nuclear@1: #include <stdlib.h>
nuclear@0: #include <limits.h>
nuclear@0: #include <assert.h>
nuclear@0: #include "anim.h"
nuclear@0: #include "dynarr.h"
nuclear@0: 
nuclear@0: static void invalidate_cache(struct anm_node *node);
nuclear@0: 
nuclear@0: int anm_init_node(struct anm_node *node)
nuclear@0: {
nuclear@0: 	int i, j;
nuclear@0: 	static const float defaults[] = {
nuclear@0: 		0.0f, 0.0f, 0.0f,		/* default position */
nuclear@0: 		0.0f, 0.0f, 0.0f, 1.0f,	/* default rotation quat */
nuclear@0: 		1.0f, 1.0f, 1.0f		/* default scale factor */
nuclear@0: 	};
nuclear@0: 
nuclear@0: 	memset(node, 0, sizeof *node);
nuclear@0: 
nuclear@0: 	/* initialize thread-local matrix cache */
nuclear@0: 	pthread_key_create(&node->cache_key, 0);
nuclear@0: 
nuclear@0: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0: 		if(anm_init_track(node->tracks + i) == -1) {
nuclear@0: 			for(j=0; j<i; j++) {
nuclear@0: 				anm_destroy_track(node->tracks + i);
nuclear@0: 			}
nuclear@0: 		}
nuclear@0: 		anm_set_track_default(node->tracks + i, defaults[i]);
nuclear@0: 	}
nuclear@0: 	return 0;
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_destroy_node(struct anm_node *node)
nuclear@0: {
nuclear@0: 	int i;
nuclear@0: 	free(node->name);
nuclear@0: 
nuclear@0: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0: 		anm_destroy_track(node->tracks + i);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	/* destroy thread-specific cache */
nuclear@0: 	pthread_key_delete(node->cache_key);
nuclear@0: 
nuclear@0: 	while(node->cache_list) {
nuclear@0: 		struct mat_cache *tmp = node->cache_list;
nuclear@0: 		node->cache_list = tmp->next;
nuclear@0: 		free(tmp);
nuclear@0: 	}
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_destroy_node_tree(struct anm_node *tree)
nuclear@0: {
nuclear@0: 	struct anm_node *c, *tmp;
nuclear@0: 
nuclear@0: 	if(!tree) return;
nuclear@0: 
nuclear@0: 	c = tree->child;
nuclear@0: 	while(c) {
nuclear@0: 		tmp = c;
nuclear@0: 		c = c->next;
nuclear@0: 
nuclear@0: 		anm_destroy_node_tree(tmp);
nuclear@0: 	}
nuclear@0: 	anm_destroy_node(tree);
nuclear@0: }
nuclear@0: 
nuclear@0: struct anm_node *anm_create_node(void)
nuclear@0: {
nuclear@0: 	struct anm_node *n;
nuclear@0: 
nuclear@0: 	if((n = malloc(sizeof *n))) {
nuclear@0: 		if(anm_init_node(n) == -1) {
nuclear@0: 			free(n);
nuclear@0: 			return 0;
nuclear@0: 		}
nuclear@0: 	}
nuclear@0: 	return n;
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_free_node(struct anm_node *node)
nuclear@0: {
nuclear@0: 	anm_destroy_node(node);
nuclear@0: 	free(node);
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_free_node_tree(struct anm_node *tree)
nuclear@0: {
nuclear@0: 	struct anm_node *c, *tmp;
nuclear@0: 
nuclear@0: 	if(!tree) return;
nuclear@0: 
nuclear@0: 	c = tree->child;
nuclear@0: 	while(c) {
nuclear@0: 		tmp = c;
nuclear@0: 		c = c->next;
nuclear@0: 
nuclear@0: 		anm_free_node_tree(tmp);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	anm_free_node(tree);
nuclear@0: }
nuclear@0: 
nuclear@0: int anm_set_node_name(struct anm_node *node, const char *name)
nuclear@0: {
nuclear@0: 	char *str;
nuclear@0: 
nuclear@0: 	if(!(str = malloc(strlen(name) + 1))) {
nuclear@0: 		return -1;
nuclear@0: 	}
nuclear@0: 	strcpy(str, name);
nuclear@0: 	free(node->name);
nuclear@0: 	node->name = str;
nuclear@0: 	return 0;
nuclear@0: }
nuclear@0: 
nuclear@0: const char *anm_get_node_name(struct anm_node *node)
nuclear@0: {
nuclear@0: 	return node->name ? node->name : "";
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_set_interpolator(struct anm_node *node, enum anm_interpolator in)
nuclear@0: {
nuclear@0: 	int i;
nuclear@0: 
nuclear@0: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0: 		anm_set_track_interpolator(node->tracks + i, in);
nuclear@0: 	}
nuclear@0: 	invalidate_cache(node);
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_set_extrapolator(struct anm_node *node, enum anm_extrapolator ex)
nuclear@0: {
nuclear@0: 	int i;
nuclear@0: 
nuclear@0: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0: 		anm_set_track_extrapolator(node->tracks + i, ex);
nuclear@0: 	}
nuclear@0: 	invalidate_cache(node);
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_link_node(struct anm_node *p, struct anm_node *c)
nuclear@0: {
nuclear@0: 	c->next = p->child;
nuclear@0: 	p->child = c;
nuclear@0: 
nuclear@0: 	c->parent = p;
nuclear@0: 	invalidate_cache(c);
nuclear@0: }
nuclear@0: 
nuclear@0: int anm_unlink_node(struct anm_node *p, struct anm_node *c)
nuclear@0: {
nuclear@0: 	struct anm_node *iter;
nuclear@0: 
nuclear@0: 	if(p->child == c) {
nuclear@0: 		p->child = c->next;
nuclear@0: 		c->next = 0;
nuclear@0: 		invalidate_cache(c);
nuclear@0: 		return 0;
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	iter = p->child;
nuclear@0: 	while(iter->next) {
nuclear@0: 		if(iter->next == c) {
nuclear@0: 			iter->next = c->next;
nuclear@0: 			c->next = 0;
nuclear@0: 			invalidate_cache(c);
nuclear@0: 			return 0;
nuclear@0: 		}
nuclear@0: 	}
nuclear@0: 	return -1;
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_set_position(struct anm_node *node, vec3_t pos, anm_time_t tm)
nuclear@0: {
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_POS_X, tm, pos.x);
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_POS_Y, tm, pos.y);
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_POS_Z, tm, pos.z);
nuclear@0: 	invalidate_cache(node);
nuclear@0: }
nuclear@0: 
nuclear@0: vec3_t anm_get_node_position(struct anm_node *node, anm_time_t tm)
nuclear@0: {
nuclear@0: 	vec3_t v;
nuclear@0: 	v.x = anm_get_value(node->tracks + ANM_TRACK_POS_X, tm);
nuclear@0: 	v.y = anm_get_value(node->tracks + ANM_TRACK_POS_Y, tm);
nuclear@0: 	v.z = anm_get_value(node->tracks + ANM_TRACK_POS_Z, tm);
nuclear@0: 	return v;
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_set_rotation(struct anm_node *node, quat_t rot, anm_time_t tm)
nuclear@0: {
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_ROT_X, tm, rot.x);
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_ROT_Y, tm, rot.y);
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_ROT_Z, tm, rot.z);
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_ROT_W, tm, rot.w);
nuclear@0: 	invalidate_cache(node);
nuclear@0: }
nuclear@0: 
nuclear@0: quat_t anm_get_node_rotation(struct anm_node *node, anm_time_t tm)
nuclear@0: {
nuclear@0: 	int idx0, idx1, last_idx;
nuclear@0: 	anm_time_t tstart, tend;
nuclear@0: 	float t, dt;
nuclear@0: 	struct anm_track *track_x, *track_y, *track_z, *track_w;
nuclear@0: 	quat_t q, q1, q2;
nuclear@0: 
nuclear@0: 	track_x = node->tracks + ANM_TRACK_ROT_X;
nuclear@0: 	track_y = node->tracks + ANM_TRACK_ROT_Y;
nuclear@0: 	track_z = node->tracks + ANM_TRACK_ROT_Z;
nuclear@0: 	track_w = node->tracks + ANM_TRACK_ROT_W;
nuclear@0: 
nuclear@0: 	if(!track_x->count) {
nuclear@0: 		q.x = track_x->def_val;
nuclear@0: 		q.y = track_y->def_val;
nuclear@0: 		q.z = track_z->def_val;
nuclear@0: 		q.w = track_w->def_val;
nuclear@0: 		return q;
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	last_idx = track_x->count - 1;
nuclear@0: 
nuclear@0: 	tstart = track_x->keys[0].time;
nuclear@0: 	tend = track_x->keys[last_idx].time;
nuclear@0: 	tm = anm_remap_time(track_x, tm, tstart, tend);
nuclear@0: 
nuclear@0: 	idx0 = anm_get_key_interval(track_x, tm);
nuclear@0: 	assert(idx0 >= 0 && idx0 < track_x->count);
nuclear@0: 	idx1 = idx0 + 1;
nuclear@0: 
nuclear@0: 	dt = (float)(track_x->keys[idx1].time - track_x->keys[idx0].time);
nuclear@0: 	t = (float)(tm - track_x->keys[idx0].time) / dt;
nuclear@0: 
nuclear@0: 	q1.x = track_x->keys[idx0].val;
nuclear@0: 	q1.y = track_y->keys[idx0].val;
nuclear@0: 	q1.z = track_z->keys[idx0].val;
nuclear@0: 	q1.w = track_w->keys[idx0].val;
nuclear@0: 
nuclear@0: 	q2.x = track_x->keys[idx1].val;
nuclear@0: 	q2.y = track_y->keys[idx1].val;
nuclear@0: 	q2.z = track_z->keys[idx1].val;
nuclear@0: 	q2.w = track_w->keys[idx1].val;
nuclear@0: 
nuclear@0: 	return quat_slerp(q1, q2, t);
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_set_scaling(struct anm_node *node, vec3_t scl, anm_time_t tm)
nuclear@0: {
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_SCL_X, tm, scl.x);
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_SCL_Y, tm, scl.y);
nuclear@0: 	anm_set_value(node->tracks + ANM_TRACK_SCL_Z, tm, scl.z);
nuclear@0: 	invalidate_cache(node);
nuclear@0: }
nuclear@0: 
nuclear@0: vec3_t anm_get_node_scaling(struct anm_node *node, anm_time_t tm)
nuclear@0: {
nuclear@0: 	vec3_t v;
nuclear@0: 	v.x = anm_get_value(node->tracks + ANM_TRACK_SCL_X, tm);
nuclear@0: 	v.y = anm_get_value(node->tracks + ANM_TRACK_SCL_Y, tm);
nuclear@0: 	v.z = anm_get_value(node->tracks + ANM_TRACK_SCL_Z, tm);
nuclear@0: 	return v;
nuclear@0: }
nuclear@0: 
nuclear@0: 
nuclear@0: vec3_t anm_get_position(struct anm_node *node, anm_time_t tm)
nuclear@0: {
nuclear@0: 	mat4_t xform;
nuclear@0: 	vec3_t pos = {0.0, 0.0, 0.0};
nuclear@0: 
nuclear@0: 	if(!node->parent) {
nuclear@0: 		return anm_get_node_position(node, tm);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	anm_get_matrix(node, xform, tm);
nuclear@0: 	return v3_transform(pos, xform);
nuclear@0: }
nuclear@0: 
nuclear@0: quat_t anm_get_rotation(struct anm_node *node, anm_time_t tm)
nuclear@0: {
nuclear@0: 	quat_t rot, prot;
nuclear@0: 	rot = anm_get_node_rotation(node, tm);
nuclear@0: 
nuclear@0: 	if(!node->parent) {
nuclear@0: 		return rot;
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	prot = anm_get_rotation(node->parent, tm);
nuclear@0: 	return quat_mul(prot, rot);
nuclear@0: }
nuclear@0: 
nuclear@0: vec3_t anm_get_scaling(struct anm_node *node, anm_time_t tm)
nuclear@0: {
nuclear@0: 	vec3_t s, ps;
nuclear@0: 	s = anm_get_node_scaling(node, tm);
nuclear@0: 
nuclear@0: 	if(!node->parent) {
nuclear@0: 		return s;
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	ps = anm_get_scaling(node->parent, tm);
nuclear@0: 	return v3_mul(s, ps);
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_set_pivot(struct anm_node *node, vec3_t piv)
nuclear@0: {
nuclear@0: 	node->pivot = piv;
nuclear@0: }
nuclear@0: 
nuclear@0: vec3_t anm_get_pivot(struct anm_node *node)
nuclear@0: {
nuclear@0: 	return node->pivot;
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_get_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@0: {
nuclear@0: 	struct mat_cache *cache = pthread_getspecific(node->cache_key);
nuclear@0: 	if(!cache) {
nuclear@0: 		cache = malloc(sizeof *cache);
nuclear@0: 		assert(cache);
nuclear@0: 
nuclear@0: 		pthread_mutex_lock(&node->cache_list_lock);
nuclear@0: 		cache->next = node->cache_list;
nuclear@0: 		node->cache_list = cache;
nuclear@0: 		pthread_mutex_unlock(&node->cache_list_lock);
nuclear@0: 
nuclear@0: 		cache->time = ANM_TIME_INVAL;
nuclear@2: 		cache->inv_time = ANM_TIME_INVAL;
nuclear@0: 		pthread_setspecific(node->cache_key, cache);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	if(cache->time != tm) {
nuclear@0: 		mat4_t tmat, rmat, smat, pivmat, neg_pivmat;
nuclear@0: 		vec3_t pos, scale;
nuclear@0: 		quat_t rot;
nuclear@0: 
nuclear@0: 		m4_identity(tmat);
nuclear@0: 		/*no need to m4_identity(rmat); quat_to_mat4 sets this properly */
nuclear@0: 		m4_identity(smat);
nuclear@0: 		m4_identity(pivmat);
nuclear@0: 		m4_identity(neg_pivmat);
nuclear@0: 
nuclear@0: 		pos = anm_get_node_position(node, tm);
nuclear@0: 		rot = anm_get_node_rotation(node, tm);
nuclear@0: 		scale = anm_get_node_scaling(node, tm);
nuclear@0: 
nuclear@0: 		m4_translate(pivmat, node->pivot.x, node->pivot.y, node->pivot.z);
nuclear@0: 		m4_translate(neg_pivmat, -node->pivot.x, -node->pivot.y, -node->pivot.z);
nuclear@0: 
nuclear@0: 		m4_translate(tmat, pos.x, pos.y, pos.z);
nuclear@0: 		quat_to_mat4(rmat, rot);
nuclear@2: 		m4_scale(smat, scale.x, scale.y, scale.z);
nuclear@0: 
nuclear@0: 		/* ok this would look nicer in C++ */
nuclear@0: 		m4_mult(cache->matrix, pivmat, tmat);
nuclear@0: 		m4_mult(cache->matrix, cache->matrix, rmat);
nuclear@0: 		m4_mult(cache->matrix, cache->matrix, smat);
nuclear@0: 		m4_mult(cache->matrix, cache->matrix, neg_pivmat);
