libanim

annotate src/anim.c @ 41:408017f78f88

find changesets by author, revision, files, or words in the commit message
really stupid mistake in hierarchical transformations... ignored the parent matrix and instead multiplied an uninitialized one...
author John Tsiombikas <nuclear@member.fsf.org>
date Wed, 27 Feb 2013 20:54:19 +0200
parents f561282b13e8
children 2cf7284d2bbb
rev   line source
nuclear@1 1 #include <stdlib.h>
nuclear@0 2 #include <limits.h>
nuclear@0 3 #include <assert.h>
nuclear@0 4 #include "anim.h"
nuclear@0 5 #include "dynarr.h"
nuclear@0 6
nuclear@0 7 static void invalidate_cache(struct anm_node *node);
nuclear@0 8
nuclear@0 9 int anm_init_node(struct anm_node *node)
nuclear@0 10 {
nuclear@0 11 int i, j;
nuclear@0 12 static const float defaults[] = {
nuclear@0 13 0.0f, 0.0f, 0.0f, /* default position */
nuclear@0 14 0.0f, 0.0f, 0.0f, 1.0f, /* default rotation quat */
nuclear@0 15 1.0f, 1.0f, 1.0f /* default scale factor */
nuclear@0 16 };
nuclear@0 17
nuclear@0 18 memset(node, 0, sizeof *node);
nuclear@0 19
nuclear@0 20 /* initialize thread-local matrix cache */
nuclear@0 21 pthread_key_create(&node->cache_key, 0);
nuclear@0 22
nuclear@0 23 for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0 24 if(anm_init_track(node->tracks + i) == -1) {
nuclear@0 25 for(j=0; j<i; j++) {
nuclear@0 26 anm_destroy_track(node->tracks + i);
nuclear@0 27 }
nuclear@0 28 }
nuclear@0 29 anm_set_track_default(node->tracks + i, defaults[i]);
nuclear@0 30 }
nuclear@0 31 return 0;
nuclear@0 32 }
nuclear@0 33
nuclear@0 34 void anm_destroy_node(struct anm_node *node)
nuclear@0 35 {
nuclear@0 36 int i;
nuclear@0 37 free(node->name);
nuclear@0 38
nuclear@0 39 for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0 40 anm_destroy_track(node->tracks + i);
nuclear@0 41 }
nuclear@0 42
nuclear@0 43 /* destroy thread-specific cache */
nuclear@0 44 pthread_key_delete(node->cache_key);
nuclear@0 45
nuclear@0 46 while(node->cache_list) {
nuclear@0 47 struct mat_cache *tmp = node->cache_list;
nuclear@0 48 node->cache_list = tmp->next;
nuclear@0 49 free(tmp);
nuclear@0 50 }
nuclear@0 51 }
nuclear@0 52
nuclear@0 53 void anm_destroy_node_tree(struct anm_node *tree)
nuclear@0 54 {
nuclear@0 55 struct anm_node *c, *tmp;
nuclear@0 56
nuclear@0 57 if(!tree) return;
nuclear@0 58
nuclear@0 59 c = tree->child;
nuclear@0 60 while(c) {
nuclear@0 61 tmp = c;
nuclear@0 62 c = c->next;
nuclear@0 63
nuclear@0 64 anm_destroy_node_tree(tmp);
nuclear@0 65 }
nuclear@0 66 anm_destroy_node(tree);
nuclear@0 67 }
nuclear@0 68
nuclear@0 69 struct anm_node *anm_create_node(void)
nuclear@0 70 {
nuclear@0 71 struct anm_node *n;
nuclear@0 72
nuclear@0 73 if((n = malloc(sizeof *n))) {
nuclear@0 74 if(anm_init_node(n) == -1) {
nuclear@0 75 free(n);
nuclear@0 76 return 0;
nuclear@0 77 }
nuclear@0 78 }
nuclear@0 79 return n;
nuclear@0 80 }
nuclear@0 81
nuclear@0 82 void anm_free_node(struct anm_node *node)
nuclear@0 83 {
nuclear@0 84 anm_destroy_node(node);
nuclear@0 85 free(node);
nuclear@0 86 }
nuclear@0 87
nuclear@0 88 void anm_free_node_tree(struct anm_node *tree)
nuclear@0 89 {
nuclear@0 90 struct anm_node *c, *tmp;
nuclear@0 91
nuclear@0 92 if(!tree) return;
