nuclear@27: #include <stdlib.h>
nuclear@27: #include <limits.h>
nuclear@27: #include <assert.h>
nuclear@27: #include "anim.h"
nuclear@27: #include "dynarr.h"
nuclear@27: 
nuclear@27: #define ROT_USE_SLERP
nuclear@27: 
nuclear@27: static void invalidate_cache(struct anm_node *node);
nuclear@27: 
nuclear@27: int anm_init_node(struct anm_node *node)
nuclear@27: {
nuclear@27: 	int i, j;
nuclear@27: 	static const float defaults[] = {
nuclear@27: 		0.0f, 0.0f, 0.0f,		/* default position */
nuclear@27: 		0.0f, 0.0f, 0.0f, 1.0f,	/* default rotation quat */
nuclear@27: 		1.0f, 1.0f, 1.0f		/* default scale factor */
nuclear@27: 	};
nuclear@27: 
nuclear@27: 	memset(node, 0, sizeof *node);
nuclear@27: 
nuclear@27: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@27: 		if(anm_init_track(node->tracks + i) == -1) {
nuclear@27: 			for(j=0; j<i; j++) {
nuclear@27: 				anm_destroy_track(node->tracks + i);
nuclear@27: 			}
nuclear@27: 		}
nuclear@27: 		anm_set_track_default(node->tracks + i, defaults[i]);
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	node->cache.time = ANM_TIME_INVAL;
nuclear@27: 	node->cache.inv_time = ANM_TIME_INVAL;
nuclear@27: 	return 0;
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_destroy_node(struct anm_node *node)
nuclear@27: {
nuclear@27: 	int i;
nuclear@27: 	free(node->name);
nuclear@27: 
nuclear@27: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@27: 		anm_destroy_track(node->tracks + i);
nuclear@27: 	}
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_destroy_node_tree(struct anm_node *tree)
nuclear@27: {
nuclear@27: 	struct anm_node *c, *tmp;
nuclear@27: 
nuclear@27: 	if(!tree) return;
nuclear@27: 
nuclear@27: 	c = tree->child;
nuclear@27: 	while(c) {
nuclear@27: 		tmp = c;
nuclear@27: 		c = c->next;
nuclear@27: 
nuclear@27: 		anm_destroy_node_tree(tmp);
nuclear@27: 	}
nuclear@27: 	anm_destroy_node(tree);
nuclear@27: }
nuclear@27: 
nuclear@27: struct anm_node *anm_create_node(void)
nuclear@27: {
nuclear@27: 	struct anm_node *n;
nuclear@27: 
nuclear@27: 	if((n = malloc(sizeof *n))) {
nuclear@27: 		if(anm_init_node(n) == -1) {
nuclear@27: 			free(n);
nuclear@27: 			return 0;
nuclear@27: 		}
nuclear@27: 	}
nuclear@27: 	return n;
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_free_node(struct anm_node *node)
nuclear@27: {
nuclear@27: 	anm_destroy_node(node);
nuclear@27: 	free(node);
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_free_node_tree(struct anm_node *tree)
nuclear@27: {
nuclear@27: 	struct anm_node *c, *tmp;
nuclear@27: 
nuclear@27: 	if(!tree) return;
nuclear@27: 
nuclear@27: 	c = tree->child;
nuclear@27: 	while(c) {
nuclear@27: 		tmp = c;
nuclear@27: 		c = c->next;
nuclear@27: 
nuclear@27: 		anm_free_node_tree(tmp);
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	anm_free_node(tree);
nuclear@27: }
nuclear@27: 
nuclear@27: int anm_set_node_name(struct anm_node *node, const char *name)
nuclear@27: {
nuclear@27: 	char *str;
nuclear@27: 
nuclear@27: 	if(!(str = malloc(strlen(name) + 1))) {
nuclear@27: 		return -1;
nuclear@27: 	}
nuclear@27: 	strcpy(str, name);
nuclear@27: 	free(node->name);
nuclear@27: 	node->name = str;
nuclear@27: 	return 0;
nuclear@27: }
nuclear@27: 
nuclear@27: const char *anm_get_node_name(struct anm_node *node)
nuclear@27: {
nuclear@27: 	return node->name ? node->name : "";
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_set_interpolator(struct anm_node *node, enum anm_interpolator in)
nuclear@27: {
nuclear@27: 	int i;
nuclear@27: 
nuclear@27: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@27: 		anm_set_track_interpolator(node->tracks + i, in);
nuclear@27: 	}
nuclear@27: 	invalidate_cache(node);
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_set_extrapolator(struct anm_node *node, enum anm_extrapolator ex)
nuclear@27: {
nuclear@27: 	int i;
nuclear@27: 
nuclear@27: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@27: 		anm_set_track_extrapolator(node->tracks + i, ex);
nuclear@27: 	}
nuclear@27: 	invalidate_cache(node);
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_link_node(struct anm_node *p, struct anm_node *c)
nuclear@27: {
nuclear@27: 	c->next = p->child;
nuclear@27: 	p->child = c;
nuclear@27: 
nuclear@27: 	c->parent = p;
nuclear@27: 	invalidate_cache(c);
nuclear@27: }
nuclear@27: 
nuclear@27: int anm_unlink_node(struct anm_node *p, struct anm_node *c)
nuclear@27: {
nuclear@27: 	struct anm_node *iter;
nuclear@27: 
nuclear@27: 	if(p->child == c) {
nuclear@27: 		p->child = c->next;
nuclear@27: 		c->next = 0;
nuclear@27: 		invalidate_cache(c);
nuclear@27: 		return 0;
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	iter = p->child;
nuclear@27: 	while(iter->next) {
nuclear@27: 		if(iter->next == c) {
nuclear@27: 			iter->next = c->next;
nuclear@27: 			c->next = 0;
nuclear@27: 			invalidate_cache(c);
nuclear@27: 			return 0;
nuclear@27: 		}
nuclear@27: 	}
nuclear@27: 	return -1;
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_set_position(struct anm_node *node, vec3_t pos, anm_time_t tm)
nuclear@27: {
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_POS_X, tm, pos.x);
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_POS_Y, tm, pos.y);
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_POS_Z, tm, pos.z);
nuclear@27: 	invalidate_cache(node);
nuclear@27: }
nuclear@27: 
nuclear@27: vec3_t anm_get_node_position(struct anm_node *node, anm_time_t tm)
nuclear@27: {
nuclear@27: 	vec3_t v;
nuclear@27: 	v.x = anm_get_value(node->tracks + ANM_TRACK_POS_X, tm);
nuclear@27: 	v.y = anm_get_value(node->tracks + ANM_TRACK_POS_Y, tm);
nuclear@27: 	v.z = anm_get_value(node->tracks + ANM_TRACK_POS_Z, tm);
nuclear@27: 	return v;
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_set_rotation(struct anm_node *node, quat_t rot, anm_time_t tm)
nuclear@27: {
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_ROT_X, tm, rot.x);
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_ROT_Y, tm, rot.y);
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_ROT_Z, tm, rot.z);
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_ROT_W, tm, rot.w);
nuclear@27: 	invalidate_cache(node);
nuclear@27: }
nuclear@27: 
nuclear@27: quat_t anm_get_node_rotation(struct anm_node *node, anm_time_t tm)
nuclear@27: {
nuclear@27: #ifndef ROT_USE_SLERP
nuclear@27: 	quat_t q;
nuclear@27: 	q.x = anm_get_value(node->tracks + ANM_TRACK_ROT_X, tm);
nuclear@27: 	q.y = anm_get_value(node->tracks + ANM_TRACK_ROT_Y, tm);
nuclear@27: 	q.z = anm_get_value(node->tracks + ANM_TRACK_ROT_Z, tm);
nuclear@27: 	q.w = anm_get_value(node->tracks + ANM_TRACK_ROT_W, tm);
nuclear@27: 	return q;
nuclear@27: #else
nuclear@27: 	int idx0, idx1, last_idx;
nuclear@27: 	anm_time_t tstart, tend;
nuclear@27: 	float t, dt;
nuclear@27: 	struct anm_track *track_x, *track_y, *track_z, *track_w;
nuclear@27: 	quat_t q, q1, q2;
nuclear@27: 
nuclear@27: 	track_x = node->tracks + ANM_TRACK_ROT_X;
nuclear@27: 	track_y = node->tracks + ANM_TRACK_ROT_Y;
nuclear@27: 	track_z = node->tracks + ANM_TRACK_ROT_Z;
nuclear@27: 	track_w = node->tracks + ANM_TRACK_ROT_W;
nuclear@27: 
nuclear@27: 	if(!track_x->count) {
nuclear@27: 		q.x = track_x->def_val;
nuclear@27: 		q.y = track_y->def_val;
nuclear@27: 		q.z = track_z->def_val;
nuclear@27: 		q.w = track_w->def_val;
nuclear@27: 		return q;
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	last_idx = track_x->count - 1;
nuclear@27: 
nuclear@27: 	tstart = track_x->keys[0].time;
nuclear@27: 	tend = track_x->keys[last_idx].time;
nuclear@27: 
nuclear@27: 	if(tstart == tend) {
nuclear@27: 		q.x = track_x->keys[0].val;
nuclear@27: 		q.y = track_y->keys[0].val;
nuclear@27: 		q.z = track_z->keys[0].val;
nuclear@27: 		q.w = track_w->keys[0].val;
nuclear@27: 		return q;
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	tm = anm_remap_time(track_x, tm, tstart, tend);
nuclear@27: 
nuclear@27: 	idx0 = anm_get_key_interval(track_x, tm);
nuclear@27: 	assert(idx0 >= 0 && idx0 < track_x->count);
nuclear@27: 	idx1 = idx0 + 1;
nuclear@27: 
nuclear@27: 	if(idx0 == last_idx) {
nuclear@27: 		q.x = track_x->keys[idx0].val;
nuclear@27: 		q.y = track_y->keys[idx0].val;
nuclear@27: 		q.z = track_z->keys[idx0].val;
nuclear@27: 		q.w = track_w->keys[idx0].val;
nuclear@27: 		return q;
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	dt = (float)(track_x->keys[idx1].time - track_x->keys[idx0].time);
nuclear@27: 	t = (float)(tm - track_x->keys[idx0].time) / dt;
nuclear@27: 
nuclear@27: 	q1.x = track_x->keys[idx0].val;
nuclear@27: 	q1.y = track_y->keys[idx0].val;
nuclear@27: 	q1.z = track_z->keys[idx0].val;
nuclear@27: 	q1.w = track_w->keys[idx0].val;
nuclear@27: 
nuclear@27: 	q2.x = track_x->keys[idx1].val;
nuclear@27: 	q2.y = track_y->keys[idx1].val;
nuclear@27: 	q2.z = track_z->keys[idx1].val;
nuclear@27: 	q2.w = track_w->keys[idx1].val;
nuclear@27: 
nuclear@27: 	/*q1 = quat_normalize(q1);
nuclear@27: 	q2 = quat_normalize(q2);*/
nuclear@27: 
nuclear@27: 	return quat_slerp(q1, q2, t);
nuclear@27: #endif
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_set_scaling(struct anm_node *node, vec3_t scl, anm_time_t tm)
nuclear@27: {
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_SCL_X, tm, scl.x);
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_SCL_Y, tm, scl.y);
nuclear@27: 	anm_set_value(node->tracks + ANM_TRACK_SCL_Z, tm, scl.z);
nuclear@27: 	invalidate_cache(node);
nuclear@27: }
nuclear@27: 
nuclear@27: vec3_t anm_get_node_scaling(struct anm_node *node, anm_time_t tm)
nuclear@27: {
nuclear@27: 	vec3_t v;
nuclear@27: 	v.x = anm_get_value(node->tracks + ANM_TRACK_SCL_X, tm);
nuclear@27: 	v.y = anm_get_value(node->tracks + ANM_TRACK_SCL_Y, tm);
nuclear@27: 	v.z = anm_get_value(node->tracks + ANM_TRACK_SCL_Z, tm);
nuclear@27: 	return v;
nuclear@27: }
nuclear@27: 
nuclear@27: 
nuclear@27: vec3_t anm_get_position(struct anm_node *node, anm_time_t tm)
nuclear@27: {
nuclear@27: 	mat4_t xform;
nuclear@27: 	vec3_t pos = {0.0, 0.0, 0.0};
nuclear@27: 
nuclear@27: 	if(!node->parent) {
nuclear@27: 		return anm_get_node_position(node, tm);
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	anm_get_matrix(node, xform, tm);
nuclear@27: 	return v3_transform(pos, xform);
nuclear@27: }
nuclear@27: 
nuclear@27: quat_t anm_get_rotation(struct anm_node *node, anm_time_t tm)
nuclear@27: {
nuclear@27: 	quat_t rot, prot;
nuclear@27: 	rot = anm_get_node_rotation(node, tm);
nuclear@27: 
nuclear@27: 	if(!node->parent) {
nuclear@27: 		return rot;
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	prot = anm_get_rotation(node->parent, tm);
nuclear@27: 	return quat_mul(prot, rot);
nuclear@27: }
nuclear@27: 
nuclear@27: vec3_t anm_get_scaling(struct anm_node *node, anm_time_t tm)
nuclear@27: {
nuclear@27: 	vec3_t s, ps;
nuclear@27: 	s = anm_get_node_scaling(node, tm);
nuclear@27: 
nuclear@27: 	if(!node->parent) {
nuclear@27: 		return s;
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	ps = anm_get_scaling(node->parent, tm);
nuclear@27: 	return v3_mul(s, ps);
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_set_pivot(struct anm_node *node, vec3_t piv)
nuclear@27: {
nuclear@27: 	node->pivot = piv;
nuclear@27: }
nuclear@27: 
nuclear@27: vec3_t anm_get_pivot(struct anm_node *node)
nuclear@27: {
nuclear@27: 	return node->pivot;
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_get_node_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@27: {
nuclear@27: 	int i;
nuclear@27: 	mat4_t rmat;
nuclear@27: 	vec3_t pos, scale;
nuclear@27: 	quat_t rot;
nuclear@27: 
nuclear@27: 	pos = anm_get_node_position(node, tm);
nuclear@27: 	rot = anm_get_node_rotation(node, tm);
nuclear@27: 	scale = anm_get_node_scaling(node, tm);
nuclear@27: 
nuclear@27: 	m4_set_translation(mat, node->pivot.x, node->pivot.y, node->pivot.z);
nuclear@27: 
nuclear@27: 	quat_to_mat4(rmat, rot);
nuclear@27: 	for(i=0; i<3; i++) {
nuclear@27: 		mat[i][0] = rmat[i][0];
nuclear@27: 		mat[i][1] = rmat[i][1];
nuclear@27: 		mat[i][2] = rmat[i][2];
nuclear@27: 	}
nuclear@27: 	/* this loop is equivalent to: m4_mult(mat, mat, rmat); */
nuclear@27: 
nuclear@27: 	mat[0][0] *= scale.x; mat[0][1] *= scale.y; mat[0][2] *= scale.z; mat[0][3] += pos.x;
nuclear@27: 	mat[1][0] *= scale.x; mat[1][1] *= scale.y; mat[1][2] *= scale.z; mat[1][3] += pos.y;
nuclear@27: 	mat[2][0] *= scale.x; mat[2][1] *= scale.y; mat[2][2] *= scale.z; mat[2][3] += pos.z;
nuclear@27: 
nuclear@27: 	m4_translate(mat, -node->pivot.x, -node->pivot.y, -node->pivot.z);
nuclear@27: 
nuclear@27: 	/* that's basically: pivot * rotation * translation * scaling * -pivot */
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_get_node_inv_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@27: {
nuclear@27: 	mat4_t tmp;
nuclear@27: 	anm_get_node_matrix(node, tmp, tm);
nuclear@27: 	m4_inverse(mat, tmp);
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_get_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@27: {
nuclear@27: 	if(node->cache.time != tm) {
nuclear@27: 		anm_get_node_matrix(node, node->cache.matrix, tm);
nuclear@27: 
nuclear@27: 		if(node->parent) {
nuclear@27: 			mat4_t parent_mat;
nuclear@27: 
nuclear@27: 			anm_get_matrix(node->parent, parent_mat, tm);
nuclear@27: 			m4_mult(node->cache.matrix, parent_mat, node->cache.matrix);
nuclear@27: 		}
nuclear@27: 		node->cache.time = tm;
nuclear@27: 	}
nuclear@27: 	m4_copy(mat, node->cache.matrix);
nuclear@27: }
nuclear@27: 
nuclear@27: void anm_get_inv_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@27: {
nuclear@27: 	if(node->cache.inv_time != tm) {
nuclear@27: 		anm_get_matrix(node, mat, tm);
nuclear@27: 		m4_inverse(node->cache.inv_matrix, mat);
nuclear@27: 		node->cache.inv_time = tm;
nuclear@27: 	}
nuclear@27: 	m4_copy(mat, node->cache.inv_matrix);
nuclear@27: }
nuclear@27: 
nuclear@27: anm_time_t anm_get_start_time(struct anm_node *node)
nuclear@27: {
nuclear@27: 	int i;
nuclear@27: 	struct anm_node *c;
nuclear@27: 	anm_time_t res = LONG_MAX;
nuclear@27: 
nuclear@27: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@27: 		if(node->tracks[i].count) {
nuclear@27: 			anm_time_t tm = node->tracks[i].keys[0].time;
nuclear@27: 			if(tm < res) {
nuclear@27: 				res = tm;
nuclear@27: 			}
nuclear@27: 		}
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	c = node->child;
nuclear@27: 	while(c) {
nuclear@27: 		anm_time_t tm = anm_get_start_time(c);
nuclear@27: 		if(tm < res) {
nuclear@27: 			res = tm;
nuclear@27: 		}
nuclear@27: 		c = c->next;
nuclear@27: 	}
nuclear@27: 	return res;
nuclear@27: }
nuclear@27: 
nuclear@27: anm_time_t anm_get_end_time(struct anm_node *node)
nuclear@27: {
nuclear@27: 	int i;
nuclear@27: 	struct anm_node *c;
nuclear@27: 	anm_time_t res = LONG_MIN;
nuclear@27: 
nuclear@27: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@27: 		if(node->tracks[i].count) {
nuclear@27: 			anm_time_t tm = node->tracks[i].keys[node->tracks[i].count - 1].time;
nuclear@27: 			if(tm > res) {
nuclear@27: 				res = tm;
nuclear@27: 			}
nuclear@27: 		}
nuclear@27: 	}
nuclear@27: 
nuclear@27: 	c = node->child;
nuclear@27: 	while(c) {
nuclear@27: 		anm_time_t tm = anm_get_end_time(c);
nuclear@27: 		if(tm > res) {
nuclear@27: 			res = tm;
nuclear@27: 		}
nuclear@27: 		c = c->next;
nuclear@27: 	}
nuclear@27: 	return res;
nuclear@27: }
nuclear@27: 
nuclear@27: static void invalidate_cache(struct anm_node *node)
nuclear@27: {
nuclear@27: 	node->cache.time = node->cache.inv_time = ANM_TIME_INVAL;
nuclear@27: }