentPos = m_poseMgr->getBoneWorldPos(parent);
+            bool isSel = (name == m_selected || parent == m_selected);
+            (*m_lineVerts)[lineIdx]   = parentPos;
+            (*m_lineVerts)[lineIdx+1] = pos;
+            osg::Vec4 col = isSel
+                ? osg::Vec4(1.f, 0.8f, 0.f, 1.f)
+                : osg::Vec4(0.4f, 0.8f, 1.f, 0.7f);
+            (*m_lineColors)[lineIdx]   = col;
+            (*m_lineColors)[lineIdx+1] = col;
+            lineIdx += 2;
+        }
+    }
+
+    // Dirty line arrays
+    if (m_lineVerts)  m_lineVerts->dirty();
+    if (m_lineColors) m_lineColors->dirty();
+    if (m_lines && m_lines->getNumDrawables() > 0)
+        m_lines->getDrawable(0)->dirtyBound();
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void BoneSelector::updateVisualization() {
+    if (!m_poseMgr || !m_poseMgr->isInitialized() || !m_visible) {
+        if (m_root) m_root->setNodeMask(0);
+        return;
+    }
+    m_root->setNodeMask(~0u);
+
+    if (!m_geometryBuilt) buildInitialGeometry();
+
+    updatePositions();
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+std::string BoneSelector::pick(float mouseX, float mouseY,
+                                osgViewer::Viewer* viewer) {
+    if (!viewer || !m_root) return {};
+
+    osg::ref_ptr<osgUtil::LineSegmentIntersector> intersector =
+        new osgUtil::LineSegmentIntersector(
+            osgUtil::Intersector::WINDOW, mouseX, mouseY);
+
+    osgUtil::IntersectionVisitor iv(intersector);
+    m_root->accept(iv);
+
+    if (!intersector->containsIntersections()) return {};
+
+    const auto& hit = *intersector->getIntersections().begin();
+
+    // Walk node path for named node
+    for (auto it = hit.nodePath.rbegin(); it != hit.nodePath.rend(); ++it) {
+        const std::string& n = (*it)->getName();
+        if (!n.empty() && std::find(m_sphereBoneNames.begin(),
+                                     m_sphereBoneNames.end(), n)
+                          != m_sphereBoneNames.end())
+            return n;
+    }
+    if (hit.drawable.valid() && !hit.drawable->getName().empty())
+        return hit.drawable->getName();
+
+    return {};
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void BoneSelector::setSelected(const std::string& boneName) {
+    m_selected = boneName;
+}
+
+void BoneSelector::setVisible(bool v) {
+    m_visible = v;
+    if (m_root) m_root->setNodeMask(v ? ~0u : 0u);
+}

src/ImGuiLayer.cpp

@@ -1,6 +1,8 @@
 #include "ImGuiLayer.h"
 #include "MorphManager.h"
 #include "AppConfig.h"
+#include "PoseManager.h"
+#include "BoneSelector.h"
 
 #include <iostream>
 #include <algorithm>
@@ -266,6 +268,10 @@ void ImGuiLayer::renderPanel() {
             renderTransformTab();
             ImGui::EndTabItem();
         }
+        if (ImGui::BeginTabItem("Pose")) {
+            renderPoseTab();
+            ImGui::EndTabItem();
+        }
         ImGui::EndTabBar();
     }
 
@@ -413,7 +419,6 @@ void ImGuiLayer::renderShaderTab() {
 // ── Transform tab ─────────────────────────────────────────────────────────────
 
 void ImGuiLayer::renderTransformTab() {
-    ImGui::Spacing();
     ImGui::TextDisabled("Model scale:");
     ImGui::Spacing();
 
@@ -482,4 +487,175 @@ void ImGuiLayer::renderTransformTab() {
         if (active) ImGui::PopStyleColor();
         col = (col + 1) % 3;
     }
+}
+
+// ── Pose tab ──────────────────────────────────────────────────────────────────
+
+void ImGuiLayer::renderPoseTab() {
+    ImGui::Spacing();
+
+    // ── Enable toggle ─────────────────────────────────────────────────────────
+    if (ImGui::Checkbox("Enable Pose Mode", &m_poseEnabled)) {
+        if (onPoseModeToggle) onPoseModeToggle(m_poseEnabled);
+    }
+    ImGui::SameLine();
+    ImGui::TextDisabled("(?)");
+    if (ImGui::IsItemHovered())
+        ImGui::SetTooltip("Click bones in viewport to select.\n"
+                          "Adjust rotation/translation below.");
+
+    if (!m_poseEnabled) {
+        ImGui::Spacing();
+        ImGui::TextDisabled("Enable pose mode to edit bones.");
+        return;
+    }
+
+    if (!m_poseMgr || !m_poseMgr->isInitialized()) {
+        ImGui::TextDisabled("No skeleton loaded.");
+        return;
+    }
+
+    // ── Skeleton visibility ───────────────────────────────────────────────────
+    if (ImGui::Checkbox("Show Skeleton", &m_bonesVisible)) {
+        if (onBoneVisToggle) onBoneVisToggle(m_bonesVisible);
+    }
+
+    float bw = ImGui::GetContentRegionAvail().x;
+    if (ImGui::Button("Reset All Bones", ImVec2(bw, 28.f)))
+        m_poseMgr->resetAll();
+
+    ImGui::Separator();
+    ImGui::Spacing();
+
+    // ── Selected bone gizmo ───────────────────────────────────────────────────
+    if (!m_selectedBone.empty()) {
+        ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 0.85f, 0.3f, 1.f));
+        ImGui::Text("Selected: %s", m_selectedBone.c_str());
+        ImGui::PopStyleColor();
+
+        // pose fetched per-control below
+
+        // Sync euler display from current pose quat
+        // Convert quat → euler (degrees) on first selection or change
+        // (changed flag removed — pose applied immediately via callback)
