* Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
*/
-#ifndef SKELETON_H
-#define SKELETON_H
-
+#pragma once
+#include "vg/vg_lines.h"
#include "model.h"
struct skeleton
int defer;
mdl_keyframe kf;
+ mdl_bone *orig_bone;
- u32 orig_node;
-
+ u32 collider;
boxf hitbox;
const char *name;
}
*anims;
u32 anim_count;
+#if 0
m4x3f *final_mtx;
+#endif
struct skeleton_ik
{
bindable_count;
};
-VG_STATIC u32 skeleton_bone_id( struct skeleton *skele, const char *name )
+static u32 skeleton_bone_id( struct skeleton *skele, const char *name )
{
- for( u32 i=1; i<skele->bone_count; i++ )
- {
+ for( u32 i=1; i<skele->bone_count; i++ ){
if( !strcmp( skele->bones[i].name, name ))
return i;
}
+ vg_error( "skeleton_bone_id( *, \"%s\" );\n", name );
+ vg_fatal_error( "Bone does not exist\n" );
+
return 0;
}
-VG_STATIC void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, int num )
+static void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb,
+ int num )
{
for( int i=0; i<num; i++ )
kfb[i] = kfa[i];
}
+
+/* apply a rotation from the perspective of root */
+static void keyframe_rotate_around( mdl_keyframe *kf,
+ v3f origin, v3f offset, v4f q )
+{
+ v3f v0, co;
+ v3_add( kf->co, offset, co );
+ v3_sub( co, origin, v0 );
+ q_mulv( q, v0, v0 );
+ v3_add( v0, origin, co );
+ v3_sub( co, offset, kf->co );
+
+ q_mul( q, kf->q, kf->q );
+ q_normalize( kf->q );
+}
+
+static void keyframe_lerp( mdl_keyframe *kfa, mdl_keyframe *kfb, f32 t,
+ mdl_keyframe *kfd ){
+ v3_lerp( kfa->co, kfb->co, t, kfd->co );
+ q_nlerp( kfa->q, kfb->q, t, kfd->q );
+ v3_lerp( kfa->s, kfb->s, t, kfd->s );
+}
+
/*
* Lerp between two sets of keyframes and store in dest. Rotations use Nlerp.
*/
-VG_STATIC void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
- mdl_keyframe *kfd, int count )
-{
- if( t <= 0.01f )
- {
+static void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb,
+ float t, mdl_keyframe *kfd, int count ){
+ if( t <= 0.0001f ){
keyframe_copy_pose( kfa, kfd, count );
return;
}
- else if( t >= 0.99f )
- {
+ else if( t >= 0.9999f ){
keyframe_copy_pose( kfb, kfd, count );
return;
}
for( int i=0; i<count; i++ )
- {
- v3_lerp( kfa[i].co, kfb[i].co, t, kfd[i].co );
- q_nlerp( kfa[i].q, kfb[i].q, t, kfd[i].q );
- v3_lerp( kfa[i].s, kfb[i].s, t, kfd[i].s );
- }
+ keyframe_lerp( kfa+i, kfb+i, t, kfd+i );
}
-VG_STATIC void skeleton_lerp_pose( struct skeleton *skele,
- mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
- mdl_keyframe *kfd )
+static
+void skeleton_lerp_pose( struct skeleton *skele,
+ mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
+ mdl_keyframe *kfd )
{
keyframe_lerp_pose( kfa, kfb, t, kfd, skele->bone_count-1 );
}
+static void skeleton_copy_pose( struct skeleton *skele,
+ mdl_keyframe *kfa, mdl_keyframe *kfd )
+{
+ keyframe_copy_pose( kfa, kfd, skele->bone_count-1 );
+}
+
/*
* Sample animation between 2 closest frames using time value. Output is a
* keyframe buffer that is allocated with an appropriate size
*/
-VG_STATIC void skeleton_sample_anim( struct skeleton *skele,
+static void skeleton_sample_anim( struct skeleton *skele,
struct skeleton_anim *anim,
float time,
mdl_keyframe *output )
{
- float animtime = time*anim->rate;
