X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=4f35d58e25d50681b462cfac7596f3a8b02991da;hb=2a238d32da833812e837cf38e16a7685c98db5c3;hp=4fb30988f6e2e3d3ef2b9bebd5b314f92f1e629f;hpb=1361a6d6ffda17feca6395beccf269763d3a76fa;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/skeleton.h b/skeleton.h
index 4fb3098..4f35d58 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -1,3 +1,7 @@
+/*
+ * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ */
+
 #ifndef SKELETON_H
 #define SKELETON_H
 
@@ -8,41 +12,189 @@ struct skeleton
    struct skeleton_bone
    {
       v3f co, end;
-      u32 children; /* maybe remove */
       u32 parent;
-      
+
+      u32 flags;
+      int defer;
+
       mdl_keyframe kf;
+
+      u32 orig_node;
+
+      boxf hitbox;
+      const char *name;
    }
    *bones;
-   m4x3f *final_transforms;
+   u32 bone_count;
 
    struct skeleton_anim
    {
-      float rate;
+      const char *name;
       u32 length;
-      struct mdl_keyframe *anim_data;
-      char name[32];
+
+      float rate;
+      mdl_keyframe *anim_data;
    }
    *anims;
+   u32 anim_count;
 
-   u32 bone_count,
-       anim_count;
+   m4x3f *final_mtx;
+
+   struct skeleton_ik
+   {
+      u32 lower, upper, target, pole;
+      m3x3f ia, ib;
+   }
+   *ik;
+   u32 ik_count;
+
+   u32 
+       collider_count,
+       bindable_count;
 };
 
-static void skeleton_apply_frame( m4x3f transform,
-                                  struct skeleton *skele,
-                                  struct skeleton_anim *anim, 
-                                  float time )
+VG_STATIC u32 skeleton_bone_id( struct skeleton *skele, const char *name )
 {
-   u32 frame = time*anim->rate;
-   frame = frame % anim->length;
+   for( u32 i=1; i<skele->bone_count; i++ )
+   {
+      if( !strcmp( skele->bones[i].name, name ))
+         return i;
+   }
 
-   mdl_keyframe *base = anim->anim_data + (skele->bone_count-1)*frame;
-   m4x3_copy( transform, skele->final_transforms[0] );
+   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.
+ */
+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 );
+      q_nlerp( kfa[i].q,  kfb[i].q,  t, kfd[i].q );
+      v3_lerp( kfa[i].s,  kfb[i].s,  t, kfd[i].s );
+   }
+}
+
+VG_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
+ */
+VG_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 );
+}
+
+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,
+   k_anim_apply_defer_ik,
+   k_anim_apply_deffered_only
+}
+anim_apply;
+
+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 ];
+
+   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
+      {
+         sb->defer = 0;
+         return 1;
+      }
+   }
+   else if( type == k_anim_apply_deffered_only )
+   {
+      if( sb->defer )
+         return 1;
+      else
+         return 0;
+   }
+
+   return 1;
+}
+
+/*
+ * Apply block of keyframes to skeletons final pose
+ */
+VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
+                                 anim_apply passtype )
+{
+   m4x3_identity( skele->final_mtx[0] );
+   skele->bones[0].defer = 0;
+   skele->bones[0].flags &= ~k_bone_flag_ik;
 
    for( int i=1; i<skele->bone_count; i++ )
    {
-      struct skeleton_bone *sb = &skele->bones[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;
@@ -50,31 +202,180 @@ static void skeleton_apply_frame( m4x3f transform,
       v3f temp_delta;
       v3_sub( skele->bones[i].co, skele->bones[sb->parent].co, temp_delta );
 
-
       /* pose matrix */
-      mdl_keyframe *kf = base+i-1;
-
+      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] );
+      m4x3_mul( skele->final_mtx[ sb->parent ], posemtx, skele->final_mtx[i] );
    }
+}
 
-   /* armature space -> bone space matrix ( for verts ) */
-   for( int i=1; i<skele->bone_count; i++ )
+/* 
+ * 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..
+ */
+VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele,
+                                     v3f ivaxis,
+                                     u32 id, m3x3f 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] );
+   m3x3_transpose( inverse, inverse );
+}
+
+/*
+ * 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 abmtx;
-      m3x3_identity( abmtx );
-      v3_negate( skele->bones[i].co, abmtx[3] );
-      m4x3_mul( skele->final_transforms[i], abmtx,
-                skele->final_transforms[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_cross( iv0, iv1, ivaxis );
+      v3_normalize( ivaxis );
+
+      skeleton_inverse_for_ik( skele, ivaxis, ik->lower, ik->ia );
+      skeleton_inverse_for_ik( skele, ivaxis, ik->upper, ik->ib );
+   }
+}
+
+/*
+ * Apply a model matrix to all bones, should be done last
+ */
+VG_STATIC void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
+{
+   for( int 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] );
    }
 }
 
