Saf2

.saf file contains contains a single instance of SAFFile.

SAFFile
{
Header header;
Skeleton skeleton;
}

Header
{
uint Signature; // = '2FAS'
}

Skeleton
{
uint NumJoints;
uint NumAnimations;
uint SkeletonID;  // it is mapped to name in 'i2n' file
SkeletonJoint Joints[NumJoints];
SkeletalAnimation Animations[NumAnimations];
}

SkeletonJoint
{
uint ParentIndex; // equals -1u (2^32 - 1 = 0xFFFFFFFF) if the joint is a root node of skeleton
RTf BindPose;
}

SkeletalAnimation
{
SkeletonJointKeyframeSequence KeyframeSequences[NumKeyframeSequences]; // NumKeyframeSequences number of joints (should equal to NumJoints)
}

SkeletonJointKeyframeSequence
{
uint NumFrames;
SkeletonJointKeyframe Frames[NumFrames];
}

SkeletonJointKeyframe
{
float BeginTime; // Begin time of a frame in seconds
RTf Pose;
}

RTf
{
quaternionf Rotation;            
vector3f Translation;
}

quaternionf
{
float w, x, y, z;
}