+
+        ImGui::Spacing();
+        ImGui::TextUnformatted("Rotation (degrees):");
+        ImGui::SetNextItemWidth(-1.f);
+        if (ImGui::SliderFloat3("##rot", m_boneEuler, -180.f, 180.f)) {
+            // Convert euler degrees to quaternion
+            float rx = m_boneEuler[0] * M_PI / 180.f;
+            float ry = m_boneEuler[1] * M_PI / 180.f;
+            float rz = m_boneEuler[2] * M_PI / 180.f;
+            osg::Quat qx(rx, osg::Vec3(1,0,0));
+            osg::Quat qy(ry, osg::Vec3(0,1,0));
+            osg::Quat qz(rz, osg::Vec3(0,0,1));
+            m_poseMgr->setBoneRotation(m_selectedBone, qz * qy * qx);
+
+        }
+
+        ImGui::Spacing();
+        ImGui::TextUnformatted("Translation:");
+        ImGui::SetNextItemWidth(-1.f);
+        if (ImGui::SliderFloat3("##trans", m_boneTrans, -0.5f, 0.5f)) {
+            m_poseMgr->setBoneTranslation(m_selectedBone,
+                osg::Vec3(m_boneTrans[0], m_boneTrans[1], m_boneTrans[2]));
+
+        }
+
+        ImGui::Spacing();
+        if (ImGui::Button("Reset This Bone", ImVec2(-1.f, 26.f))) {
+            m_poseMgr->resetBone(m_selectedBone);
+            memset(m_boneEuler, 0, sizeof(m_boneEuler));
+            memset(m_boneTrans, 0, sizeof(m_boneTrans));
+        }
+        ImGui::Separator();
+    } else {
+        ImGui::TextDisabled("Click a bone in the viewport\nor select from the tree below.");
+        ImGui::Separator();
+    }
+
+    // ── Bone search + tree ────────────────────────────────────────────────────
+    ImGui::Spacing();
+    ImGui::SetNextItemWidth(-1.f);
+    ImGui::InputText("##bonesearch", m_boneSearch, sizeof(m_boneSearch));
+    ImGui::Spacing();
+
+    ImGui::BeginChild("##bonetree", ImVec2(0, 0), false);
+
+    std::string filter(m_boneSearch);
+    std::transform(filter.begin(), filter.end(), filter.begin(), ::tolower);
+
+    if (filter.empty()) {
+        // Show as tree — find root bones (no parent)
+        const auto& allNames = m_poseMgr->boneNames();
+        for (const auto& name : allNames) {
+            if (m_poseMgr->boneParent(name).empty())
+                renderBoneTree(name, 0);
+        }
+    } else {
+        // Flat filtered list
+        for (const auto& name : m_poseMgr->boneNames()) {
+            std::string lname = name;
+            std::transform(lname.begin(), lname.end(), lname.begin(), ::tolower);
+            if (lname.find(filter) == std::string::npos) continue;
+
+            bool sel = (name == m_selectedBone);
+            if (sel) ImGui::PushStyleColor(ImGuiCol_Text,
+                                            ImVec4(1.f, 0.85f, 0.3f, 1.f));
+            if (ImGui::Selectable(name.c_str(), sel)) {
+                m_selectedBone = name;
+                if (m_boneSel) m_boneSel->setSelected(name);
+                memset(m_boneEuler, 0, sizeof(m_boneEuler));
+                memset(m_boneTrans, 0, sizeof(m_boneTrans));
+            }
+            if (sel) ImGui::PopStyleColor();
+        }
+    }
+
+    ImGui::EndChild();
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void ImGuiLayer::renderBoneTree(const std::string& boneName, int depth) {
+    const auto& childMap = m_poseMgr->boneChildren();
+    auto it = childMap.find(boneName);
+    bool hasChildren = (it != childMap.end() && !it->second.empty());
+    bool sel = (boneName == m_selectedBone);
+
+    // PushID ensures unique IDs even for bones with identical display names
+    ImGui::PushID(boneName.c_str());
+
+    ImGuiTreeNodeFlags flags = ImGuiTreeNodeFlags_OpenOnArrow
+                             | ImGuiTreeNodeFlags_SpanAvailWidth;
+    if (!hasChildren) flags |= ImGuiTreeNodeFlags_Leaf;
+    if (sel)          flags |= ImGuiTreeNodeFlags_Selected;
+
+    const auto& pose = m_poseMgr->getBonePose(boneName);
+    int colorsPushed = 0;
+    if (pose.modified) {
+        ImGui::PushStyleColor(ImGuiCol_Text, ImVec4(1.f, 0.85f, 0.3f, 1.f));
+        ++colorsPushed;
+    }
+
+    bool open = ImGui::TreeNodeEx("##node", flags, "%s", boneName.c_str());
+
+    if (colorsPushed) ImGui::PopStyleColor(colorsPushed);
+
+    if (ImGui::IsItemClicked()) {
+        m_selectedBone = boneName;
+        if (m_boneSel) m_boneSel->setSelected(boneName);
+        memset(m_boneEuler, 0, sizeof(m_boneEuler));
+        memset(m_boneTrans, 0, sizeof(m_boneTrans));
+    }
+
+    if (open) {
+        if (hasChildren)
+            for (const auto& child : it->second)
+                renderBoneTree(child, depth + 1);
+        ImGui::TreePop();
+    }
+
+    ImGui::PopID();
 }

src/PoseManager.cpp

@@ -0,0 +1,173 @@
+#include "PoseManager.h"
+#include <algorithm>
+#include <iostream>
+#include <functional>
+#include <osg/NodeVisitor>
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void PoseManager::init(
+        osgAnimation::Skeleton* skeleton,
+        const std::unordered_map<std::string,
+            osg::ref_ptr<osgAnimation::Bone>>& boneMap) {
+
+    m_skeleton = skeleton;
+    m_boneMap  = boneMap;
+
+    // Run one update traversal so all bones get their initial matrices computed
+    // from their StackedTransform, then we capture those as bind matrices.
