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<hr><h1>bone.cpp</h1><a href="bone_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
00007 <font class="comment">/* Copyright, 2001 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="bone_8h.html">3d/bone.h</a>"</font>
00029
00030
00031 <font class="keyword">namespace </font>NL3D
00032 {
00033
00034
00035 <font class="comment">// ***************************************************************************</font>
00036 <font class="comment">// ***************************************************************************</font>
00037 <font class="comment">// CBoneBase</font>
00038 <font class="comment">// ***************************************************************************</font>
00039 <font class="comment">// ***************************************************************************</font>
00040
00041
00042 <font class="comment">// ***************************************************************************</font>
<a name="l00043"></a><a class="code" href="classNL3D_1_1CBoneBase.html#a0">00043</a> CBoneBase::CBoneBase() : DefaultPos(CVector(0,0,0)), DefaultRotEuler(CVector(0,0,0)),
00044 DefaultScale(CVector(1,1,1)), DefaultPivot(CVector(0,0,0))
00045 {
00046 <a class="code" href="classNL3D_1_1CBoneBase.html#m2">FatherId</a>= -1;
00047 <a class="code" href="classNL3D_1_1CBoneBase.html#m3">UnheritScale</a>= <font class="keyword">true</font>;
00048 <font class="comment">// Default: never disable.</font>
00049 <a class="code" href="classNL3D_1_1CBoneBase.html#m9">LodDisableDistance</a>= 0.f;
00050 }
00051
00052
00053 <font class="comment">// ***************************************************************************</font>
<a name="l00054"></a><a class="code" href="classNL3D_1_1CBoneBase.html#a1">00054</a> <font class="keywordtype">void</font> CBoneBase::serial(<a class="code" href="classNLMISC_1_1IStream.html">NLMISC::IStream</a> &f)
00055 {
00056 <font class="comment">/*</font>
00057 <font class="comment"> Version 1:</font>
00058 <font class="comment"> - LodDisableDistance</font>
00059 <font class="comment"> */</font>
00060 sint ver= f.<a class="code" href="classNLMISC_1_1IStream.html#a29">serialVersion</a>(1);
00061
00062 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m0">Name</a>);
00063 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m1">InvBindPos</a>);
00064 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m2">FatherId</a>);
00065 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m3">UnheritScale</a>);
00066
00067 <font class="keywordflow">if</font>(ver>=1)
00068 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m9">LodDisableDistance</a>);
00069 <font class="keywordflow">else</font>
00070 {
00071 <font class="comment">// Default: never disable.</font>
00072 <a class="code" href="classNL3D_1_1CBoneBase.html#m9">LodDisableDistance</a>= 0.f;
00073 }
00074
00075 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m4">DefaultPos</a>);
00076 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m5">DefaultRotEuler</a>);
00077 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m6">DefaultRotQuat</a>);
00078 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m7">DefaultScale</a>);
00079 f.<a class="code" href="classNLMISC_1_1IStream.html#a5">serial</a>(<a class="code" href="classNL3D_1_1CBoneBase.html#m8">DefaultPivot</a>);
00080 }
00081
00082
00083 <font class="comment">// ***************************************************************************</font>
00084 <font class="comment">// ***************************************************************************</font>
00085 <font class="comment">// CBone</font>
00086 <font class="comment">// ***************************************************************************</font>
00087 <font class="comment">// ***************************************************************************</font>
00088
00089
00090 <font class="comment">// ***************************************************************************</font>
<a name="l00091"></a><a class="code" href="classNL3D_1_1CBone.html#a0">00091</a> CBone::CBone(CBoneBase *boneBase)
00092 {
00093 <a class="code" href="debug_8h.html#a6">nlassert</a>(boneBase);
00094 <a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>= boneBase;
00095
00096 <font class="comment">// IAnimatable.</font>
00097 IAnimatable::resize(<a class="code" href="classNL3D_1_1ITransformable.html#z872_0s10">AnimValueLast</a>);
00098
00099 ITransformable::setTransformMode(ITransformable::RotQuat);
00100 ITransformable::setPos( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPos.getValue()).Value );
00101 ITransformable::setRotQuat( ((<a class="code" href="namespaceNL3D.html#a16">CAnimatedValueQuat</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultRotQuat.getValue()).Value );
00102 ITransformable::setScale( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultScale.getValue()).Value );
00103 ITransformable::setPivot( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPivot.getValue()).Value );
00104
00105 <font class="comment">// By default, the bone is not binded to a channelMixer.</font>
00106 <a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>= -1;
00107 <a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>= -1;
00108 <a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>= -1;
00109 <a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>= -1;
00110 <a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>= -1;
00111 }
00112
00113 <font class="comment">// ***************************************************************************</font>
<a name="l00114"></a><a class="code" href="classNL3D_1_1CBone.html#z387_0">00114</a> ITrack* CBone::getDefaultTrack (uint valueId)
00115 {
00116 <a class="code" href="debug_8h.html#a6">nlassert</a>(<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>);
00117
00118 <font class="comment">// what value ?</font>
00119 <font class="keywordflow">switch</font> (valueId)
00120 {
00121 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s5">PosValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPos;
00122 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s6">RotEulerValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultRotEuler;
00123 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s7">RotQuatValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultRotQuat;
00124 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s8">ScaleValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultScale;
00125 <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s9">PivotValue</a>: <font class="keywordflow">return</font> &<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->DefaultPivot;
00126 }
00127
00128 <font class="comment">// No, only ITrnasformable values!</font>
00129 <a class="code" href="debug_8h.html#a12">nlstop</a>;
00130 <font class="comment">// Deriver note: else call BaseClass::getDefaultTrack(valueId);</font>
00131
00132 <font class="keywordflow">return</font> NULL;
00133 }
00134
00135 <font class="comment">// ***************************************************************************</font>
<a name="l00136"></a><a class="code" href="classNL3D_1_1CBone.html#z387_1">00136</a> <font class="keywordtype">void</font> CBone::registerToChannelMixer(CChannelMixer *chanMixer, <font class="keyword">const</font> std::string &prefix)
00137 {
00138 <font class="comment">// For CBone, channels are detailled.</font>
00139 <font class="comment">// Bkup each channelId (for disable).</font>
00140 <a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s5">PosValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>);
00141 <a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s6">RotEulerValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>);
00142 <a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s7">RotQuatValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>);
00143 <a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s8">ScaleValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>);
00144 <a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>= <a class="code" href="classNL3D_1_1IAnimatable.html#b0">addValue</a>(chanMixer, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s9">PivotValue</a>, <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s4">OwnerBit</a>, prefix, <font class="keyword">true</font>);
00145
00146 <font class="comment">// Deriver note: if necessary, call BaseClass::registerToChannelMixer(chanMixer, prefix);</font>
00147 }
00148
00149 <font class="comment">// ***************************************************************************</font>
<a name="l00150"></a><a class="code" href="classNL3D_1_1CBone.html#a3">00150</a> <font class="keywordtype">void</font> CBone::compute(CBone *parent, <font class="keyword">const</font> CMatrix &rootMatrix)
00151 {
00152 <a class="code" href="debug_8h.html#a6">nlassert</a>(<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>);
00153
00154 <font class="comment">// Compute LocalSkeletonMatrix.</font>
00155 <font class="comment">// Root case?</font>
00156 <font class="keywordflow">if</font>(!parent)
00157 {
00158 <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>= <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>();
00159 }
00160 <font class="comment">// Else, son case, take world matrix from parent.</font>
00161 <font class="keywordflow">else</font>
00162 {
00163 <font class="comment">// UnheritScale case.</font>
00164 <font class="keywordflow">if</font>(<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->UnheritScale)
00165 {
00166 CMatrix invScaleComp;
00167 CVector fatherScale;
00168 CVector trans;
00169
00170 <font class="comment">// retrieve our translation</font>
00171 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1ITransformable.html#z870_0">getTransformMode</a>()==ITransformable::DirectMatrix )
00172 <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>().getPos(trans);
00173 <font class="keywordflow">else</font>
00174 <a class="code" href="classNL3D_1_1ITransformable.html#z870_7">getPos</a>(trans);
00175 <font class="comment">// retrieve scale from our father.</font>
00176 parent->getScale(fatherScale);
00177 <font class="comment">// inverse this scale.</font>
00178 fatherScale.x= 1.0f / fatherScale.x;
00179 fatherScale.y= 1.0f / fatherScale.y;
00180 fatherScale.z= 1.0f / fatherScale.z;
00181
00182
00183 <font class="comment">// Compute InverseScale compensation:</font>
00184 <font class="comment">// with UnheritScale, formula per bone should be T*Sf-1*P*R*S*P-1.</font>
00185 <font class="comment">// But getMatrix() return T*P*R*S*P-1.</font>
00186 <font class="comment">// So we must compute T*Sf-1*T-1, in order to get wanted result.</font>
00187 invScaleComp.scale(fatherScale);
00188 <font class="comment">// Faster compute of the translation part: just "trans + fatherScale MUL -trans" where MUL is comp mul</font>
00189 trans.x-= fatherScale.x * trans.x;
00190 trans.y-= fatherScale.y * trans.y;
00191 trans.z-= fatherScale.z * trans.z;
00192 invScaleComp.setPos(trans);
00193
00194
00195 <font class="comment">// And finally, we got ParentWM * T*Sf-1*P*R*S*P-1.</font>
00196 <font class="comment">// Do: _LocalSkeletonMatrix= parent->_LocalSkeletonMatrix * invScaleComp * getMatrix()</font>
00197 <font class="keyword">static</font> CMatrix tmp;
00198 tmp.setMulMatrixNoProj( parent->_LocalSkeletonMatrix, invScaleComp );
00199 <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>.setMulMatrixNoProj( tmp, <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>() );
00200 }
00201 <font class="comment">// Normal case.</font>
00202 <font class="keywordflow">else</font>
00203 {
00204 <font class="comment">// Do: _LocalSkeletonMatrix= parent->_LocalSkeletonMatrix * getMatrix()</font>
00205 <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>.setMulMatrixNoProj( parent->_LocalSkeletonMatrix, <a class="code" href="classNL3D_1_1ITransformable.html#a2">getMatrix</a>() );
00206 }
00207 }
00208
00209 <font class="comment">// Compute WorldMatrix. Do: _WorldMatrix= rootMatrix * _LocalSkeletonMatrix</font>
00210 <a class="code" href="classNL3D_1_1CBone.html#o2">_WorldMatrix</a>.setMulMatrixNoProj( rootMatrix, <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a> );
00211
00212 <font class="comment">// Compute BoneSkinMatrix. Do: _BoneSkinMatrix= _LocalSkeletonMatrix * _BoneBase->InvBindPos</font>
00213 <a class="code" href="classNL3D_1_1CBone.html#o3">_BoneSkinMatrix</a>.setMulMatrixNoProj( <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>, <a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>->InvBindPos );
00214 }
00215
00216
00217 <font class="comment">// ***************************************************************************</font>
<a name="l00218"></a><a class="code" href="classNL3D_1_1CBone.html#a4">00218</a> <font class="keywordtype">void</font> CBone::interpolateBoneSkinMatrix(<font class="keyword">const</font> CMatrix &otherMatrix, <font class="keywordtype">float</font> interp)
00219 {
00220 CMatrix &curMatrix= <a class="code" href="classNL3D_1_1CBone.html#o3">_BoneSkinMatrix</a>;
00221
00222 <font class="comment">// interpolate rot/scale. Just interpolate basis vectors</font>
00223 CVector fatherI= otherMatrix.getI();
00224 CVector curI= curMatrix.getI();
00225 curI= fatherI*(1-interp) + curI*interp;
00226 CVector fatherJ= otherMatrix.getJ();
00227 CVector curJ= curMatrix.getJ();
00228 curJ= fatherJ*(1-interp) + curJ*interp;
00229 CVector fatherK= otherMatrix.getK();
00230 CVector curK= curMatrix.getK();
00231 curK= fatherK*(1-interp) + curK*interp;
00232 <font class="comment">// replace rotation</font>
00233 curMatrix.setRot(curI, curJ, curK);
00234
00235 <font class="comment">// interpolate pos</font>
00236 CVector fatherPos= otherMatrix.getPos();
00237 CVector curPos= curMatrix.getPos();
00238 curPos= fatherPos*(1-interp) + curPos*interp;
00239 curMatrix.setPos(curPos);
00240 }
00241
00242
00243 <font class="comment">// ***************************************************************************</font>
<a name="l00244"></a><a class="code" href="classNL3D_1_1CBone.html#a8">00244</a> <font class="keywordtype">void</font> CBone::lodEnableChannels(CChannelMixer *chanMixer, <font class="keywordtype">bool</font> enable)
00245 {
00246 <a class="code" href="debug_8h.html#a6">nlassert</a>(chanMixer);
00247
00248 <font class="comment">// Lod Enable channels if they are correclty registered to the channelMixer.</font>
00249 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>>=0 )
00250 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o4">_PosChannelId</a>, enable);
00251 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>>=0 )
00252 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o5">_RotEulerChannelId</a>, enable);
00253 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>>=0 )
00254 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o6">_RotQuatChannelId</a>, enable);
00255 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>>=0 )
00256 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o7">_ScaleChannelId</a>, enable);
00257 <font class="keywordflow">if</font>( <a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>>=0 )
00258 chanMixer->lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>, enable);
00259
00260 }
00261
00262
00263 } <font class="comment">// NL3D</font>
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