vrshoot: b2f14e535253 libs/anim/anim.c

vrshoot

view libs/anim/anim.c @ 0:b2f14e535253

initial commit

author	John Tsiombikas <nuclear@member.fsf.org>
date	Sat, 01 Feb 2014 19:58:19 +0200
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children

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_clear(struct anm_node *node)

179 {

180 int i;

181

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

183 anm_clear_track(&node->tracks[i]);

184 }

185 invalidate_cache(node);

186 }

187

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

189 {

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

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

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

193 invalidate_cache(node);

194 }

195

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

197 {

198 vec3_t v;

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

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

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

202 return v;

203 }

204

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

206 {

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

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

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

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

211 invalidate_cache(node);

212 }

213

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

215 {

216 #ifndef ROT_USE_SLERP

217 quat_t q;

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

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

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

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

222 return q;

223 #else

224 int idx0, idx1, last_idx;

225 anm_time_t tstart, tend;

226 float t, dt;

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

228 quat_t q, q1, q2;

229

230 track_x = node->tracks + ANM_TRACK_ROT_X;

231 track_y = node->tracks + ANM_TRACK_ROT_Y;

232 track_z = node->tracks + ANM_TRACK_ROT_Z;

233 track_w = node->tracks + ANM_TRACK_ROT_W;

234

235 if(!track_x->count) {

236 q.x = track_x->def_val;

237 q.y = track_y->def_val;

238 q.z = track_z->def_val;

239 q.w = track_w->def_val;

240 return q;

241 }

242

243 last_idx = track_x->count - 1;

244

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

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

247

248 if(tstart == tend) {

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

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

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

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

253 return q;

254 }

255

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

257

258 idx0 = anm_get_key_interval(track_x, tm);

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

260 idx1 = idx0 + 1;

261

262 if(idx0 == last_idx) {

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

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

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

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

267 return q;

268 }

269

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

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

272

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

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

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

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

277

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

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

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

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

282

283 /*q1 = quat_normalize(q1);

284 q2 = quat_normalize(q2);*/

285

286 return quat_slerp(q1, q2, t);

287 #endif

288 }

289

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

291 {

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

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

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

295 invalidate_cache(node);

296 }

297

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

299 {

300 vec3_t v;

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

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

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

304 return v;

305 }

306

307

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

309 {

310 mat4_t xform;

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

312

313 if(!node->parent) {

314 return anm_get_node_position(node, tm);

315 }

316

317 anm_get_matrix(node, xform, tm);

318 return v3_transform(pos, xform);

319 }

320

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

322 {

323 quat_t rot, prot;

324 rot = anm_get_node_rotation(node, tm);

325

326 if(!node->parent) {

327 return rot;

328 }

329

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

331 return quat_mul(prot, rot);

332 }

333

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

335 {

336 vec3_t s, ps;

337 s = anm_get_node_scaling(node, tm);

338

339 if(!node->parent) {

340 return s;

341 }

342

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

344 return v3_mul(s, ps);

345 }

346

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

348 {

349 node->pivot = piv;

350 }

351

352 vec3_t anm_get_pivot(struct anm_node *node)

353 {

354 return node->pivot;

355 }

356

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

358 {

359 int i;

360 mat4_t rmat;

361 vec3_t pos, scale;

362 quat_t rot;

363

364 pos = anm_get_node_position(node, tm);

365 rot = anm_get_node_rotation(node, tm);

366 scale = anm_get_node_scaling(node, tm);

367

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

369

370 quat_to_mat4(rmat, rot);

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

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

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

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

375 }

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

377

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

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

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

381

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

383

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

385 }

386

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

388 {

389 mat4_t tmp;

390 anm_get_node_matrix(node, tmp, tm);

391 m4_inverse(mat, tmp);

392 }

393

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

395 {

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

397 }

398

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

400 {

401 struct anm_node *c;

402

403 anm_eval_node(node, tm);

404

405 if(node->parent) {

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

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

408 }

409

410 /* recersively evaluate all children */

411 c = node->child;

412 while(c) {

413 anm_eval(c, tm);

414 c = c->next;

415 }

416 }

417

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

419 {

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

421 if(!cache) {

422 cache = malloc(sizeof *cache);

423 assert(cache);

424

425 pthread_mutex_lock(&node->cache_list_lock);

426 cache->next = node->cache_list;

427 node->cache_list = cache;

428 pthread_mutex_unlock(&node->cache_list_lock);

429

430 cache->time = ANM_TIME_INVAL;

431 cache->inv_time = ANM_TIME_INVAL;

432 pthread_setspecific(node->cache_key, cache);

433 }

434

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

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

437

438 if(node->parent) {

439 mat4_t parent_mat;

440

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

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

443 }

444 cache->time = tm;

445 }

446 m4_copy(mat, cache->matrix);

447 }

448

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

450 {

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

452 if(!cache) {

453 cache = malloc(sizeof *cache);

454 assert(cache);

455

456 pthread_mutex_lock(&node->cache_list_lock);

457 cache->next = node->cache_list;

458 node->cache_list = cache;

459 pthread_mutex_unlock(&node->cache_list_lock);

460

461 cache->inv_time = ANM_TIME_INVAL;

462 cache->inv_time = ANM_TIME_INVAL;

463 pthread_setspecific(node->cache_key, cache);

464 }

465

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

467 anm_get_matrix(node, mat, tm);

468 m4_inverse(cache->inv_matrix, mat);

469 cache->inv_time = tm;

470 }

471 m4_copy(mat, cache->inv_matrix);

472 }

473

474 anm_time_t anm_get_start_time(struct anm_node *node)

475 {

476 int i;

477 struct anm_node *c;

478 anm_time_t res = LONG_MAX;

479

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

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

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

483 if(tm < res) {

484 res = tm;

485 }

486 }

487 }

488

489 c = node->child;

490 while(c) {

491 anm_time_t tm = anm_get_start_time(c);

492 if(tm < res) {

493 res = tm;

494 }

495 c = c->next;

496 }

497 return res;

498 }

499

500 anm_time_t anm_get_end_time(struct anm_node *node)

501 {

502 int i;

503 struct anm_node *c;

504 anm_time_t res = LONG_MIN;

505

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

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

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

509 if(tm > res) {

510 res = tm;

511 }

512 }

513 }

514

515 c = node->child;

516 while(c) {

517 anm_time_t tm = anm_get_end_time(c);

518 if(tm > res) {

519 res = tm;

520 }

521 c = c->next;

522 }

523 return res;

524 }

525

526 static void invalidate_cache(struct anm_node *node)

527 {

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

529 if(cache) {

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

531 }

532 }