goat3d: fa5c52ea9d59 libs/anim/anim.c

goat3d

view libs/anim/anim.c @ 51:fa5c52ea9d59

foo

author	John Tsiombikas <nuclear@member.fsf.org>
date	Fri, 17 Jan 2014 18:16:09 +0200
parents
children	0ecb788a87f7

line source

1 #include <stdlib.h>

2 #include <limits.h>

3 #include <assert.h>

4 #include "anim.h"

5 #include "dynarr.h"

7 #define ROT_USE_SLERP

9 static void invalidate_cache(struct anm_node *node);

11 int anm_init_node(struct anm_node *node)

12 {

13 int i, j;

14 static const float defaults[] = {

15 0.0f, 0.0f, 0.0f, /* default position */

16 0.0f, 0.0f, 0.0f, 1.0f, /* default rotation quat */

17 1.0f, 1.0f, 1.0f /* default scale factor */

18 };

20 memset(node, 0, sizeof *node);

22 for(i=0; i<ANM_NUM_TRACKS; i++) {

23 if(anm_init_track(node->tracks + i) == -1) {

24 for(j=0; j<i; j++) {

25 anm_destroy_track(node->tracks + i);

26 }

27 }

28 anm_set_track_default(node->tracks + i, defaults[i]);

29 }

31 node->cache.time = ANM_TIME_INVAL;

32 node->cache.inv_time = ANM_TIME_INVAL;

33 return 0;

34 }

36 void anm_destroy_node(struct anm_node *node)

37 {

38 int i;

39 free(node->name);

41 for(i=0; i<ANM_NUM_TRACKS; i++) {

42 anm_destroy_track(node->tracks + i);

43 }

44 }

46 void anm_destroy_node_tree(struct anm_node *tree)

47 {

48 struct anm_node *c, *tmp;

50 if(!tree) return;

52 c = tree->child;

53 while(c) {

54 tmp = c;

55 c = c->next;

57 anm_destroy_node_tree(tmp);

58 }

59 anm_destroy_node(tree);

60 }

62 struct anm_node *anm_create_node(void)

63 {

64 struct anm_node *n;

66 if((n = malloc(sizeof *n))) {

67 if(anm_init_node(n) == -1) {

68 free(n);

69 return 0;

70 }

71 }

72 return n;

73 }

75 void anm_free_node(struct anm_node *node)

76 {

77 anm_destroy_node(node);

78 free(node);

79 }

81 void anm_free_node_tree(struct anm_node *tree)

82 {

83 struct anm_node *c, *tmp;

85 if(!tree) return;

87 c = tree->child;

88 while(c) {

89 tmp = c;

90 c = c->next;

92 anm_free_node_tree(tmp);

93 }

95 anm_free_node(tree);

96 }

98 int anm_set_node_name(struct anm_node *node, const char *name)

99 {

100 char *str;

101

102 if(!(str = malloc(strlen(name) + 1))) {

103 return -1;

104 }

105 strcpy(str, name);

106 free(node->name);

107 node->name = str;

108 return 0;

109 }

110

111 const char *anm_get_node_name(struct anm_node *node)

112 {

113 return node->name ? node->name : "";

114 }

115

116 void anm_set_interpolator(struct anm_node *node, enum anm_interpolator in)

117 {

118 int i;

119

120 for(i=0; i<ANM_NUM_TRACKS; i++) {

121 anm_set_track_interpolator(node->tracks + i, in);

122 }

123 invalidate_cache(node);

124 }

125

126 void anm_set_extrapolator(struct anm_node *node, enum anm_extrapolator ex)

127 {

128 int i;

129

130 for(i=0; i<ANM_NUM_TRACKS; i++) {

131 anm_set_track_extrapolator(node->tracks + i, ex);

132 }

133 invalidate_cache(node);

134 }

135

136 void anm_link_node(struct anm_node *p, struct anm_node *c)

137 {

138 c->next = p->child;

139 p->child = c;

140

141 c->parent = p;

142 invalidate_cache(c);

143 }

144

145 int anm_unlink_node(struct anm_node *p, struct anm_node *c)

146 {

147 struct anm_node *iter;

148

149 if(p->child == c) {

150 p->child = c->next;

151 c->next = 0;

152 invalidate_cache(c);

153 return 0;

154 }

155

156 iter = p->child;

157 while(iter->next) {

158 if(iter->next == c) {

159 iter->next = c->next;

160 c->next = 0;

161 invalidate_cache(c);

162 return 0;

163 }

164 }

165 return -1;

166 }

167

168 void anm_set_position(struct anm_node *node, vec3_t pos, anm_time_t tm)

169 {

170 anm_set_value(node->tracks + ANM_TRACK_POS_X, tm, pos.x);

171 anm_set_value(node->tracks + ANM_TRACK_POS_Y, tm, pos.y);

172 anm_set_value(node->tracks + ANM_TRACK_POS_Z, tm, pos.z);

173 invalidate_cache(node);

174 }

175

176 vec3_t anm_get_node_position(struct anm_node *node, anm_time_t tm)

177 {

178 vec3_t v;

179 v.x = anm_get_value(node->tracks + ANM_TRACK_POS_X, tm);

180 v.y = anm_get_value(node->tracks + ANM_TRACK_POS_Y, tm);

181 v.z = anm_get_value(node->tracks + ANM_TRACK_POS_Z, tm);

182 return v;

183 }

184

185 void anm_set_rotation(struct anm_node *node, quat_t rot, anm_time_t tm)

186 {

187 anm_set_value(node->tracks + ANM_TRACK_ROT_X, tm, rot.x);

188 anm_set_value(node->tracks + ANM_TRACK_ROT_Y, tm, rot.y);

189 anm_set_value(node->tracks + ANM_TRACK_ROT_Z, tm, rot.z);

190 anm_set_value(node->tracks + ANM_TRACK_ROT_W, tm, rot.w);

191 invalidate_cache(node);

192 }

193

194 quat_t anm_get_node_rotation(struct anm_node *node, anm_time_t tm)

195 {

196 #ifndef ROT_USE_SLERP

197 quat_t q;

198 q.x = anm_get_value(node->tracks + ANM_TRACK_ROT_X, tm);

199 q.y = anm_get_value(node->tracks + ANM_TRACK_ROT_Y, tm);

200 q.z = anm_get_value(node->tracks + ANM_TRACK_ROT_Z, tm);

201 q.w = anm_get_value(node->tracks + ANM_TRACK_ROT_W, tm);

202 return q;

203 #else

204 int idx0, idx1, last_idx;

205 anm_time_t tstart, tend;

206 float t, dt;

207 struct anm_track *track_x, *track_y, *track_z, *track_w;

208 quat_t q, q1, q2;

209

210 track_x = node->tracks + ANM_TRACK_ROT_X;

211 track_y = node->tracks + ANM_TRACK_ROT_Y;

212 track_z = node->tracks + ANM_TRACK_ROT_Z;

213 track_w = node->tracks + ANM_TRACK_ROT_W;

214

215 if(!track_x->count) {

216 q.x = track_x->def_val;

217 q.y = track_y->def_val;

218 q.z = track_z->def_val;

219 q.w = track_w->def_val;

220 return q;

221 }

222

223 last_idx = track_x->count - 1;

224

225 tstart = track_x->keys[0].time;

226 tend = track_x->keys[last_idx].time;

227

228 if(tstart == tend) {

229 q.x = track_x->keys[0].val;

230 q.y = track_y->keys[0].val;

231 q.z = track_z->keys[0].val;

232 q.w = track_w->keys[0].val;

233 return q;

234 }

235

236 tm = anm_remap_time(track_x, tm, tstart, tend);

237

238 idx0 = anm_get_key_interval(track_x, tm);

239 assert(idx0 >= 0 && idx0 < track_x->count);

240 idx1 = idx0 + 1;

241

242 if(idx0 == last_idx) {

243 q.x = track_x->keys[idx0].val;

244 q.y = track_y->keys[idx0].val;

245 q.z = track_z->keys[idx0].val;

246 q.w = track_w->keys[idx0].val;

247 return q;

248 }

249

250 dt = (float)(track_x->keys[idx1].time - track_x->keys[idx0].time);

251 t = (float)(tm - track_x->keys[idx0].time) / dt;

252

253 q1.x = track_x->keys[idx0].val;

254 q1.y = track_y->keys[idx0].val;

255 q1.z = track_z->keys[idx0].val;

256 q1.w = track_w->keys[idx0].val;

257

258 q2.x = track_x->keys[idx1].val;

259 q2.y = track_y->keys[idx1].val;

260 q2.z = track_z->keys[idx1].val;

261 q2.w = track_w->keys[idx1].val;

262

263 /*q1 = quat_normalize(q1);

264 q2 = quat_normalize(q2);*/

265

266 return quat_slerp(q1, q2, t);

267 #endif

268 }

269

270 void anm_set_scaling(struct anm_node *node, vec3_t scl, anm_time_t tm)

271 {

272 anm_set_value(node->tracks + ANM_TRACK_SCL_X, tm, scl.x);

273 anm_set_value(node->tracks + ANM_TRACK_SCL_Y, tm, scl.y);

274 anm_set_value(node->tracks + ANM_TRACK_SCL_Z, tm, scl.z);

275 invalidate_cache(node);

276 }

277

278 vec3_t anm_get_node_scaling(struct anm_node *node, anm_time_t tm)

279 {

280 vec3_t v;

281 v.x = anm_get_value(node->tracks + ANM_TRACK_SCL_X, tm);

282 v.y = anm_get_value(node->tracks + ANM_TRACK_SCL_Y, tm);

283 v.z = anm_get_value(node->tracks + ANM_TRACK_SCL_Z, tm);

284 return v;

285 }

286

287

288 vec3_t anm_get_position(struct anm_node *node, anm_time_t tm)

289 {

290 mat4_t xform;

291 vec3_t pos = {0.0, 0.0, 0.0};

292

293 if(!node->parent) {

294 return anm_get_node_position(node, tm);

295 }

296

297 anm_get_matrix(node, xform, tm);

298 return v3_transform(pos, xform);

299 }

300

301 quat_t anm_get_rotation(struct anm_node *node, anm_time_t tm)

302 {

303 quat_t rot, prot;

304 rot = anm_get_node_rotation(node, tm);

305

306 if(!node->parent) {

307 return rot;

308 }

309

310 prot = anm_get_rotation(node->parent, tm);

311 return quat_mul(prot, rot);

312 }

313

314 vec3_t anm_get_scaling(struct anm_node *node, anm_time_t tm)

315 {

316 vec3_t s, ps;

317 s = anm_get_node_scaling(node, tm);

318

319 if(!node->parent) {

320 return s;

321 }

322

323 ps = anm_get_scaling(node->parent, tm);

324 return v3_mul(s, ps);

325 }

326

327 void anm_set_pivot(struct anm_node *node, vec3_t piv)

328 {

329 node->pivot = piv;

330 }

331

332 vec3_t anm_get_pivot(struct anm_node *node)

333 {

334 return node->pivot;

335 }

336

337 void anm_get_node_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)

338 {

339 int i;

340 mat4_t rmat;

341 vec3_t pos, scale;

342 quat_t rot;

343

344 pos = anm_get_node_position(node, tm);

345 rot = anm_get_node_rotation(node, tm);

346 scale = anm_get_node_scaling(node, tm);

347

348 m4_set_translation(mat, node->pivot.x, node->pivot.y, node->pivot.z);

349

350 quat_to_mat4(rmat, rot);

351 for(i=0; i<3; i++) {

352 mat[i][0] = rmat[i][0];

353 mat[i][1] = rmat[i][1];

354 mat[i][2] = rmat[i][2];

355 }

356 /* this loop is equivalent to: m4_mult(mat, mat, rmat); */

357

358 mat[0][0] *= scale.x; mat[0][1] *= scale.y; mat[0][2] *= scale.z; mat[0][3] += pos.x;

359 mat[1][0] *= scale.x; mat[1][1] *= scale.y; mat[1][2] *= scale.z; mat[1][3] += pos.y;

360 mat[2][0] *= scale.x; mat[2][1] *= scale.y; mat[2][2] *= scale.z; mat[2][3] += pos.z;

361

362 m4_translate(mat, -node->pivot.x, -node->pivot.y, -node->pivot.z);

363

364 /* that's basically: pivot * rotation * translation * scaling * -pivot */

365 }

366

367 void anm_get_node_inv_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)

368 {

369 mat4_t tmp;

370 anm_get_node_matrix(node, tmp, tm);

371 m4_inverse(mat, tmp);

372 }

373

374 void anm_get_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)

375 {

376 if(node->cache.time != tm) {

377 anm_get_node_matrix(node, node->cache.matrix, tm);

378

379 if(node->parent) {

380 mat4_t parent_mat;

381

382 anm_get_matrix(node->parent, parent_mat, tm);

383 m4_mult(node->cache.matrix, parent_mat, node->cache.matrix);

384 }

385 node->cache.time = tm;

386 }

387 m4_copy(mat, node->cache.matrix);

388 }

389

390 void anm_get_inv_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)

391 {

392 if(node->cache.inv_time != tm) {

393 anm_get_matrix(node, mat, tm);

394 m4_inverse(node->cache.inv_matrix, mat);

395 node->cache.inv_time = tm;

396 }

397 m4_copy(mat, node->cache.inv_matrix);

398 }

399

400 anm_time_t anm_get_start_time(struct anm_node *node)

401 {

402 int i;

403 struct anm_node *c;

404 anm_time_t res = LONG_MAX;

405

406 for(i=0; i<ANM_NUM_TRACKS; i++) {

407 if(node->tracks[i].count) {

408 anm_time_t tm = node->tracks[i].keys[0].time;

409 if(tm < res) {

410 res = tm;

411 }

412 }

413 }

414

415 c = node->child;

416 while(c) {

417 anm_time_t tm = anm_get_start_time(c);

418 if(tm < res) {

419 res = tm;

420 }

421 c = c->next;

422 }

423 return res;

424 }

425

426 anm_time_t anm_get_end_time(struct anm_node *node)

427 {

428 int i;

429 struct anm_node *c;

430 anm_time_t res = LONG_MIN;

431

432 for(i=0; i<ANM_NUM_TRACKS; i++) {

433 if(node->tracks[i].count) {

434 anm_time_t tm = node->tracks[i].keys[node->tracks[i].count - 1].time;

435 if(tm > res) {

436 res = tm;

437 }

438 }

439 }

440

441 c = node->child;

442 while(c) {

443 anm_time_t tm = anm_get_end_time(c);

444 if(tm > res) {

445 res = tm;

446 }

447 c = c->next;

448 }

449 return res;

450 }

451

452 static void invalidate_cache(struct anm_node *node)

453 {

454 node->cache.time = node->cache.inv_time = ANM_TIME_INVAL;

455 }