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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 &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(x�+y�+z�) (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>
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