+    {
+        osg::NodeVisitor nv(osg::NodeVisitor::UPDATE_VISITOR,
+                            osg::NodeVisitor::TRAVERSE_ALL_CHILDREN);
+        nv.setTraversalNumber(1);
+        skeleton->accept(nv);
+    }
+
+    for (auto& [name, bone] : boneMap) {
+        // Capture bind pose AFTER the first update so it reflects the
+        // fully-composed local matrix from StackedTransform
+        m_bindMatrices[name] = bone->getMatrix();
+        m_poses[name] = BonePose{};
+
+        // Remove the UpdateBone callback permanently — we drive all bone
+        // matrices manually from now on. This prevents the callback from
+        // ever overwriting our pose values.
+        bone->setUpdateCallback(nullptr);
+    }
+
+    // Build hierarchy from root bones only
+    for (auto& [name, bone] : boneMap) {
+        bool hasParentInMap = false;
+        for (unsigned i = 0; i < bone->getNumParents(); ++i) {
+            auto* parent = dynamic_cast<osgAnimation::Bone*>(bone->getParent(i));
+            if (parent && boneMap.count(parent->getName())) {
+                hasParentInMap = true;
+                break;
+            }
+        }
+        if (!hasParentInMap)
+            buildHierarchy(bone.get(), "");
+    }
+
+    m_boneNames.clear();
+    for (auto& [name, _] : boneMap)
+        m_boneNames.push_back(name);
+    std::sort(m_boneNames.begin(), m_boneNames.end());
+
+    m_traversalCount = 1000;
+    m_initialized = true;
+    std::cout << "[pose] PoseManager initialized: " << boneMap.size() << " bones.\n";
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void PoseManager::buildHierarchy(osgAnimation::Bone* bone,
+                                   const std::string& parentName) {
+    std::string name = bone->getName();
+    if (!parentName.empty()) {
+        m_parents[name] = parentName;
+        m_children[parentName].push_back(name);
+    }
+    for (unsigned i = 0; i < bone->getNumChildren(); ++i) {
+        auto* child = dynamic_cast<osgAnimation::Bone*>(bone->getChild(i));
+        if (child) buildHierarchy(child, name);
+    }
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+std::string PoseManager::boneParent(const std::string& name) const {
+    auto it = m_parents.find(name);
+    return it != m_parents.end() ? it->second : "";
+}
+
+void PoseManager::setBoneRotation(const std::string& name, const osg::Quat& q) {
+    auto it = m_poses.find(name);
+    if (it == m_poses.end()) return;
+    it->second.rotation = q;
+    it->second.modified = true;
+}
+
+void PoseManager::setBoneTranslation(const std::string& name, const osg::Vec3& t) {
+    auto it = m_poses.find(name);
+    if (it == m_poses.end()) return;
+    it->second.translation = t;
+    it->second.modified    = true;
+}
+
+void PoseManager::resetBone(const std::string& name) {
+    auto it = m_poses.find(name);
+    if (it == m_poses.end()) return;
+    it->second = BonePose{};
+}
+
+void PoseManager::resetAll() {
+    for (auto& [name, pose] : m_poses) pose = BonePose{};
+}
+
+const PoseManager::BonePose& PoseManager::getBonePose(const std::string& name) const {
+    auto it = m_poses.find(name);
+    return it != m_poses.end() ? it->second : m_defaultPose;
+}
+
+osg::Vec3 PoseManager::getBoneWorldPos(const std::string& name) const {
+    auto it = m_boneMap.find(name);
+    if (it == m_boneMap.end()) return {};
+    return it->second->getMatrixInSkeletonSpace().getTrans();
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void PoseManager::updateSkeletonMatrices() {
+    // Since all UpdateBone callbacks are removed, we manually propagate
+    // bone matrices through the hierarchy by walking parent→child.
+    if (!m_initialized || !m_skeleton) return;
+
+    // Walk the skeleton tree and compute skeleton-space matrices
+    std::function<void(osgAnimation::Bone*, const osg::Matrix&)> propagate =
+        [&](osgAnimation::Bone* bone, const osg::Matrix& parentSkelMat) {
+            osg::Matrix skelMat = bone->getMatrix() * parentSkelMat;
+            bone->setMatrixInSkeletonSpace(skelMat);
+            for (unsigned i = 0; i < bone->getNumChildren(); ++i) {
+                auto* child = dynamic_cast<osgAnimation::Bone*>(bone->getChild(i));
+                if (child) propagate(child, skelMat);
+            }
+        };
+
+    // Skeleton's own matrix is identity by default
+    for (unsigned i = 0; i < m_skeleton->getNumChildren(); ++i) {
+        auto* root = dynamic_cast<osgAnimation::Bone*>(m_skeleton->getChild(i));
+        if (root) propagate(root, m_skeleton->getMatrix());
+    }
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+
+void PoseManager::applyPose() {
+    if (!m_initialized) return;
+
+    // Set each bone's local matrix: bind pose + pose delta
+    for (auto& [name, pose] : m_poses) {
+        auto boneIt = m_boneMap.find(name);
+        if (boneIt == m_boneMap.end()) continue;
+        osgAnimation::Bone* bone = boneIt->second.get();
+
+        auto bindIt = m_bindMatrices.find(name);
+        if (bindIt == m_bindMatrices.end()) continue;
+        const osg::Matrix& bind = bindIt->second;
+
+        if (!pose.modified) {
+            bone->setMatrix(bind);
+            continue;
+        }
+
+        osg::Vec3 bindTrans = bind.getTrans();
+        osg::Quat bindRot; osg::Vec3 sc; osg::Quat so;
+        bind.decompose(bindTrans, bindRot, sc, so);
+
+        bone->setMatrix(
+            osg::Matrix::scale(sc) *
+            osg::Matrix::rotate(pose.rotation * bindRot) *
+            osg::Matrix::translate(bindTrans + pose.translation));
+    }
+}

src/ShaderManager.cpp

@@ -12,6 +12,7 @@
 #include <osg/CullFace>
 #include <osg/BlendFunc>
 #include <osg/NodeVisitor>
+#include <osgAnimation/RigGeometry>
 #include <osg/Geode>
 #include <osg/Drawable>
 
@@ -83,11 +84,15 @@ public:
             osg::Drawable* drawable = geode.getDrawable(i);
             if (!drawable) continue;
 
-            // Use getStateSet() — don't create one if absent, it means
-            // this drawable truly has no material/texture.
-            osg::StateSet* ss = drawable->getStateSet();
+            // RigGeometry stores material/texture on its SOURCE geometry
+            osg::StateSet* ss = nullptr;
+            if (auto* rig = dynamic_cast<osgAnimation::RigGeometry*>(drawable)) {
+                if (rig->getSourceGeometry())
+                    ss = rig->getSourceGeometry()->getStateSet();
+            }
+            if (!ss) ss = drawable->getStateSet();
+
             if (!ss) {
-                // No StateSet at all — create one and mark no texture
                 ss = drawable->getOrCreateStateSet();
                 ss->addUniform(new osg::Uniform("u_hasTexture", false),
                                osg::StateAttribute::ON | osg::StateAttribute::OVERRIDE);

src/SkeletonLoader.cpp

@@ -0,0 +1,473 @@
+#include "SkeletonLoader.h"
+#include "MorphManager.h"
+
+#include <iostream>
+#include <filesystem>
+#include <functional>
+#include <unordered_set>
+
+#include <assimp/scene.h>
+#include <assimp/postprocess.h>
+
+#include <osg/Geode>
+#include <osg/Geometry>
+#include <osg/Material>
+#include <osg/Texture2D>
+#include <osg/BlendFunc>
+#include <osg/MatrixTransform>
+#include <osgDB/ReadFile>
+
+#include <osgAnimation/RigGeometry>
+#include <osgAnimation/MorphGeometry>
+#include <osgAnimation/UpdateBone>
+#include <osgAnimation/StackedTransform>
+#include <osgAnimation/StackedQuaternionElement>
+#include <osgAnimation/StackedTranslateElement>
+
+namespace fs = std::filesystem;
+
+// ── Helpers ───────────────────────────────────────────────────────────────────
+
+static osg::ref_ptr<osg::Texture2D> loadTex(const std::string& path) {
+    auto tryLoad = [](const std::string& p) -> osg::ref_ptr<osg::Texture2D> {
+        auto img = osgDB::readImageFile(p);
+        if (!img) return {};
+        auto t = new osg::Texture2D(img);
+        t->setWrap(osg::Texture::WRAP_S, osg::Texture::REPEAT);
+        t->setWrap(osg::Texture::WRAP_T, osg::Texture::REPEAT);
+        t->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR_MIPMAP_LINEAR);
+        t->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
+        return t;
+    };
+    if (auto t = tryLoad(path)) return t;
+    auto dot = path.rfind('.');
+    if (dot != std::string::npos)
+        for (auto ext : {".jpg",".jpeg",".png",".tga",".bmp"})
+            if (auto t = tryLoad(path.substr(0, dot) + ext)) return t;
+    return {};
+}
+
+static osg::Matrix aiToOsg(const aiMatrix4x4& m) {
+    return osg::Matrix(m.a1,m.b1,m.c1,m.d1, m.a2,m.b2,m.c2,m.d2,
+                       m.a3,m.b3,m.c3,m.d3, m.a4,m.b4,m.c4,m.d4);
+}
+
+// ── applyMaterial ─────────────────────────────────────────────────────────────
+
+void SkeletonLoader::applyMaterial(osg::StateSet* ss, const aiMesh* mesh,
+                                    const aiScene* scene, const std::string& baseDir) {
