X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=79e80171b2acc49935c11ac5ad973122b3bf54e1;hb=badfa88dd109bbae5628f58504402f4707569f73;hp=4f35d58e25d50681b462cfac7596f3a8b02991da;hpb=2a238d32da833812e837cf38e16a7685c98db5c3;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/skeleton.h b/skeleton.h
index 4f35d58..79e8017 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -18,9 +18,9 @@ struct skeleton
       int defer;
 
       mdl_keyframe kf;
+      mdl_bone *orig_bone;
 
-      u32 orig_node;
-
+      u32 collider;
       boxf hitbox;
       const char *name;
    }
@@ -55,53 +55,76 @@ struct skeleton
 
 VG_STATIC u32 skeleton_bone_id( struct skeleton *skele, const char *name )
 {
-   for( u32 i=1; i<skele->bone_count; i++ )
-   {
+   for( u32 i=1; i<skele->bone_count; i++ ){
       if( !strcmp( skele->bones[i].name, name ))
          return i;
    }
 
+   vg_error( "skeleton_bone_id( *, \"%s\" );\n", name );
+   vg_fatal_error( "Bone does not exist\n" );
+
    return 0;
 }
 
-VG_STATIC void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, int num )
+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];
 }
 
+
+/* 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.
  */
-VG_STATIC void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, float t,
-                                mdl_keyframe *kfd, int count )
+VG_STATIC void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, 
+                                   float t, mdl_keyframe *kfd, int count )
 {
-   if( t <= 0.01f )
-   {
+   if( t <= 0.0001f ){
       keyframe_copy_pose( kfa, kfd, count );
       return;
    }
-   else if( t >= 0.99f )
-   {
+   else if( t >= 0.9999f ){
       keyframe_copy_pose( kfb, kfd, count );
       return;
    }
 
-   for( int i=0; i<count; i++ )
-   {
+   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 )
+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 );
 }
 
+VG_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
@@ -146,27 +169,25 @@ typedef enum anim_apply
 }
 anim_apply;
 
-VG_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 ];
 
-   if( type == k_anim_apply_defer_ik )
-   {
+   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
@@ -180,16 +201,15 @@ VG_STATIC 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,
-                                 anim_apply passtype )
+                                    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++ )
-   {
+   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;
@@ -234,8 +254,7 @@ VG_STATIC void skeleton_inverse_for_ik( struct skeleton *skele,
 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++ )
-   {
+   for( u32 i=0; i<skele->ik_count; i++ ){
       struct skeleton_ik *ik = &skele->ik[i];
 
       m4x3f inverse;
@@ -253,10 +272,10 @@ VG_STATIC void skeleton_create_inverses( struct skeleton *skele )
 /*
  * Apply a model matrix to all bones, should be done last
  */
-VG_STATIC void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
+VG_STATIC 
+void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
 {
-   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] );
    }
@@ -268,8 +287,7 @@ VG_STATIC void skeleton_apply_transform( struct skeleton *skele, m4x3f transform
  */
 VG_STATIC void skeleton_apply_inverses( struct skeleton *skele )
 {
-   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];
       m4x3f inverse;
       m3x3_identity( inverse );
@@ -284,8 +302,7 @@ VG_STATIC void skeleton_apply_inverses( struct skeleton *skele )
  */
 VG_STATIC void skeleton_apply_ik_pass( struct skeleton *skele )
 {
-   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];
       
       v3f v0, /* base -> target */
@@ -376,27 +393,40 @@ 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,
-                                                const char *name )
+                                                   const char *name )
 {
-   for( int i=0; i<skele->anim_count; i++ )
-   {
+   for( u32 i=0; i<skele->anim_count; i++ ){
       struct skeleton_anim *anim = &skele->anims[i];
 
       if( !strcmp( anim->name, name ) )
          return anim;
    }
 
+   vg_error( "skeleton_get_anim( *, \"%s\" )\n", name );
+   vg_fatal_error( "Invalid animation name\n" );
+
    return NULL;
 }
 
