-#ifndef SKELETON_H
-#define SKELETON_H
+/*
+ * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ */
+#pragma once
+#include "vg/vg_lines.h"
#include "model.h"
struct skeleton
v3f co, end;
u32 parent;
- int deform, ik;
+ u32 flags;
int defer;
mdl_keyframe kf;
+ mdl_bone *orig_bone;
+
+ u32 collider;
+ boxf hitbox;
+ const char *name;
}
*bones;
+ u32 bone_count;
+
+ struct skeleton_anim
+ {
+ const char *name;
+ u32 length;
+
+ float rate;
+ mdl_keyframe *anim_data;
+ }
+ *anims;
+ u32 anim_count;
+
+#if 0
m4x3f *final_mtx;
+#endif
struct skeleton_ik
{
m3x3f ia, ib;
}
*ik;
+ u32 ik_count;
- struct skeleton_anim
- {
- float rate;
- u32 length;
- struct mdl_keyframe *anim_data;
- char name[32];
+ u32
+ collider_count,
+ bindable_count;
+};
+
+static u32 skeleton_bone_id( struct skeleton *skele, const char *name )
+{
+ for( u32 i=1; i<skele->bone_count; i++ ){
+ if( !strcmp( skele->bones[i].name, name ))
+ return i;
}
- *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. */
-};
+ vg_error( "skeleton_bone_id( *, \"%s\" );\n", name );
+ vg_fatal_error( "Bone does not exist\n" );
+
+ return 0;
+}
+
+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.
*/
-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 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 >= 0.9999f ){
+ keyframe_copy_pose( kfb, kfd, count );
+ return;
}
+
+ for( int i=0; i<count; i++ )
+ keyframe_lerp( kfa+i, kfb+i, t, kfd+i );
}
-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
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 );
}
+static int skeleton_sample_anim_clamped( struct skeleton *skele,
+ struct skeleton_anim *anim,
+ float time,
+ mdl_keyframe *output )
+{
+ float end = (float)(anim->length-1) / anim->rate;
+ skeleton_sample_anim( skele, anim, vg_minf( end, time ), output );
+
+ if( time > end )
+ return 0;
+ else
+ return 1;
+}
+
typedef enum anim_apply
{
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;
-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( (sp->ik && !sb->ik) || sp->defer )
+ 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
*/
static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
- anim_apply passtype )
-{
- m4x3_identity( skele->final_mtx[0] );
+ 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].ik = 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 );
}
}
m3x3_transpose( inverse, inverse );
}
+/*
+ * Creates inverse rotation matrices which the IK system uses.
+ */
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;
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_sub( skele->bones[ik->pole].co, skele->bones[ik->lower].co, iv1 );
v3_cross( iv0, iv1, ivaxis );
v3_normalize( ivaxis );
}
}
-static void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
+/*
+ * Apply a model matrix to all bones, should be done last
+ */
+static
+void skeleton_apply_transform( struct skeleton *skele, m4x3f transform,
+ m4x3f *final_mtx )
{
- /* bone space inverse matrix */
- 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] );
}
}
-static void skeleton_apply_inverses( struct skeleton *skele )
-{
- for( int i=0; i<skele->bone_count; 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, 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 )
-{
- 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] );
- }
-}
-
-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_mtx = 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_mtx = 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 );
- }
-
- skeleton_create_inverses( skele );
- 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_mtx[i], p0, p0 );
- m4x3_mulv( skele->final_mtx[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 */
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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 );
+ m4x3_copy( transform, final_mtx[ik->upper] );
}
}
-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
+ * Applies the typical operations that you want for an IK rig:
+ * Pose, IK, Pose(deferred), Inverses, Transform
*/
-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;
+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 );
}
/*
- * Apply block of keyframes to skeletons final pose
+ * Get an animation by name
*/
-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] );
+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];
- /* final matrix */
- m4x3_mul( skele->final_transforms[ sb->parent ], posemtx,
- skele->final_transforms[i] );
+ if( !strcmp( anim->name, name ) )
