}
#endif /* SKELETON_H */
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-#if 0
-#ifndef SKELETON_H
-#define SKELETON_H
-
-#include "model.h"
-
-struct skeleton
-{
- struct skeleton_bone
- {
- v3f co, end;
- u32 parent;
-
- /* info, not real */
- int deform, ik;
- int defer;
-
- mdl_keyframe kf;
- }
- *bones;
- m4x3f *final_transforms;
-
- struct skeleton_ik
- {
- u32 lower, upper, target, pole;
- }
- *ik;
-
- struct skeleton_anim
- {
- float rate;
- u32 length;
- struct mdl_keyframe *anim_data;
- char name[32];
- }
- *anims;
-
- u32 bone_count,
- ik_count,
- anim_count,
- bindable_count; /* TODO: try to place IK last in the rig from export
- so that we dont always upload transforms for
- useless cpu IK bones. */
-};
-
-/*
- * Lerp between two sets of keyframes and store in dest. Rotations use Nlerp.
- */
-static void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
- mdl_keyframe *kfd, int count )
-{
- 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 );
- }
-}
-
-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 );
-}
-
-/*
- * Sample animation between 2 closest frames using time value. Output is a
- * keyframe buffer that is allocated with an appropriate size
- */
-static void skeleton_sample_anim( struct skeleton *skele,
- struct skeleton_anim *anim,
- float time,
- mdl_keyframe *output )
-{
- float animtime = time*anim->rate;
-
- u32 frame = ((u32)animtime) % 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 );
-}
-
-typedef enum anim_apply
-{
- k_anim_apply_always,
- k_anim_apply_defer_ik,
- k_anim_apply_deffered_only
-}
-anim_apply;
-
-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( sp->ik || sp->defer )
- {
- sb->defer = 1;
- return 0;
- }
- }
- else if( type == k_anim_apply_deffered_only )
- {
- if( !sp->defer )
- return 0;
- }
-
- return 1;
-}
-
-/*
- * Apply block of keyframes to skeletons final pose
- */
-static void skeleton_apply_pose( m4x3f transform,
- struct skeleton *skele, mdl_keyframe *pose,
- anim_apply passtype )
-{
- m4x3_copy( transform, skele->final_transforms[0] );
- skele->bones[0].defer = 0;
- skele->bones[0].ik = 0;
-
- for( int i=1; i<skele->bone_count; i++ )
- {
- struct skeleton_bone *sb = &skele->bones[i],
- *sp = &skele->bones[ sb->parent ];
-
- if( !should_apply_bone( skele, i, passtype ) )
- continue;
-
- sb->defer = 0;
-
- /* process pose */
- m4x3f posemtx;
-
- v3f temp_delta;
- v3_sub( skele->bones[i].co, skele->bones[sb->parent].co, temp_delta );
-
- /* pose matrix */
- mdl_keyframe *kf = &pose[i-1];
- q_m3x3( kf->q, posemtx );
- v3_copy( kf->co, posemtx[3] );
- v3_add( temp_delta, posemtx[3], posemtx[3] );
-
- /* final matrix */
- m4x3_mul( skele->final_transforms[ sb->parent ], posemtx,
- skele->final_transforms[i] );
- }
-
- /* bone space inverse matrix ( for verts ) TODO: move to seperate pass */
- for( int i=1; i<skele->bone_count; i++ )
- {
- if( !should_apply_bone( skele, i, passtype ) )
- continue;
-
- m4x3f abmtx;
- m3x3_identity( abmtx );
- v3_negate( skele->bones[i].co, abmtx[3] );
- m4x3_mul( skele->final_transforms[i], abmtx, skele->final_transforms[i] );
- }
-}
-
-static void skeleton_apply_frame( m4x3f transform,
- struct skeleton *skele,
- struct skeleton_anim *anim,
- float time )
-{
- float animtime = time*anim->rate;
-
- u32 frame = ((u32)animtime) % 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;
-
- m4x3_copy( transform, skele->final_transforms[0] );
-
- for( int i=1; i<skele->bone_count; i++ )
- {
- struct skeleton_bone *sb = &skele->bones[i];
-
- /* process pose */
- m4x3f posemtx;
-
- v3f temp_delta;
- v3_sub( skele->bones[i].co, skele->bones[sb->parent].co, temp_delta );
-
- /* pose matrix */
- mdl_keyframe *kf = base+i-1,
- *nkf = nbase+i-1;
-
- v3f co;
- v4f q;
- v3f s;
-
- v3_lerp( kf->co, nkf->co, t, co );
- q_nlerp( kf->q, nkf->q, t, q );
- v3_lerp( kf->s, nkf->s, t, s );
-
- q_m3x3( q, posemtx );
- v3_copy( co, posemtx[3] );
- v3_add( temp_delta, posemtx[3], posemtx[3] );
-
- /* final matrix */
- m4x3_mul( skele->final_transforms[ sb->parent ], posemtx,
- skele->final_transforms[i] );
- }
-
- /* armature space -> bone space matrix ( for verts ) */
- for( int i=1; i<skele->bone_count; i++ )
- {
- m4x3f abmtx;
- m3x3_identity( abmtx );
- v3_negate( skele->bones[i].co, abmtx[3] );
- m4x3_mul( skele->final_transforms[i], abmtx,
- skele->final_transforms[i] );
- }
-}
-
-/*
- * Get transformed position of bone
- */
-static void skeleton_bone_posepos( struct skeleton *skele, u32 id, v3f co )
-{
- m4x3_mulv( skele->final_transforms[id], skele->bones[id].co, co );
-}
-
-/*
- * 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..
- */
-static void skeleton_inverse_for_ik( struct skeleton *skele,
- v3f ivaxis,
- u32 id, m4x3f inverse )
-{
- v3_copy( ivaxis, inverse[0] );
- v3_copy( skele->bones[id].end, inverse[1] );
- v3_normalize( inverse[1] );
- v3_cross( inverse[0], inverse[1], inverse[2] );
- v3_copy( skele->bones[id].co, inverse[3] );
- m4x3_invert_affine( inverse, inverse );
-}
-
-/*
- * Apply all IK modifiers (2 bone ik reference from blender is supported)
- */
-static void skeleton_apply_ik_pass( struct skeleton *skele )
-{
- for( int i=0; i<skele->ik_count; i++ )
- {
- struct skeleton_ik *ik = &skele->ik[i];
-
- v3f v0, /* base -> target */
- v1, /* base -> pole */
- vaxis;
-
- v3f co_base,
- co_target,
- co_pole;
-
- skeleton_bone_posepos( skele, ik->lower, co_base );
- skeleton_bone_posepos( skele, ik->target, co_target );
- skeleton_bone_posepos( skele, ik->pole, co_pole );
-
- v3_sub( co_target, co_base, v0 );
- v3_sub( co_pole, co_base, v1 );
- v3_cross( v0, v1, vaxis );
- v3_normalize( vaxis );
- v3_normalize( v0 );
- v3_cross( vaxis, v0, v1 );
-
- /* localize problem into [x:v0,y:v1] 2d plane */
- v2f base = { v3_dot( v0, co_base ), v3_dot( v1, co_base ) },
- end = { v3_dot( v0, co_target ), v3_dot( v1, co_target ) },
- knee;
-
- /* Compute angles (basic trig)*/
- v2f delta;
- v2_sub( end, base, delta );
-
- float
- l1 = v3_length( skele->bones[ik->lower].end ),
- l2 = v3_length( skele->bones[ik->upper].end ),
- d = vg_clampf( v2_length(delta), fabsf(l1 - l2), l1+l2-0.00001f ),
- c = acosf( (l1*l1 + d*d - l2*l2) / (2.0f*l1*d) ),
- rot = atan2f( delta[1], delta[0] ) + c - VG_PIf/2.0f;
-
- knee[0] = sinf(-rot) * l1;
- knee[1] = cosf(-rot) * l1;
-
- m4x3_identity( skele->final_transforms[ik->lower] );
- m4x3_identity( skele->final_transforms[ik->upper] );
-
- /* inverse matrix axis '(^axis,^bone,...)[base] */
- m4x3f inverse;
- v3f iv0, iv1, ivaxis;
- v3_sub( skele->bones[ik->target].co, skele->bones[ik->lower].co, iv0 );
- v3_sub( skele->bones[ik->pole].co, skele->bones[ik->lower].co, iv1 );
- v3_cross( iv0, iv1, ivaxis );
- v3_normalize( ivaxis );
-
- skeleton_inverse_for_ik( skele, ivaxis, ik->lower, inverse );
-
- /* create rotation matrix */
- v3f co_knee;
- v3_muladds( co_base, v0, knee[0], co_knee );
- v3_muladds( co_knee, v1, knee[1], co_knee );
- vg_line( co_base, co_knee, 0xff00ff00 );
-
- m4x3f transform;
- v3_copy( vaxis, transform[0] );
- v3_muls( v0, knee[0], transform[1] );
- v3_muladds( transform[1], v1, knee[1], transform[1] );
- v3_normalize( transform[1] );
- v3_cross( transform[0], transform[1], transform[2] );
- v3_copy( co_base, transform[3] );
-
- m4x3_mul( transform, inverse, skele->final_transforms[ik->lower] );
-
- /* 'upper' or knee bone */
- skeleton_inverse_for_ik( skele, ivaxis, ik->upper, inverse );
-
- v3_copy( vaxis, transform[0] );
- v3_sub( co_target, co_knee, transform[1] );
- v3_normalize( transform[1] );
- v3_cross( transform[0], transform[1], transform[2] );
- v3_copy( co_knee, transform[3] );
-
- m4x3_mul( transform, inverse, skele->final_transforms[ik->upper] );
- }
-}
-
-static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
- const char *name )
-{
- for( int i=0; i<skele->anim_count; i++ )
- {
- struct skeleton_anim *anim = &skele->anims[i];
-
- if( !strcmp( anim->name, name ) )
- return anim;
- }
-
- return NULL;
-}
-
-/* Setup an animated skeleton from model */
-static int skeleton_setup( struct skeleton *skele, mdl_header *mdl )
-{
- u32 bone_count = 1, skeleton_root = 0, ik_count = 0;
- skele->bone_count = 0;
- skele->bones = NULL;
- skele->final_transforms = NULL;
- skele->anims = NULL;
-
- struct classtype_skeleton *inf = NULL;
-
- for( u32 i=0; i<mdl->node_count; i++ )
- {
- mdl_node *pnode = mdl_node_from_id( mdl, i );
-
- if( pnode->classtype == k_classtype_skeleton )
- {
- inf = mdl_get_entdata( mdl, pnode );
- if( skele->bone_count )
- {
- vg_error( "Multiple skeletons in model file\n" );
- goto error_dealloc;
- }
-
- skele->bone_count = inf->channels;
- skele->ik_count = inf->ik_count;
- skele->bones = malloc(sizeof(struct skeleton_bone)*skele->bone_count);
- skele->ik = malloc(sizeof(struct skeleton_ik)*skele->ik_count);
- skeleton_root = i;
- }
- else if( skele->bone_count )
- {
- int is_ik = pnode->classtype == k_classtype_ik_bone,
- is_bone = (pnode->classtype == k_classtype_bone) || is_ik;
-
- 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 ));
-
- goto error_dealloc;
- }
-
- struct skeleton_bone *sb = &skele->bones[bone_count];
-
- v3_copy( pnode->co, sb->co );
- v3_copy( pnode->s, sb->end );
- sb->parent = pnode->parent-skeleton_root;
-
- if( is_ik )
- {
- struct classtype_ik_bone *ik_inf = mdl_get_entdata( mdl, pnode );
- sb->deform = ik_inf->deform;
- sb->ik = 1; /* TODO: place into new IK array */
- skele->bones[ sb->parent ].ik = 1;
-
- if( ik_count == skele->ik_count )
- {
- vg_error( "Too many ik bones, corrupt model file\n" );
- goto error_dealloc;
- }
-
- struct skeleton_ik *ik = &skele->ik[ ik_count ++ ];
- ik->upper = bone_count;
- ik->lower = sb->parent;
- ik->target = ik_inf->target;
- ik->pole = ik_inf->pole;
- }
- else
- {
- struct classtype_bone *bone_inf = mdl_get_entdata( mdl, pnode );
- sb->deform = bone_inf->deform;
- sb->ik = 0;
- }
-
- bone_count ++;
- }
- else
- {
- break;
- }
- }
- }
-
- if( !inf )
- {
- vg_error( "No skeleton in model\n" );
- return 0;
- }
-
- if( bone_count != skele->bone_count )
- {
- vg_error( "Loaded %u bones out of %u\n", bone_count, skele->bone_count );
- goto error_dealloc;
- }
-
- if( ik_count != skele->ik_count )
- {
- vg_error( "Loaded %u ik bones out of %u\n", ik_count, skele->ik_count );
- goto error_dealloc;
- }
-
- /* fill in implicit root bone */
- v3_zero( skele->bones[0].co );
- v3_copy( (v3f){0.0f,1.0f,0.0f}, skele->bones[0].end );
- skele->bones[0].parent = 0xffffffff;
-
- skele->final_transforms = malloc( sizeof(m4x3f) * skele->bone_count );
- skele->anim_count = inf->anim_count;
- skele->anims = malloc( sizeof(struct skeleton_anim) * inf->anim_count);
-
- for( int i=0; i<inf->anim_count; i++ )
- {
- mdl_animation *anim =
- mdl_animation_from_id( mdl, inf->anim_start+i );
-
- skele->anims[i].rate = anim->rate;
- skele->anims[i].length = anim->length;
- strncpy( skele->anims[i].name, mdl_pstr(mdl, anim->pstr_name), 32 );
-
- u32 total_keyframes = (skele->bone_count-1)*anim->length;
- size_t block_size = sizeof(mdl_keyframe) * total_keyframes;
- mdl_keyframe *dst = malloc( block_size );
-
- skele->anims[i].anim_data = dst;
- memcpy( dst, mdl_get_animdata( mdl, anim ), block_size );
- }
-
- vg_success( "Loaded skeleton with %u bones\n", skele->bone_count );
- return 1;
-
-error_dealloc:
- free( skele->bones );
- free( skele->ik );
- return 0;
-}
-
-static void skeleton_debug( struct skeleton *skele )
-{
- for( int i=0; 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_transforms[i], p0, p0 );
- m4x3_mulv( skele->final_transforms[i], p1, p1 );
-
- if( sb->deform )
- {
- if( sb->ik )
- {
- vg_line( p0, p1, 0xff0000ff );
- }
- else
- {
- vg_line( p0, p1, 0xffcccccc );
- }
- }
- else
- vg_line( p0, p1, 0xff00ffff );
- }
-}
-
-#endif /* SKELETON_H */
-#endif
projects / carveJwlIkooP6JGAAIwe30JlM.git / commitdiff