+    if (mesh->mMaterialIndex >= scene->mNumMaterials) return;
+    const aiMaterial* mat = scene->mMaterials[mesh->mMaterialIndex];
+
+    auto osgMat = new osg::Material;
+    aiColor4D col;
+    if (AI_SUCCESS == mat->Get(AI_MATKEY_COLOR_DIFFUSE,  col))
+        osgMat->setDiffuse (osg::Material::FRONT_AND_BACK,{col.r,col.g,col.b,col.a});
+    if (AI_SUCCESS == mat->Get(AI_MATKEY_COLOR_AMBIENT,  col))
+        osgMat->setAmbient (osg::Material::FRONT_AND_BACK,{col.r,col.g,col.b,col.a});
+    if (AI_SUCCESS == mat->Get(AI_MATKEY_COLOR_SPECULAR, col))
+        osgMat->setSpecular(osg::Material::FRONT_AND_BACK,{col.r,col.g,col.b,col.a});
+    float shin = 0;
+    if (AI_SUCCESS == mat->Get(AI_MATKEY_SHININESS, shin))
+        osgMat->setShininess(osg::Material::FRONT_AND_BACK, std::min(shin,128.f));
+    ss->setAttribute(osgMat, osg::StateAttribute::ON);
+
+    if (mat->GetTextureCount(aiTextureType_DIFFUSE) > 0) {
+        aiString tp; mat->GetTexture(aiTextureType_DIFFUSE, 0, &tp);
+        std::string full = baseDir + "/" + tp.C_Str();
+        for (char& c : full) if (c=='\\') c='/';
+        if (auto tex = loadTex(full))
+            ss->setTextureAttributeAndModes(0, tex, osg::StateAttribute::ON);
+    }
+
+    float opacity = 1.f; mat->Get(AI_MATKEY_OPACITY, opacity);
+    if (opacity < 1.f) {
+        ss->setMode(GL_BLEND, osg::StateAttribute::ON);
+        ss->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
+        ss->setAttribute(new osg::BlendFunc(osg::BlendFunc::SRC_ALPHA,
+                                            osg::BlendFunc::ONE_MINUS_SRC_ALPHA));
+    }
+}
+
+// ── convertStaticMesh ─────────────────────────────────────────────────────────
+
+osg::ref_ptr<osg::Geode> SkeletonLoader::convertStaticMesh(
+        const aiMesh* mesh, const aiScene* scene,
+        const std::string& baseDir, MorphManager* morphMgr) {
+
+    auto geode = new osg::Geode;
+    auto geom  = new osg::Geometry;
+
+    auto baseVerts = new osg::Vec3Array;
+    baseVerts->reserve(mesh->mNumVertices);
+    for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+        baseVerts->push_back({mesh->mVertices[i].x,mesh->mVertices[i].y,mesh->mVertices[i].z});
+    geom->setVertexArray(new osg::Vec3Array(*baseVerts));
+
+    osg::ref_ptr<osg::Vec3Array> baseNormals;
+    if (mesh->HasNormals()) {
+        baseNormals = new osg::Vec3Array;
+        baseNormals->reserve(mesh->mNumVertices);
+        for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+            baseNormals->push_back({mesh->mNormals[i].x,mesh->mNormals[i].y,mesh->mNormals[i].z});
+        geom->setNormalArray(new osg::Vec3Array(*baseNormals), osg::Array::BIND_PER_VERTEX);
+    }
+
+    if (mesh->HasTextureCoords(0)) {
+        auto uvs = new osg::Vec2Array; uvs->reserve(mesh->mNumVertices);
+        for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+            uvs->push_back({mesh->mTextureCoords[0][i].x, mesh->mTextureCoords[0][i].y});
+        geom->setTexCoordArray(0, uvs, osg::Array::BIND_PER_VERTEX);
+    }
+
+    auto indices = new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES);
+    for (unsigned f = 0; f < mesh->mNumFaces; ++f) {
+        if (mesh->mFaces[f].mNumIndices != 3) continue;
+        indices->push_back(mesh->mFaces[f].mIndices[0]);
+        indices->push_back(mesh->mFaces[f].mIndices[1]);
+        indices->push_back(mesh->mFaces[f].mIndices[2]);
+    }
+    if (indices->empty()) return geode;
+    geom->addPrimitiveSet(indices);
+    applyMaterial(geom->getOrCreateStateSet(), mesh, scene, baseDir);
+
+    if (morphMgr && mesh->mNumAnimMeshes > 0) {
+        geom->setDataVariance(osg::Object::DYNAMIC);
+        geom->setUseDisplayList(false);
+        geom->setUseVertexBufferObjects(true);
+        if (auto* v = dynamic_cast<osg::Vec3Array*>(geom->getVertexArray()))
+            v->setDataVariance(osg::Object::DYNAMIC);
+        if (auto* n = dynamic_cast<osg::Vec3Array*>(geom->getNormalArray()))
+            n->setDataVariance(osg::Object::DYNAMIC);
+
+        morphMgr->registerMesh(geom, baseVerts, baseNormals);
+        int reg = 0;
+        for (unsigned a = 0; a < mesh->mNumAnimMeshes; ++a) {
+            const aiAnimMesh* am = mesh->mAnimMeshes[a];
+            std::string name = am->mName.C_Str();
+            if (name.empty() || (name.size()>3&&name.front()=='-'&&name.back()=='-')) continue;
+            if (am->mNumVertices != mesh->mNumVertices) continue;
+            auto dv = new osg::Vec3Array; dv->resize(mesh->mNumVertices);
+            for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+                (*dv)[i]={am->mVertices[i].x-mesh->mVertices[i].x,
+                          am->mVertices[i].y-mesh->mVertices[i].y,
+                          am->mVertices[i].z-mesh->mVertices[i].z};
+            osg::ref_ptr<osg::Vec3Array> dn;
+            if (am->mNormals && mesh->HasNormals()) {
+                dn = new osg::Vec3Array; dn->resize(mesh->mNumVertices);
+                for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+                    (*dn)[i]={am->mNormals[i].x-mesh->mNormals[i].x,
+                              am->mNormals[i].y-mesh->mNormals[i].y,
+                              am->mNormals[i].z-mesh->mNormals[i].z};