+ return anim;
}
- /* 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;
+ vg_error( "skeleton_get_anim( *, \"%s\" )\n", name );
+ vg_fatal_error( "Invalid animation name\n" );
- m4x3f abmtx;
- m3x3_identity( abmtx );
- v3_negate( skele->bones[i].co, abmtx[3] );
- m4x3_mul( skele->final_transforms[i], abmtx, skele->final_transforms[i] );
- }
+ return NULL;
}
-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;
+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;
- 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;
+ for( u32 i=0; i<armature->bone_count; i++ ){
+ mdl_bone *bone = mdl_arritm( &mdl->bones, armature->bone_start+i );
- m4x3_copy( transform, skele->final_transforms[0] );
+ if( bone->flags & k_bone_flag_ik )
+ skele->ik_count ++;
- 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] );
+ if( bone->collider )
+ skele->collider_count ++;
}
- /* 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] );
- }
-}
+ u32 bone_size = sizeof(struct skeleton_bone) * skele->bone_count,
+ ik_size = sizeof(struct skeleton_ik) * skele->ik_count,
+ mtx_size = sizeof(m4x3f) * skele->bone_count,
+ anim_size = sizeof(struct skeleton_anim) * skele->anim_count;
-/*
- * 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 );
-}
+ 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->anims = vg_linear_alloc( lin_alloc, anim_size );
-/*
- * 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 );
+ 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 );
}
-/*
- * 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 void skeleton_fatal_err(void){
+ vg_fatal_error( "Skeleton setup failed" );
}
-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];
+/* 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 ){
+ u32 ik_count = 0, collider_count = 0;
+ skele->bone_count = 0;
+ skele->bones = NULL;
+ //skele->final_mtx = NULL;
+ skele->anims = NULL;
- if( !strcmp( anim->name, name ) )
- return anim;
+ if( !mdl->armatures.count ){
+ vg_error( "No skeleton in model\n" );
+ skeleton_fatal_err();
}
- return NULL;
-}
+ mdl_armature *armature = mdl_arritm( &mdl->armatures, 0 );
+ skeleton_alloc_from( skele, lin_alloc, mdl, armature );
-/* 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;
+ 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];
- struct classtype_skeleton *inf = NULL;
+ v3_copy( bone->co, sb->co );
+ v3_copy( bone->end, sb->end );
- for( u32 i=0; i<mdl->node_count; i++ )
- {
- mdl_node *pnode = mdl_node_from_id( mdl, i );
+ 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( 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;
- }
+ if( sb->flags & k_bone_flag_ik ){
+ skele->bones[ sb->parent ].flags |= k_bone_flag_ik;
- 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( 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 = i+1;
+ ik->lower = bone->parent;
+ ik->target = bone->ik_target;
+ ik->pole = bone->ik_pole;
}
- }
- if( !inf )
- {
- vg_error( "No skeleton in model\n" );
- return 0;
- }
+ 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 );
- goto error_dealloc;
- }
+ 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 );
- goto error_dealloc;
+ collider_count ++;
+ }
}
/* 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->bones[0].flags = 0;
+ skele->bones[0].name = "[root]";
- 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++ )
- {
+ /* process animation quick refs */
+ for( u32 i=0; i<skele->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 );
+ mdl_arritm( &mdl->animations, armature->anim_start+i );
- 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].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_arritm( &mdl->keyframes, anim->offset );
- skele->anims[i].anim_data = dst;
- memcpy( dst, mdl_get_animdata( mdl, anim ), block_size );
+ vg_info( "animation[ %f, %u ] '%s'\n", anim->rate,
+ anim->length,
+ skele->anims[i].name );
}
+ skeleton_create_inverses( skele );
vg_success( "Loaded skeleton with %u bones\n", skele->bone_count );
- return 1;
-
-error_dealloc:
- free( skele->bones );
- free( skele->ik );
- return 0;
+ vg_success( " %u colliders\n", skele->collider_count );
}
-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_transforms[i], p0, p0 );
- m4x3_mulv( skele->final_transforms[i], p1, p1 );
+ m4x3_mulv( final_mtx[i], p0, p0 );
+ m4x3_mulv( final_mtx[i], p1, p1 );
- if( sb->deform )
- {
- if( sb->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 */
-#endif
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff