| 1 | // Copyright (C) 2011-2015 ChaosForge Ltd
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| 2 | // http://chaosforge.org/
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| 3 | //
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| 4 | // This file is part of Nova libraries.
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| 5 | // For conditions of distribution and use, see copying.txt file in root folder.
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| 6 |
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| 7 | #include "nv/gfx/skeleton_instance.hh"
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| 8 |
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| 9 | #include "nv/core/profiler.hh"
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| 10 |
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| 11 | void nv::skeleton_binding::assign( const skeleton_binding& other )
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| 12 | {
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| 13 | m_indices.assign( other.m_indices );
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| 14 | m_key = other.m_key;
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| 15 | m_bone_count = other.m_bone_count;
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| 16 | }
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| 17 |
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| 18 | void nv::skeleton_binding::prepare( const mesh_nodes_data* node_data, const data_node_list& bone_data )
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| 19 | {
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| 20 | if ( m_indices.empty() )
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| 21 | {
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| 22 | // TODO: either fixed size struct or static allocator
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| 23 | hash_store< shash64, uint16 > bone_names;
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| 24 | m_indices.resize( node_data->size() );
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| 25 |
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| 26 | for ( nv::uint16 bi = 0; bi < bone_data.size(); ++bi )
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| 27 | bone_names[bone_data[bi].name] = bi;
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| 28 |
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| 29 | for ( uint32 n = 0; n < node_data->size(); ++n )
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| 30 | {
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| 31 | sint16 bone_id = -1;
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| 32 | auto bi = bone_names.find( node_data->get_info( n ).name );
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| 33 | if ( bi != bone_names.end() )
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| 34 | {
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| 35 | bone_id = sint16( bi->second );
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| 36 | }
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| 37 | m_indices[n] = bone_id;
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| 38 |
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| 39 | }
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| 40 | m_bone_count = bone_data.size();
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| 41 | }
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| 42 |
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| 43 | if ( m_key.size() == 0 )
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| 44 | {
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| 45 | for ( uint32 n = 0; n < node_data->size(); ++n )
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| 46 | if ( ( *node_data )[n]->size() > 0 )
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| 47 | {
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| 48 | m_key = ( *node_data )[n]->get_interpolation_key();
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| 49 | break;
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| 50 | }
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| 51 | }
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| 52 | }
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| 53 |
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| 54 | void nv::skeleton_binding::prepare( const data_node_list& pose_data, const data_node_list& bone_data )
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| 55 | {
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| 56 | if ( m_indices.empty() )
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| 57 | {
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| 58 | // TODO: either fixed size struct or static allocator
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| 59 | hash_store< shash64, uint16 > bone_names;
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| 60 | m_indices.resize( pose_data.size() );
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| 61 |
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| 62 | for ( nv::uint16 bi = 0; bi < bone_data.size(); ++bi )
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| 63 | bone_names[bone_data[bi].name] = bi;
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| 64 |
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| 65 | for ( uint32 n = 0; n < pose_data.size(); ++n )
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| 66 | {
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| 67 | sint16 bone_id = -1;
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| 68 | auto bi = bone_names.find( pose_data[ n ].name );
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| 69 | if ( bi != bone_names.end() )
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| 70 | {
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| 71 | bone_id = sint16( bi->second );
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| 72 | }
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| 73 | m_indices[n] = bone_id;
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| 74 |
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| 75 | }
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| 76 | m_bone_count = bone_data.size();
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| 77 | }
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| 78 | }
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| 79 |
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| 80 |
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| 81 | void nv::skeleton_instance::assign( const skeleton_transforms& skeleton, const skeleton_binding& binding, const bone_transforms& bones )
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| 82 | {
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| 83 | if ( bones.size() != m_matrix.size() )
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| 84 | m_matrix.resize( bones.size() );
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| 85 | const transform* transforms = skeleton.xforms();
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| 86 | for ( uint32 n = 0; n < skeleton.size(); ++n )
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| 87 | {
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| 88 | sint16 bone_id = binding.m_indices[n];
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| 89 | if ( bone_id >= 0 )
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| 90 | {
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| 91 | int too_complex;
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| 92 | transform tr( bones.m_offsets[bone_id] );
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| 93 | tr.set_orientation( normalize( tr.get_orientation() ) );
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| 94 | m_matrix[bone_id] = ( transforms[n] * tr ).extract();
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| 95 | }
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| 96 | }