 VG_STATIC void skeleton_alloc_from( struct skeleton *skele,
-                                 void *lin_alloc,
-                                 struct classtype_skeleton *inf )
+                                    void *lin_alloc,
+                                    mdl_context *mdl,
+                                    mdl_armature *armature )
 {
-   skele->bone_count     = inf->channels;
-   skele->ik_count       = inf->ik_count;
-   skele->collider_count = inf->collider_count;
-   skele->anim_count     = inf->anim_count;
+   skele->bone_count     = armature->bone_count+1;
+   skele->anim_count     = armature->anim_count;
+   skele->ik_count       = 0;
+   skele->collider_count = 0;
+
+   for( u32 i=0; i<armature->bone_count; i++ ){
+      mdl_bone *bone = mdl_arritm( &mdl->bones, armature->bone_start+i );
+
+      if( bone->flags & k_bone_flag_ik )
+         skele->ik_count ++;
+
+      if( bone->collider )
+         skele->collider_count ++;
+   }
 
    u32 bone_size = sizeof(struct skeleton_bone) * skele->bone_count,
        ik_size   = sizeof(struct skeleton_ik)   * skele->ik_count,
@@ -411,119 +441,65 @@ VG_STATIC void skeleton_alloc_from( struct skeleton *skele,
 
 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 */
 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;
+   u32 ik_count = 0, collider_count = 0;
    skele->bone_count = 0;
    skele->bones = NULL;
    skele->final_mtx = NULL;
    skele->anims = NULL;
 
-   struct classtype_skeleton *inf = NULL;
+   if( !mdl->armatures.count ){
+      vg_error( "No skeleton in model\n" );
+      skeleton_fatal_err();
+   }
 
-   for( u32 i=0; i<mdl->info.node_count; i++ )
-   {
-      mdl_node *pnode = mdl_node_from_id( mdl, i );
+   mdl_armature *armature = mdl_arritm( &mdl->armatures, 0 );
+   skeleton_alloc_from( skele, lin_alloc, mdl, armature );
 
-      if( pnode->classtype == k_classtype_skeleton )
-      {
-         inf = mdl_get_entdata( mdl, pnode );
-         skeleton_alloc_from( skele, lin_alloc, inf );
-         skeleton_root = i;
-      }
-      else if( skele->bone_count )
-      {
-         int is_bone = pnode->classtype == k_classtype_bone;
-
-         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 ));
-
-               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
-         {
-            break;
+   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];
+
+      v3_copy( bone->co, sb->co );
+      v3_copy( bone->end, sb->end );
+
+      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( 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();
          }
-      }
-   }
 
-   if( !inf )
-   {
-      vg_error( "No skeleton in model\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( collider_count != skele->collider_count )
-   {
-      vg_error( "Loaded %u colliders out of %u\n", collider_count,
-                                                   skele->collider_count );
-      skeleton_fatal_err();
-   }
+      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 );
-      vg_fatal_exit_loop( "Skeleton setup failed" );
-      skeleton_fatal_err();
-   }
+      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 );
-      skeleton_fatal_err();
+         collider_count ++;
+      }
    }
 
    /* fill in implicit root bone */
@@ -534,14 +510,15 @@ VG_STATIC void skeleton_setup( struct skeleton *skele,
    skele->bones[0].name = "[root]";
    
    /* process animation quick refs */
-   for( int i=0; i<skele->anim_count; i++ )
-   {
-      mdl_animation *anim = &mdl->anim_buffer[ inf->anim_start + i ];
+   for( u32 i=0; i<skele->anim_count; i++ ){
+      mdl_animation *anim = 
+         mdl_arritm( &mdl->animations, armature->anim_start+i );
 
       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 ];
+      skele->anims[i].anim_data  = 
+         mdl_arritm( &mdl->keyframes, anim->offset );
 
       vg_info( "animation[ %f, %u ] '%s'\n", anim->rate,
                                              anim->length,
@@ -555,26 +532,21 @@ VG_STATIC void skeleton_setup( struct skeleton *skele,
 
 VG_STATIC void skeleton_debug( struct skeleton *skele )
 {
-   for( int i=0; i<skele->bone_count; i ++ )
-   {
+   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_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 )
-         {
+      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 );
          }
       }