+            }
+            morphMgr->addTarget(geom, name, dv, dn);
+            ++reg;
+        }
+        if (reg) std::cout << "[skel] Static \"" << mesh->mName.C_Str()
+                           << "\": " << reg << " morphs\n";
+    }
+
+    geode->addDrawable(geom);
+    return geode;
+}
+
+// ── convertSkinnedMesh ────────────────────────────────────────────────────────
+
+osg::ref_ptr<osgAnimation::RigGeometry> SkeletonLoader::convertSkinnedMesh(
+        const aiMesh* mesh, const aiScene* scene,
+        const std::string& baseDir, MorphManager* morphMgr,
+        const std::unordered_map<std::string,
+            osg::ref_ptr<osgAnimation::Bone>>& boneMap) {
+
+    auto srcGeom = new osg::Geometry;
+
+    auto verts = new osg::Vec3Array; verts->reserve(mesh->mNumVertices);
+    for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+        verts->push_back({mesh->mVertices[i].x,mesh->mVertices[i].y,mesh->mVertices[i].z});
+    srcGeom->setVertexArray(verts);
+
+    if (mesh->HasNormals()) {
+        auto norms = new osg::Vec3Array; norms->reserve(mesh->mNumVertices);
+        for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+            norms->push_back({mesh->mNormals[i].x,mesh->mNormals[i].y,mesh->mNormals[i].z});
+        srcGeom->setNormalArray(norms, osg::Array::BIND_PER_VERTEX);
+    }
+
+    if (mesh->HasTextureCoords(0)) {
+        auto uvs = new osg::Vec2Array; uvs->reserve(mesh->mNumVertices);
+        for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+            uvs->push_back({mesh->mTextureCoords[0][i].x, mesh->mTextureCoords[0][i].y});
+        srcGeom->setTexCoordArray(0, uvs, osg::Array::BIND_PER_VERTEX);
+    }
+
+    auto indices = new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES);
+    for (unsigned f = 0; f < mesh->mNumFaces; ++f) {
+        if (mesh->mFaces[f].mNumIndices != 3) continue;
+        indices->push_back(mesh->mFaces[f].mIndices[0]);
+        indices->push_back(mesh->mFaces[f].mIndices[1]);
+        indices->push_back(mesh->mFaces[f].mIndices[2]);
+    }
+    if (!indices->empty()) srcGeom->addPrimitiveSet(indices);
+    applyMaterial(srcGeom->getOrCreateStateSet(), mesh, scene, baseDir);
+
+    // Build vertex influence map
+    auto* vim = new osgAnimation::VertexInfluenceMap;
+    int mappedBones = 0, skippedBones = 0;
+    for (unsigned b = 0; b < mesh->mNumBones; ++b) {
+        const aiBone* bone = mesh->mBones[b];
+        std::string bname = bone->mName.C_Str();
+        if (!boneMap.count(bname)) { ++skippedBones; continue; }
+        ++mappedBones;
+        auto& vi = (*vim)[bname];
+        vi.setName(bname);
+        for (unsigned w = 0; w < bone->mNumWeights; ++w)
+            vi.push_back(osgAnimation::VertexIndexWeight(
+                bone->mWeights[w].mVertexId, bone->mWeights[w].mWeight));
+    }
+
+    if (skippedBones > 0)
+        std::cout << "[skel] Influence map \"" << mesh->mName.C_Str()
+                  << "\": " << mappedBones << " mapped, "
+                  << skippedBones << " skipped (not in boneMap)\n";
+
+    auto rig = new osgAnimation::RigGeometry;
+    rig->setName(mesh->mName.C_Str());
+    rig->setSourceGeometry(srcGeom);
+    rig->setInfluenceMap(vim);
+    rig->setDataVariance(osg::Object::DYNAMIC);
+    rig->setUseDisplayList(false);
+    rig->setUseVertexBufferObjects(true);
+
+    // Register morphs on the source geometry if present
+    // RigGeometry deforms the source geometry, so morphs must target it
+    if (morphMgr && mesh->mNumAnimMeshes > 0) {
+        auto baseVerts = dynamic_cast<osg::Vec3Array*>(srcGeom->getVertexArray());
+        auto baseNorms = dynamic_cast<osg::Vec3Array*>(srcGeom->getNormalArray());
+        if (baseVerts) {
+            srcGeom->setDataVariance(osg::Object::DYNAMIC);
+            morphMgr->registerMesh(srcGeom, baseVerts,
+                osg::ref_ptr<osg::Vec3Array>(baseNorms));
+            int reg = 0;
+            for (unsigned a = 0; a < mesh->mNumAnimMeshes; ++a) {
+                const aiAnimMesh* am = mesh->mAnimMeshes[a];
+                std::string mname = am->mName.C_Str();
+                if (mname.empty() || (mname.size()>3 &&
+                    mname.front()=='-' && mname.back()=='-')) continue;
+                if (am->mNumVertices != mesh->mNumVertices) continue;
+                auto dv = new osg::Vec3Array; dv->resize(mesh->mNumVertices);
+                for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+                    (*dv)[i] = {am->mVertices[i].x - mesh->mVertices[i].x,
+                                am->mVertices[i].y - mesh->mVertices[i].y,
+                                am->mVertices[i].z - mesh->mVertices[i].z};
+                osg::ref_ptr<osg::Vec3Array> dn;
+                if (am->mNormals && mesh->HasNormals()) {
+                    dn = new osg::Vec3Array; dn->resize(mesh->mNumVertices);
+                    for (unsigned i = 0; i < mesh->mNumVertices; ++i)
+                        (*dn)[i] = {am->mNormals[i].x - mesh->mNormals[i].x,
+                                    am->mNormals[i].y - mesh->mNormals[i].y,
+                                    am->mNormals[i].z - mesh->mNormals[i].z};
+                }
