libanim: 2da758956e50 src/anim.c

libanim

view src/anim.c @ 57:2da758956e50

added the option of lightweight pre-pass top-down recursive calculation of matrices instead of going through the existing lazy thread-specific caching algorithm.

author	John Tsiombikas <nuclear@member.fsf.org>
date	Mon, 09 Dec 2013 04:06:30 +0200
parents	46a1f2aa1129
children	5993f405a1cb

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 /* initialize thread-local matrix cache */

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

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

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

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

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

29 anm_destroy_track(node->tracks + i);

30 }

31 }

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

33 }

34 return 0;

35 }

37 void anm_destroy_node(struct anm_node *node)

38 {

39 int i;

40 free(node->name);

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

43 anm_destroy_track(node->tracks + i);

44 }

46 /* destroy thread-specific cache */

47 pthread_key_delete(node->cache_key);

49 while(node->cache_list) {

50 struct mat_cache *tmp = node->cache_list;

51 node->cache_list = tmp->next;

52 free(tmp);

53 }

54 }

56 void anm_destroy_node_tree(struct anm_node *tree)

57 {

58 struct anm_node *c, *tmp;

60 if(!tree) return;

62 c = tree->child;

63 while(c) {

64 tmp = c;

65 c = c->next;

67 anm_destroy_node_tree(tmp);

68 }

69 anm_destroy_node(tree);

70 }

72 struct anm_node *anm_create_node(void)

73 {

74 struct anm_node *n;

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

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

78 free(n);

79 return 0;

80 }

81 }

82 return n;

83 }

85 void anm_free_node(struct anm_node *node)

86 {

87 anm_destroy_node(node);

88 free(node);

89 }

91 void anm_free_node_tree(struct anm_node *tree)

92 {

93 struct anm_node *c, *tmp;

95 if(!tree) return;

97 c = tree->child;

98 while(c) {

99 tmp = c;

100 c = c->next;

101

102 anm_free_node_tree(tmp);

103 }

104

105 anm_free_node(tree);

106 }

107

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

109 {

110 char *str;

111

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

113 return -1;

114 }

115 strcpy(str, name);

116 free(node->name);

117 node->name = str;

118 return 0;

119 }

120

121 const char *anm_get_node_name(struct anm_node *node)

122 {

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

124 }

125

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

127 {

128 int i;

129

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

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

132 }

133 invalidate_cache(node);

134 }

135

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

137 {

138 int i;

139

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

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

142 }

143 invalidate_cache(node);

144 }

145

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

147 {

148 c->next = p->child;

149 p->child = c;

150

151 c->parent = p;

152 invalidate_cache(c);

153 }

154

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

156 {

157 struct anm_node *iter;

158

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

160 p->child = c->next;

161 c->next = 0;

162 invalidate_cache(c);

163 return 0;

164 }

165

166 iter = p->child;

167 while(iter->next) {

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

169 iter->next = c->next;

170 c->next = 0;

171 invalidate_cache(c);

172 return 0;

173 }

174 }

175 return -1;

176 }

177

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

179 {

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

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

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

183 invalidate_cache(node);

184 }

185

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

187 {

188 vec3_t v;

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

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

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

192 return v;

193 }

194

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

196 {

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

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

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

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

201 invalidate_cache(node);

202 }

203

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

205 {

206 #ifndef ROT_USE_SLERP

207 quat_t q;

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

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

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

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

212 return q;

213 #else

214 int idx0, idx1, last_idx;

215 anm_time_t tstart, tend;

216 float t, dt;

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

218 quat_t q, q1, q2;

219

220 track_x = node->tracks + ANM_TRACK_ROT_X;

221 track_y = node->tracks + ANM_TRACK_ROT_Y;

222 track_z = node->tracks + ANM_TRACK_ROT_Z;

223 track_w = node->tracks + ANM_TRACK_ROT_W;

224

225 if(!track_x->count) {

226 q.x = track_x->def_val;

227 q.y = track_y->def_val;

228 q.z = track_z->def_val;

229 q.w = track_w->def_val;

230 return q;

231 }

232

233 last_idx = track_x->count - 1;

234

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

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

237

238 if(tstart == tend) {

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

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

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

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

243 return q;

244 }

245

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

247

248 idx0 = anm_get_key_interval(track_x, tm);

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

250 idx1 = idx0 + 1;

251

252 if(idx0 == last_idx) {

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

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

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

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

257 return q;

258 }

259

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

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

262

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

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

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

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

267

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

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

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

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

272

273 /*q1 = quat_normalize(q1);

274 q2 = quat_normalize(q2);*/

275

276 return quat_slerp(q1, q2, t);

277 #endif

278 }

279

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

281 {

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

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

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

285 invalidate_cache(node);

286 }

287

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

289 {

290 vec3_t v;

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

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

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

294 return v;

295 }

296

297

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

299 {

300 mat4_t xform;

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

302

303 if(!node->parent) {

304 return anm_get_node_position(node, tm);

305 }

306

307 anm_get_matrix(node, xform, tm);

308 return v3_transform(pos, xform);

309 }

310

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

312 {

313 quat_t rot, prot;

314 rot = anm_get_node_rotation(node, tm);

315

316 if(!node->parent) {

317 return rot;

318 }

319

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

321 return quat_mul(prot, rot);

322 }

323

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

325 {

326 vec3_t s, ps;

327 s = anm_get_node_scaling(node, tm);

328

329 if(!node->parent) {

330 return s;

331 }

332

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

334 return v3_mul(s, ps);

335 }

336

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

338 {

339 node->pivot = piv;

340 }

341

342 vec3_t anm_get_pivot(struct anm_node *node)

343 {

344 return node->pivot;

345 }

346

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

348 {

349 int i;

350 mat4_t rmat;

351 vec3_t pos, scale;

352 quat_t rot;

353

354 pos = anm_get_node_position(node, tm);

355 rot = anm_get_node_rotation(node, tm);

356 scale = anm_get_node_scaling(node, tm);

357

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

359

360 quat_to_mat4(rmat, rot);

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

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

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

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

365 }

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

367

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

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

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

371

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

373

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

375 }

376

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

378 {

379 mat4_t tmp;

380 anm_get_node_matrix(node, tmp, tm);

381 m4_inverse(mat, tmp);

382 }

383

384 void anm_eval_node(struct anm_node *node, anm_time_t tm)

385 {

386 anm_get_node_matrix(node, node->matrix, tm);

387 }

388

389 void anm_eval(struct anm_node *node, anm_time_t tm)

390 {

391 struct anm_node *c;

392

393 anm_eval_node(node, tm);

394

395 if(node->parent) {

396 /* due to post-order traversal, the parent matrix is already evaluated */

397 m4_mult(node->matrix, node->parent->matrix, node->matrix);

398 }

399

400 /* recersively evaluate all children */

401 c = node->child;

402 while(c) {

403 anm_eval(c, tm);

404 c = c->next;

405 }

406 }

407

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

409 {

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

411 if(!cache) {

412 cache = malloc(sizeof *cache);

413 assert(cache);

414

415 pthread_mutex_lock(&node->cache_list_lock);

416 cache->next = node->cache_list;

417 node->cache_list = cache;

418 pthread_mutex_unlock(&node->cache_list_lock);

419

420 cache->time = ANM_TIME_INVAL;

421 cache->inv_time = ANM_TIME_INVAL;

422 pthread_setspecific(node->cache_key, cache);

423 }

424

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

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

427

428 if(node->parent) {

429 mat4_t parent_mat;

430

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

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

433 }

434 cache->time = tm;

435 }

436 m4_copy(mat, cache->matrix);

437 }

438

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

440 {

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

442 if(!cache) {

443 cache = malloc(sizeof *cache);

444 assert(cache);

445

446 pthread_mutex_lock(&node->cache_list_lock);

447 cache->next = node->cache_list;

448 node->cache_list = cache;

449 pthread_mutex_unlock(&node->cache_list_lock);

450

451 cache->inv_time = ANM_TIME_INVAL;

452 cache->inv_time = ANM_TIME_INVAL;

453 pthread_setspecific(node->cache_key, cache);

454 }

455

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

457 anm_get_matrix(node, mat, tm);

458 m4_inverse(cache->inv_matrix, mat);

459 cache->inv_time = tm;

460 }

461 m4_copy(mat, cache->inv_matrix);

462 }

463

464 anm_time_t anm_get_start_time(struct anm_node *node)

465 {

466 int i;

467 struct anm_node *c;

468 anm_time_t res = LONG_MAX;

469

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

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

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

473 if(tm < res) {

474 res = tm;

475 }

476 }

477 }

478

479 c = node->child;

480 while(c) {

481 anm_time_t tm = anm_get_start_time(c);

482 if(tm < res) {

483 res = tm;

484 }

485 c = c->next;

486 }

487 return res;

488 }

489

490 anm_time_t anm_get_end_time(struct anm_node *node)

491 {

492 int i;

493 struct anm_node *c;

494 anm_time_t res = LONG_MIN;

495

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

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

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

499 if(tm > res) {

500 res = tm;

501 }

502 }

503 }

504

505 c = node->child;

506 while(c) {

507 anm_time_t tm = anm_get_end_time(c);

508 if(tm > res) {

509 res = tm;

510 }

511 c = c->next;

512 }

513 return res;

514 }

515

516 static void invalidate_cache(struct anm_node *node)

517 {

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

519 if(cache) {

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

521 }

522 }