libanim: 710658962108 src/anim.c

libanim

view src/anim.c @ 9:710658962108

simplified the matrix calculation and removed two quaternion normalizations that were probably not needed

author	John Tsiombikas <nuclear@member.fsf.org>
date	Fri, 08 Mar 2013 04:54:05 +0200
parents	ffe668a61bca
children	b408f3f655e9

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);

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

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

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

28 anm_destroy_track(node->tracks + i);

29 }

30 }

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

32 }

33 return 0;

34 }

36 void anm_destroy_node(struct anm_node *node)

37 {

38 int i;

39 free(node->name);

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

42 anm_destroy_track(node->tracks + i);

43 }

45 /* destroy thread-specific cache */

46 pthread_key_delete(node->cache_key);

48 while(node->cache_list) {

49 struct mat_cache *tmp = node->cache_list;

50 node->cache_list = tmp->next;

51 free(tmp);

52 }

53 }

55 void anm_destroy_node_tree(struct anm_node *tree)

56 {

57 struct anm_node *c, *tmp;

59 if(!tree) return;

61 c = tree->child;

62 while(c) {

63 tmp = c;

64 c = c->next;

66 anm_destroy_node_tree(tmp);

67 }

68 anm_destroy_node(tree);

69 }

71 struct anm_node *anm_create_node(void)

72 {

73 struct anm_node *n;

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

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

77 free(n);

78 return 0;

79 }

80 }

81 return n;

82 }

84 void anm_free_node(struct anm_node *node)

85 {

86 anm_destroy_node(node);

87 free(node);

88 }

90 void anm_free_node_tree(struct anm_node *tree)

91 {

92 struct anm_node *c, *tmp;

94 if(!tree) return;

96 c = tree->child;

97 while(c) {

98 tmp = c;

99 c = c->next;

100

101 anm_free_node_tree(tmp);

102 }

103

104 anm_free_node(tree);

105 }

106

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

108 {

109 char *str;

110

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

112 return -1;

113 }

114 strcpy(str, name);

115 free(node->name);

116 node->name = str;

117 return 0;

118 }

119

120 const char *anm_get_node_name(struct anm_node *node)

121 {

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

123 }

124

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

126 {

127 int i;

128

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

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

131 }

132 invalidate_cache(node);

133 }

134

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

136 {

137 int i;

138

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

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

141 }

142 invalidate_cache(node);

143 }

144

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

146 {

147 c->next = p->child;

148 p->child = c;

149

150 c->parent = p;

151 invalidate_cache(c);

152 }

153

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

155 {

156 struct anm_node *iter;

157

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

159 p->child = c->next;

160 c->next = 0;

161 invalidate_cache(c);

162 return 0;

163 }

164

165 iter = p->child;

166 while(iter->next) {

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

168 iter->next = c->next;

169 c->next = 0;

170 invalidate_cache(c);

171 return 0;

172 }

173 }

174 return -1;

175 }

176

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

178 {

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

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

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

182 invalidate_cache(node);

183 }

184

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

186 {

187 vec3_t v;

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

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

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

191 return v;

192 }

193

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

195 {

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

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

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

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

200 invalidate_cache(node);

201 }

202

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

204 {

205 #ifndef ROT_USE_SLERP

206 quat_t q;

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

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

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

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

211 return q;

212 #else

213 int idx0, idx1, last_idx;

214 anm_time_t tstart, tend;

215 float t, dt;

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

217 quat_t q, q1, q2;

218

219 track_x = node->tracks + ANM_TRACK_ROT_X;

220 track_y = node->tracks + ANM_TRACK_ROT_Y;

221 track_z = node->tracks + ANM_TRACK_ROT_Z;

222 track_w = node->tracks + ANM_TRACK_ROT_W;

223

224 if(!track_x->count) {

225 q.x = track_x->def_val;

226 q.y = track_y->def_val;

227 q.z = track_z->def_val;

228 q.w = track_w->def_val;

229 return q;

230 }

231

232 last_idx = track_x->count - 1;

233

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

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

236

237 if(tstart == tend) {

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

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

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

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

242 return q;

243 }

244

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

246

247 idx0 = anm_get_key_interval(track_x, tm);

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

249 idx1 = idx0 + 1;

250

251 if(idx0 == last_idx) {

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

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

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

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

256 return q;

257 }

258

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

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

261

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

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

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

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

266

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

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

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

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

271

272 /*q1 = quat_normalize(q1);

