source: trunk/src/gfx/skeleton_instance.cc @ 484

// Copyright (C) 2011-2015 ChaosForge Ltd
// http://chaosforge.org/
//
// This file is part of Nova libraries. 
// For conditions of distribution and use, see copying.txt file in root folder.

#include "nv/gfx/skeleton_instance.hh"

#include "nv/core/profiler.hh"

void nv::skeleton_binding::prepare( const mesh_nodes_data* node_data, const data_node_list& bone_data )
{
        if ( m_indices.empty() )
        {
                // TODO: either fixed size struct or static allocator
                hash_store< shash64, uint16 > bone_names;
                m_indices.resize( node_data->size() );

                for ( nv::uint16 bi = 0; bi < bone_data.size(); ++bi )
                        bone_names[bone_data[bi].name] = bi;

                for ( uint32 n = 0; n < node_data->size(); ++n )
                {
                        sint16 bone_id = -1;
                        auto bi = bone_names.find( node_data->get_info( n ).name );
                        if ( bi != bone_names.end() )
                        {
                                bone_id = sint16( bi->second );
                        }
                        m_indices[n] = bone_id;

                }
                m_bone_count = bone_data.size();
        }

        if ( m_key.size() == 0 )
        {
                for ( uint32 n = 0; n < node_data->size(); ++n )
                        if ( ( *node_data )[n]->size() > 0 )
                        {
                                m_key = ( *node_data )[n]->get_interpolation_key();
                                break;
                        }
        }
}

void nv::skeleton_instance::assign( const skeleton_transforms& skeleton, const bone_transforms& bones )
{
        if ( bones.size() != m_matrix.size() ) 
                m_matrix.resize( bones.size() );
        const transform* transforms = skeleton.transforms();
        for ( uint32 n = 0; n < skeleton.size(); ++n )
        {
                transform tr( bones.m_offsets[n] );
                tr.set_orientation( normalize( tr.get_orientation() ) );
                m_matrix[n] = ( transforms[n] * tr ).extract();
        //      m_matrix[n] = transforms[n].extract() * bones.m_offsets[n];
        }
}

void nv::skeleton_instance::assign( const bone_transforms& bones )
{
        if ( bones.size() != m_matrix.size() )
                m_matrix.resize( bones.size() );
}

void nv::skeleton_transforms::assign( const data_node_list* node_data )
{
        NV_ASSERT( node_data, "!!!" );
        if ( m_transforms.size() != node_data->size() )
                m_transforms.resize( node_data->size() );
        for ( uint32 n = 0; n < node_data->size(); ++n )
        {
                const data_node_info& info = (*node_data)[ n ];
                m_transforms[n] = transform( info.transform );
        }
}

void nv::skeleton_transforms::interpolate_linear( const skeleton_transforms& a, const skeleton_transforms& b, float t )
{
        NV_ASSERT( a.size() == b.size(), "!!!" );
        if ( m_transforms.size() != a.size() )
                m_transforms.resize( a.size() );
        for ( uint32 n = 0; n < a.size(); ++n )
        {
                m_transforms[n] = transform(
                        math::mix( a.m_transforms[n].get_position(), b.m_transforms[n].get_position(), t ),
                        math::lerp( a.m_transforms[n].get_orientation(), b.m_transforms[n].get_orientation(), t )
                        );
        }

        if ( m_transforms.size() > 0 )
                m_transforms[0] = nv::interpolate( a.m_transforms[0], b.m_transforms[0], t );
}

void nv::skeleton_transforms::interpolate_nlerp( const skeleton_transforms& a, const skeleton_transforms& b, float t )
{
        NV_ASSERT( a.size() == b.size(), "!!!" );
        if ( m_transforms.size() != a.size() )
                m_transforms.resize( a.size() );

        for ( uint32 n = 0; n < a.size(); ++n )
        {
                m_transforms[n] = transform(
                        math::mix( a.m_transforms[n].get_position(), b.m_transforms[n].get_position(), t ),
                        math::nlerp( a.m_transforms[n].get_orientation(), b.m_transforms[n].get_orientation(), t )
                        );
        }

        if ( m_transforms.size() > 0 )
                m_transforms[0] = nv::interpolate( a.m_transforms[0], b.m_transforms[0], t );
}


void nv::skeleton_transforms::interpolate_slerp( const skeleton_transforms& a, const skeleton_transforms& b, float t )
{
        NV_ASSERT( a.size() == b.size(), "!!!" );
        if ( m_transforms.size() != a.size() )
                m_transforms.resize( a.size() );
        for ( uint32 n = 0; n < a.size(); ++n )
        {
                m_transforms[n] = nv::interpolate( a.m_transforms[n], b.m_transforms[n], t );
        }
}

void nv::skeleton_transforms::interpolate4( const skeleton_transforms& s1, const skeleton_transforms& v1, const skeleton_transforms& v2, const skeleton_transforms& s2, float t )
{
        NV_ASSERT( s1.size() == s2.size(), "!!!" );
        NV_ASSERT( v1.size() == v2.size(), "!!!" );
        NV_ASSERT( s1.size() == v1.size(), "!!!" );
        if ( m_transforms.size() != s1.size() )
                m_transforms.resize( s1.size() );
        float interp_squared = t*t;
        float interp_cubed = interp_squared*t;
        float weights[4];
        weights[0] = 0.5f * ( -interp_cubed + 2.0f * interp_squared - t );
        weights[1] = 0.5f * ( 3.0f * interp_cubed - 5.0f * interp_squared + 2.0f );
        weights[2] = 0.5f * ( -3.0f * interp_cubed + 4.0f * interp_squared + t );
        weights[3] = 0.5f * ( interp_cubed - interp_squared );

        for ( uint32 n = 0; n < s1.size(); ++n )
        {
                quat qs1 = s1.m_transforms[n].get_orientation();
                quat qs2 = s2.m_transforms[n].get_orientation();
                quat qv1 = v1.m_transforms[n].get_orientation();
                quat qv2 = v2.m_transforms[n].get_orientation();

                float a = dot( qv1, qv2 ) > 0.0f ? 1.0f : -1.0f;

                quat qr = weights[0] * qs1 
                                + weights[1] * (a * qv1 )
                                + weights[2] * qv2 
                                + weights[3] * qs2;

                qr = normalize( qr );

                if ( n == 0 ) 
                        qr = nv::math::slerp( v1.m_transforms[n].get_orientation(), v2.m_transforms[n].get_orientation(), t );

                m_transforms[n] = transform(
                        weights[0] * s1.m_transforms[n].get_position() +
                        weights[1] * v1.m_transforms[n].get_position() +
                        weights[2] * v2.m_transforms[n].get_position() +
                        weights[3] * s2.m_transforms[n].get_position(),
                        qr
                );
        }
}


void nv::skeleton_transforms::interpolate_squad( const skeleton_transforms& s1, const skeleton_transforms& v1, const skeleton_transforms& v2, const skeleton_transforms& s2, float t )
{
        NV_ASSERT( s1.size() == s2.size(), "!!!" );
        NV_ASSERT( v1.size() == v2.size(), "!!!" );
        NV_ASSERT( s1.size() == v1.size(), "!!!" );
        if ( m_transforms.size() != s1.size() )
                m_transforms.resize( s1.size() );

        for ( uint32 n = 0; n < s1.size(); ++n )
        {
                nv::quat ss1 = s1.m_transforms[n].get_orientation();
                nv::quat ss2 = s2.m_transforms[n].get_orientation();
                nv::quat q = normalize( nv::math::squad(
                        v1.m_transforms[n].get_orientation(),
                        v2.m_transforms[n].get_orientation(),
                        nv::math::intermediate( ss1, v1.m_transforms[n].get_orientation(), v2.m_transforms[n].get_orientation() ),
                        nv::math::intermediate( v1.m_transforms[n].get_orientation(), v2.m_transforms[n].get_orientation(), ss2 ),
                        t ) );
                if ( n == 0 ) q = nv::math::slerp(
                        v1.m_transforms[n].get_orientation(),
                        v2.m_transforms[n].get_orientation(), t );

                m_transforms[n] = transform(
                        mix( v1.m_transforms[n].get_position(), v2.m_transforms[n].get_position(), t ),
                        q
                        );
        }

