X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=6791d1c3f43693c624ea708cf05c29316957869b;hb=5fba3602f053116a8e3849bc12c03198d6d7461c;hp=2fcfb5023f171540b517c989a918914061a8c754;hpb=a1056ed8198f0f5be0e0f341da8bd49aa6c47198;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/skeleton.h b/skeleton.h index 2fcfb50..6791d1c 100644 --- a/skeleton.h +++ b/skeleton.h @@ -53,7 +53,7 @@ struct skeleton bindable_count; }; -VG_STATIC u32 skeleton_bone_id( struct skeleton *skele, const char *name ) +static u32 skeleton_bone_id( struct skeleton *skele, const char *name ) { for( u32 i=1; ibone_count; i++ ){ if( !strcmp( skele->bones[i].name, name )) @@ -61,22 +61,38 @@ 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; } -VG_STATIC void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, +static void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, int num ) { for( int i=0; ico, 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. */ -VG_STATIC void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, +static void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, float t, mdl_keyframe *kfd, int count ) { if( t <= 0.0001f ){ @@ -95,7 +111,7 @@ VG_STATIC void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, } } -VG_STATIC +static void skeleton_lerp_pose( struct skeleton *skele, mdl_keyframe *kfa, mdl_keyframe *kfb, float t, mdl_keyframe *kfd ) @@ -103,7 +119,7 @@ void skeleton_lerp_pose( struct skeleton *skele, keyframe_lerp_pose( kfa, kfb, t, kfd, skele->bone_count-1 ); } -VG_STATIC void skeleton_copy_pose( struct skeleton *skele, +static void skeleton_copy_pose( struct skeleton *skele, mdl_keyframe *kfa, mdl_keyframe *kfd ) { keyframe_copy_pose( kfa, kfd, skele->bone_count-1 ); @@ -113,25 +129,25 @@ VG_STATIC void skeleton_copy_pose( struct skeleton *skele, * 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, +static void skeleton_sample_anim( struct skeleton *skele, struct skeleton_anim *anim, 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 ); } -VG_STATIC int skeleton_sample_anim_clamped( struct skeleton *skele, +static int skeleton_sample_anim_clamped( struct skeleton *skele, struct skeleton_anim *anim, float time, mdl_keyframe *output ) @@ -149,11 +165,12 @@ 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; -VG_STATIC +static int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type ) { struct skeleton_bone *sb = &skele->bones[ id ], @@ -184,9 +201,21 @@ int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type ) /* * Apply block of keyframes to skeletons final pose */ -VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose, +static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose, anim_apply passtype ) { + if( passtype == k_anim_apply_absolute ){ + for( u32 i=1; ibone_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; @@ -217,11 +246,23 @@ VG_STATIC void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose, } } +/* + * Take the final matrices and decompose it into an absolute positioned anim + */ +static void skeleton_decompose_mtx_absolute( struct skeleton *skele, + mdl_keyframe *anim ){ + for( u32 i=1; ibone_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.. */ -VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele, +static void skeleton_inverse_for_ik( struct skeleton *skele, v3f ivaxis, u32 id, m3x3f inverse ) { @@ -235,7 +276,7 @@ VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele, /* * Creates inverse rotation matrices which the IK system uses. */ -VG_STATIC void skeleton_create_inverses( struct skeleton *skele ) +static void skeleton_create_inverses( struct skeleton *skele ) { /* IK: inverse 'plane-bone space' axis '(^axis,^bone,...)[base] */ for( u32 i=0; iik_count; i++ ){ @@ -256,7 +297,7 @@ VG_STATIC void skeleton_create_inverses( struct skeleton *skele ) /* * Apply a model matrix to all bones, should be done last */ -VG_STATIC +static void skeleton_apply_transform( struct skeleton *skele, m4x3f transform ) { for( u32 i=0; ibone_count; i++ ){ @@ -269,7 +310,7 @@ void skeleton_apply_transform( struct skeleton *skele, m4x3f transform ) * 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 ) +static void skeleton_apply_inverses( struct skeleton *skele ) { for( u32 i=0; ibone_count; i++ ){ struct skeleton_bone *sb = &skele->bones[i]; @@ -284,7 +325,7 @@ VG_STATIC void skeleton_apply_inverses( struct skeleton *skele ) /* * Apply all IK modifiers (2 bone ik reference from blender is supported) */ -VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele ) +static void skeleton_apply_ik_pass( struct skeleton *skele ) { for( u32 i=0; iik_count; i++ ){ struct skeleton_ik *ik = &skele->ik[i]; @@ -363,7 +404,7 @@ VG_STATIC void skeleton_apply_ik_pass( 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, +static void skeleton_apply_standard( struct skeleton *skele, mdl_keyframe *pose, m4x3f transform ) { skeleton_apply_pose( skele, pose, k_anim_apply_defer_ik ); @@ -376,7 +417,7 @@ VG_STATIC void skeleton_apply_standard( struct skeleton *skele, mdl_keyframe *po /* * Get an animation by name */ -VG_STATIC struct skeleton_anim *skeleton_get_anim( struct skeleton *skele, +static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele, const char *name ) { for( u32 i=0; ianim_count; i++ ){ @@ -387,12 +428,12 @@ 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; } -VG_STATIC void skeleton_alloc_from( struct skeleton *skele, +static void skeleton_alloc_from( struct skeleton *skele, void *lin_alloc, mdl_context *mdl, mdl_armature *armature ) @@ -421,15 +462,20 @@ 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) +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 */ -VG_STATIC void skeleton_setup( struct skeleton *skele, +static void skeleton_setup( struct skeleton *skele, void *lin_alloc, mdl_context *mdl ) { u32 ik_count = 0, collider_count = 0; @@ -514,7 +560,7 @@ VG_STATIC void skeleton_setup( struct skeleton *skele, vg_success( " %u colliders\n", skele->collider_count ); } -VG_STATIC void skeleton_debug( struct skeleton *skele ) +static void skeleton_debug( struct skeleton *skele ) { for( u32 i=1; ibone_count; i ++ ){ struct skeleton_bone *sb = &skele->bones[i];