X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=2be9a9aaff7ac7bd8945f9b5e37ed5d0ca0ff7ff;hb=8a31c1ffcb632b9b6d1702332f0d75d609c0a87b;hp=2fcfb5023f171540b517c989a918914061a8c754;hpb=a1056ed8198f0f5be0e0f341da8bd49aa6c47198;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/skeleton.h b/skeleton.h
index 2fcfb50..2be9a9a 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -61,7 +61,7 @@ VG_STATIC u32 skeleton_bone_id( struct skeleton *skele, const char *name )
    }
 
    vg_error( "skeleton_bone_id( *, \"%s\" );\n", name );
-   vg_fatal_exit_loop( "Bone does not exist\n" );
+   vg_fatal_error( "Bone does not exist\n" );
 
    return 0;
 }
@@ -73,6 +73,22 @@ VG_STATIC void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb,
       kfb[i] = kfa[i];
 }
 
+
+/* apply a rotation from the perspective of root */
+VG_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 );
+}
+
 /*
  * Lerp between two sets of keyframes and store in dest. Rotations use Nlerp.
  */
@@ -118,13 +134,13 @@ VG_STATIC void skeleton_sample_anim( struct skeleton *skele,
                                   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;
 
@@ -149,7 +165,8 @@ 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;
 
@@ -187,6 +204,18 @@ int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type )
 VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
                                     anim_apply passtype )
 {
+   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];
+
+         q_m3x3( kf->q, posemtx );
+         v3_copy( kf->co, posemtx[3] );
+      }
+      return;
+   }
+
    m4x3_identity( skele->final_mtx[0] );
    skele->bones[0].defer = 0;
    skele->bones[0].flags &= ~k_bone_flag_ik;
@@ -217,6 +246,18 @@ VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
    }
 }
 
+/* 
+ * Take the final matrices and decompose it into an absolute positioned anim
+ */
+VG_STATIC void skeleton_decompose_mtx_absolute( struct skeleton *skele, 
+                                                mdl_keyframe *anim ){
+   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 );
+   }
+}
+
 /* 
  * 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..
@@ -387,7 +428,7 @@ VG_STATIC struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
    }
 
    vg_error( "skeleton_get_anim( *, \"%s\" )\n", name );
-   vg_fatal_exit_loop( "Invalid animation name\n" );
+   vg_fatal_error( "Invalid animation name\n" );
 
    return NULL;
 }
@@ -421,11 +462,16 @@ VG_STATIC void skeleton_alloc_from( struct skeleton *skele,
    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 );
+
+   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" );
+   vg_fatal_error( "Skeleton setup failed" );
 }
 
 /* Setup an animated skeleton from model. mdl's metadata should stick around */