+/*
+ * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ */
+
#ifndef SKELETON_H
#define SKELETON_H
int defer;
mdl_keyframe kf;
+
+ u32 orig_node;
+
+ int 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;
+
m4x3f *final_mtx;
struct skeleton_ik
m3x3f ia, ib;
}
*ik;
+ u32 ik_count;
- struct skeleton_anim
+ u32
+ collider_count,
+ bindable_count;
+};
+
+VG_STATIC u32 skeleton_bone_id( struct skeleton *skele, const char *name )
+{
+ for( u32 i=1; i<skele->bone_count; i++ )
{
- float rate;
- u32 length;
- struct mdl_keyframe *anim_data;
- char name[32];
+ 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. */
-};
+ return 0;
+}
+
+VG_STATIC void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, int num )
+{
+ for( int i=0; i<num; i++ )
+ kfb[i] = kfa[i];
+}
/*
* 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,
+VG_STATIC void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
mdl_keyframe *kfd, int count )
{
+ if( t <= 0.01f )
+ {
+ keyframe_copy_pose( kfa, kfd, count );
+ return;
+ }
+ else if( t >= 0.99f )
+ {
+ 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 );
}
}
-static void skeleton_lerp_pose( struct skeleton *skele,
+VG_STATIC void skeleton_lerp_pose( struct skeleton *skele,
mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
mdl_keyframe *kfd )
{
* 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,
+VG_STATIC void skeleton_sample_anim( struct skeleton *skele,
struct skeleton_anim *anim,
float time,
mdl_keyframe *output )
skeleton_lerp_pose( skele, base, nbase, t, output );
}
+VG_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,
}
anim_apply;
-static int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type )
+VG_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 ];
/*
* Apply block of keyframes to skeletons final pose
*/
-static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
+VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
anim_apply passtype )
{
m4x3_identity( skele->final_mtx[0] );
* 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,
+VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele,
v3f ivaxis,
u32 id, m3x3f inverse )
{
m3x3_transpose( inverse, inverse );
}
-static void skeleton_create_inverses( struct skeleton *skele )
+/*
+ * Creates inverse rotation matrices which the IK system uses.
+ */
+VG_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++ )
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
+ */
+VG_STATIC void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
{
- /* bone space inverse matrix */
for( int i=0; i<skele->bone_count; i++ )
{
struct skeleton_bone *sb = &skele->bones[i];
}
}
-static void skeleton_apply_inverses( struct skeleton *skele )
+/*
+ * 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++ )
{
/*
* Apply all IK modifiers (2 bone ik reference from blender is supported)
*/
-static void skeleton_apply_ik_pass( struct skeleton *skele )
+VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
{
for( int i=0; i<skele->ik_count; i++ )
{
}
}
-static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
+/*
+ * 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 );
+}
+
+/*
+ * 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++ )
return NULL;
}
-/* Setup an animated skeleton from model */
-static int skeleton_setup( struct skeleton *skele, mdl_header *mdl )
+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;
+
+ 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;
+
+ 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 );
+}
+
+VG_STATIC void skeleton_fatal_err(void)
+{
+ vg_fatal_exit_loop( "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;
+ u32 bone_count = 1, skeleton_root = 0, ik_count = 0, collider_count = 0;
skele->bone_count = 0;
skele->bones = NULL;
skele->final_mtx = NULL;
struct classtype_skeleton *inf = NULL;
- for( u32 i=0; i<mdl->node_count; i++ )
+ for( u32 i=0; i<mdl->info.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_alloc_from( skele, lin_alloc, inf );
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;
+ int is_bone = pnode->classtype == k_classtype_bone;
if( is_bone )
{
bone_count, skele->bone_count,
mdl_pstr( mdl, pnode->pstr_name ));
- goto error_dealloc;
+ skeleton_fatal_err();
}
struct skeleton_bone *sb = &skele->bones[bone_count];
+ struct classtype_bone *bone_inf = mdl_get_entdata( mdl, pnode );
+ int is_ik = bone_inf->ik_target;
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->deform = bone_inf->deform;
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;
+ skeleton_fatal_err();
}
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;
+ ik->target = bone_inf->ik_target;
+ ik->pole = bone_inf->ik_pole;
}
else
{
- struct classtype_bone *bone_inf = mdl_get_entdata( mdl, pnode );
- sb->deform = bone_inf->deform;
sb->ik = 0;
}
+ sb->collider = bone_inf->collider;
+ sb->orig_node = i;
+ box_copy( bone_inf->hitbox, sb->hitbox );
+
+ if( bone_inf->collider )
+ {
+ if( collider_count == skele->collider_count )
+ {
+ vg_error( "Too many collider bones\n" );
+ skeleton_fatal_err();
+ }
+
+ collider_count ++;
+ }
+
bone_count ++;
}
else
if( !inf )
{
vg_error( "No skeleton in model\n" );
- return 0;
+ skeleton_fatal_err();
+ }
+
+ if( collider_count != skele->collider_count )
+ {
+ vg_error( "Loaded %u colliders out of %u\n", collider_count,
+ skele->collider_count );
+ skeleton_fatal_err();
}
if( bone_count != skele->bone_count )
{
vg_error( "Loaded %u bones out of %u\n", bone_count, skele->bone_count );
- goto error_dealloc;
+ vg_fatal_exit_loop( "Skeleton setup failed" );
+ 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;
+ skeleton_fatal_err();
}
/* 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].collider = 0;
+ skele->bones[0].name = "[root]";
- 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++ )
+ /* process animation quick refs */
+ for( int i=0; i<skele->anim_count; i++ )
{
- mdl_animation *anim =
- mdl_animation_from_id( mdl, inf->anim_start+i );
+ mdl_animation *anim = &mdl->anim_buffer[ 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 );
+ 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 ];
- 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_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 )
+VG_STATIC void skeleton_debug( struct skeleton *skele )
{
for( int i=0; i<skele->bone_count; i ++ )
{
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