source: trunk/src/formats/md5_loader.cc @ 288

// Copyright (C) 2012-2013 ChaosForge / Kornel Kisielewicz
// http://chaosforge.org/
//
// This file is part of NV Libraries.
// For conditions of distribution and use, see copyright notice in nv.hh

#include "nv/formats/md5_loader.hh"

#include <glm/gtc/constants.hpp>
#include "nv/logging.hh"
#include "nv/io/std_stream.hh"
#include <cstring>

using namespace nv;

// based on http://tfc.duke.free.fr/coding/md5-specs-en.html

static void next_line( std::istream& stream )
{
        stream.ignore( std::numeric_limits<std::streamsize>::max(), '\n' );
}

static inline void discard( std::istream& stream, const std::string& token )
{
//      stream.ignore( std::numeric_limits<std::streamsize>::max(), ' ' );
        std::string discarded;
        stream >> discarded;
        assert( discarded == token );
}


static void remove_quotes( std::string& str )
{
        size_t n;
        while ( ( n = str.find('\"') ) != std::string::npos ) str.erase(n,1);
}

static void unit_quat_w( glm::quat& quat )
{
        float t = 1.0f - ( quat.x * quat.x ) - ( quat.y * quat.y ) - ( quat.z * quat.z );
        quat.w = ( t < 0.0f ? 0.0f : -sqrtf(t) );
}

bool md5_loader::load( stream& source )
{
        std_stream sstream( &source );
        std::string command;
        dynamic_array< md5_weight > weights;
        dynamic_array< md5_weight_info > weight_info;

        sstream >> command;
        while ( !sstream.eof() )
        {
                if ( command == "MD5Version" )
                {
                        sstream >> m_md5_version;
                        assert( m_md5_version == 10 );
                }
                else if ( command == "commandline" )
                {
                        next_line( sstream ); 
                }
                else if ( command == "numJoints" )
                {
                        sstream >> m_num_joints;
                        m_joints.resize( m_num_joints );
                }
                else if ( command == "numMeshes" )
                {
                        sstream >> m_num_meshes;
                        m_meshes.resize( m_num_meshes );
                        m_num_meshes = 0;
                }
                else if ( command == "joints" )
                {
                        discard( sstream, "{" );
                        md5_joint joint;
                        for ( size_t i = 0; i < m_num_joints; ++i )
                        {
                                int parent_id;
                                sstream >> joint.name >> parent_id;
                                discard( sstream, "(" );
                                sstream >> joint.pos.x >> joint.pos.y >> joint.pos.z;
                                discard( sstream, ")" );
                                discard( sstream, "(" );
                                sstream >> joint.orient.x >> joint.orient.y >> joint.orient.z;
                                remove_quotes( joint.name );
                                unit_quat_w( joint.orient );
                                m_joints[i] = joint;
                                next_line( sstream );
                        }
                        discard( sstream, "}" );
                }
                else if ( command == "mesh" )
                {
                        mesh_data* mesh = new mesh_data("md5_mesh");

                        int num_verts   = 0;
                        int num_tris    = 0;
                        int num_weights = 0;

                        discard( sstream, "{" );
                        sstream >> command;
                        while ( command != "}" ) 
                        {
                                if ( command == "shader" )
                                {
                                        std::string shader;
                                        sstream >> shader;
                                        remove_quotes( shader );
                                        next_line( sstream );
                                }
                                else if ( command == "numverts")
                                {
                                        sstream >> num_verts; 

                                        md5_vtx_t* tdata = nullptr;
                                        {
                                                mesh_raw_channel* ch_pnt = mesh_raw_channel::create<md5_vtx_pnt>( num_verts );
                                                mesh_raw_channel* ch_t   = mesh_raw_channel::create<md5_vtx_t>( num_verts );
                                                mesh_raw_channel* ch_pntiw = mesh_raw_channel::create<md5_vtx_pntiw>( num_verts );
                                                tdata = (md5_vtx_t*)ch_t->data;
                                                mesh->add_channel( ch_pnt );
                                                mesh->add_channel( ch_t );
                                                // TODO: hack to prevent rendering
                                                ch_pntiw->count = 0;
                                                mesh->add_channel( ch_pntiw );
                                        }
                                        weight_info.resize( num_verts );