273 q2 = quat_normalize(q2);*/

274

275 return quat_slerp(q1, q2, t);

276 #endif

277 }

278

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

280 {

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

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

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

284 invalidate_cache(node);

285 }

286

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

288 {

289 vec3_t v;

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

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

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

293 return v;

294 }

295

296

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

298 {

299 mat4_t xform;

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

301

302 if(!node->parent) {

303 return anm_get_node_position(node, tm);

304 }

305

306 anm_get_matrix(node, xform, tm);

307 return v3_transform(pos, xform);

308 }

309

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

311 {

312 quat_t rot, prot;

313 rot = anm_get_node_rotation(node, tm);

314

315 if(!node->parent) {

316 return rot;

317 }

318

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

320 return quat_mul(prot, rot);

321 }

322

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

324 {

325 vec3_t s, ps;

326 s = anm_get_node_scaling(node, tm);

327

328 if(!node->parent) {

329 return s;

330 }

331

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

333 return v3_mul(s, ps);

334 }

335

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

337 {

338 node->pivot = piv;

339 }

340

341 vec3_t anm_get_pivot(struct anm_node *node)

342 {

343 return node->pivot;

344 }

345

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

347 {

348 int i;

349 mat4_t rmat;

350 vec3_t pos, scale;

351 quat_t rot;

352

353 pos = anm_get_node_position(node, tm);

354 rot = anm_get_node_rotation(node, tm);

355 scale = anm_get_node_scaling(node, tm);

356

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

358

359 quat_to_mat4(rmat, rot);

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

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

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

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

364 }

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

366

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

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

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

370

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

372

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

374 }

375

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

377 {

378 mat4_t tmp;

379 anm_get_node_matrix(node, tmp, tm);

380 m4_inverse(mat, tmp);

381 }

382

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

384 {

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

386 if(!cache) {

387 cache = malloc(sizeof *cache);

388 assert(cache);

389

390 pthread_mutex_lock(&node->cache_list_lock);

391 cache->next = node->cache_list;

392 node->cache_list = cache;

393 pthread_mutex_unlock(&node->cache_list_lock);

394

395 cache->time = ANM_TIME_INVAL;

396 cache->inv_time = ANM_TIME_INVAL;

397 pthread_setspecific(node->cache_key, cache);

398 }

399

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

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

402

403 if(node->parent) {

404 mat4_t parent_mat;

405

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

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

408 }

409 cache->time = tm;

410 }

411 m4_copy(mat, cache->matrix);

412 }

413

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

415 {

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

417 if(!cache) {

418 cache = malloc(sizeof *cache);

419 assert(cache);

420

421 pthread_mutex_lock(&node->cache_list_lock);

422 cache->next = node->cache_list;

423 node->cache_list = cache;

424 pthread_mutex_unlock(&node->cache_list_lock);

425

426 cache->inv_time = ANM_TIME_INVAL;

427 cache->inv_time = ANM_TIME_INVAL;

428 pthread_setspecific(node->cache_key, cache);

429 }

430

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

432 anm_get_matrix(node, mat, tm);

433 m4_inverse(cache->inv_matrix, mat);

434 cache->inv_time = tm;

435 }

436 m4_copy(mat, cache->inv_matrix);

437 }

438

439 anm_time_t anm_get_start_time(struct anm_node *node)

440 {

441 int i;

442 struct anm_node *c;

443 anm_time_t res = LONG_MAX;

444

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

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

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

448 if(tm < res) {

449 res = tm;

450 }

451 }

452 }

453

454 c = node->child;

455 while(c) {

456 anm_time_t tm = anm_get_start_time(c);

457 if(tm < res) {

458 res = tm;

459 }

460 c = c->next;

461 }

462 return res;

463 }

464

465 anm_time_t anm_get_end_time(struct anm_node *node)

466 {

467 int i;

468 struct anm_node *c;

469 anm_time_t res = LONG_MIN;

470

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

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

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

474 if(tm > res) {

475 res = tm;

476 }

477 }

478 }

479

480 c = node->child;

481 while(c) {

482 anm_time_t tm = anm_get_end_time(c);

483 if(tm > res) {

484 res = tm;

485 }

486 c = c->next;

487 }

488 return res;

489 }

490

491 static void invalidate_cache(struct anm_node *node)

492 {

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

494 if(cache) {

495 cache->time = ANM_TIME_INVAL;

496 }

497 }