}

void nv::skeleton_transforms::assign( const skeleton_transforms& other )
{
        m_transforms.assign( other.m_transforms );
}

void nv::skeleton_transforms::animate_local( const mesh_nodes_data* node_data, const skeleton_binding& binding, float frame )
{
        if ( m_transforms.size() != binding.skeleton_size() )
                m_transforms.resize( binding.skeleton_size() );
        for ( uint32 n = 0; n < node_data->size(); ++n )
        {
                const data_channel_set* node = ( *node_data )[n];
                sint16 bone_id = binding.m_indices[n];
                if ( bone_id >= 0 )
                {
                        if ( node->size() > 0 )
                        {
                                m_transforms[bone_id] = raw_channel_interpolator( node, binding.m_key ).get< transform >( frame );
                        }
                        int confirm_that_not_needed;
//                      else
//                              m_transforms[bone_id] = transform( node->get_transform() );
                }
        }
}

void nv::skeleton_transforms::blend_local( const mesh_nodes_data* node_data, const skeleton_binding& binding, float frame, float blend )
{
        if ( m_transforms.size() != binding.skeleton_size() )
                m_transforms.resize( binding.skeleton_size() );
        for ( uint32 n = 0; n < node_data->size(); ++n )
        {
                const data_channel_set* node = ( *node_data )[n];
                sint16 bone_id = binding.m_indices[n];
                if ( bone_id >= 0 )
                {
                        
                        transform tr = node->size() > 0 ? raw_channel_interpolator( node, binding.m_key ).get< transform >( frame ) : transform( /*node->get_transform()*/ ); int confirm_that_not_needed;
                        m_transforms[bone_id] = nv::interpolate( m_transforms[bone_id], tr, blend );
                }
        }
}

void nv::skeleton_transforms::delocalize_rec( const data_node_tree& node_data, const skeleton_binding& binding, uint32 id, const transform& parent )
{
        sint16 bone_id = binding.m_indices[id];
        transform global_mat = parent;
        if ( bone_id >= 0 )
        {
                global_mat *= m_transforms[bone_id];
                m_transforms[bone_id] = global_mat;
        }
        for ( auto child : node_data.children( id ) )
        {
                delocalize_rec( node_data, binding, child, global_mat );
        }
}

void nv::skeleton_transforms::animate_rec( const mesh_nodes_data* node_data, const skeleton_binding& binding, float frame, uint32 id, const transform& parent, bool local )
{
        const data_channel_set* node = ( *node_data )[id];
        transform node_mat;

        if ( node->size() > 0 )
                node_mat = raw_channel_interpolator( node, binding.m_key ).get< transform >( frame );
        int confirm_that_not_needed;
        //      else
//              node_mat = transform( node->get_transform() );
        sint16 bone_id = binding.m_indices[id];
        transform global_mat = parent * node_mat;
        if ( bone_id >= 0 )
        {
                m_transforms[bone_id] = local ? node_mat : global_mat;
        }
        for ( auto child : node_data->children( id ) )
        {
                animate_rec( node_data, binding, frame, child, global_mat, local );
        }
}

void nv::skeleton_transforms::blend_rec( const mesh_nodes_data* node_data, const skeleton_binding& binding, float frame, uint32 id, const transform& parent, bool local, float blend )
{
        const data_channel_set* node = ( *node_data )[id];
        int confirm_that_not_needed;
        transform node_mat/*( node->get_transform() )*/;

        if ( node->size() > 0 )
        {
                raw_channel_interpolator interpolator( node, binding.m_key );
                node_mat = interpolator.get< transform >( frame );
        }
        sint16 bone_id = binding.m_indices[id];
        transform global_mat = parent * node_mat;
        if ( bone_id >= 0 )
        {
                m_transforms[bone_id] = nv::interpolate( m_transforms[bone_id], local ? node_mat : global_mat, blend );
        }
        for ( auto child : node_data->children( id ) )
        {
                blend_rec( node_data, binding, frame, child, global_mat, local, blend );
        }
}


void nv::bone_transforms::prepare( const data_node_list& bone_data )
{
        m_offsets.resize( bone_data.size() );

        for ( nv::uint16 bi = 0; bi < bone_data.size(); ++bi )
                m_offsets[bi] = bone_data[bi].transform;
}