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doxygen="_cgi:http://www.nevrax.org/cgi-bin/nel-search.cgi" href="http://www.nevrax.org/cgi-bin/nel-search.cgi">Search</a> </center> +<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 &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 &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& 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> &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<=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<uint16> &timeList, <font class="keyword">const</font> std::vector<CQuat> &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>beginTime || (beginTime==endTime && keyList.size()<=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<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>& 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> + +<!-- footer --> +<BR><FONT Size=+5> </FONT> +</TD> +<TD WIDTH=15><IMG SRC=http://www.nevrax.org/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD> +</TR> +</TABLE> +</BODY> +</HTML> |