nuclear@0: 
nuclear@0: 		if(node->parent) {
nuclear@0: 			mat4_t parent_mat;
nuclear@0: 
nuclear@0: 			anm_get_matrix(node->parent, mat, tm);
nuclear@0: 			m4_mult(cache->matrix, parent_mat, cache->matrix);
nuclear@0: 		}
nuclear@0: 		cache->time = tm;
nuclear@0: 	}
nuclear@0: 	m4_copy(mat, cache->matrix);
nuclear@0: }
nuclear@0: 
nuclear@0: void anm_get_inv_matrix(struct anm_node *node, mat4_t mat, anm_time_t tm)
nuclear@0: {
nuclear@0: 	struct mat_cache *cache = pthread_getspecific(node->cache_key);
nuclear@0: 	if(!cache) {
nuclear@0: 		cache = malloc(sizeof *cache);
nuclear@0: 		assert(cache);
nuclear@0: 
nuclear@0: 		pthread_mutex_lock(&node->cache_list_lock);
nuclear@0: 		cache->next = node->cache_list;
nuclear@0: 		node->cache_list = cache;
nuclear@0: 		pthread_mutex_unlock(&node->cache_list_lock);
nuclear@0: 
nuclear@0: 		cache->inv_time = ANM_TIME_INVAL;
nuclear@2: 		cache->inv_time = ANM_TIME_INVAL;
nuclear@0: 		pthread_setspecific(node->cache_key, cache);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	if(cache->inv_time != tm) {
nuclear@0: 		anm_get_matrix(node, mat, tm);
nuclear@0: 		m4_inverse(cache->inv_matrix, mat);
nuclear@0: 		cache->inv_time = tm;
nuclear@0: 	}
nuclear@0: 	m4_copy(mat, cache->inv_matrix);
nuclear@0: }
nuclear@0: 
nuclear@0: anm_time_t anm_get_start_time(struct anm_node *node)
nuclear@0: {
nuclear@0: 	int i;
nuclear@0: 	struct anm_node *c;
nuclear@0: 	anm_time_t res = LONG_MAX;
nuclear@0: 
nuclear@0: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0: 		if(node->tracks[i].count) {
nuclear@0: 			anm_time_t tm = node->tracks[i].keys[0].time;
nuclear@0: 			if(tm < res) {
nuclear@0: 				res = tm;
nuclear@0: 			}
nuclear@0: 		}
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	c = node->child;
nuclear@0: 	while(c) {
nuclear@0: 		anm_time_t tm = anm_get_start_time(c);
nuclear@0: 		if(tm < res) {
nuclear@0: 			res = tm;
nuclear@0: 		}
nuclear@0: 		c = c->next;
nuclear@0: 	}
nuclear@0: 	return res;
nuclear@0: }
nuclear@0: 
nuclear@0: anm_time_t anm_get_end_time(struct anm_node *node)
nuclear@0: {
nuclear@0: 	int i;
nuclear@0: 	struct anm_node *c;
nuclear@0: 	anm_time_t res = LONG_MIN;
nuclear@0: 
nuclear@0: 	for(i=0; i<ANM_NUM_TRACKS; i++) {
nuclear@0: 		if(node->tracks[i].count) {
nuclear@0: 			anm_time_t tm = node->tracks[i].keys[node->tracks[i].count - 1].time;
nuclear@0: 			if(tm > res) {
nuclear@0: 				res = tm;
nuclear@0: 			}
nuclear@0: 		}
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	c = node->child;
nuclear@0: 	while(c) {
nuclear@0: 		anm_time_t tm = anm_get_end_time(c);
nuclear@0: 		if(tm > res) {
nuclear@0: 			res = tm;
nuclear@0: 		}
nuclear@0: 		c = c->next;
nuclear@0: 	}
nuclear@0: 	return res;
nuclear@0: }
nuclear@0: 
nuclear@0: static void invalidate_cache(struct anm_node *node)
nuclear@0: {
nuclear@0: 	struct mat_cache *cache = pthread_getspecific(node->cache_key);
nuclear@0: 	if(cache) {
nuclear@0: 	   cache->time = ANM_TIME_INVAL;
nuclear@0: 	}
nuclear@0: }