* 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
*anims;
u32 anim_count;
+#if 0
m4x3f *final_mtx;
+#endif
struct skeleton_ik
{
/* apply a rotation from the perspective of root */
static void keyframe_rotate_around( mdl_keyframe *kf,
- v3f origin, v3f offset, v4f q )
+ v3f origin, v3f offset, v4f q )
{
v3f v0, co;
v3_add( kf->co, offset, co );
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.
*/
static void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb,
- float t, mdl_keyframe *kfd, int count )
-{
+ float t, mdl_keyframe *kfd, int count ){
if( t <= 0.0001f ){
keyframe_copy_pose( kfa, kfd, count );
return;
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 );
- }
+ for( int i=0; i<count; i++ )
+ keyframe_lerp( kfa+i, kfb+i, t, kfd+i );
}
static
* Apply block of keyframes to skeletons final pose
*/
static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
- anim_apply passtype )
-{
+ 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 = skele->final_mtx[i];
+ v3f *posemtx = final_mtx[i];
q_m3x3( kf->q, posemtx );
+ m3x3_scale( posemtx, kf->s );
v3_copy( kf->co, posemtx[3] );
}
return;
}
- m4x3_identity( skele->final_mtx[0] );
+ m4x3_identity( final_mtx[0] );
skele->bones[0].defer = 0;
skele->bones[0].flags &= ~k_bone_flag_ik;
/* 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 ){
+ 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( skele->final_mtx[i], kf->co, kf->q, kf->s );
+ m4x3_decompose( final_mtx[i], kf->co, kf->q, kf->s );
}
}
* Apply a model matrix to all bones, should be done last
*/
static
-void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
+void skeleton_apply_transform( struct skeleton *skele, m4x3f transform,
+ m4x3f *final_mtx )
{
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
*/
-static void skeleton_apply_inverses( struct skeleton *skele )
-{
+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)
*/
-static void skeleton_apply_ik_pass( struct skeleton *skele )
-{
+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];
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] );
}
}
* Pose, IK, Pose(deferred), Inverses, Transform
*/
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 );
+ 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
*/
static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
- const char *name )
-{
+ const char *name ){
for( u32 i=0; i<skele->anim_count; i++ ){
struct skeleton_anim *anim = &skele->anims[i];
static void skeleton_alloc_from( struct skeleton *skele,
void *lin_alloc,
mdl_context *mdl,
- mdl_armature *armature )
-{
+ mdl_armature *armature ){
skele->bone_count = armature->bone_count+1;
skele->anim_count = armature->anim_count;
skele->ik_count = 0;
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->final_mtx, 0, mtx_size );
memset( skele->anims, 0, anim_size );
}
-static void skeleton_fatal_err(void)
-{
+static void skeleton_fatal_err(void){
vg_fatal_error( "Skeleton setup failed" );
}
/* Setup an animated skeleton from model. mdl's metadata should stick around */
static void skeleton_setup( struct skeleton *skele,
- void *lin_alloc, mdl_context *mdl )
-{
+ 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;
if( !mdl->armatures.count ){
vg_success( " %u colliders\n", skele->collider_count );
}
-static void skeleton_debug( struct skeleton *skele )
-{
+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];
v3_copy( sb->co, p0 );
v3_add( p0, sb->end, p1 );
- 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 ){
vg_line( p0, p1, 0xff00ffff );
}
}
-
-#endif /* SKELETON_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff