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GLPOS.cpp
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GLPOS.cpp
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#include "GLPOS.h"
GLPOS::GLPOS(void)
{
}
GLPOS::~GLPOS(void)
{
}
void GLPOS::__getParentNodesID(int *father,const ActionHeader *pAct,const AnmHeader *pAnm)
{
father[0] = -1;
for(int j = 0;j < pAct->m_boneAnmCount;j++)
{
int flag = 0;
for(int k = j-1;k >= 0;k--)
{
if( strcmp(pAnm[j].m_nodeParentName,pAnm[k].m_nodeName) == 0 )
{
father[j] = k;
flag = 1;
break;
}
}
if(j == 0) flag = 1;
assert(flag == 1);
}
}
void GLPOS::__getOffsetMat(FLOAT rs[4][4],int i,int p,const AnmHeader *pAnm)
{
//left hand
//ith bone jth frame
HMat44 self(
1,0,0,0,
0,1,0,0,
0,0,1,0,
pAnm[i].TM_ROW3[0],pAnm[i].TM_ROW3[1],pAnm[i].TM_ROW3[2],1
);
HMat44 father(
pAnm[ p ].TM_ROW0[0],pAnm[ p ].TM_ROW0[1],pAnm[ p ].TM_ROW0[2],0,
pAnm[ p ].TM_ROW1[0],pAnm[ p ].TM_ROW1[1],pAnm[ p ].TM_ROW1[2],0,
pAnm[ p ].TM_ROW2[0],pAnm[ p ].TM_ROW2[1],pAnm[ p ].TM_ROW2[2],0,
pAnm[ p ].TM_ROW3[0],pAnm[ p ].TM_ROW3[1],pAnm[ p ].TM_ROW3[2],1
);
father.InverseFastSelf();
__matrixMultiXYZ((FLOAT *)rs,(const FLOAT *)self.mat,(const FLOAT *)father.mat,4,4,4);
}
void GLPOS::__getOffsetMat(FLOAT rs[4],int i,int p,const AnmHeader *pAnm)
{
FLOAT rs1[4][4];
__getOffsetMat(rs1,i,p,pAnm);
rs[0] = rs1[3][0];
rs[1] = rs1[3][1];
rs[2] = rs1[3][2];
rs[3] = 1;
}
void GLPOS::__44Transpose(FLOAT mat[4][4])
{
for(int i = 0;i < 3;i++)
{
for(int j = i+1;j < 4;j++)
{
FLOAT t = mat[i][j];
mat[i][j] = mat[j][i];
mat[j][i] = t;
}
}
}
void GLPOS::getGLPos(CVector3f *glPos,\
const ActionHeader *pAct,const AnmHeader *pAnm,\
const CQuaternion *rotkey,const CVector3f *poskey)
{
int *parent_of = new int[pAct->m_boneAnmCount];
__getParentNodesID(parent_of,pAct,pAnm);
//
FLOAT *M = new FLOAT[pAct->m_boneAnmCount*16];
int nClipNum = pAct->m_lastFrame - pAct->m_firstFrame + 1;
for(int i = 0;i < nClipNum;i++)
{
int posCnt = 0,rotCnt = 0;
for(int j = 0;j < pAct->m_boneAnmCount;j++)
{
//cal trans mat
FLOAT offset[4][4];
FLOAT trans[4][4];
{
if( pAnm[j].m_numPoskey != 0 )
{
FLOAT tmp[4][4] = {
{1,0,0,poskey[posCnt*nClipNum + i].x},
{0,1,0,poskey[posCnt*nClipNum + i].y},
{0,0,1,poskey[posCnt*nClipNum + i].z},
{0,0,0,1}//right
};
memcpy(offset,tmp,sizeof(tmp));
}
else
{
__getOffsetMat(offset,j,parent_of[j],pAnm);
__44Transpose(offset);//to right hand
offset[0][0] = 1; offset[0][1] = 0; offset[0][2] = 0;
offset[1][0] = 0; offset[1][1] = 1; offset[1][2] = 0;
offset[2][0] = 0; offset[2][1] = 0; offset[2][2] = 1;
}
HMat33 htmp;
if(pAnm[j].m_numRotkey != 0)
{
htmp = rotkey[rotCnt*nClipNum+i].toHMat33();
}
else
{
CQuaternion qt(pAnm[j].m_initRot[1],pAnm[j].m_initRot[2],pAnm[j].m_initRot[3],pAnm[j].m_initRot[0]);
htmp = qt.toHMat33();
}
FLOAT ftmp[4][4] =
{
{ htmp[0].x,htmp[0].y,htmp[0].z,0 },
{ htmp[1].x,htmp[1].y,htmp[1].z,0 },
{ htmp[2].x,htmp[2].y,htmp[2].z,0 },
{ 0,0,0,1 }
};
__matrixMultiXYZ((FLOAT *)trans,(const FLOAT *)offset,(const FLOAT *)ftmp,4,4,4);//T*R
if(j == 0)
{
memcpy(&M[ j*16 ],trans,sizeof(trans));
}
else
{
__matrixMultiXYZ((FLOAT *)&M[ j*16 ],(const FLOAT *)&M[ parent_of[j]*16 ],(const FLOAT *)trans,4,4,4);
}
}
//cal glpos
if(j == 0)
{
FLOAT E[4] = {0,0,0,1};
__matrixMultiXYZ(E,(const FLOAT *)&M[j*16],(const FLOAT *)E,4,4,1);
memcpy(&glPos[j*nClipNum+i],E,3*sizeof(FLOAT));
}
else
{
FLOAT E[4] = {0,0,0,1};
__matrixMultiXYZ(E,(const FLOAT *)& M[ j*16 ],(const FLOAT *)E,4,4,1);
memcpy(&glPos[j*nClipNum+i],E,3*sizeof(FLOAT));
}
if(pAnm[j].m_numRotkey != 0)
{
rotCnt++;
}
if(pAnm[j].m_numPoskey != 0)
{
posCnt++;
}
}
}
delete []M; M = 0;
delete [] parent_of; parent_of = 0;
}
void GLPOS::getGLPos(CVector3f *glPos,\
const ActionHeader *pAct,const AnmHeader *pAnm,\
const CQuaternion *rotkey,const CVector3f *poskey,const int boneIndex)
{
int *parent_of = new int[pAct->m_boneAnmCount];
__getParentNodesID(parent_of,pAct,pAnm);
int *node_stack = new int[pAct->m_boneAnmCount];
int stack_index = 0;
int curr_bone = boneIndex;
while(curr_bone != -1)
{
node_stack[stack_index++] =curr_bone;
curr_bone = parent_of[curr_bone];
}
FLOAT *M = new FLOAT[16];
int nClipNum = pAct->m_lastFrame - pAct->m_firstFrame + 1;
for(int i = 0;i < nClipNum;i++)
{
for(int j = stack_index-1;j >= 0;j--)
{
//cal trans mat
FLOAT offset[4][4];
FLOAT trans[4][4];
{
if( pAnm[ node_stack[j] ].m_numPoskey != 0 )
{
int posCnt = pAct->m_bonePosIndex[ node_stack[j] ];
FLOAT tmp[4][4] = {
{1,0,0,poskey[posCnt*nClipNum + i].x},
{0,1,0,poskey[posCnt*nClipNum + i].y},
{0,0,1,poskey[posCnt*nClipNum + i].z},
{0,0,0,1}
};
memcpy(offset,tmp,sizeof(tmp));
}
else
{
__getOffsetMat(offset,node_stack[j],parent_of[node_stack[j]],pAnm);
__44Transpose(offset);//to right hand
offset[0][0] = 1; offset[0][1] = 0; offset[0][2] = 0;
offset[1][0] = 0; offset[1][1] = 1; offset[1][2] = 0;
offset[2][0] = 0; offset[2][1] = 0; offset[2][2] = 1;
}
HMat33 htmp;
if(pAnm[node_stack[j]].m_numRotkey != 0)
{
int rotCnt = pAct->m_boneRotIndex[node_stack[j]];
htmp = rotkey[rotCnt*nClipNum+i].toHMat33();
}
else
{
CQuaternion qt(pAnm[node_stack[j]].m_initRot[1],pAnm[node_stack[j]].m_initRot[2],pAnm[node_stack[j]].m_initRot[3],pAnm[node_stack[j]].m_initRot[0]);
htmp = qt.toHMat33();
}
FLOAT ftmp[4][4] =
{
{ htmp[0].x,htmp[0].y,htmp[0].z,0 },
{ htmp[1].x,htmp[1].y,htmp[1].z,0 },
{ htmp[2].x,htmp[2].y,htmp[2].z,0 },
{ 0,0,0,1 }
};
__matrixMultiXYZ((FLOAT *)trans,(const FLOAT *)offset,(const FLOAT *)ftmp,4,4,4);//T*R
if(node_stack[j] == 0)
memcpy(M,trans,sizeof(trans));
else
{
__matrixMultiXYZ((FLOAT *)M,(const FLOAT *)M,(const FLOAT *)trans,4,4,4);
}
}
}
//cal glpos
{
FLOAT E[4] = {0,0,0,1};
__matrixMultiXYZ(E,(const FLOAT *)M,(const FLOAT *)E,4,4,1);
memcpy(&glPos[i],E,3*sizeof(FLOAT));
}
}
delete []M; M = 0;
delete [] parent_of; parent_of = 0;
delete [] node_stack; node_stack = 0;
}
void GLPOS::getGLPosOneFrameAllBone(CVector3f *glPos,\
const ActionHeader *pAct,const AnmHeader *pAnm,\
const CQuaternion *rotkey,const CVector3f *poskey,const int frameIndex)
{
int *parent_of = new int[pAct->m_boneAnmCount];
__getParentNodesID(parent_of,pAct,pAnm);
//
FLOAT *M = new FLOAT[pAct->m_boneAnmCount*16];
int nClipNum = pAct->m_lastFrame - pAct->m_firstFrame + 1;
for(int i = frameIndex;i < frameIndex+1;i++)
{
int posCnt = 0,rotCnt = 0;
for(int j = 0;j < pAct->m_boneAnmCount;j++)
{
//cal trans mat
FLOAT offset[4][4];
FLOAT trans[4][4];
{
if( pAnm[j].m_numPoskey != 0 )
{
FLOAT tmp[4][4] = {
{1,0,0,poskey[posCnt*nClipNum + i].x},
{0,1,0,poskey[posCnt*nClipNum + i].y},
{0,0,1,poskey[posCnt*nClipNum + i].z},
{0,0,0,1}//right
};
memcpy(offset,tmp,sizeof(tmp));
}
else
{
__getOffsetMat(offset,j,parent_of[j],pAnm);
__44Transpose(offset);//to right hand
offset[0][0] = 1; offset[0][1] = 0; offset[0][2] = 0;
offset[1][0] = 0; offset[1][1] = 1; offset[1][2] = 0;
offset[2][0] = 0; offset[2][1] = 0; offset[2][2] = 1;
}
HMat33 htmp;
if(pAnm[j].m_numRotkey != 0)
{
htmp = rotkey[rotCnt*nClipNum+i].toHMat33();
}
else
{
CQuaternion qt(pAnm[j].m_initRot[1],pAnm[j].m_initRot[2],pAnm[j].m_initRot[3],pAnm[j].m_initRot[0]);
htmp = qt.toHMat33();
}
FLOAT ftmp[4][4] =
{
{ htmp[0].x,htmp[0].y,htmp[0].z,0 },
{ htmp[1].x,htmp[1].y,htmp[1].z,0 },
{ htmp[2].x,htmp[2].y,htmp[2].z,0 },
{ 0,0,0,1 }
};
__matrixMultiXYZ((FLOAT *)trans,(const FLOAT *)offset,(const FLOAT *)ftmp,4,4,4);//T*R
if(j == 0)
{
memcpy(&M[ j*16 ],trans,sizeof(trans));
}
else
{
__matrixMultiXYZ((FLOAT *)&M[ j*16 ],(const FLOAT *)&M[ parent_of[j]*16 ],(const FLOAT *)trans,4,4,4);
}
}
//cal glpos
if(j == 0)
{
FLOAT E[4] = {0,0,0,1};
__matrixMultiXYZ(E,(const FLOAT *)&M[j*16],(const FLOAT *)E,4,4,1);
memcpy(&glPos[j*nClipNum+i],E,3*sizeof(FLOAT));
}
else
{
FLOAT E[4] = {0,0,0,1};
__matrixMultiXYZ(E,(const FLOAT *)& M[ j*16 ],(const FLOAT *)E,4,4,1);
memcpy(&glPos[j*nClipNum+i],E,3*sizeof(FLOAT));
}
if(pAnm[j].m_numRotkey != 0)
{
rotCnt++;
}
if(pAnm[j].m_numPoskey != 0)
{
posCnt++;
}
}
}
delete []M; M = 0;
delete [] parent_of; parent_of = 0;
}
void GLPOS::_getTransMatrix(FLOAT rs[][4],int f,int j,int end_num,\
const HBVHHead *pHead,\
const HBVHJoint *pJoints,\
const CVector3f *mat)
{
///T*R
//rs = T
FLOAT T[4][4] = {
{1,0,0,pJoints[j].m_offset[0]},
{0,1,0,pJoints[j].m_offset[1]},
{0,0,1,pJoints[j].m_offset[2]},
{0,0,0,1}};
memcpy(rs,T,sizeof(T));
//rs = rs*R
FLOAT vec[3];
vec[0] = mat[f*pHead->m_columNum/3].x;
vec[1] = mat[f*pHead->m_columNum/3].y;
vec[2] = mat[f*pHead->m_columNum/3].z;
int i = 0;
if(pJoints[j].m_channelNum == 6)
{
//root joint
for(;i < 3;i++)
{
//position
if(pJoints[j].m_channels[i] == 0)
{
//Xposition
FLOAT t[4][4] = {
{1,0,0,vec[i]},
{0,1,0,0},
{0,0,1,0},
{0,0,0,1} };
__matrixMultiXYZ((FLOAT *)rs,(const FLOAT *)rs,(const FLOAT *)t,4,4,4);
}
else if(pJoints[j].m_channels[i] == 1)
{
//Yposition
FLOAT t[4][4] = {
{1,0,0,0},
{0,1,0,vec[i]},
{0,0,1,0},
{0,0,0,1} };
__matrixMultiXYZ((FLOAT *)rs,(const FLOAT *)rs,(const FLOAT *)t,4,4,4);
}
else{
//Zposition
FLOAT t[4][4] = {
{1,0,0,0},
{0,1,0,0},
{0,0,1,vec[i]},
{0,0,0,1} };
__matrixMultiXYZ((FLOAT *)rs,(const FLOAT *)rs,(const FLOAT *)t,4,4,4);
}
}
}
int off_col = (j+1-end_num);
vec[0] = mat[f*pHead->m_columNum/3 + off_col].x;
vec[1] = mat[f*pHead->m_columNum/3 + off_col].y;
vec[2] = mat[f*pHead->m_columNum/3 + off_col].z;
for(int k = 0;k < 3;i++,k++)
{
//rotation
FLOAT x = vec[k]*H3DMath::M_DEG2RAD;
if(pJoints[j].m_channels[i] == 0)
{
//Xrotation
FLOAT t[4][4] = { {1,0,0,0},{0,cos(x),-sin(x),0},{0,sin(x),cos(x),0},{0,0,0,1} };
__matrixMultiXYZ((FLOAT *)rs,(const FLOAT *)rs,(const FLOAT *)t,4,4,4);
}
else if(pJoints[j].m_channels[i] == 1)
{
//Yrotation
FLOAT t[4][4] = { {cos(x),0,sin(x),0},{0,1,0,0},{-sin(x),0,cos(x),0},{0,0,0,1} };
__matrixMultiXYZ((FLOAT *)rs,(const FLOAT *)rs,(const FLOAT *)t,4,4,4);
}
else{
//Zrotation
FLOAT t[4][4] = { {cos(x),-sin(x),0,0},{sin(x),cos(x),0,0},{0,0,1,0},{0,0,0,1} };
__matrixMultiXYZ((FLOAT *)rs,(const FLOAT *)rs,(const FLOAT *)t,4,4,4);
}
}
}
void GLPOS::getGLPos(CVector3f *glpos,const HBVHHead *pHead,const HBVHJoint *pJoints,const CVector3f *mat)
{
const FLOAT unitM[4][4] = { {1,0,0,0},{0,1,0,0},{0,0,1,0},{0,0,0,1} };//unit matrix
FLOAT *M = new FLOAT[pHead->m_jointNum * 16];
memcpy(&M[0*16],unitM,sizeof(unitM));
for(int i = 0;i < pHead->m_frameNum;i++)
{
int end_num = 0;
for(int j = 0;j < pHead->m_jointNum;j++)
{
if(pHead->m_isEndSite[j] == false)
{
//M[parent_of[j]]*R(channels[0])*R()...
FLOAT trans[4][4];
_getTransMatrix(trans,i,j,end_num,pHead,pJoints,mat);
if(pHead->m_parentOf[j] == -1)
{
memcpy(&M[j*16],trans,sizeof(trans));
}
else
__matrixMultiXYZ(&M[j*16], (const FLOAT *)&M[pHead->m_parentOf[j]*16], (const FLOAT *)trans,4,4,4);
}
else end_num++;
//S[4][1] = {0,0,0,1}
//E[4][1] = {offset[0],offset[1],offset[2],1};
//E = M[parent_of[j]]*E S = M[parent_of[j]]*S
if(j == 0)
{
FLOAT S[4] = {0,0,0,1};
__matrixMultiXYZ((FLOAT *)&S,(const FLOAT *)&M[0*16],(const FLOAT *)S,4,4,1);
memcpy(&glpos[i*pHead->m_jointNum + 0],S,3*sizeof(FLOAT));
}
else{
FLOAT E[4] = {pJoints[j].m_offset[0],pJoints[j].m_offset[1],pJoints[j].m_offset[2],1};
__matrixMultiXYZ((FLOAT *)E,(const FLOAT *)&M[ pHead->m_parentOf[j]*16 ],(const FLOAT *)E,4,4,1);
memcpy(&glpos[i*pHead->m_jointNum + j],E,3*sizeof(FLOAT));
}
}
}
}