                                        next_line( sstream );
                                        std::string line;
                                        for ( int i = 0; i < num_verts; ++i )
                                        {
                                                size_t weight_count;
                                                size_t start_weight;
                                                vec2 texcoord;

                                                std::getline( sstream, line );
                                                sscanf( line.c_str(), "%*s %*u ( %f %f ) %u %u", &(texcoord.x), &(texcoord.y), &(start_weight), &(weight_count) );
                                                weight_info[i].start_weight = start_weight;
                                                weight_info[i].weight_count = weight_count;
                                                tdata[i].texcoord = texcoord;
                                        }  
                                }
                                else if ( command == "numtris" )
                                {
                                        sstream >> num_tris;

                                        mesh_raw_channel* ch_i = mesh_raw_channel::create_index<uint32>( num_tris * 3 );
                                        uint32* vtx_i                = (uint32*)ch_i->data;
                                        uint32 idx = 0;
                                        mesh->add_channel( ch_i );

                                        next_line( sstream );
                                        std::string line;
                                        for ( int i = 0; i < num_tris; ++i )
                                        {
                                                size_t ti0;
                                                size_t ti1;
                                                size_t ti2;

                                                std::getline( sstream, line );
                                                sscanf( line.c_str(), "%*s %*u %u %u %u )", &(ti0), &(ti1), &(ti2));

                                                vtx_i[idx++] = (uint32)ti0;
                                                vtx_i[idx++] = (uint32)ti1;
                                                vtx_i[idx++] = (uint32)ti2;
                                        }              
                                }
                                else if ( command == "numweights" )
                                {
                                        sstream >> num_weights;
                                        weights.resize( num_weights );
                                        next_line( sstream );
                                        std::string line;
                                        for ( int i = 0; i < num_weights; ++i )
                                        {
                                                md5_weight weight;

                                                std::getline( sstream, line );
                                                sscanf( line.c_str(), "%*s %*u %u %f ( %f %f %f )", &(weight.joint_id), &(weight.bias), &(weight.pos.x), &(weight.pos.y), &(weight.pos.z));
                                                weights[i] = weight;
                                        }
                                }
                                else
                                {
                                        next_line( sstream );
                                }

                                sstream >> command;
                        }

                        prepare_mesh( weight_info.size(), mesh, weights.data(), weight_info.data() );

                        m_meshes[ m_num_meshes ] = mesh;
                        m_num_meshes++;
                }
                sstream >> command;
        }

        return true;
}

bool md5_loader::prepare_mesh( uint32 vtx_count, mesh_data* mdata, md5_weight* weights, md5_weight_info* weight_info )
{
        md5_vtx_pnt* vtcs = (md5_vtx_pnt*)mdata->get_channel< md5_vtx_pnt >()->data; 
        md5_vtx_pntiw* vtx_data = (md5_vtx_pntiw*)mdata->get_channel< md5_vtx_pntiw >()->data; 

        for ( uint32 i = 0; i < vtx_count; ++i )
        {
                size_t start_weight = weight_info[i].start_weight;
                size_t weight_count = weight_info[i].weight_count;
                md5_vtx_pntiw& vdata = vtx_data[i];
                md5_vtx_pnt& vtc = vtcs[i];

                vtc.position = glm::vec3(0);
                vtc.normal   = glm::vec3(0);
                vtc.tangent  = glm::vec3(0);

                std::sort( weights + start_weight, weights + start_weight + weight_count, [](const md5_weight& a, const md5_weight& b) -> bool { return a.bias > b.bias; } );

