libanim: 1ce7e250bae3 src/anim.c

libanim

view src/anim.c @ 4:1ce7e250bae3

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

line source

1 #include <stdlib.h>

2 #include <limits.h>

3 #include <assert.h>

4 #include "anim.h"

5 #include "dynarr.h"

7 static void invalidate_cache(struct anm_node *node);

9 int anm_init_node(struct anm_node *node)

10 {

11 int i, j;

12 static const float defaults[] = {

13 0.0f, 0.0f, 0.0f, /* default position */

14 0.0f, 0.0f, 0.0f, 1.0f, /* default rotation quat */

15 1.0f, 1.0f, 1.0f /* default scale factor */

16 };

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

20 /* initialize thread-local matrix cache */

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

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

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

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

26 anm_destroy_track(node->tracks + i);

27 }

28 }

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

30 }

31 return 0;

32 }

34 void anm_destroy_node(struct anm_node *node)

35 {

36 int i;

37 free(node->name);

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

40 anm_destroy_track(node->tracks + i);

41 }

43 /* destroy thread-specific cache */

44 pthread_key_delete(node->cache_key);

46 while(node->cache_list) {

47 struct mat_cache *tmp = node->cache_list;

48 node->cache_list = tmp->next;

49 free(tmp);

50 }

51 }

53 void anm_destroy_node_tree(struct anm_node *tree)

54 {

55 struct anm_node *c, *tmp;

57 if(!tree) return;

59 c = tree->child;

60 while(c) {

61 tmp = c;

62 c = c->next;

64 anm_destroy_node_tree(tmp);

65 }

66 anm_destroy_node(tree);

67 }

69 struct anm_node *anm_create_node(void)

70 {

71 struct anm_node *n;

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

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

75 free(n);

76 return 0;

77 }

78 }

79 return n;

80 }

82 void anm_free_node(struct anm_node *node)

83 {

84 anm_destroy_node(node);

85 free(node);

86 }

88 void anm_free_node_tree(struct anm_node *tree)

89 {

90 struct anm_node *c, *tmp;

92 if(!tree) return;

94 c = tree->child;

95 while(c) {

96 tmp = c;

97 c = c->next;

99 anm_free_node_tree(tmp);

100 }

101

102 anm_free_node(tree);

103 }

104

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

106 {

107 char *str;

108

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

110 return -1;

111 }

112 strcpy(str, name);

113 free(node->name);

114 node->name = str;

115 return 0;

116 }

117

118 const char *anm_get_node_name(struct anm_node *node)

119 {

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

121 }

122

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

124 {

125 int i;

126

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

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

129 }

130 invalidate_cache(node);

131 }

132

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

134 {

135 int i;

136

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

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

139 }

140 invalidate_cache(node);

141 }

142

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

144 {

145 c->next = p->child;

146 p->child = c;

147

148 c->parent = p;

149 invalidate_cache(c);

150 }

151

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

153 {

154 struct anm_node *iter;

155

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

157 p->child = c->next;

158 c->next = 0;

159 invalidate_cache(c);

160 return 0;

161 }

162

163 iter = p->child;

164 while(iter->next) {

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

166 iter->next = c->next;

167 c->next = 0;

168 invalidate_cache(c);

169 return 0;

170 }

171 }

172 return -1;

173 }

174

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

176 {

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

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

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

180 invalidate_cache(node);

181 }

182

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

184 {

185 vec3_t v;

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

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

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

189 return v;

190 }

191

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

193 {

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

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

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

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

198 invalidate_cache(node);

199 }

200

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

202 {

203 int idx0, idx1, last_idx;

204 anm_time_t tstart, tend;

205 float t, dt;

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

207 quat_t q, q1, q2;

208

209 track_x = node->tracks + ANM_TRACK_ROT_X;

210 track_y = node->tracks + ANM_TRACK_ROT_Y;

211 track_z = node->tracks + ANM_TRACK_ROT_Z;

212 track_w = node->tracks + ANM_TRACK_ROT_W;

213

214 if(!track_x->count) {

215 q.x = track_x->def_val;

216 q.y = track_y->def_val;

217 q.z = track_z->def_val;

218 q.w = track_w->def_val;

219 return q;

220 }

221

222 last_idx = track_x->count - 1;

223

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

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

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

227

228 idx0 = anm_get_key_interval(track_x, tm);

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

230 idx1 = idx0 + 1;

231

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

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

234

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

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

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

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

239

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

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

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

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

244

245 return quat_slerp(q1, q2, t);

246 }

247

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

249 {

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

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

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

253 invalidate_cache(node);

254 }

255

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

257 {

258 vec3_t v;

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

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

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

262 return v;

263 }

264

265

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

267 {

268 mat4_t xform;

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

270

271 if(!node->parent) {

272 return anm_get_node_position(node, tm);

273 }

274

275 anm_get_matrix(node, xform, tm);

276 return v3_transform(pos, xform);

277 }

278

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

280 {

281 quat_t rot, prot;

282 rot = anm_get_node_rotation(node, tm);

283

284 if(!node->parent) {

285 return rot;

286 }

287

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

289 return quat_mul(prot, rot);

290 }

291

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

293 {

294 vec3_t s, ps;

295 s = anm_get_node_scaling(node, tm);

296

297 if(!node->parent) {

298 return s;

299 }

300

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

302 return v3_mul(s, ps);

303 }

304

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

306 {

307 node->pivot = piv;

308 }

309

310 vec3_t anm_get_pivot(struct anm_node *node)

311 {

312 return node->pivot;

313 }

314

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

316 {

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

318 if(!cache) {

319 cache = malloc(sizeof *cache);

320 assert(cache);

321

322 pthread_mutex_lock(&node->cache_list_lock);

323 cache->next = node->cache_list;

324 node->cache_list = cache;

325 pthread_mutex_unlock(&node->cache_list_lock);

326

327 cache->time = ANM_TIME_INVAL;

328 cache->inv_time = ANM_TIME_INVAL;

329 pthread_setspecific(node->cache_key, cache);

330 }

331

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

333 mat4_t tmat, rmat, smat, pivmat, neg_pivmat;

334 vec3_t pos, scale;

335 quat_t rot;

336

337 m4_identity(tmat);

338 /*no need to m4_identity(rmat); quat_to_mat4 sets this properly */

339 m4_identity(smat);

340 m4_identity(pivmat);

341 m4_identity(neg_pivmat);

342

343 pos = anm_get_node_position(node, tm);

344 rot = anm_get_node_rotation(node, tm);

345 scale = anm_get_node_scaling(node, tm);

346

347 m4_translate(pivmat, node->pivot.x, node->pivot.y, node->pivot.z);

348 m4_translate(neg_pivmat, -node->pivot.x, -node->pivot.y, -node->pivot.z);

349

350 m4_translate(tmat, pos.x, pos.y, pos.z);

351 quat_to_mat4(rmat, rot);

352 m4_scale(smat, scale.x, scale.y, scale.z);

353

354 /* ok this would look nicer in C++ */

355 m4_mult(cache->matrix, pivmat, tmat);

356 m4_mult(cache->matrix, cache->matrix, rmat);

357 m4_mult(cache->matrix, cache->matrix, smat);

358 m4_mult(cache->matrix, cache->matrix, neg_pivmat);

359

360 if(node->parent) {

361 mat4_t parent_mat;

362

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

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

365 }

366 cache->time = tm;

367 }

368 m4_copy(mat, cache->matrix);

369 }

370

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

372 {

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

374 if(!cache) {

375 cache = malloc(sizeof *cache);

376 assert(cache);

377

378 pthread_mutex_lock(&node->cache_list_lock);

379 cache->next = node->cache_list;

380 node->cache_list = cache;

381 pthread_mutex_unlock(&node->cache_list_lock);

382

383 cache->inv_time = ANM_TIME_INVAL;

384 cache->inv_time = ANM_TIME_INVAL;

385 pthread_setspecific(node->cache_key, cache);

386 }

387

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

389 anm_get_matrix(node, mat, tm);

390 m4_inverse(cache->inv_matrix, mat);

391 cache->inv_time = tm;

392 }

393 m4_copy(mat, cache->inv_matrix);

394 }

395

396 anm_time_t anm_get_start_time(struct anm_node *node)

397 {

398 int i;

399 struct anm_node *c;

400 anm_time_t res = LONG_MAX;

401

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

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

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

405 if(tm < res) {

406 res = tm;

407 }

408 }

409 }

410

411 c = node->child;

412 while(c) {

413 anm_time_t tm = anm_get_start_time(c);

414 if(tm < res) {

415 res = tm;

416 }

417 c = c->next;

418 }

419 return res;

420 }

421

422 anm_time_t anm_get_end_time(struct anm_node *node)

423 {

424 int i;

425 struct anm_node *c;

426 anm_time_t res = LONG_MIN;

427

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

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

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

431 if(tm > res) {

432 res = tm;

433 }

434 }

435 }

436

437 c = node->child;

438 while(c) {

439 anm_time_t tm = anm_get_end_time(c);

440 if(tm > res) {

441 res = tm;

442 }

443 c = c->next;

444 }

445 return res;

446 }

447

448 static void invalidate_cache(struct anm_node *node)

449 {

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

451 if(cache) {

452 cache->time = ANM_TIME_INVAL;

453 }

454 }