nuclear@0 93
nuclear@0 94 c = tree->child;
nuclear@0 95 while(c) {
nuclear@0 96 tmp = c;
nuclear@0 97 c = c->next;
nuclear@0 98
nuclear@0 99 anm_free_node_tree(tmp);
nuclear@0 100 }
nuclear@0 101
nuclear@0 102 anm_free_node(tree);
nuclear@0 103 }
nuclear@0 104
nuclear@0 105 int anm_set_node_name(struct anm_node *node, const char *name)
nuclear@0 106 {
nuclear@0 107 char *str;
nuclear@0 108
nuclear@0 109 if(!(str = malloc(strlen(name) + 1))) {
nuclear@0 110 return -1;
nuclear@0 111 }
nuclear@0 112 strcpy(str, name);
nuclear@0 113 free(node->name);
nuclear@0 114 node->name = str;
nuclear@0 115 return 0;
nuclear@0 116 }
nuclear@0 117
nuclear@0 118 const char *anm_get_node_name(struct anm_node *node)
nuclear@0 119 {
nuclear@0 120 return node->name ? node->name : "";
nuclear@0 121 }
nuclear@0 122
nuclear@0 123 void anm_set_interpolator(struct anm_node *node, enum anm_interpolator in)
nuclear@0 124 {
nuclear@0 125 int i;
nuclear@0 126
nuclear@0 127 for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0 128 anm_set_track_interpolator(node->tracks + i, in);
nuclear@0 129 }
nuclear@0 130 invalidate_cache(node);
nuclear@0 131 }
nuclear@0 132
nuclear@0 133 void anm_set_extrapolator(struct anm_node *node, enum anm_extrapolator ex)
nuclear@0 134 {
nuclear@0 135 int i;
nuclear@0 136
nuclear@0 137 for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0 138 anm_set_track_extrapolator(node->tracks + i, ex);
nuclear@0 139 }
nuclear@0 140 invalidate_cache(node);
nuclear@0 141 }
nuclear@0 142
nuclear@0 143 void anm_link_node(struct anm_node *p, struct anm_node *c)
nuclear@0 144 {
nuclear@0 145 c->next = p->child;
nuclear@0 146 p->child = c;
nuclear@0 147
nuclear@0 148 c->parent = p;
nuclear@0 149 invalidate_cache(c);
nuclear@0 150 }
nuclear@0 151
nuclear@0 152 int anm_unlink_node(struct anm_node *p, struct anm_node *c)
nuclear@0 153 {
nuclear@0 154 struct anm_node *iter;
nuclear@0 155
nuclear@0 156 if(p->child == c) {
nuclear@0 157 p->child = c->next;
nuclear@0 158 c->next = 0;
nuclear@0 159 invalidate_cache(c);
nuclear@0 160 return 0;
nuclear@0 161 }
nuclear@0 162
nuclear@0 163 iter = p->child;
nuclear@0 164 while(iter->next) {
nuclear@0 165 if(iter->next == c) {
nuclear@0 166 iter->next = c->next;
nuclear@0 167 c->next = 0;
nuclear@0 168 invalidate_cache(c);
nuclear@0 169 return 0;
nuclear@0 170 }
nuclear@0 171 }
nuclear@0 172 return -1;
nuclear@0 173 }
nuclear@0 174
nuclear@0 175 void anm_set_position(struct anm_node *node, vec3_t pos, anm_time_t tm)
nuclear@0 176 {
nuclear@0 177 anm_set_value(node->tracks + ANM_TRACK_POS_X, tm, pos.x);
nuclear@0 178 anm_set_value(node->tracks + ANM_TRACK_POS_Y, tm, pos.y);
nuclear@0 179 anm_set_value(node->tracks + ANM_TRACK_POS_Z, tm, pos.z);
nuclear@0 180 invalidate_cache(node);
nuclear@0 181 }
nuclear@0 182
nuclear@0 183 vec3_t anm_get_node_position(struct anm_node *node, anm_time_t tm)
nuclear@0 184 {
nuclear@0 185 vec3_t v;
nuclear@0 186 v.x = anm_get_value(node->tracks + ANM_TRACK_POS_X, tm);
nuclear@0 187 v.y = anm_get_value(node->tracks + ANM_TRACK_POS_Y, tm);
nuclear@0 188 v.z = anm_get_value(node->tracks + ANM_TRACK_POS_Z, tm);
nuclear@0 189 return v;
nuclear@0 190 }
nuclear@0 191