                if ( weight_count > 4 )
                {
                        float sum = 0.0f;
                        for ( size_t j = 0; j < 4; ++j )
                        {
                                sum += weights[start_weight + j].bias;
                        }
                        float ratio = 1.0f / sum;
                        for ( size_t j = 0; j < 4; ++j )
                        {
                                weights[start_weight + j].bias = ratio * weights[start_weight + j].bias;
                        }
                        weight_count = 4;
                }

                for ( size_t j = 0; j < 4; ++j )
                {
                        if ( j < weight_count )
                        {
                                vdata.boneindex[j]  = weights[start_weight + j].joint_id;
                                vdata.boneweight[j] = weights[start_weight + j].bias;
                        }
                        else
                        {
                                vdata.boneindex[j]  = 0;
                                vdata.boneweight[j] = 0.0f;
                        }
                }

                for ( size_t j = 0; j < 4; ++j )
                {
                        if ( j < weight_count )
                        {
                                md5_weight& weight = weights[start_weight + j];
                                md5_joint&  joint  = m_joints[weight.joint_id];
                                glm::vec3 rot_pos = joint.orient * weight.pos;

                                vtc.position += ( joint.pos + rot_pos ) * weight.bias;
                        }
                }
        }

        const uint32*    idata = (uint32*)mdata->get_index_channel()->data;
        const md5_vtx_t* tdata = mdata->get_channel_data<md5_vtx_t>();

        // Prepare normals
        uint32 tri_count = mdata->get_count() / 3;
        for ( unsigned int i = 0; i < tri_count; ++i )
        {
                uint32 ti0 = idata[ i * 3 ];
                uint32 ti1 = idata[ i * 3 + 1 ];
                uint32 ti2 = idata[ i * 3 + 2 ];
 
                glm::vec3 v1 = vtcs[ ti0 ].position;
                glm::vec3 v2 = vtcs[ ti1 ].position;
                glm::vec3 v3 = vtcs[ ti2 ].position;
                glm::vec3 xyz1 = v3 - v1;
                glm::vec3 xyz2 = v2 - v1;

                glm::vec3 normal = glm::cross( xyz1, xyz2 );

                vtcs[ ti0 ].normal += normal;
                vtcs[ ti1 ].normal += normal;
                vtcs[ ti2 ].normal += normal;

                const vec2& w1 = tdata[ ti0 ].texcoord;
                const vec2& w2 = tdata[ ti1 ].texcoord;
                const vec2& w3 = tdata[ ti2 ].texcoord;

                vec2 st1 = w3 - w1;
                vec2 st2 = w2 - w1;

                float coef = 1.0f / (st1.x * st2.y - st2.x * st1.y);

                vec3 tangent = (( xyz1 * st2.y ) - ( xyz2 * st1.y )) * coef;

                vtcs[ ti0 ].tangent += tangent;
                vtcs[ ti1 ].tangent += tangent;
                vtcs[ ti2 ].tangent += tangent;
        }

        for ( size_t i = 0; i < vtx_count; ++i )
        {
                md5_vtx_pntiw& vdata = vtx_data[i];

                glm::vec3 normal  = glm::normalize( vtcs[i].normal );
                glm::vec3 tangent = glm::normalize( vtcs[i].tangent );
                vtcs[i].normal   = normal;
                vtcs[i].tangent  = tangent;

                vdata.position = vtcs[i].position;
                vdata.normal   = glm::vec3(0);
                vdata.tangent  = glm::vec3(0);
 
                for ( size_t j = 0; j < 4; ++j )
                {
                        const md5_joint&  joint  = m_joints[vdata.boneindex[j]];
                        vdata.normal  += ( normal  * joint.orient ) * vdata.boneweight[j];
                        vdata.tangent += ( tangent * joint.orient ) * vdata.boneweight[j];
                }
        }

        return true;
}


md5_animation::md5_animation()
        : m_md5_version( 0 )
        , m_num_frames( 0 )
        , m_num_joints( 0 )
        , m_frame_rate( 0 )
        , m_num_animated_components( 0 )
        , m_anim_duration( 0 )
        , m_frame_duration( 0 )
{

}

md5_animation::~md5_animation()
{

}

bool md5_animation::load_animation( stream& source )
{
        std::vector<md5_joint_info> joint_infos;
        std::vector<transform>      base_frames;
        m_num_frames = 0;

        std_stream sstream( &source );
        std::string command;

        sstream >> command;
        while ( !sstream.eof() )
        {
                if ( command == "MD5Version" )
                {
                        sstream >> m_md5_version;
                        assert( m_md5_version == 10 );
                }
                else if ( command == "commandline" )
                {
                        next_line( sstream ); 
                }
                else if ( command == "numFrames" )
                {
                        sstream >> m_num_frames;
                        next_line( sstream ); 
                }
                else if ( command == "numJoints" )
                {
                        sstream >> m_num_joints;
                        m_joints.reserve( m_num_joints );
                        next_line( sstream ); 
                }
                else if ( command == "frameRate" )
                {
                        sstream >> m_frame_rate;
                        next_line( sstream ); 
                }
                else if ( command == "numAnimatedComponents" )
                {
                        sstream >> m_num_animated_components;
                        next_line( sstream ); 
                }
                else if ( command == "hierarchy" )
                {
                        discard( sstream, "{" );
                        for ( size_t i = 0; i < m_num_joints; ++i )
                        {
                                md5_joint_info joint;
                                sstream >> joint.name >> joint.parent_id >> joint.flags >> joint.start_index;
                                remove_quotes( joint.name );
                                joint_infos.push_back( joint );
                                m_joints.emplace_back( joint.parent_id );
                                next_line( sstream ); 
                        }
                        discard( sstream, "}" );
                }
                else if ( command == "bounds" )
                {
                        discard( sstream, "{" );
                        next_line( sstream ); 
                        for ( size_t i = 0; i < m_num_frames; ++i ) 
                        {
//                              vec3 min;
//                              vec3 max;
//                              discard( sstream, "(" );
//                              sstream >> min.x >> min.y >> min.z;
//                              discard( sstream, ")" );
//                              discard( sstream, "(" );
//                              sstream >> max.x >> max.y >> max.z;
//                              m_bounds.push_back( bound );
                                next_line( sstream ); 
                        }

                        discard( sstream, "}" );
                        next_line( sstream ); 
                }
                else if ( command == "baseframe" )
                {
                        discard( sstream, "{" );
                        next_line( sstream ); 

                        for ( size_t i = 0; i < m_num_joints; ++i )
                        {
                                transform base_frame;
                                vec3 pos;
                                quat orient;
                                discard( sstream, "(" );
                                sstream >> pos.x >> pos.y >> pos.z;
                                discard( sstream, ")" );
                                discard( sstream, "(" );
                                sstream >> orient.x >> orient.y >> orient.z;
                                next_line( sstream ); 

                                base_frames.emplace_back( pos, orient );
                        }
                        discard( sstream, "}" );
                        next_line( sstream ); 
                }
                else if ( command == "frame" )
                {
                        std::vector<float> frame;
                        int frame_id;
                        sstream >> frame_id;
                        discard( sstream, "{" );
                        next_line( sstream ); 

                        frame.reserve( m_num_animated_components );
                        char buf[50];
                        for ( size_t i = 0; i < m_num_animated_components; ++i )
                        {
                                sstream >> buf;
                                frame.push_back((float)atof(buf));
                        }

                        build_frame_skeleton( joint_infos, base_frames, frame );

                        discard( sstream, "}" );
                        next_line( sstream ); 
                }

                sstream >> command;
        } 


        m_frame_duration = 1.0f / (float)m_frame_rate;
        m_anim_duration = ( m_frame_duration * (float)m_num_frames );

        return true;
}


void nv::md5_animation::update_skeleton( transform* skeleton, float anim_time ) const
{
        anim_time = glm::clamp( anim_time, 0.0f, m_anim_duration );
        float frame_num = anim_time * (float)m_frame_rate;
        size_t frame0 = (size_t)floorf( frame_num );
        size_t frame1 = (size_t)ceilf( frame_num );
        frame0 = frame0 % m_num_frames;
        frame1 = frame1 % m_num_frames;

        float interpolation = fmodf( anim_time, m_frame_duration ) / m_frame_duration;

        for ( size_t i = 0; i < m_num_joints; ++i )
        {
                const std::vector< transform >& keys = m_joints[i].keys;
                skeleton[i] = interpolate( keys[frame0], keys[frame1], interpolation );
        }
}

void md5_animation::build_frame_skeleton( const std::vector<md5_joint_info>& joint_infos, const std::vector<transform>& base_frames, const std::vector<float>& frame_data )
{
        size_t index = m_joints[0].keys.size();
        for ( unsigned int i = 0; i < joint_infos.size(); ++i )
        {
                unsigned int j = 0;

                const md5_joint_info& jinfo = joint_infos[i];


                int parent_id = jinfo.parent_id;

                vec3 pos    = base_frames[i].get_position();
                quat orient = base_frames[i].get_orientation();
                if ( jinfo.flags & 1 )  pos.x    = frame_data[ jinfo.start_index + j++ ];
                if ( jinfo.flags & 2 )  pos.y    = frame_data[ jinfo.start_index + j++ ];
                if ( jinfo.flags & 4 )  pos.z    = frame_data[ jinfo.start_index + j++ ];
                if ( jinfo.flags & 8 )  orient.x = frame_data[ jinfo.start_index + j++ ];
                if ( jinfo.flags & 16 ) orient.y = frame_data[ jinfo.start_index + j++ ];
                if ( jinfo.flags & 32 ) orient.z = frame_data[ jinfo.start_index + j++ ];
                unit_quat_w( orient );

                if ( parent_id >= 0 ) // Has a parent joint
                {
                        const std::vector< transform >& ptv = m_joints[ size_t( parent_id ) ].keys;
                        transform ptr;
                        if ( ptv.size() > index ) ptr = ptv[ index ];
                        glm::vec3 rot_pos = ptr.get_orientation() * pos;

                        pos    = ptr.get_position() + rot_pos;
                        orient = ptr.get_orientation() * orient;

                        orient = glm::normalize( orient );
                }

                m_joints[i].keys.push_back( transform( pos, orient ) );
        }
}

mesh_data* nv::md5_loader::release_mesh_data( size_t index )
{
        mesh_data* result = m_meshes[ index ];
        m_meshes[ index ] = nullptr;
        return result;
}

mesh_nodes_data* nv::md5_loader::release_mesh_nodes_data()
{
        mesh_node_data* nodes = new mesh_node_data[ m_num_joints ];
        for ( uint32 i = 0; i < m_num_joints; ++i )
        {
                mesh_node_data& node = nodes[i];
                node.name      = m_joints[i].name;
                node.target_id = -1;
                node.parent_id = -1;
                node.transform = transform( m_joints[i].pos, m_joints[i].orient ).inverse().extract();
                node.data      = nullptr;
        }
        return new mesh_nodes_data( "nodes", m_num_joints, nodes );
}

mesh_data_pack* nv::md5_loader::release_mesh_data_pack()
{
        uint32 size = m_meshes.size();
        mesh_data* meshes = new mesh_data[ size ];
        for ( uint32 i = 0; i < size; ++i )
        {
                m_meshes[i]->move_to( meshes[i] );
                delete m_meshes[i];
                m_meshes[i] = nullptr;
        }
        return new mesh_data_pack( size, meshes, release_mesh_nodes_data() );
}


nv::md5_loader::~md5_loader()
{
        for ( auto m : m_meshes ) { if (m) delete m; }
}