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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> &amp;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&gt;=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>&amp;)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;DefaultPos.getValue()).Value  );
00101         ITransformable::setRotQuat( ((<a class="code" href="namespaceNL3D.html#a16">CAnimatedValueQuat</a>&amp;)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;DefaultRotQuat.getValue()).Value  );
00102         ITransformable::setScale( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&amp;)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;DefaultScale.getValue()).Value  );
00103         ITransformable::setPivot( ((<a class="code" href="namespaceNL3D.html#a14">CAnimatedValueVector</a>&amp;)<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;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> &amp;<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;DefaultPos;
00122         <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s6">RotEulerValue</a>:             <font class="keywordflow">return</font> &amp;<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;DefaultRotEuler;
00123         <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s7">RotQuatValue</a>:              <font class="keywordflow">return</font> &amp;<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;DefaultRotQuat;
00124         <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s8">ScaleValue</a>:                <font class="keywordflow">return</font> &amp;<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;DefaultScale;
00125         <font class="keywordflow">case</font> <a class="code" href="classNL3D_1_1ITransformable.html#z872_0s9">PivotValue</a>:                <font class="keywordflow">return</font> &amp;<a class="code" href="classNL3D_1_1CBone.html#o0">_BoneBase</a>-&gt;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 &amp;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 &amp;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>-&gt;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-&gt;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-&gt;_LocalSkeletonMatrix * invScaleComp * getMatrix()</font>
00197                         <font class="keyword">static</font>  CMatrix tmp;
00198                         tmp.setMulMatrixNoProj( parent-&gt;_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-&gt;_LocalSkeletonMatrix * getMatrix()</font>
00205                         <a class="code" href="classNL3D_1_1CBone.html#o1">_LocalSkeletonMatrix</a>.setMulMatrixNoProj( parent-&gt;_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-&gt;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>-&gt;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 &amp;otherMatrix, <font class="keywordtype">float</font> interp)
00219 {
00220         CMatrix         &amp;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>&gt;=0 )
00250                 chanMixer-&gt;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>&gt;=0 )
00252                 chanMixer-&gt;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>&gt;=0 )
00254                 chanMixer-&gt;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>&gt;=0 )
00256                 chanMixer-&gt;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>&gt;=0 )
00258                 chanMixer-&gt;lodEnableChannel(<a class="code" href="classNL3D_1_1CBone.html#o8">_PivotChannelId</a>, enable);
00259 
00260 }
00261 
00262 
00263 } <font class="comment">// NL3D</font>
</pre></div>

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