X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=ce71283b42d9e8c8878edb97285aeb547d450717;hb=46643f969b12c2144a5f15ac5509610f18b467e4;hp=ace80e6131e2dc201572631a8cc7413179e83521;hpb=3d5597be2fd4b5d9ea3bf8863e15cc9bc8123755;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/skeleton.h b/skeleton.h
index ace80e6..ce71283 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -1,3 +1,7 @@
+/*
+ * Copyright (C) Mount0 Software, Harry Godden - All Rights Reserved
+ */
+
 #ifndef SKELETON_H
 #define SKELETON_H
 
@@ -10,17 +14,20 @@ struct skeleton
       v3f co, end;
       u32 parent;
 
-      /* info, not real */
       int deform, ik;
+      int defer;
 
       mdl_keyframe kf;
+
+      char name[16];
    }
    *bones;
-   m4x3f *final_transforms;
+   m4x3f *final_mtx;
 
    struct skeleton_ik
    {
       u32 lower, upper, target, pole;
+      m3x3f ia, ib;
    }
    *ik;
 
@@ -41,10 +48,62 @@ struct skeleton
                                  useless cpu IK bones. */
 };
 
-static void skeleton_apply_frame( m4x3f transform,
-                                  struct skeleton *skele,
-                                  struct skeleton_anim *anim, 
-                                  float time )
+static u32 skeleton_bone_id( struct skeleton *skele, const char *name )
+{
+   for( u32 i=0; i<skele->bone_count; i++ )
+   {
+      if( !strcmp( skele->bones[i].name, name ))
+         return i;
+   }
+   return 0;
+}
+
+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.
+ */
+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 );
+   }
+}
+
+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
+ */
+static void skeleton_sample_anim( struct skeleton *skele,
+                                  struct skeleton_anim *anim,
+                                  float time,
+                                  mdl_keyframe *output )
 {
    float animtime = time*anim->rate;
 
@@ -56,11 +115,79 @@ static void skeleton_apply_frame( m4x3f transform,
    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] );
+   skeleton_lerp_pose( skele, base, nbase, t, output );
+}
+
+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;
+
+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 && !sb->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
+ */
+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].ik = 0;
 
    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;
@@ -69,59 +196,80 @@ static void skeleton_apply_frame( m4x3f transform,
       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] );
+      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] );
-   }
-
-   /* armature space -> bone space matrix ( for verts ) */
-   for( int i=1; i<skele->bone_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] );
+      m4x3_mul( skele->final_mtx[ sb->parent ], posemtx, skele->final_mtx[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 )
+                                     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] );
-   v3_copy( skele->bones[id].co, inverse[3] );
-   m4x3_invert_affine( inverse, inverse );
+   m3x3_transpose( inverse, inverse );
+}
+
+/*
+ * Creates inverse rotation matrices which the IK system uses.
+ */
+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++ )
+   {
+      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
+ */
+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] );
+   }
+}
+
+/*
+ * Apply an inverse matrix to all bones which maps vertices from bind space into
+ * bone relative positions
+ */
+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] );
+   }
 }
 
 /*
@@ -141,9 +289,9 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
           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_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 );
@@ -171,18 +319,8 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
       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 );
+      m4x3_identity( skele->final_mtx[ik->lower] );
+      m4x3_identity( skele->final_mtx[ik->upper] );
 
       /* create rotation matrix */
       v3f co_knee;
@@ -198,21 +336,38 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
       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 );
+      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] );
 
-      m4x3_mul( transform, inverse, skele->final_transforms[ik->upper] );
+      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
+ */
+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
+ */
 static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
                                                 const char *name )
 {
@@ -233,7 +388,7 @@ 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->final_mtx = NULL;
    skele->anims = NULL;
 
    struct classtype_skeleton *inf = NULL;
@@ -278,6 +433,7 @@ static int skeleton_setup( struct skeleton *skele, mdl_header *mdl )
             v3_copy( pnode->co, sb->co );
             v3_copy( pnode->s, sb->end );
             sb->parent = pnode->parent-skeleton_root;
+            strncpy( sb->name, mdl_pstr(mdl,pnode->pstr_name), 15 );
 
             if( is_ik )
             {
@@ -337,7 +493,7 @@ static int skeleton_setup( struct skeleton *skele, mdl_header *mdl )
    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->final_mtx = malloc( sizeof(m4x3f) * skele->bone_count );
    skele->anim_count = inf->anim_count;
    skele->anims = malloc( sizeof(struct skeleton_anim) * inf->anim_count);
    
@@ -358,6 +514,7 @@ static int skeleton_setup( struct skeleton *skele, mdl_header *mdl )
       memcpy( dst, mdl_get_animdata( mdl, anim ), block_size );
    }
 
+   skeleton_create_inverses( skele );
    vg_success( "Loaded skeleton with %u bones\n", skele->bone_count );
    return 1;
 
@@ -378,8 +535,8 @@ static void skeleton_debug( struct skeleton *skele )
       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 );
+      m4x3_mulv( skele->final_mtx[i], p0, p0 );
+      m4x3_mulv( skele->final_mtx[i], p1, p1 );
 
       if( sb->deform )
       {