X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=9f715efa0e8391127df9169051b984171024d59c;hb=47941822dae18a018c985847b052e70214a3ccc6;hp=ac368cf07c9e825932f55acf5b6952173d360eb0;hpb=4b222b13c504e5c21a743b7aeb02a692ce16da01;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/skeleton.h b/skeleton.h index ac368cf..9f715ef 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 @@ -14,8 +18,28 @@ struct skeleton 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 @@ -24,30 +48,47 @@ struct skeleton 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; ibone_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= 0.99f ) + { + keyframe_copy_pose( kfb, kfd, count ); + return; + } + for( int i=0; ilength-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, @@ -93,7 +148,7 @@ typedef enum anim_apply } 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 ]; @@ -125,7 +180,7 @@ static int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type ) /* * 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] ); @@ -163,7 +218,7 @@ static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose, * 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 ) { @@ -174,7 +229,10 @@ static void skeleton_inverse_for_ik( struct skeleton *skele, 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; iik_count; i++ ) @@ -184,7 +242,7 @@ static void skeleton_create_inverses( struct skeleton *skele ) 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 ); @@ -193,9 +251,11 @@ static void skeleton_create_inverses( struct skeleton *skele ) } } -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; ibone_count; i++ ) { struct skeleton_bone *sb = &skele->bones[i]; @@ -203,7 +263,11 @@ static void skeleton_apply_transform( struct skeleton *skele, m4x3f transform ) } } -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; ibone_count; i++ ) { @@ -219,7 +283,7 @@ static void skeleton_apply_inverses( struct skeleton *skele ) /* * 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; iik_count; i++ ) { @@ -295,7 +359,24 @@ static void skeleton_apply_ik_pass( struct skeleton *skele ) } } -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; ianim_count; i++ ) @@ -309,10 +390,36 @@ 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 ) +{ + 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; @@ -320,29 +427,19 @@ static int skeleton_setup( struct skeleton *skele, mdl_header *mdl ) struct classtype_skeleton *inf = NULL; - for( u32 i=0; inode_count; i++ ) + for( u32 i=0; iinfo.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 ) { @@ -352,41 +449,56 @@ static int skeleton_setup( struct skeleton *skele, mdl_header *mdl ) 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 @@ -399,58 +511,57 @@ 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 ); - 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; ianim_count; i++ ) + /* process animation quick refs */ + for( int i=0; ianim_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; ibone_count; i ++ ) { @@ -481,583 +592,3 @@ static void skeleton_debug( struct skeleton *skele ) } #endif /* SKELETON_H */ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -#if 0 -#ifndef SKELETON_H -#define SKELETON_H - -#include "model.h" - -struct skeleton -{ - struct skeleton_bone - { - v3f co, end; - u32 parent; - - /* info, not real */ - int deform, ik; - int defer; - - mdl_keyframe kf; - } - *bones; - m4x3f *final_transforms; - - struct skeleton_ik - { - u32 lower, upper, target, pole; - } - *ik; - - struct skeleton_anim - { - float rate; - u32 length; - struct mdl_keyframe *anim_data; - char name[32]; - } - *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. */ -}; - -/* - * 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, - mdl_keyframe *kfd, int count ) -{ - for( int i=0; ibone_count-1 ); -} - -/* - * 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, - 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 ); -} - -typedef enum anim_apply -{ - k_anim_apply_always, - k_anim_apply_defer_ik, - k_anim_apply_deffered_only -} -anim_apply; - -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->ik || sp->defer ) - { - sb->defer = 1; - return 0; - } - } - else if( type == k_anim_apply_deffered_only ) - { - if( !sp->defer ) - return 0; - } - - return 1; -} - -/* - * Apply block of keyframes to skeletons final pose - */ -static void skeleton_apply_pose( m4x3f transform, - struct skeleton *skele, mdl_keyframe *pose, - anim_apply passtype ) -{ - m4x3_copy( transform, skele->final_transforms[0] ); - skele->bones[0].defer = 0; - skele->bones[0].ik = 0; - - for( int i=1; ibone_count; 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; - - v3f temp_delta; - v3_sub( skele->bones[i].co, skele->bones[sb->parent].co, temp_delta ); - - /* pose matrix */ - 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] ); - } - - /* bone space inverse matrix ( for verts ) TODO: move to seperate pass */ - for( int i=1; ibone_count; i++ ) - { - if( !should_apply_bone( skele, i, passtype ) ) - continue; - - m4x3f abmtx; - m3x3_identity( abmtx ); - v3_negate( skele->bones[i].co, abmtx[3] ); - m4x3_mul( skele->final_transforms[i], abmtx, skele->final_transforms[i] ); - } -} - -static void skeleton_apply_frame( m4x3f transform, - struct skeleton *skele, - struct skeleton_anim *anim, - float time ) -{ - 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; - - m4x3_copy( transform, skele->final_transforms[0] ); - - for( int i=1; ibone_count; i++ ) - { - struct skeleton_bone *sb = &skele->bones[i]; - - /* process pose */ - m4x3f posemtx; - - v3f temp_delta; - v3_sub( skele->bones[i].co, skele->bones[sb->parent].co, temp_delta ); - - /* pose matrix */ - mdl_keyframe *kf = base+i-1, - *nkf = nbase+i-1; - - v3f co; - v4f q; - v3f s; - - v3_lerp( kf->co, nkf->co, t, co ); - q_nlerp( kf->q, nkf->q, t, q ); - v3_lerp( kf->s, nkf->s, t, s ); - - q_m3x3( q, posemtx ); - v3_copy( 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] ); - } - - /* armature space -> bone space matrix ( for verts ) */ - for( int i=1; ibone_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] ); - } -} - -/* - * Get transformed position of bone - */ -static void skeleton_bone_posepos( struct skeleton *skele, u32 id, v3f co ) -{ - m4x3_mulv( skele->final_transforms[id], skele->bones[id].co, co ); -} - -/* - * 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, - v3f ivaxis, - u32 id, m4x3f 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] ); - v3_copy( skele->bones[id].co, inverse[3] ); - m4x3_invert_affine( inverse, inverse ); -} - -/* - * Apply all IK modifiers (2 bone ik reference from blender is supported) - */ -static void skeleton_apply_ik_pass( struct skeleton *skele ) -{ - for( int i=0; iik_count; i++ ) - { - struct skeleton_ik *ik = &skele->ik[i]; - - v3f v0, /* base -> target */ - v1, /* base -> pole */ - vaxis; - - v3f co_base, - co_target, - co_pole; - - skeleton_bone_posepos( skele, ik->lower, co_base ); - skeleton_bone_posepos( skele, ik->target, co_target ); - skeleton_bone_posepos( skele, ik->pole, 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_transforms[ik->lower] ); - m4x3_identity( skele->final_transforms[ik->upper] ); - - /* inverse matrix axis '(^axis,^bone,...)[base] */ - 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, inverse ); - - /* 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] ); - - m4x3_mul( transform, inverse, skele->final_transforms[ik->lower] ); - - /* 'upper' or knee bone */ - skeleton_inverse_for_ik( skele, ivaxis, ik->upper, inverse ); - - 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] ); - - m4x3_mul( transform, inverse, skele->final_transforms[ik->upper] ); - } -} - -static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele, - const char *name ) -{ - for( int i=0; ianim_count; i++ ) - { - struct skeleton_anim *anim = &skele->anims[i]; - - if( !strcmp( anim->name, name ) ) - return anim; - } - - return NULL; -} - -/* Setup an animated skeleton from model */ -static int skeleton_setup( struct skeleton *skele, mdl_header *mdl ) -{ - u32 bone_count = 1, skeleton_root = 0, ik_count = 0; - skele->bone_count = 0; - skele->bones = NULL; - skele->final_transforms = NULL; - skele->anims = NULL; - - struct classtype_skeleton *inf = NULL; - - for( u32 i=0; inode_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_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; - - 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 )); - - goto error_dealloc; - } - - struct skeleton_bone *sb = &skele->bones[bone_count]; - - v3_copy( pnode->co, sb->co ); - v3_copy( pnode->s, sb->end ); - sb->parent = pnode->parent-skeleton_root; - - 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; - } - - 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; - } - else - { - struct classtype_bone *bone_inf = mdl_get_entdata( mdl, pnode ); - sb->deform = bone_inf->deform; - sb->ik = 0; - } - - bone_count ++; - } - else - { - break; - } - } - } - - if( !inf ) - { - vg_error( "No skeleton in model\n" ); - return 0; - } - - if( bone_count != skele->bone_count ) - { - vg_error( "Loaded %u bones out of %u\n", bone_count, skele->bone_count ); - goto error_dealloc; - } - - if( ik_count != skele->ik_count ) - { - vg_error( "Loaded %u ik bones out of %u\n", ik_count, skele->ik_count ); - goto error_dealloc; - } - - /* 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->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; ianim_count; i++ ) - { - mdl_animation *anim = - mdl_animation_from_id( mdl, 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 ); - - 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_success( "Loaded skeleton with %u bones\n", skele->bone_count ); - return 1; - -error_dealloc: - free( skele->bones ); - free( skele->ik ); - return 0; -} - -static void skeleton_debug( struct skeleton *skele ) -{ - for( int i=0; ibone_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_transforms[i], p0, p0 ); - m4x3_mulv( skele->final_transforms[i], p1, p1 ); - - if( sb->deform ) - { - if( sb->ik ) - { - vg_line( p0, p1, 0xff0000ff ); - } - else - { - vg_line( p0, p1, 0xffcccccc ); - } - } - else - vg_line( p0, p1, 0xff00ffff ); - } -} - -#endif /* SKELETON_H */ -#endif