gpuray_glsl: 6e3a4daf3159 anim/anim.c

gpuray_glsl

view anim/anim.c @ 2:6e3a4daf3159

adding cones

author	John Tsiombikas <nuclear@mutantstargoat.com>
date	Sun, 09 Nov 2014 14:39:01 +0200
parents	f234630e38ff
children

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 #ifdef ANIM_THREAD_SAFE

23 /* initialize thread-local matrix cache */

24 pthread_key_create(&node->cache_key, 0);

25 pthread_mutex_init(&node->cache_list_lock, 0);

26 #endif

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

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

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

31 anm_destroy_track(node->tracks + i);

32 }

33 }

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

35 }

36 return 0;

37 }

39 void anm_destroy_node(struct anm_node *node)

40 {

41 int i;

42 free(node->name);

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

45 anm_destroy_track(node->tracks + i);

46 }

48 #ifdef ANIM_THREAD_SAFE

49 /* destroy thread-specific cache */

50 pthread_key_delete(node->cache_key);

51 #endif

53 while(node->cache_list) {

54 struct mat_cache *tmp = node->cache_list;

55 node->cache_list = tmp->next;

56 free(tmp);

57 }

58 }

60 void anm_destroy_node_tree(struct anm_node *tree)

61 {

62 struct anm_node *c, *tmp;

64 if(!tree) return;

66 c = tree->child;

67 while(c) {

68 tmp = c;

69 c = c->next;

71 anm_destroy_node_tree(tmp);

72 }

73 anm_destroy_node(tree);

74 }

76 struct anm_node *anm_create_node(void)

77 {

78 struct anm_node *n;

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

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

82 free(n);

83 return 0;

84 }

85 }

86 return n;

87 }

89 void anm_free_node(struct anm_node *node)

90 {

91 anm_destroy_node(node);

92 free(node);

93 }

95 void anm_free_node_tree(struct anm_node *tree)

96 {

97 struct anm_node *c, *tmp;

99 if(!tree) return;

100

101 c = tree->child;

102 while(c) {

103 tmp = c;

104 c = c->next;

105

106 anm_free_node_tree(tmp);

107 }

108

109 anm_free_node(tree);

110 }

111

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

113 {

114 char *str;

115

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

117 return -1;

118 }

119 strcpy(str, name);

120 free(node->name);

121 node->name = str;

122 return 0;

123 }

124

125 const char *anm_get_node_name(struct anm_node *node)

126 {

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

128 }

129

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

131 {

132 int i;

133

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

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

136 }

137 invalidate_cache(node);

138 }

139

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

141 {

142 int i;

143

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

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

146 }

147 invalidate_cache(node);

148 }

149

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

151 {

152 c->next = p->child;

153 p->child = c;

154

155 c->parent = p;

156 invalidate_cache(c);

157 }

158

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

160 {

161 struct anm_node *iter;

162

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

164 p->child = c->next;

165 c->next = 0;

166 invalidate_cache(c);

167 return 0;

168 }

169

170 iter = p->child;

171 while(iter->next) {

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

173 iter->next = c->next;

174 c->next = 0;

175 invalidate_cache(c);

176 return 0;

177 }

178 }

179 return -1;

180 }

181

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

183 {

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

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

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

187 invalidate_cache(node);

188 }

189

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

191 {

192 vec3_t v;

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

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

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

196 return v;

197 }

198

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

200 {

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

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

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

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

205 invalidate_cache(node);

206 }

207

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

209 {

210 #ifndef ROT_USE_SLERP

211 quat_t q;

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

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

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

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

216 return q;

217 #else

218 int idx0, idx1, last_idx;

219 anm_time_t tstart, tend;

220 float t, dt;

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

222 quat_t q, q1, q2;

223

224 track_x = node->tracks + ANM_TRACK_ROT_X;

225 track_y = node->tracks + ANM_TRACK_ROT_Y;

226 track_z = node->tracks + ANM_TRACK_ROT_Z;

227 track_w = node->tracks + ANM_TRACK_ROT_W;

228

229 if(!track_x->count) {

230 q.x = track_x->def_val;

231 q.y = track_y->def_val;

232 q.z = track_z->def_val;

233 q.w = track_w->def_val;

234 return q;

235 }

236

237 last_idx = track_x->count - 1;

238

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

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

241

242 if(tstart == tend) {

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

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

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

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

247 return q;

248 }

249

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

251

252 idx0 = anm_get_key_interval(track_x, tm);

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

254 idx1 = idx0 + 1;

255

256 if(idx0 == last_idx) {

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

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

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

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

261 return q;

262 }

263

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

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

266

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

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

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

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

271

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

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

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

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

276

277 /*q1 = quat_normalize(q1);

278 q2 = quat_normalize(q2);*/

279

280 return quat_slerp(q1, q2, t);

281 #endif

282 }

283

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

285 {

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

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

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

289 invalidate_cache(node);

290 }

291

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

293 {

294 vec3_t v;

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

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

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

298 return v;

299 }

300

301

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

303 {

304 mat4_t xform;

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

306

307 if(!node->parent) {

308 return anm_get_node_position(node, tm);

309 }

310

311 anm_get_matrix(node, xform, tm);

312 return v3_transform(pos, xform);

313 }

314

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

316 {

317 quat_t rot, prot;

318 rot = anm_get_node_rotation(node, tm);

319

320 if(!node->parent) {

321 return rot;

322 }

323

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

325 return quat_mul(prot, rot);

326 }

327

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

329 {

330 vec3_t s, ps;

331 s = anm_get_node_scaling(node, tm);

332

333 if(!node->parent) {

334 return s;

335 }

336

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

338 return v3_mul(s, ps);

339 }

340

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

342 {

343 node->pivot = piv;

344 }

345

346 vec3_t anm_get_pivot(struct anm_node *node)

347 {

348 return node->pivot;

349 }

350

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

352 {

353 int i;

354 mat4_t rmat;

355 vec3_t pos, scale;

356 quat_t rot;

357

358 pos = anm_get_node_position(node, tm);

359 rot = anm_get_node_rotation(node, tm);

360 scale = anm_get_node_scaling(node, tm);

361

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

363

364 quat_to_mat4(rmat, rot);

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

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

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

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

369 }

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

371

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

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

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

375

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

377

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

379 }

380

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

382 {

383 mat4_t tmp;

384 anm_get_node_matrix(node, tmp, tm);

385 m4_inverse(mat, tmp);

386 }

387

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

389 {

390 #ifdef ANIM_THREAD_SAFE

391 struct mat_cache *cache = pthread_getspecific(node->cache_key);

392 #else

393 struct mat_cache *cache = node->cache_list;

394 #endif

395 if(!cache) {

396 cache = malloc(sizeof *cache);

397 assert(cache);

398 cache->time = ANM_TIME_INVAL;

399 cache->inv_time = ANM_TIME_INVAL;

400

401 #ifdef ANIM_THREAD_SAFE

402 pthread_mutex_lock(&node->cache_list_lock);

403 cache->next = node->cache_list;

404 node->cache_list = cache;

405 pthread_mutex_unlock(&node->cache_list_lock);

406 pthread_setspecific(node->cache_key, cache);

407 #else

408 cache->next = node->cache_list;

409 node->cache_list = cache;

410 #endif

411 }

412

413 if(cache->time != tm) {

414 anm_get_node_matrix(node, cache->matrix, tm);

415

416 if(node->parent) {

417 mat4_t parent_mat;

418

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

420 m4_mult(cache->matrix, parent_mat, cache->matrix);

421 }

422 cache->time = tm;

423 }

424 m4_copy(mat, cache->matrix);

425 }

426

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

428 {

429 #ifdef ANIM_THREAD_SAFE

430 struct mat_cache *cache = pthread_getspecific(node->cache_key);

431 #else

432 struct mat_cache *cache = node->cache_list;

433 #endif

434 if(!cache) {

435 cache = malloc(sizeof *cache);

436 assert(cache);

437 cache->time = ANM_TIME_INVAL;

438 cache->inv_time = ANM_TIME_INVAL;

439

440 #ifdef ANIM_THREAD_SAFE

441 pthread_mutex_lock(&node->cache_list_lock);

442 cache->next = node->cache_list;

443 node->cache_list = cache;

444 pthread_mutex_unlock(&node->cache_list_lock);

445 pthread_setspecific(node->cache_key, cache);

446 #else

447 cache->next = node->cache_list;

448 node->cache_list = cache;

449 #endif

450 }

451

452 if(cache->inv_time != tm) {

453 anm_get_matrix(node, mat, tm);

454 m4_inverse(cache->inv_matrix, mat);

455 cache->inv_time = tm;

456 }

457 m4_copy(mat, cache->inv_matrix);

458 }

459

460 anm_time_t anm_get_start_time(struct anm_node *node)

461 {

462 int i;

463 struct anm_node *c;

464 anm_time_t res = LONG_MAX;

465

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

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

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

469 if(tm < res) {

470 res = tm;

471 }

472 }

473 }

474

475 c = node->child;

476 while(c) {

477 anm_time_t tm = anm_get_start_time(c);

478 if(tm < res) {

479 res = tm;

480 }

481 c = c->next;

482 }

483 return res;

484 }

485

486 anm_time_t anm_get_end_time(struct anm_node *node)

487 {

488 int i;

489 struct anm_node *c;

490 anm_time_t res = LONG_MIN;

491

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

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

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

495 if(tm > res) {

496 res = tm;

497 }

498 }

499 }

500

501 c = node->child;

502 while(c) {

503 anm_time_t tm = anm_get_end_time(c);

504 if(tm > res) {

505 res = tm;

506 }

507 c = c->next;

508 }

509 return res;

510 }

511

512 static void invalidate_cache(struct anm_node *node)

513 {

514 #ifdef ANIM_THREAD_SAFE

515 struct mat_cache *cache = pthread_getspecific(node->cache_key);

516 #else

517 struct mat_cache *cache = node->cache_list;

518 #endif

519 if(cache) {

520 cache->time = cache->inv_time = ANM_TIME_INVAL;

521 }

522 }