+                morphMgr->addTarget(srcGeom, mname, dv, dn);
+                ++reg;
+            }
+            if (reg) std::cout << "[skel] Rig \"" << mesh->mName.C_Str()
+                               << "\" morphs=" << reg << "\n";
+        }
+    }
+
+    std::cout << "[skel] Rig \"" << mesh->mName.C_Str()
+              << "\" bones=" << mesh->mNumBones
+              << " verts=" << mesh->mNumVertices << "\n";
+    return rig;
+}
+
+// ── buildBoneTree ─────────────────────────────────────────────────────────────
+
+osg::ref_ptr<osgAnimation::Bone> SkeletonLoader::buildBoneTree(
+        const aiNode* node,
+        const std::unordered_map<std::string, bool>& boneNames,
+        std::unordered_map<std::string,
+            osg::ref_ptr<osgAnimation::Bone>>& boneMap,
+        const osg::Matrix& parentAccum) {
+
+    std::string name = node->mName.C_Str();
+
+    // Assimp injects "$AssimpFbx$_Translation" / "$AssimpFbx$_PreRotation"
+    // helper nodes between real bone nodes when reading FBX files.
+    // We must pass through them transparently to reach the real bone children.
+    if (!boneNames.count(name)) {
+        // "$AssimpFbx$_Translation", "$AssimpFbx$_PreRotation" etc.
+        // These helpers carry transform data that belongs to the next real bone.
+        // Accumulate them and pass the combined matrix down to the real bone.
+        // Chain this helper's transform onto the incoming accumulation
+        osg::Matrix accumulated = parentAccum * aiToOsg(node->mTransformation);
+        for (unsigned i = 0; i < node->mNumChildren; ++i) {
+            auto child = buildBoneTree(node->mChildren[i], boneNames, boneMap,
+                                       accumulated);
+            if (child) return child;
+        }
+        return {};
+    }
+
+    // Bail if already built (prevents double-add via multiple helper paths)
+    if (boneMap.count(name)) return boneMap[name];
+
+    // Combine accumulated parent helper transforms with this bone's own transform
+    osg::Matrix localMat = parentAccum * aiToOsg(node->mTransformation);
+    auto bone = new osgAnimation::Bone(name);
+    bone->setMatrix(localMat);
+
+    auto updateCB = new osgAnimation::UpdateBone(name);
+    osg::Vec3 t = localMat.getTrans();
+    osg::Quat q; osg::Vec3 sc; osg::Quat so;
+    localMat.decompose(t, q, sc, so);
+    auto& stack = updateCB->getStackedTransforms();
+    stack.push_back(new osgAnimation::StackedTranslateElement("translate", t));
+    stack.push_back(new osgAnimation::StackedQuaternionElement("quaternion", q));
+    bone->setUpdateCallback(updateCB);
+
+    boneMap[name] = bone;  // register BEFORE recursing to break cycles
+
+    for (unsigned i = 0; i < node->mNumChildren; ++i) {
+        auto child = buildBoneTree(node->mChildren[i], boneNames, boneMap,
+                                    osg::Matrix::identity());
+        if (child && child.get() != bone && child->getNumParents() == 0)
+            bone->addChild(child);
+    }
+    return bone;
+}
+
+// ── findArmatureRoot ──────────────────────────────────────────────────────────
+
+const aiNode* SkeletonLoader::findArmatureRoot(
+        const aiNode* node,
+        const std::unordered_map<std::string, bool>& boneNames) {
+    if (boneNames.count(node->mName.C_Str())) return node;
+    for (unsigned i = 0; i < node->mNumChildren; ++i)
+        if (auto f = findArmatureRoot(node->mChildren[i], boneNames)) return f;
+    return nullptr;
+}
+
+// ── load ──────────────────────────────────────────────────────────────────────
+
+SkeletonLoader::Result SkeletonLoader::load(
+        const aiScene* scene, const std::string& baseDir, MorphManager* morphMgr) {
+
+    Result result;
+
+    // Collect bone names + inverse bind matrices
+    std::unordered_map<std::string, bool>       boneNames;
+    std::unordered_map<std::string, osg::Matrix> invBindMatrices;
+    for (unsigned m = 0; m < scene->mNumMeshes; ++m) {
+        const aiMesh* mesh = scene->mMeshes[m];
+        for (unsigned b = 0; b < mesh->mNumBones; ++b) {
+            const aiBone* bone = mesh->mBones[b];
+            boneNames[bone->mName.C_Str()] = true;
+            if (!invBindMatrices.count(bone->mName.C_Str()))
+                invBindMatrices[bone->mName.C_Str()] = aiToOsg(bone->mOffsetMatrix);
+        }
+    }
+
+    if (boneNames.empty()) { std::cerr << "[skel] No bones.\n"; return result; }
+    std::cout << "[skel] Found " << boneNames.size() << " bones.\n";
+
+    // Build skeleton
+    auto skeleton = new osgAnimation::Skeleton;
+    skeleton->setName("Skeleton");
+    skeleton->setDefaultUpdateCallback();
+    result.skeleton = skeleton;
+
+    const aiNode* armRoot = findArmatureRoot(scene->mRootNode, boneNames);
+    if (!armRoot) { std::cerr << "[skel] No armature root.\n"; return result; }
+
+    auto rootBone = buildBoneTree(armRoot, boneNames, result.boneMap,
+                                   osg::Matrix::identity());
+    if (!rootBone) { std::cerr << "[skel] Bone tree failed.\n"; return result; }
+    skeleton->addChild(rootBone);
+    std::cout << "[skel] Bone tree: " << result.boneMap.size() << " bones.\n";
+
+    // Recompute inverse bind matrices from our actual bone world positions.