+ f32 animtime = fmodf( time*anim->rate, anim->length ),
+ animframe = floorf( animtime ),
+ t = animtime - animframe;
- u32 frame = ((u32)animtime) % anim->length,
+ u32 frame = (u32)animframe % anim->length,
next = (frame+1) % anim->length;
- float t = vg_fractf( animtime );
-
mdl_keyframe *base = anim->anim_data + (skele->bone_count-1)*frame,
*nbase = anim->anim_data + (skele->bone_count-1)*next;
skeleton_lerp_pose( skele, base, nbase, t, output );
}
-VG_STATIC int skeleton_sample_anim_clamped( struct skeleton *skele,
+static int skeleton_sample_anim_clamped( struct skeleton *skele,
struct skeleton_anim *anim,
float time,
mdl_keyframe *output )
{
k_anim_apply_always,
k_anim_apply_defer_ik,
- k_anim_apply_deffered_only
+ k_anim_apply_deffered_only,
+ k_anim_apply_absolute
}
anim_apply;
-VG_STATIC int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type )
+static
+int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type )
{
struct skeleton_bone *sb = &skele->bones[ id ],
*sp = &skele->bones[ sb->parent ];
- if( type == k_anim_apply_defer_ik )
- {
+ if( type == k_anim_apply_defer_ik ){
if( ((sp->flags & k_bone_flag_ik) && !(sb->flags & k_bone_flag_ik))
|| sp->defer )
{
sb->defer = 1;
return 0;
}
- else
- {
+ else{
sb->defer = 0;
return 1;
}
}
- else if( type == k_anim_apply_deffered_only )
- {
+ else if( type == k_anim_apply_deffered_only ){
if( sb->defer )
return 1;
else
/*
* Apply block of keyframes to skeletons final pose
*/
-VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
- anim_apply passtype )
-{
- m4x3_identity( skele->final_mtx[0] );
+static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
+ anim_apply passtype, m4x3f *final_mtx ){
+ if( passtype == k_anim_apply_absolute ){
+ for( u32 i=1; i<skele->bone_count; i++ ){
+ mdl_keyframe *kf = &pose[i-1];
+
+ v3f *posemtx = final_mtx[i];
+
+ q_m3x3( kf->q, posemtx );
+ m3x3_scale( posemtx, kf->s );
+ v3_copy( kf->co, posemtx[3] );
+ }
+ return;
+ }
+
+ m4x3_identity( final_mtx[0] );
skele->bones[0].defer = 0;
skele->bones[0].flags &= ~k_bone_flag_ik;
- for( int i=1; i<skele->bone_count; i++ )
- {
+ for( u32 i=1; i<skele->bone_count; i++ ){
struct skeleton_bone *sb = &skele->bones[i],
- *sp = &skele->bones[ sb->parent ];
+ *sp = &skele->bones[sb->parent];
if( !should_apply_bone( skele, i, passtype ) )
continue;
/* pose matrix */
mdl_keyframe *kf = &pose[i-1];
q_m3x3( kf->q, posemtx );
+ m3x3_scale( posemtx, kf->s );
v3_copy( kf->co, posemtx[3] );
v3_add( temp_delta, posemtx[3], posemtx[3] );
/* final matrix */
- m4x3_mul( skele->final_mtx[ sb->parent ], posemtx, skele->final_mtx[i] );
+ m4x3_mul( final_mtx[ sb->parent ], posemtx, final_mtx[i] );
+ }
+}
+
+/*
+ * Take the final matrices and decompose it into an absolute positioned anim
+ */
+static void skeleton_decompose_mtx_absolute( struct skeleton *skele,
+ mdl_keyframe *anim,
+ m4x3f *final_mtx ){
+ for( u32 i=1; i<skele->bone_count; i++ ){
+ struct skeleton_bone *sb = &skele->bones[i];
+ mdl_keyframe *kf = &anim[i-1];
+ m4x3_decompose( final_mtx[i], kf->co, kf->q, kf->s );
}
}
* creates the reference inverse matrix for an IK bone, as it has an initial
* intrisic rotation based on the direction that the IK is setup..
*/
-VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele,
+static void skeleton_inverse_for_ik( struct skeleton *skele,
v3f ivaxis,
u32 id, m3x3f inverse )
{
/*
* Creates inverse rotation matrices which the IK system uses.
*/
-VG_STATIC void skeleton_create_inverses( struct skeleton *skele )
+static void skeleton_create_inverses( struct skeleton *skele )
{
/* IK: inverse 'plane-bone space' axis '(^axis,^bone,...)[base] */
- for( int i=0; i<skele->ik_count; i++ )
- {
+ for( u32 i=0; i<skele->ik_count; i++ ){
struct skeleton_ik *ik = &skele->ik[i];
m4x3f inverse;
/*
* Apply a model matrix to all bones, should be done last
*/
-VG_STATIC void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
+static
+void skeleton_apply_transform( struct skeleton *skele, m4x3f transform,
+ m4x3f *final_mtx )
{
- for( int i=0; i<skele->bone_count; i++ )
- {
+ for( u32 i=0; i<skele->bone_count; i++ ){
struct skeleton_bone *sb = &skele->bones[i];
- m4x3_mul( transform, skele->final_mtx[i], skele->final_mtx[i] );
+ m4x3_mul( transform, final_mtx[i], final_mtx[i] );
}
}
* Apply an inverse matrix to all bones which maps vertices from bind space into
* bone relative positions
*/
-VG_STATIC void skeleton_apply_inverses( struct skeleton *skele )
-{
- for( int i=0; i<skele->bone_count; i++ )
- {
+static void skeleton_apply_inverses( struct skeleton *skele, m4x3f *final_mtx ){
+ for( u32 i=0; i<skele->bone_count; i++ ){
struct skeleton_bone *sb = &skele->bones[i];
m4x3f inverse;
m3x3_identity( inverse );
v3_negate( sb->co, inverse[3] );
- m4x3_mul( skele->final_mtx[i], inverse, skele->final_mtx[i] );
+ m4x3_mul( final_mtx[i], inverse, final_mtx[i] );
}
}
/*
* Apply all IK modifiers (2 bone ik reference from blender is supported)
*/
-VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
-{
- for( int i=0; i<skele->ik_count; i++ )
- {
+static void skeleton_apply_ik_pass( struct skeleton *skele, m4x3f *final_mtx ){
+ for( u32 i=0; i<skele->ik_count; i++ ){
struct skeleton_ik *ik = &skele->ik[i];
v3f v0, /* base -> target */
co_target,
co_pole;
- v3_copy( skele->final_mtx[ik->lower][3], co_base );
- v3_copy( skele->final_mtx[ik->target][3], co_target );
- v3_copy( skele->final_mtx[ik->pole][3], co_pole );
+ v3_copy( final_mtx[ik->lower][3], co_base );
+ v3_copy( final_mtx[ik->target][3], co_target );
+ v3_copy( final_mtx[ik->pole][3], co_pole );
v3_sub( co_target, co_base, v0 );
v3_sub( co_pole, co_base, v1 );
knee[0] = sinf(-rot) * l1;
knee[1] = cosf(-rot) * l1;
- m4x3_identity( skele->final_mtx[ik->lower] );
- m4x3_identity( skele->final_mtx[ik->upper] );
+ m4x3_identity( final_mtx[ik->lower] );
+ m4x3_identity( final_mtx[ik->upper] );
/* create rotation matrix */
v3f co_knee;
v3_copy( co_base, transform[3] );
m3x3_mul( transform, ik->ia, transform );
- m4x3_copy( transform, skele->final_mtx[ik->lower] );
+ m4x3_copy( transform, final_mtx[ik->lower] );
/* upper/knee bone */
v3_copy( vaxis, transform[0] );
v3_copy( co_knee, transform[3] );
m3x3_mul( transform, ik->ib, transform );
- m4x3_copy( transform, skele->final_mtx[ik->upper] );
+ m4x3_copy( transform, final_mtx[ik->upper] );
}
}
* Applies the typical operations that you want for an IK rig:
* Pose, IK, Pose(deferred), Inverses, Transform
*/
-VG_STATIC void skeleton_apply_standard( struct skeleton *skele, mdl_keyframe *pose,
- m4x3f transform )
-{
- skeleton_apply_pose( skele, pose, k_anim_apply_defer_ik );
- skeleton_apply_ik_pass( skele );
- skeleton_apply_pose( skele, pose, k_anim_apply_deffered_only );
- skeleton_apply_inverses( skele );
- skeleton_apply_transform( skele, transform );
+static void skeleton_apply_standard( struct skeleton *skele, mdl_keyframe *pose,
+ m4x3f transform, m4x3f *final_mtx ){
+ skeleton_apply_pose( skele, pose, k_anim_apply_defer_ik, final_mtx );
+ skeleton_apply_ik_pass( skele, final_mtx );
+ skeleton_apply_pose( skele, pose, k_anim_apply_deffered_only, final_mtx );
+ skeleton_apply_inverses( skele, final_mtx );
+ skeleton_apply_transform( skele, transform, final_mtx );
}
/*
* Get an animation by name
*/
-VG_STATIC struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
- const char *name )
-{
- for( int i=0; i<skele->anim_count; i++ )
- {
+static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
+ const char *name ){
+ for( u32 i=0; i<skele->anim_count; i++ ){
struct skeleton_anim *anim = &skele->anims[i];
if( !strcmp( anim->name, name ) )
return anim;
}
+ vg_error( "skeleton_get_anim( *, \"%s\" )\n", name );
+ vg_fatal_error( "Invalid animation name\n" );
+
return NULL;
}
-VG_STATIC void skeleton_alloc_from( struct skeleton *skele,
- void *lin_alloc,
- struct classtype_skeleton *inf )
-{
- skele->bone_count = inf->channels;
- skele->ik_count = inf->ik_count;
- skele->collider_count = inf->collider_count;
- skele->anim_count = inf->anim_count;
+static void skeleton_alloc_from( struct skeleton *skele,
+ void *lin_alloc,
+ mdl_context *mdl,
+ mdl_armature *armature ){
+ skele->bone_count = armature->bone_count+1;
+ skele->anim_count = armature->anim_count;
+ skele->ik_count = 0;
+ skele->collider_count = 0;
+
+ for( u32 i=0; i<armature->bone_count; i++ ){
+ mdl_bone *bone = mdl_arritm( &mdl->bones, armature->bone_start+i );
+
+ if( bone->flags & k_bone_flag_ik )
+ skele->ik_count ++;
+
+ if( bone->collider )
+ skele->collider_count ++;
+ }
u32 bone_size = sizeof(struct skeleton_bone) * skele->bone_count,
ik_size = sizeof(struct skeleton_ik) * skele->ik_count,
skele->bones = vg_linear_alloc( lin_alloc, bone_size );
skele->ik = vg_linear_alloc( lin_alloc, ik_size );
- skele->final_mtx = vg_linear_alloc( lin_alloc, mtx_size );
+ //skele->final_mtx = vg_linear_alloc( lin_alloc, mtx_size );
skele->anims = vg_linear_alloc( lin_alloc, anim_size );
+
+ memset( skele->bones, 0, bone_size );
+ memset( skele->ik, 0, ik_size );
+ //memset( skele->final_mtx, 0, mtx_size );
+ memset( skele->anims, 0, anim_size );
}
-VG_STATIC void skeleton_fatal_err(void)
-{
- vg_fatal_exit_loop( "Skeleton setup failed" );
+static void skeleton_fatal_err(void){
+ vg_fatal_error( "Skeleton setup failed" );
}
/* Setup an animated skeleton from model. mdl's metadata should stick around */
-VG_STATIC void skeleton_setup( struct skeleton *skele,
- void *lin_alloc, mdl_context *mdl )
-{
- u32 bone_count = 1, skeleton_root = 0, ik_count = 0, collider_count = 0;
+static void skeleton_setup( struct skeleton *skele,
+ void *lin_alloc, mdl_context *mdl ){
+ u32 ik_count = 0, collider_count = 0;
skele->bone_count = 0;
skele->bones = NULL;
- skele->final_mtx = NULL;
+ //skele->final_mtx = NULL;
skele->anims = NULL;
- struct classtype_skeleton *inf = NULL;
+ if( !mdl->armatures.count ){
+ vg_error( "No skeleton in model\n" );
+ skeleton_fatal_err();
+ }
- for( u32 i=0; i<mdl->info.node_count; i++ )
- {
- mdl_node *pnode = mdl_node_from_id( mdl, i );
+ mdl_armature *armature = mdl_arritm( &mdl->armatures, 0 );
+ skeleton_alloc_from( skele, lin_alloc, mdl, armature );
- if( pnode->classtype == k_classtype_skeleton )
- {
- inf = mdl_get_entdata( mdl, pnode );
- skeleton_alloc_from( skele, lin_alloc, inf );
- skeleton_root = i;
- }
- else if( skele->bone_count )
- {
- int is_bone = pnode->classtype == k_classtype_bone;
-
- if( is_bone )
- {
- if( bone_count == skele->bone_count )
- {
- vg_error( "too many bones (%u/%u) @%s!\n",
- bone_count, skele->bone_count,
- mdl_pstr( mdl, pnode->pstr_name ));
-
- skeleton_fatal_err();
- }
-
- struct skeleton_bone *sb = &skele->bones[bone_count];
- struct classtype_bone *bone_inf = mdl_get_entdata( mdl, pnode );
-
- v3_copy( pnode->co, sb->co );
- v3_copy( pnode->s, sb->end );
- sb->parent = pnode->parent-skeleton_root;
- sb->name = mdl_pstr( mdl, pnode->pstr_name );
- sb->flags = bone_inf->flags;
-
- if( sb->flags & k_bone_flag_ik )
- {
- skele->bones[ sb->parent ].flags |= k_bone_flag_ik;
-
- if( ik_count == skele->ik_count )
- {
- vg_error( "Too many ik bones, corrupt model file\n" );
- skeleton_fatal_err();
- }
-
- struct skeleton_ik *ik = &skele->ik[ ik_count ++ ];
- ik->upper = bone_count;
- ik->lower = sb->parent;
- ik->target = bone_inf->ik_target;
- ik->pole = bone_inf->ik_pole;
- }
-
- sb->orig_node = i;
- box_copy( bone_inf->hitbox, sb->hitbox );
-
- if( bone_inf->flags & k_bone_flag_collider_any )
- {
- if( collider_count == skele->collider_count )
- {
- vg_error( "Too many collider bones\n" );
- skeleton_fatal_err();
- }
-
- collider_count ++;
- }
-
- bone_count ++;
- }
- else
- {
- break;
+ for( u32 i=0; i<armature->bone_count; i++ ){
+ mdl_bone *bone = mdl_arritm( &mdl->bones, armature->bone_start+i );
+ struct skeleton_bone *sb = &skele->bones[i+1];
+
+ v3_copy( bone->co, sb->co );
+ v3_copy( bone->end, sb->end );
+
+ sb->parent = bone->parent;
+ sb->name = mdl_pstr( mdl, bone->pstr_name );
+ sb->flags = bone->flags;
+ sb->collider = bone->collider;
+ sb->orig_bone = bone;
+
+ if( sb->flags & k_bone_flag_ik ){
+ skele->bones[ sb->parent ].flags |= k_bone_flag_ik;
+
+ if( ik_count == skele->ik_count ){
+ vg_error( "Too many ik bones, corrupt model file\n" );
+ skeleton_fatal_err();
}
- }
- }
- if( !inf )
- {
- vg_error( "No skeleton in model\n" );
- skeleton_fatal_err();
- }
+ struct skeleton_ik *ik = &skele->ik[ ik_count ++ ];
+ ik->upper = i+1;
+ ik->lower = bone->parent;
+ ik->target = bone->ik_target;
+ ik->pole = bone->ik_pole;
+ }
- if( collider_count != skele->collider_count )
- {
- vg_error( "Loaded %u colliders out of %u\n", collider_count,
- skele->collider_count );
- skeleton_fatal_err();
- }
+ box_copy( bone->hitbox, sb->hitbox );
- if( bone_count != skele->bone_count )
- {
- vg_error( "Loaded %u bones out of %u\n", bone_count, skele->bone_count );
- vg_fatal_exit_loop( "Skeleton setup failed" );
- skeleton_fatal_err();
- }
+ if( bone->collider ){
+ if( collider_count == skele->collider_count ){
+ vg_error( "Too many collider bones\n" );
+ skeleton_fatal_err();
+ }
- if( ik_count != skele->ik_count )
- {
- vg_error( "Loaded %u ik bones out of %u\n", ik_count, skele->ik_count );
- skeleton_fatal_err();
+ collider_count ++;
+ }
}
/* fill in implicit root bone */
skele->bones[0].name = "[root]";
/* process animation quick refs */
- for( int i=0; i<skele->anim_count; i++ )
- {
- mdl_animation *anim = &mdl->anim_buffer[ inf->anim_start + i ];
+ for( u32 i=0; i<skele->anim_count; i++ ){
+ mdl_animation *anim =
+ mdl_arritm( &mdl->animations, armature->anim_start+i );
skele->anims[i].rate = anim->rate;
skele->anims[i].length = anim->length;
skele->anims[i].name = mdl_pstr(mdl, anim->pstr_name);
- skele->anims[i].anim_data = &mdl->keyframe_buffer[ anim->offset ];
+ skele->anims[i].anim_data =
+ mdl_arritm( &mdl->keyframes, anim->offset );
vg_info( "animation[ %f, %u ] '%s'\n", anim->rate,
anim->length,
vg_success( " %u colliders\n", skele->collider_count );
}
-VG_STATIC void skeleton_debug( struct skeleton *skele )
-{
- for( int i=0; i<skele->bone_count; i ++ )
- {
+static void skeleton_debug( struct skeleton *skele, m4x3f *final_mtx ){
+ for( u32 i=1; i<skele->bone_count; i ++ ){
struct skeleton_bone *sb = &skele->bones[i];
v3f p0, p1;
v3_copy( sb->co, p0 );
v3_add( p0, sb->end, p1 );
- //vg_line( p0, p1, 0xffffffff );
- m4x3_mulv( skele->final_mtx[i], p0, p0 );
- m4x3_mulv( skele->final_mtx[i], p1, p1 );
+ m4x3_mulv( final_mtx[i], p0, p0 );
+ m4x3_mulv( final_mtx[i], p1, p1 );
- if( sb->flags & k_bone_flag_deform )
- {
- if( sb->flags & k_bone_flag_ik )
- {
+ if( sb->flags & k_bone_flag_deform ){
+ if( sb->flags & k_bone_flag_ik ){
vg_line( p0, p1, 0xff0000ff );
}
- else
- {
+ else{
vg_line( p0, p1, 0xffcccccc );
}
}
vg_line( p0, p1, 0xff00ffff );
}
}
-
-#endif /* SKELETON_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff