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+<hr><h1>track_sampled_quat.cpp</h1><a href="track__sampled__quat_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
+00007 <font class="comment">/* Copyright, 2000-2002 Nevrax Ltd.</font>
+00008 <font class="comment"> *</font>
+00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
+00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
+00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
+00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
+00013 <font class="comment"> * any later version.</font>
+00014 <font class="comment"></font>
+00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
+00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
+00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
+00018 <font class="comment"> * General Public License for more details.</font>
+00019 <font class="comment"></font>
+00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
+00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
+00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
+00023 <font class="comment"> * MA 02111-1307, USA.</font>
+00024 <font class="comment"> */</font>
+00025
+00026 <font class="preprocessor">#include "<a class="code" href="std3d_8h.html">std3d.h</a>"</font>
+00027
+00028 <font class="preprocessor">#include "<a class="code" href="quat_8h.html">nel/misc/quat.h</a>"</font>
+00029 <font class="preprocessor">#include "<a class="code" href="common_8h.html">nel/misc/common.h</a>"</font>
+00030 <font class="preprocessor">#include "<a class="code" href="track__sampled__quat_8h.html">3d/track_sampled_quat.h</a>"</font>
+00031
+00032 <font class="keyword">using</font> <font class="keyword">namespace </font>NLMISC;
+00033 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
+00034
+00035
+00036 <font class="keyword">namespace </font>NL3D
+00037 {
+00038
+00039 <font class="comment">// ***************************************************************************</font>
+00040 <font class="comment">// ***************************************************************************</font>
+00041 <font class="comment">// Quaternion compression</font>
+00042 <font class="comment">// ***************************************************************************</font>
+00043 <font class="comment">// ***************************************************************************</font>
+00044
+00045 <font class="keyword">const</font> <font class="keywordtype">double</font> <a class="code" href="namespaceNL3D.html#a274">NL3D_OO32767</a>= 1.0f/32767;
+00046 <font class="keyword">const</font> <font class="keywordtype">double</font> <a class="code" href="namespaceNL3D.html#a275">NL3D_OO65535</a>= 1.0f/65535;
+00047
+00048 <font class="preprocessor">#ifdef NL3D_TSQ_ALLOW_QUAT_COMPRESS</font>
+00049 <font class="preprocessor"></font><font class="comment">// ***************************************************************************</font>
+00050 <font class="keywordtype">void</font> CTrackSampledQuat::CQuatPack::pack(<font class="keyword">const</font> CQuat &amp;quat)
+00051 {
+00052 <font class="comment">/*</font>
+00053 <font class="comment"> This is the most precise/faster compression we can have. Some other tries have been made.</font>
+00054 <font class="comment"></font>
+00055 <font class="comment"> - deducing w from x,y,z is possible with w= 1-sqrt(x²+y²+z²) (with tradeoff of the W sign) </font>
+00056 <font class="comment"> but very not precise.</font>
+00057 <font class="comment"> - Transform the quaternion to an AxisAngle is possible, but slower (some cos/sin or LUT).</font>
+00058 <font class="comment"> Axis is encoded with sint16, and angle is encoded with uint16.</font>
+00059 <font class="comment"> - The same than above, but encode the axis as X/Y only, and deduce Z from</font>
+00060 <font class="comment"> them, is possible but precision problems arise. </font>
+00061 <font class="comment"> </font>
+00062 <font class="comment"> You can see that the operation "deduce a 3/4 member from unit lenght rule" is definetly not precise.</font>
+00063 <font class="comment"></font>
+00064 <font class="comment"> Hence this simpler but workable way.</font>
+00065 <font class="comment"> */</font>
+00066
+00067 <font class="comment">// normalize the quaterion.</font>
+00068 CQuatD nquat= quat;
+00069 nquat.normalize();
+00070
+00071 sint ax= (sint)floor(nquat.x * 32767 + 0.5);
+00072 sint ay= (sint)floor(nquat.y * 32767 + 0.5);
+00073 sint az= (sint)floor(nquat.z * 32767 + 0.5);
+00074 sint aw= (sint)floor(nquat.w * 32767 + 0.5);
+00075 <a class="code" href="namespaceNLMISC.html#a215">clamp</a>(ax, -32767, 32767);
+00076 <a class="code" href="namespaceNLMISC.html#a215">clamp</a>(ay, -32767, 32767);
+00077 <a class="code" href="namespaceNLMISC.html#a215">clamp</a>(az, -32767, 32767);
+00078 <a class="code" href="namespaceNLMISC.html#a215">clamp</a>(aw, -32767, 32767);
+00079 <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a>= ax;
+00080 <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a>= ay;
+00081 <a class="code" href="driver__opengl__extension__def_8h.html#a366">z</a>= az;
+00082 <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a>= aw;
+00083 }
+00084
+00085 <font class="comment">// ***************************************************************************</font>
+00086 <font class="keywordtype">void</font> CTrackSampledQuat::CQuatPack::unpack(CQuat &amp;quat)
+00087 {
+00088 <font class="comment">// unpack x/y/z.</font>
+00089 CQuatD quatD;
+00090 quatD.x= <a class="code" href="driver__opengl__extension__def_8h.html#a364">x</a> * <a class="code" href="namespaceNL3D.html#a274">NL3D_OO32767</a>;
+00091 quatD.y= <a class="code" href="driver__opengl__extension__def_8h.html#a365">y</a> * <a class="code" href="namespaceNL3D.html#a274">NL3D_OO32767</a>;
+00092 quatD.z= <a class="code" href="driver__opengl__extension__def_8h.html#a366">z</a> * <a class="code" href="namespaceNL3D.html#a274">NL3D_OO32767</a>;
+00093 quatD.w= <a class="code" href="driver__opengl__extension__def_8h.html#a367">w</a> * <a class="code" href="namespaceNL3D.html#a274">NL3D_OO32767</a>;
+00094 quatD.normalize();
+00095
+00096 quat= quatD;
+00097 }
+00098 <font class="preprocessor">#endif</font>
+00099 <font class="preprocessor"></font>
+00100
+00101 <font class="comment">// ***************************************************************************</font>
+00102 <font class="comment">// ***************************************************************************</font>
+00103 <font class="comment">// CTrackSampledQuat</font>
+00104 <font class="comment">// ***************************************************************************</font>
+00105 <font class="comment">// ***************************************************************************</font>
+00106
+00107
+00108 <font class="comment">// ***************************************************************************</font>
+<a name="l00109"></a><a class="code" href="classNL3D_1_1CTrackSampledQuat.html#a0">00109</a> CTrackSampledQuat::CTrackSampledQuat()
+00110 {
+00111 }
+00112
+00113 <font class="comment">// ***************************************************************************</font>
+<a name="l00114"></a><a class="code" href="classNL3D_1_1CTrackSampledQuat.html#a1">00114</a> CTrackSampledQuat::~CTrackSampledQuat()
+00115 {
+00116 }
+00117
+00118 <font class="comment">// ***************************************************************************</font>
+<a name="l00119"></a><a class="code" href="classNL3D_1_1CTrackSampledQuat.html#z842_1">00119</a> <font class="keyword">const</font> IAnimatedValue&amp; CTrackSampledQuat::getValue ()<font class="keyword"> const</font>
+00120 <font class="keyword"></font>{
+00121 <font class="keywordflow">return</font> <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n0">_Value</a>;
+00122 }
+00123
+00124 <font class="comment">// ***************************************************************************</font>
+<a name="l00125"></a><a class="code" href="classNL3D_1_1CTrackSampledQuat.html#z842_2">00125</a> <font class="keywordtype">void</font> CTrackSampledQuat::serial(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &amp;f)
+00126 {
+00127 <font class="comment">/*</font>
+00128 <font class="comment"> Version 1:</font>
+00129 <font class="comment"> - split class with base CTrackSampledCommon (must add a version in it).</font>
+00130 <font class="comment"> Version 0:</font>
+00131 <font class="comment"> - base version.</font>
+00132 <font class="comment"> */</font>
+00133 sint ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(1);
+00134
+00135 <font class="keywordflow">if</font>( ver&lt;=0 )
+00136 {
+00137 <font class="comment">// serial Time infos, directly in CTrackSampledCommon</font>
+00138 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n0">_LoopMode</a>);
+00139 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n1">_BeginTime</a>);
+00140 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n2">_EndTime</a>) ;
+00141 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n3">_TotalRange</a>);
+00142 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n4">_OOTotalRange</a>);
+00143 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n5">_DeltaTime</a>);
+00144 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n6">_OODeltaTime</a>);
+00145 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n7">_TimeBlocks</a>);
+00146 }
+00147 <font class="keywordflow">else</font>
+00148 {
+00149 <font class="comment">// serial Time infos.</font>
+00150 CTrackSampledCommon::serialCommon(f);
+00151 }
+00152
+00153 <font class="comment">// serial Keys.</font>
+00154 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>);
+00155
+00156 }
+00157
+00158 <font class="comment">// ***************************************************************************</font>
+<a name="l00159"></a><a class="code" href="classNL3D_1_1CTrackSampledQuat.html#a3">00159</a> <font class="keywordtype">void</font> CTrackSampledQuat::build(<font class="keyword">const</font> std::vector&lt;uint16&gt; &amp;timeList, <font class="keyword">const</font> std::vector&lt;CQuat&gt; &amp;keyList,
+00160 <font class="keywordtype">float</font> beginTime, <font class="keywordtype">float</font> endTime)
+00161 {
+00162 <a class="code" href="debug_8h.html#a6">nlassert</a>( endTime&gt;beginTime || (beginTime==endTime &amp;&amp; keyList.size()&lt;=1) );
+00163 <a class="code" href="debug_8h.html#a6">nlassert</a>( keyList.size()==timeList.size() );
+00164 uint i;
+00165
+00166 <font class="comment">// reset.</font>
+00167 uint numKeys= keyList.size();
+00168 <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>.<a class="code" href="classNLMISC_1_1CObjectVector.html#z301_0">clear</a>();
+00169 <a class="code" href="classNL3D_1_1CTrackSampledCommon.html#n7">_TimeBlocks</a>.<a class="code" href="classNLMISC_1_1CObjectVector.html#z301_0">clear</a>();
+00170
+00171 <font class="comment">// Build Common time information</font>
+00172 CTrackSampledCommon::buildCommon(timeList, beginTime, endTime);
+00173
+00174
+00175 <font class="comment">// Compute All Key values.</font>
+00176 <font class="comment">//===================</font>
+00177 <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>.<a class="code" href="classNLMISC_1_1CObjectVector.html#z301_1">resize</a>(numKeys);
+00178 <font class="keywordflow">for</font>(i=0; i&lt;numKeys;i++)
+00179 {
+00180 <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>[i].pack(keyList[i]);
+00181 }
+00182
+00183 }
+00184
+00185 <font class="comment">// ***************************************************************************</font>
+<a name="l00186"></a><a class="code" href="classNL3D_1_1CTrackSampledQuat.html#z842_0">00186</a> <font class="keywordtype">void</font> CTrackSampledQuat::eval (<font class="keyword">const</font> <a class="code" href="namespaceNL3D.html#a1">TAnimationTime</a>&amp; date)
+00187 {
+00188 <font class="comment">// Eval time, and get key interpolation info</font>
+00189 uint keyId0;
+00190 uint keyId1;
+00191 <font class="keywordtype">float</font> interpValue;
+00192 <a class="code" href="classNL3D_1_1CTrackSampledCommon.html#t3">TEvalType</a> evalType= <a class="code" href="classNL3D_1_1CTrackSampledCommon.html#b0">evalTime</a>(date, <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>.<a class="code" href="classNLMISC_1_1CObjectVector.html#z302_0">size</a>(), keyId0, keyId1, interpValue);
+00193
+00194 <font class="comment">// Discard? </font>
+00195 <font class="keywordflow">if</font>( evalType==<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#t3t0">EvalDiscard</a> )
+00196 <font class="keywordflow">return</font>;
+00197 <font class="comment">// One Key? easy, and quit.</font>
+00198 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( evalType==<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#t3t1">EvalKey0</a> )
+00199 {
+00200 <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>[keyId0].unpack(<a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n0">_Value</a>.Value);
+00201 }
+00202 <font class="comment">// interpolate</font>
+00203 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( evalType==<a class="code" href="classNL3D_1_1CTrackSampledCommon.html#t3t2">EvalInterpolate</a> )
+00204 {
+00205 CQuatPack valueKey0= <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>[keyId0];
+00206 CQuatPack valueKey1= <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n1">_Keys</a>[keyId1];
+00207
+00208 <font class="comment">// If the 2 keys have same value, just unpack.</font>
+00209 <font class="keywordflow">if</font>(valueKey0 == valueKey1)
+00210 {
+00211 valueKey0.unpack(<a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n0">_Value</a>.Value);
+00212 }
+00213 <font class="comment">// else interpolate</font>
+00214 <font class="keywordflow">else</font>
+00215 {
+00216 <font class="comment">// unpack key value.</font>
+00217 CQuat quat0, quat1;
+00218 valueKey0.unpack(quat0);
+00219 valueKey1.unpack(quat1);
+00220
+00221 <font class="comment">// interpolate</font>
+00222 <a class="code" href="classNL3D_1_1CTrackSampledQuat.html#n0">_Value</a>.Value= CQuat::slerp(quat0, quat1, interpValue);
+00223 }
+00224 }
+00225 <font class="keywordflow">else</font>
+00226 {
+00227 <a class="code" href="debug_8h.html#a12">nlstop</a>;
+00228 }
+00229
+00230 }
+00231
+00232
+00233 } <font class="comment">// NL3D</font>
+</pre></div>
+
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