+    // We can't use Assimp's mOffsetMatrix directly because we accumulated
+    // helper node transforms differently, so the bone world matrices we built
+    // don't match what Assimp computed. Instead, walk the bone tree to get
+    // each bone's world matrix and invert it.
+    {
+        // Build world matrices by walking the bone hierarchy
+        std::unordered_map<std::string, osg::Matrix> worldMatrices;
+        std::function<void(osgAnimation::Bone*, const osg::Matrix&)> computeWorld =
+            [&](osgAnimation::Bone* bone, const osg::Matrix& parentWorld) {
+                osg::Matrix world = bone->getMatrix() * parentWorld;
+                worldMatrices[bone->getName()] = world;
+                for (unsigned i = 0; i < bone->getNumChildren(); ++i) {
+                    auto* child = dynamic_cast<osgAnimation::Bone*>(bone->getChild(i));
+                    if (child) computeWorld(child, world);
+                }
+            };
+        computeWorld(rootBone.get(), osg::Matrix::identity());
+
+        for (auto& [name, bone] : result.boneMap) {
+            auto it = worldMatrices.find(name);
+            if (it != worldMatrices.end()) {
+                osg::Matrix invBind = osg::Matrix::inverse(it->second);
+                bone->setInvBindMatrixInSkeletonSpace(invBind);
+            }
+        }
+    }
+
+    // ── Scene graph ───────────────────────────────────────────────────────────
+    // RigGeometry finds its Skeleton by walking UP the parent path.
+    // So all mesh nodes must be DESCENDANTS of the Skeleton node.
+    //
+    //   result.root
+    //     skeleton              <- ancestor of all RigGeometry
+    //       meshGroup           <- mesh nodes go here
+    //         Body xform -> Geode -> RigGeometry
+    //         ...
+    //       rootBone (already added above)
+
+    result.root = new osg::Group;
+    result.root->setName("SkinnedModel");
+    result.root->addChild(skeleton);
+
+    // The skeleton populates its internal bone map automatically during
+    // the first update traversal via its default update callback.
+
+    auto meshGroup = new osg::Group;
+    meshGroup->setName("Meshes");
+    skeleton->addChild(meshGroup);   // meshes are children of skeleton
+
+    std::function<void(const aiNode*, osg::Group*)> walkNodes =
+        [&](const aiNode* node, osg::Group* parent) {
+            if (boneNames.count(node->mName.C_Str())) return;
+
+            osg::Matrix nodeMat = aiToOsg(node->mTransformation);
+            auto xform = new osg::MatrixTransform(nodeMat);
+            xform->setName(node->mName.C_Str());
+
+            for (unsigned mi = 0; mi < node->mNumMeshes; ++mi) {
+                const aiMesh* mesh = scene->mMeshes[node->mMeshes[mi]];
+                auto geode = new osg::Geode;
+                if (mesh->mNumBones > 0) {
+                    auto rig = convertSkinnedMesh(mesh, scene, baseDir,
+                                                   morphMgr, result.boneMap);
+                    if (rig) geode->addDrawable(rig);
+                } else {
+                    auto sg = convertStaticMesh(mesh, scene, baseDir, morphMgr);
+                    for (unsigned d = 0; d < sg->getNumDrawables(); ++d)
+                        geode->addDrawable(sg->getDrawable(d));
+                }
+                if (geode->getNumDrawables() > 0) xform->addChild(geode);
+            }
+
+            parent->addChild(xform);
+            for (unsigned ci = 0; ci < node->mNumChildren; ++ci)
+                walkNodes(node->mChildren[ci], xform);
+        };
+
+    for (unsigned n = 0; n < scene->mRootNode->mNumChildren; ++n)
+        walkNodes(scene->mRootNode->mChildren[n], meshGroup);
+
+    result.valid = true;
+    std::cout << "[skel] Done. " << result.boneMap.size() << " bones.\n";
+    return result;
+}