libanim: e9db1d0c09b3 src/anim.c

libanim

view src/anim.c @ 44:e9db1d0c09b3

made the kind of interpolation for quaternion tracks into a conditional block for testing (lerp/slerp), obviously defaults to slerp...

author	John Tsiombikas <nuclear@member.fsf.org>
date	Fri, 01 Mar 2013 09:44:20 +0200
parents	b3312cf87715
children	710658962108

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 return quat_slerp(q1, q2, t);

273 #endif

274 }

275

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

277 {

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

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

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

281 invalidate_cache(node);

282 }

283

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

285 {

286 vec3_t v;

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

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

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

290 return v;

291 }

292

293

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

295 {

296 mat4_t xform;

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

298

299 if(!node->parent) {

300 return anm_get_node_position(node, tm);

301 }

302

303 anm_get_matrix(node, xform, tm);

304 return v3_transform(pos, xform);

305 }

306

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

308 {

309 quat_t rot, prot;

310 rot = anm_get_node_rotation(node, tm);

311

312 if(!node->parent) {

313 return rot;

314 }

315

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

317 return quat_mul(prot, rot);

318 }

319

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

321 {

322 vec3_t s, ps;

323 s = anm_get_node_scaling(node, tm);

324

325 if(!node->parent) {

326 return s;

327 }

328

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

330 return v3_mul(s, ps);

331 }

332

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

334 {

335 node->pivot = piv;

336 }

337

338 vec3_t anm_get_pivot(struct anm_node *node)

339 {

340 return node->pivot;

341 }

342

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

344 {

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

346 vec3_t pos, scale;

347 quat_t rot;

348

349 m4_identity(tmat);

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

351 m4_identity(smat);

352 m4_identity(pivmat);

353 m4_identity(neg_pivmat);

354

355 pos = anm_get_node_position(node, tm);

356 rot = anm_get_node_rotation(node, tm);

357 scale = anm_get_node_scaling(node, tm);

358

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

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

361

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

363 quat_to_mat4(rmat, rot);

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

365

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

367 m4_mult(mat, pivmat, tmat);

368 m4_mult(mat, mat, rmat);

369 m4_mult(mat, mat, smat);

370 m4_mult(mat, mat, neg_pivmat);

371 }

372

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

374 {

375 mat4_t tmp;

376 anm_get_node_matrix(node, tmp, tm);

377 m4_inverse(mat, tmp);

378 }

379

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

381 {

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

383 if(!cache) {

384 cache = malloc(sizeof *cache);

385 assert(cache);

386

387 pthread_mutex_lock(&node->cache_list_lock);

388 cache->next = node->cache_list;

389 node->cache_list = cache;

390 pthread_mutex_unlock(&node->cache_list_lock);

391

392 cache->time = ANM_TIME_INVAL;

393 cache->inv_time = ANM_TIME_INVAL;

394 pthread_setspecific(node->cache_key, cache);

395 }

396

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

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

399

400 if(node->parent) {

401 mat4_t parent_mat;

402

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

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

405 }

406 cache->time = tm;

407 }

408 m4_copy(mat, cache->matrix);

409 }

410

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

412 {

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

414 if(!cache) {

415 cache = malloc(sizeof *cache);

416 assert(cache);

417

418 pthread_mutex_lock(&node->cache_list_lock);

419 cache->next = node->cache_list;

420 node->cache_list = cache;

421 pthread_mutex_unlock(&node->cache_list_lock);

422

423 cache->inv_time = ANM_TIME_INVAL;

424 cache->inv_time = ANM_TIME_INVAL;

425 pthread_setspecific(node->cache_key, cache);

426 }

427

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

429 anm_get_matrix(node, mat, tm);

430 m4_inverse(cache->inv_matrix, mat);

431 cache->inv_time = tm;

432 }

433 m4_copy(mat, cache->inv_matrix);

434 }

435

436 anm_time_t anm_get_start_time(struct anm_node *node)

437 {

438 int i;

439 struct anm_node *c;

440 anm_time_t res = LONG_MAX;

441

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

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

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

445 if(tm < res) {

446 res = tm;

447 }

448 }

449 }

450

451 c = node->child;

452 while(c) {

453 anm_time_t tm = anm_get_start_time(c);

454 if(tm < res) {

455 res = tm;

456 }

457 c = c->next;

458 }

459 return res;

460 }

461

462 anm_time_t anm_get_end_time(struct anm_node *node)

463 {

464 int i;

465 struct anm_node *c;

466 anm_time_t res = LONG_MIN;

467

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

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

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

471 if(tm > res) {

472 res = tm;

473 }

474 }

475 }

476

477 c = node->child;

478 while(c) {

479 anm_time_t tm = anm_get_end_time(c);

480 if(tm > res) {

481 res = tm;

482 }

483 c = c->next;

484 }

485 return res;

486 }

487

488 static void invalidate_cache(struct anm_node *node)

489 {

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

491 if(cache) {

492 cache->time = ANM_TIME_INVAL;

493 }

494 }