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| 97 | }
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| 98 |
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| 99 |
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| 100 | void nv::skeleton_instance::assign( const skeleton_transforms& skeleton, const bone_transforms& bones )
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| 101 | {
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| 102 | if ( bones.size() != m_matrix.size() )
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| 103 | m_matrix.resize( bones.size() );
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| 104 | const transform* transforms = skeleton.xforms();
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| 105 | for ( uint32 n = 0; n < skeleton.size(); ++n )
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| 106 | {
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| 107 | transform tr( bones.m_offsets[n] );
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| 108 | tr.set_orientation( normalize( tr.get_orientation() ) );
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| 109 | m_matrix[n] = ( transforms[n] * tr ).extract();
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| 110 | // m_matrix[n] = transforms[n].extract() * bones.m_offsets[n];
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| 111 | }
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| 112 | }
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| 113 |
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| 114 | void nv::skeleton_instance::assign( const bone_transforms& bones )
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| 115 | {
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| 116 | if ( bones.size() != m_matrix.size() )
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| 117 | m_matrix.resize( bones.size() );
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| 118 | }
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| 119 |
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| 120 | void nv::skeleton_transforms::assign( const data_node_list* node_data )
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| 121 | {
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| 122 | NV_ASSERT( node_data, "!!!" );
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| 123 | if ( m_transforms.size() != node_data->size() )
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| 124 | m_transforms.resize( node_data->size() );
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| 125 | for ( uint32 n = 0; n < node_data->size(); ++n )
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| 126 | {
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| 127 | const data_node_info& info = (*node_data)[ n ];
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| 128 | m_transforms[n] = transform( info.transform );
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| 129 | }
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| 130 | }
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| 131 |
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| 132 | void nv::skeleton_transforms::interpolate_linear( const skeleton_transforms& a, const skeleton_transforms& b, float t )
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| 133 | {
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| 134 | NV_ASSERT( a.size() == b.size(), "!!!" );
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| 135 | if ( m_transforms.size() != a.size() )
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| 136 | m_transforms.resize( a.size() );
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| 137 | for ( uint32 n = 0; n < a.size(); ++n )
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| 138 | {
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| 139 | m_transforms[n] = transform(
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| 140 | math::mix( a.m_transforms[n].get_position(), b.m_transforms[n].get_position(), t ),
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| 141 | math::lerp( a.m_transforms[n].get_orientation(), b.m_transforms[n].get_orientation(), t )
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| 142 | );
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| 143 | }
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| 144 |
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| 145 | // if ( m_transforms.size() > 0 )
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| 146 | // m_transforms[0] = nv::interpolate( a.m_transforms[0], b.m_transforms[0], t, interpolation::SPHERICAL );
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| 147 | }
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| 148 |
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| 149 | void nv::skeleton_transforms::interpolate_nlerp( const skeleton_transforms& a, const skeleton_transforms& b, float t )
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| 150 | {
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| 151 | NV_ASSERT( a.size() == b.size(), "!!!" );
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| 152 | if ( m_transforms.size() != a.size() )
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| 153 | m_transforms.resize( a.size() );
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| 154 |
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| 155 | for ( uint32 n = 0; n < a.size(); ++n )
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| 156 | {
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| 157 | m_transforms[n] = transform(
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| 158 | math::mix( a.m_transforms[n].get_position(), b.m_transforms[n].get_position(), t ),
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| 159 | math::nlerp( a.m_transforms[n].get_orientation(), b.m_transforms[n].get_orientation(), t )
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| 160 | );
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| 161 | }
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| 162 | }
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| 163 |
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| 164 |
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| 165 | void nv::skeleton_transforms::interpolate_slerp( const skeleton_transforms& a, const skeleton_transforms& b, float t )
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| 166 | {
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| 167 | NV_ASSERT( a.size() == b.size(), "!!!" );
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| 168 | if ( m_transforms.size() != a.size() )
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| 169 | m_transforms.resize( a.size() );
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| 170 | for ( uint32 n = 0; n < a.size(); ++n )
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| 171 | {
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| 172 | m_transforms[n] = nv::interpolate( a.m_transforms[n], b.m_transforms[n], t, interpolation::SPHERICAL );
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| 173 | }
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| 174 | }
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| 175 |
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| 176 | void nv::skeleton_transforms::blend_slerp( const skeleton_transforms& a, const skeleton_transforms& b, float t, float blend )
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| 177 | {
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| 178 | NV_ASSERT( a.size() == b.size(), "!!!" );
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| 179 | if ( m_transforms.size() != a.size() )
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| 180 | m_transforms.resize( a.size() );
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| 181 | for ( uint32 n = 0; n < a.size(); ++n )
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| 182 | {
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| 183 | transform tr = nv::interpolate( a.m_transforms[n], b.m_transforms[n], t, interpolation::SPHERICAL );
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| 184 | m_transforms[n] = nv::interpolate( m_transforms[n], tr, blend, interpolation::SPHERICAL );
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| 185 | }
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| 186 | }
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| 187 |
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| 188 |
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| 189 |
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| 190 | void nv::skeleton_transforms::interpolate4( const skeleton_transforms& s1, const skeleton_transforms& v1, const skeleton_transforms& v2, const skeleton_transforms& s2, float t )
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| 191 | {
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| 192 | NV_ASSERT( s1.size() == s2.size(), "!!!" );
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| 193 | NV_ASSERT( v1.size() == v2.size(), "!!!" );
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| 194 | NV_ASSERT( s1.size() == v1.size(), "!!!" );
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| 195 | if ( m_transforms.size() != s1.size() )
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| 196 | m_transforms.resize( s1.size() );
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| 197 | float interp_squared = t*t;
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| 198 | float interp_cubed = interp_squared*t;
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| 199 | float weights[4];
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| 200 | weights[0] = 0.5f * ( -interp_cubed + 2.0f * interp_squared - t );
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| 201 | weights[1] = 0.5f * ( 3.0f * interp_cubed - 5.0f * interp_squared + 2.0f );
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| 202 | weights[2] = 0.5f * ( -3.0f * interp_cubed + 4.0f * interp_squared + t );
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| 203 | weights[3] = 0.5f * ( interp_cubed - interp_squared );
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| 204 |
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| 205 | for ( uint32 n = 0; n < s1.size(); ++n )
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| 206 | {
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| 207 | quat qs1 = s1.m_transforms[n].get_orientation();
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| 208 | quat qs2 = s2.m_transforms[n].get_orientation();
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| 209 | quat qv1 = v1.m_transforms[n].get_orientation();
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| 210 | quat qv2 = v2.m_transforms[n].get_orientation();
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| 211 |
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| 212 | float a = dot( qv1, qv2 ) > 0.0f ? 1.0f : -1.0f;
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| 213 |
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| 214 | quat qr = weights[0] * qs1
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| 215 | + weights[1] * (a * qv1 )
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| 216 | + weights[2] * qv2
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| 217 | + weights[3] * qs2;
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| 218 |
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| 219 | qr = normalize( qr );
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| 220 |
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| 221 | m_transforms[n] = transform(
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| 222 | weights[0] * s1.m_transforms[n].get_position() +
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| 223 | weights[1] * v1.m_transforms[n].get_position() +
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| 224 | weights[2] * v2.m_transforms[n].get_position() +
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| 225 | weights[3] * s2.m_transforms[n].get_position(),
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| 226 | qr
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| 227 | );
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| 228 | }
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| 229 | }
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| 230 |
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| 231 |
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| 232 | void nv::skeleton_transforms::interpolate_squad( const skeleton_transforms& s1, const skeleton_transforms& v1, const skeleton_transforms& v2, const skeleton_transforms& s2, float t )
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| 233 | {
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| 234 | NV_ASSERT( s1.size() == s2.size(), "!!!" );
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| 235 | NV_ASSERT( v1.size() == v2.size(), "!!!" );
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| 236 | NV_ASSERT( s1.size() == v1.size(), "!!!" );
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| 237 | if ( m_transforms.size() != s1.size() )
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| 238 | m_transforms.resize( s1.size() );
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| 239 |
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| 240 | for ( uint32 n = 0; n < s1.size(); ++n )
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| 241 | {
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| 242 | nv::quat ss1 = s1.m_transforms[n].get_orientation();
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| 243 | nv::quat ss2 = s2.m_transforms[n].get_orientation();
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| 244 | nv::quat sv1 = v1.m_transforms[n].get_orientation();
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| 245 | nv::quat sv2 = v2.m_transforms[n].get_orientation();
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| 246 |
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| 247 | nv::quat q = normalize( nv::math::squad(
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| 248 | sv1, sv2,
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| 249 | nv::math::intermediate( ss1, sv1, sv2 ),
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| 250 | nv::math::intermediate( sv1, sv2, ss2 ),
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| 251 | t ) );
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| 252 |
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| 253 | m_transforms[n] = transform(
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| 254 | mix( v1.m_transforms[n].get_position(), v2.m_transforms[n].get_position(), t ),
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| 255 | q
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| 256 | );
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| 257 | }
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| 258 |
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| 259 | }
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| 260 |
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| 261 | void nv::skeleton_transforms::assign( const skeleton_transforms& other )
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| 262 | {
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| 263 | m_transforms.assign( other.m_transforms );
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| 264 | }
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| 265 |
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| 266 | // void nv::skeleton_transforms::blend_local( const mesh_nodes_data* node_data, float frame, float blend )
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| 267 | // {
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| 268 | // if ( m_transforms.size() != node_data->size() )
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| 269 | // m_transforms.resize( node_data->size() );
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| 270 | // for ( uint32 n = 0; n < node_data->size(); ++n )
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| 271 | // {
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| 272 | // const data_channel_set* node = ( *node_data )[n];
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| 273 | // int inefficient_store_key;
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| 274 | //
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| 275 | // transform tr = node->size() > 0 ? raw_channel_interpolator( node ).get< transform >( frame ) : transform( /*node->get_transform()*/ ); int confirm_that_not_needed;
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| 276 | // m_transforms[n] = nv::interpolate( m_transforms[n], tr, blend, interpolation::SPHERICAL );
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| 277 | // }
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| 278 | // }
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| 279 | //
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| 280 | // void nv::skeleton_transforms::animate_local( const mesh_nodes_data* node_data, float frame )
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| 281 | // {
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| 282 | // if ( m_transforms.size() != node_data->size() )
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| 283 | // m_transforms.resize( node_data->size() );
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| 284 | // for ( uint32 n = 0; n < node_data->size(); ++n )
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| 285 | // {
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| 286 | // const data_channel_set* node = ( *node_data )[n];
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| 287 | // if ( node->size() > 0 )
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| 288 | // {
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| 289 | // int inefficient_store_key;
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| 290 | // m_transforms[n] = raw_channel_interpolator( node ).get< transform >( frame );
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| 291 | // }
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| 292 | // }
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| 293 | // }
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| 294 |
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| 295 | void nv::skeleton_transforms::delocalize_rec( const data_node_tree& node_data, uint32 id, const transform& parent )
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| 296 | {
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| 297 | transform global_mat = parent;
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| 298 | global_mat *= m_transforms[id];
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| 299 | m_transforms[id] = global_mat;
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| 300 | for ( auto child : node_data.children( id ) )
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| 301 | {
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| 302 | delocalize_rec( node_data, child, global_mat );
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| 303 | }
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| 304 | }
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| 305 |
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| 306 | // void nv::skeleton_transforms::blend_rec( const mesh_nodes_data* node_data, float frame, uint32 id, const transform& parent, bool local, float blend )
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| 307 | // {
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| 308 | // const data_channel_set* node = ( *node_data )[id];
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| 309 | // int confirm_that_not_needed;
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| 310 | // transform node_mat/*( node->get_transform() )*/;
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| 311 | //
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| 312 | // if ( node->size() > 0 )
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| 313 | // {
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| 314 | // int inefficient_store_key;
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| 315 | //
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| 316 | // raw_channel_interpolator interpolator( node );
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| 317 | // node_mat = interpolator.get< transform >( frame );
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| 318 | // }
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| 319 | // transform global_mat = parent * node_mat;
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| 320 | // m_transforms[id] = nv::interpolate( m_transforms[id], local ? node_mat : global_mat, blend, interpolation::SPHERICAL );
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| 321 | // for ( auto child : node_data->children( id ) )
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| 322 | // {
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| 323 | // blend_rec( node_data, frame, child, global_mat, local, blend );
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| 324 | // }
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| 325 | //
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| 326 | // }
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| 327 | //
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| 328 | // void nv::skeleton_transforms::animate_rec( const mesh_nodes_data* node_data, float frame, uint32 id, const transform& parent, bool local )
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| 329 | // {
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| 330 | // const data_channel_set* node = ( *node_data )[id];
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| 331 | // transform node_mat;
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| 332 | // int inefficient_store_key;
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| 333 | //
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| 334 | // if ( node->size() > 0 )
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| 335 | // node_mat = raw_channel_interpolator( node ).get< transform >( frame );
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| 336 | // int confirm_that_not_needed;
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| 337 | // // else
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| 338 | // // node_mat = transform( node->get_transform() );
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| 339 | // transform global_mat = parent * node_mat;
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| 340 | // m_transforms[id] = local ? node_mat : global_mat;
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| 341 | // for ( auto child : node_data->children( id ) )
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| 342 | // {
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| 343 | // animate_rec( node_data, frame, child, global_mat, local );
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| 344 | // }
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| 345 | //
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| 346 | // }
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| 347 |
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| 348 | void nv::bone_transforms::prepare( const data_node_list& bone_data )
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| 349 | {
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| 350 | m_offsets.resize( bone_data.size() );
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| 351 |
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| 352 | for ( nv::uint16 bi = 0; bi < bone_data.size(); ++bi )
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| 353 | m_offsets[bi] = bone_data[bi].transform;
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| 354 | }
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