-static struct skeleton_anim *skeleton_get_anim( 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++ )
+   {
+      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] );
+   }
+}
+
+/*
+ * Apply all IK modifiers (2 bone ik reference from blender is supported)
+ */
+VG_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;
+
+      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_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_mtx[ik->lower] );
+      m4x3_identity( skele->final_mtx[ik->upper] );
+
+      /* 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] );
+
+      m3x3_mul( transform, ik->ia, transform );
+      m4x3_copy( transform, skele->final_mtx[ik->lower] );
+
+      /* upper/knee bone */
+      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] );
+
+      m3x3_mul( transform, ik->ib, transform );
+      m4x3_copy( transform, skele->final_mtx[ik->upper] );
+   }
+}
+
+/*
+ * 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++ )
@@ -88,43 +389,109 @@ static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
    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 )
 {
-   u32 bone_count = 1, skeleton_root = 0;
+   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, collider_count = 0;
    skele->bone_count = 0;
    skele->bones = NULL;
-   skele->final_transforms = NULL;
+   skele->final_mtx = NULL;
    skele->anims = 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" );
-            free( skele->bones );
-            return 0;
-         }
-         
-         skele->bone_count = inf->channels;
-         skele->bones = malloc(sizeof(struct skeleton_bone)*skele->bone_count);
+         skeleton_alloc_from( skele, lin_alloc, inf );
          skeleton_root = i;
       }
       else if( skele->bone_count )
       {
-         if( pnode->classtype == k_classtype_bone )
+         int is_bone = pnode->classtype == k_classtype_bone;
+
+         if( is_bone )
          {
-            struct skeleton_bone *sb = &skele->bones[bone_count ++];
+            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 ));
+
+               skeleton_fatal_err();
+            }
+
+            struct skeleton_bone *sb = &skele->bones[bone_count];
+            struct classtype_bone *bone_inf = mdl_get_entdata( mdl, pnode );
+
             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->flags  = bone_inf->flags;
+
+            if( sb->flags & k_bone_flag_ik )
+            {
+               skele->bones[ sb->parent ].flags |= k_bone_flag_ik;
+               
+               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 = bone_count;
+               ik->lower = sb->parent;
+               ik->target = bone_inf->ik_target;
+               ik->pole = bone_inf->ik_pole;
+            }
+
+            sb->orig_node = i;
+            box_copy( bone_inf->hitbox, sb->hitbox );
+
+            if( bone_inf->flags & k_bone_flag_collider_any )
+            {
+               if( collider_count == skele->collider_count )
+               {
+                  vg_error( "Too many collider bones\n" );
+                  skeleton_fatal_err();
+               }
+
+               collider_count ++;
+            }
+
+            bone_count ++;
          }
          else
          {
@@ -136,46 +503,57 @@ static int skeleton_setup( struct skeleton *skele, mdl_header *mdl )
    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 );
-      return 0;
+      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 );
+      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].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( 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;
+   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 ++ )
    {
@@ -184,11 +562,24 @@ static void skeleton_debug( struct skeleton *skele )
       v3f p0, p1;
       v3_copy( sb->co, p0 );
       v3_add( p0, sb->end, p1 );
-      vg_line( p0, p1, 0xffffffff );
+      //vg_line( p0, p1, 0xffffffff );
 
-      m4x3_mulv( skele->final_transforms[i], p0, p0 );
-      m4x3_mulv( skele->final_transforms[i], p1, p1 );
-      vg_line( p0, p1, 0xff0000ff );
+      m4x3_mulv( skele->final_mtx[i], p0, p0 );
+      m4x3_mulv( skele->final_mtx[i], p1, p1 );
+
+      if( sb->flags & k_bone_flag_deform )
+      {
+         if( sb->flags & k_bone_flag_ik )
+         {
+            vg_line( p0, p1, 0xff0000ff );
+         }
+         else
+         {
+            vg_line( p0, p1, 0xffcccccc );
+         }
+      }
+      else
+         vg_line( p0, p1, 0xff00ffff );
    }
 }