nuclear@0 192 void anm_set_rotation(struct anm_node *node, quat_t rot, anm_time_t tm)
nuclear@0 193 {
nuclear@0 194 anm_set_value(node->tracks + ANM_TRACK_ROT_X, tm, rot.x);
nuclear@0 195 anm_set_value(node->tracks + ANM_TRACK_ROT_Y, tm, rot.y);
nuclear@0 196 anm_set_value(node->tracks + ANM_TRACK_ROT_Z, tm, rot.z);
nuclear@0 197 anm_set_value(node->tracks + ANM_TRACK_ROT_W, tm, rot.w);
nuclear@0 198 invalidate_cache(node);
nuclear@0 199 }
nuclear@0 200
nuclear@0 201 quat_t anm_get_node_rotation(struct anm_node *node, anm_time_t tm)
nuclear@0 202 {
nuclear@0 203 int idx0, idx1, last_idx;
nuclear@0 204 anm_time_t tstart, tend;
nuclear@0 205 float t, dt;
nuclear@0 206 struct anm_track *track_x, *track_y, *track_z, *track_w;
nuclear@0 207 quat_t q, q1, q2;
nuclear@0 208
nuclear@0 209 track_x = node->tracks + ANM_TRACK_ROT_X;
nuclear@0 210 track_y = node->tracks + ANM_TRACK_ROT_Y;
nuclear@0 211 track_z = node->tracks + ANM_TRACK_ROT_Z;
nuclear@0 212 track_w = node->tracks + ANM_TRACK_ROT_W;
nuclear@0 213
nuclear@0 214 if(!track_x->count) {
nuclear@0 215 q.x = track_x->def_val;
nuclear@0 216 q.y = track_y->def_val;
nuclear@0 217 q.z = track_z->def_val;
nuclear@0 218 q.w = track_w->def_val;
nuclear@0 219 return q;
nuclear@0 220 }
nuclear@0 221
nuclear@0 222 last_idx = track_x->count - 1;
nuclear@0 223
nuclear@0 224 tstart = track_x->keys[0].time;
nuclear@0 225 tend = track_x->keys[last_idx].time;
nuclear@0 226 tm = anm_remap_time(track_x, tm, tstart, tend);
nuclear@0 227
nuclear@0 228 idx0 = anm_get_key_interval(track_x, tm);
nuclear@0 229 assert(idx0 >= 0 && idx0 < track_x->count);
nuclear@0 230 idx1 = idx0 + 1;
nuclear@0 231
nuclear@0 232 dt = (float)(track_x->keys[idx1].time - track_x->keys[idx0].time);
nuclear@0 233 t = (float)(tm - track_x->keys[idx0].time) / dt;
nuclear@0 234
nuclear@0 235 q1.x = track_x->keys[idx0].val;
nuclear@0 236 q1.y = track_y->keys[idx0].val;
nuclear@0 237 q1.z = track_z->keys[idx0].val;
nuclear@0 238 q1.w = track_w->keys[idx0].val;
nuclear@0 239
nuclear@0 240 q2.x = track_x->keys[idx1].val;
nuclear@0 241 q2.y = track_y->keys[idx1].val;
nuclear@0 242 q2.z = track_z->keys[idx1].val;
nuclear@0 243 q2.w = track_w->keys[idx1].val;
nuclear@0 244
nuclear@0 245 return quat_slerp(q1, q2, t);
nuclear@0 246 }
nuclear@0 247
nuclear@0 248 void anm_set_scaling(struct anm_node *node, vec3_t scl, anm_time_t tm)
nuclear@0 249 {
nuclear@0 250 anm_set_value(node->tracks + ANM_TRACK_SCL_X, tm, scl.x);
nuclear@0 251 anm_set_value(node->tracks + ANM_TRACK_SCL_Y, tm, scl.y);
nuclear@0 252 anm_set_value(node->tracks + ANM_TRACK_SCL_Z, tm, scl.z);
nuclear@0 253 invalidate_cache(node);
nuclear@0 254 }
nuclear@0 255
nuclear@0 256 vec3_t anm_get_node_scaling(struct anm_node *node, anm_time_t tm)
nuclear@0 257 {
nuclear@0 258 vec3_t v;
nuclear@0 259 v.x = anm_get_value(node->tracks + ANM_TRACK_SCL_X, tm);
nuclear@0 260 v.y = anm_get_value(node->tracks + ANM_TRACK_SCL_Y, tm);
nuclear@0 261 v.z = anm_get_value(node->tracks + ANM_TRACK_SCL_Z, tm);
nuclear@0 262 return v;
nuclear@0 263 }
nuclear@0 264
nuclear@0 265
nuclear@0 266 vec3_t anm_get_position(struct anm_node *node, anm_time_t tm)
nuclear@0 267 {
nuclear@0 268 mat4_t xform;
nuclear@0 269 vec3_t pos = {0.0, 0.0, 0.0};
nuclear@0 270
nuclear@0 271 if(!node->parent) {
nuclear@0 272 return anm_get_node_position(node, tm);
nuclear@0 273 }
nuclear@0 274
nuclear@0 275 anm_get_matrix(node, xform, tm);
nuclear@0 276 return v3_transform(pos, xform);
nuclear@0 277 }
nuclear@0 278
nuclear@0 279 quat_t anm_get_rotation(struct anm_node *node, anm_time_t tm)
nuclear@0 280 {
nuclear@0 281 quat_t rot, prot;
nuclear@0 282 rot = anm_get_node_rotation(node, tm);
nuclear@0 283
nuclear@0 284 if(!node->parent) {
nuclear@0 285 return rot;
nuclear@0 286 }
nuclear@0 287
nuclear@0 288 prot = anm_get_rotation(node->parent, tm);
nuclear@0 289 return quat_mul(prot, rot);
nuclear@0 290 }
nuclear@0 291
nuclear@0 292 vec3_t anm_get_scaling(struct anm_node *node, anm_time_t tm)
nuclear@0 293 {
nuclear@0 294 vec3_t s, ps;
nuclear@0 295 s = anm_get_node_scaling(node, tm);
nuclear@0 296
nuclear@0 297 if(!node->parent) {
nuclear@0 298 return s;
nuclear@0 299 }
nuclear@0 300
nuclear@0 301 ps = anm_get_scaling(node->parent, tm);
nuclear@0 302 return v3_mul(s, ps);
nuclear@0 303 }
nuclear@0 304
nuclear@0 305 void anm_set_pivot(struct anm_node *node, vec3_t piv)
nuclear@0 306 {
nuclear@0 307 node->pivot = piv;
nuclear@0 308 }
nuclear@0 309
nuclear@0 310 vec3_t anm_get_pivot(struct anm_node *node)
nuclear@0 311 {
nuclear@0 312 return node->pivot;
nuclear@0 313 }
nuclear@0 314
nuclear@0 315 void anm_get_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@0 316 {
nuclear@0 317 struct mat_cache *cache = pthread_getspecific(node->cache_key);
nuclear@0 318 if(!cache) {
nuclear@0 319 cache = malloc(sizeof *cache);
nuclear@0 320 assert(cache);
nuclear@0 321
nuclear@0 322 pthread_mutex_lock(&node->cache_list_lock);
nuclear@0 323 cache->next = node->cache_list;
nuclear@0 324 node->cache_list = cache;
nuclear@0 325 pthread_mutex_unlock(&node->cache_list_lock);
nuclear@0 326
nuclear@0 327 cache->time = ANM_TIME_INVAL;
nuclear@2 328 cache->inv_time = ANM_TIME_INVAL;
nuclear@0 329 pthread_setspecific(node->cache_key, cache);
nuclear@0 330 }
nuclear@0 331
nuclear@0 332 if(cache->time != tm) {
nuclear@0 333 mat4_t tmat, rmat, smat, pivmat, neg_pivmat;
nuclear@0 334 vec3_t pos, scale;
nuclear@0 335 quat_t rot;
nuclear@0 336
nuclear@0 337 m4_identity(tmat);
nuclear@0 338 /*no need to m4_identity(rmat); quat_to_mat4 sets this properly */
nuclear@0 339 m4_identity(smat);
nuclear@0 340 m4_identity(pivmat);
nuclear@0 341 m4_identity(neg_pivmat);
nuclear@0 342
nuclear@0 343 pos = anm_get_node_position(node, tm);
nuclear@0 344 rot = anm_get_node_rotation(node, tm);
nuclear@0 345 scale = anm_get_node_scaling(node, tm);
nuclear@0 346
nuclear@0 347 m4_translate(pivmat, node->pivot.x, node->pivot.y, node->pivot.z);
nuclear@0 348 m4_translate(neg_pivmat, -node->pivot.x, -node->pivot.y, -node->pivot.z);
nuclear@0 349
nuclear@0 350 m4_translate(tmat, pos.x, pos.y, pos.z);
nuclear@0 351 quat_to_mat4(rmat, rot);
nuclear@2 352 m4_scale(smat, scale.x, scale.y, scale.z);
nuclear@0 353
nuclear@0 354 /* ok this would look nicer in C++ */
nuclear@0 355 m4_mult(cache->matrix, pivmat, tmat);
nuclear@0 356 m4_mult(cache->matrix, cache->matrix, rmat);
nuclear@0 357 m4_mult(cache->matrix, cache->matrix, smat);
nuclear@0 358 m4_mult(cache->matrix, cache->matrix, neg_pivmat);
nuclear@0 359
nuclear@0 360 if(node->parent) {
nuclear@0 361 mat4_t parent_mat;
nuclear@0 362
nuclear@4 363 anm_get_matrix(node->parent, parent_mat, tm);
nuclear@0 364 m4_mult(cache->matrix, parent_mat, cache->matrix);
nuclear@0 365 }
nuclear@0 366 cache->time = tm;
nuclear@0 367 }
nuclear@0 368 m4_copy(mat, cache->matrix);
nuclear@0 369 }
nuclear@0 370
nuclear@0 371 void anm_get_inv_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@0 372 {
nuclear@0 373 struct mat_cache *cache = pthread_getspecific(node->cache_key);
nuclear@0 374 if(!cache) {
nuclear@0 375 cache = malloc(sizeof *cache);
nuclear@0 376 assert(cache);
nuclear@0 377
nuclear@0 378 pthread_mutex_lock(&node->cache_list_lock);
nuclear@0 379 cache->next = node->cache_list;
nuclear@0 380 node->cache_list = cache;
nuclear@0 381 pthread_mutex_unlock(&node->cache_list_lock);
nuclear@0 382
nuclear@0 383 cache->inv_time = ANM_TIME_INVAL;
nuclear@2 384 cache->inv_time = ANM_TIME_INVAL;
nuclear@0 385 pthread_setspecific(node->cache_key, cache);
nuclear@0 386 }
nuclear@0 387
nuclear@0 388 if(cache->inv_time != tm) {
nuclear@0 389 anm_get_matrix(node, mat, tm);
nuclear@0 390 m4_inverse(cache->inv_matrix, mat);
nuclear@0 391 cache->inv_time = tm;
nuclear@0 392 }
nuclear@0 393 m4_copy(mat, cache->inv_matrix);
nuclear@0 394 }
nuclear@0 395
nuclear@0 396 anm_time_t anm_get_start_time(struct anm_node *node)
nuclear@0 397 {
nuclear@0 398 int i;
nuclear@0 399 struct anm_node *c;
nuclear@0 400 anm_time_t res = LONG_MAX;
nuclear@0 401
nuclear@0 402 for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0 403 if(node->tracks[i].count) {
nuclear@0 404 anm_time_t tm = node->tracks[i].keys[0].time;
nuclear@0 405 if(tm < res) {
nuclear@0 406 res = tm;
nuclear@0 407 }
nuclear@0 408 }
nuclear@0 409 }
nuclear@0 410
nuclear@0 411 c = node->child;
nuclear@0 412 while(c) {
nuclear@0 413 anm_time_t tm = anm_get_start_time(c);
nuclear@0 414 if(tm < res) {
nuclear@0 415 res = tm;
nuclear@0 416 }
nuclear@0 417 c = c->next;
nuclear@0 418 }
nuclear@0 419 return res;
nuclear@0 420 }
nuclear@0 421
nuclear@0 422 anm_time_t anm_get_end_time(struct anm_node *node)
nuclear@0 423 {
nuclear@0 424 int i;
nuclear@0 425 struct anm_node *c;
nuclear@0 426 anm_time_t res = LONG_MIN;
nuclear@0 427
nuclear@0 428 for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0 429 if(node->tracks[i].count) {
nuclear@0 430 anm_time_t tm = node->tracks[i].keys[node->tracks[i].count - 1].time;
nuclear@0 431 if(tm > res) {
nuclear@0 432 res = tm;
nuclear@0 433 }
nuclear@0 434 }
nuclear@0 435 }
nuclear@0 436
nuclear@0 437 c = node->child;
nuclear@0 438 while(c) {
nuclear@0 439 anm_time_t tm = anm_get_end_time(c);
nuclear@0 440 if(tm > res) {
nuclear@0 441 res = tm;
nuclear@0 442 }
nuclear@0 443 c = c->next;
nuclear@0 444 }
nuclear@0 445 return res;
nuclear@0 446 }
nuclear@0 447
nuclear@0 448 static void invalidate_cache(struct anm_node *node)
nuclear@0 449 {
nuclear@0 450 struct mat_cache *cache = pthread_getspecific(node->cache_key);
nuclear@0 451 if(cache) {
nuclear@0 452 cache->time = ANM_TIME_INVAL;
nuclear@0 453 }
nuclear@0 454 }