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quakeforge/libs/scene/hierarchy.c

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/*
hierarchy.c
General hierarchy handling
Copyright (C) 2021 Bill Currke
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to:
Free Software Foundation, Inc.
59 Temple Place - Suite 330
Boston, MA 02111-1307, USA
*/
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#ifdef HAVE_STRING_H
# include <string.h>
#endif
#ifdef HAVE_STRINGS_H
# include <strings.h>
#endif
#include "QF/scene/hierarchy.h"
#include "QF/scene/transform.h"
#include "scn_internal.h"
static void
hierarchy_UpdateTransformIndices (hierarchy_t *hierarchy, uint32_t start,
int offset)
{
for (size_t i = start; i < hierarchy->transform.size; i++) {
if (hierarchy->transform.a[i]) {
hierarchy->transform.a[i]->index += offset;
}
}
}
static void
hierarchy_UpdateChildIndices (hierarchy_t *hierarchy, uint32_t start,
int offset)
{
for (size_t i = start; i < hierarchy->childIndex.size; i++) {
hierarchy->childIndex.a[i] += offset;
}
}
static void
hierarchy_UpdateParentIndices (hierarchy_t *hierarchy, uint32_t start,
int offset)
{
for (size_t i = start; i < hierarchy->parentIndex.size; i++) {
hierarchy->parentIndex.a[i] += offset;
}
}
static void
hierarchy_calcLocalInverse (hierarchy_t *h, uint32_t index)
{
// This takes advantage of the fact that localMatrix is a simple
// homogenous scale/rotate/translate matrix with no shear
vec4f_t x = h->localMatrix.a[index][0];
vec4f_t y = h->localMatrix.a[index][1];
vec4f_t z = h->localMatrix.a[index][2];
vec4f_t t = h->localMatrix.a[index][3];
// "one" is to ensure both the scalar and translation have 1 in their
// fourth components
vec4f_t one = { 0, 0, 0, 1 };
vec4f_t nx = { x[0], y[0], z[0], 0 };
vec4f_t ny = { x[1], y[1], z[1], 0 };
vec4f_t nz = { x[2], y[2], z[2], 0 };
vec4f_t nt = one - t[0] * nx - t[1] * ny - t[2] * nz;
// vertical dot product!!!
vec4f_t s = 1 / (nx * nx + ny * ny + nz * nz + one);
h->localInverse.a[index][0] = nx * s;
h->localInverse.a[index][1] = ny * s;
h->localInverse.a[index][2] = nz * s;
h->localInverse.a[index][3] = nt * s;
}
void
Hierarchy_UpdateMatrices (hierarchy_t *h)
{
for (size_t i = 0; i < h->localInverse.size; i++) {
if (h->modified.a[i]) {
hierarchy_calcLocalInverse (h, i);
}
}
if (h->modified.a[0]) {
memcpy (h->worldMatrix.a[0],
h->localMatrix.a[0], sizeof (mat4_t));
memcpy (h->worldInverse.a[0],
h->localInverse.a[0], sizeof (mat4_t));
h->worldRotation.a[0] = h->localRotation.a[0];
h->worldScale.a[0] = h->localScale.a[0];
}
for (size_t i = 1; i < h->worldMatrix.size; i++) {
uint32_t parent = h->parentIndex.a[i];
if (h->modified.a[i] || h->modified.a[parent]) {
mmulf (h->worldMatrix.a[i],
h->worldMatrix.a[parent], h->localMatrix.a[i]);
h->modified.a[i] = 1;
}
}
for (size_t i = 1; i < h->worldInverse.size; i++) {
uint32_t parent = h->parentIndex.a[i];
if (h->modified.a[i] || h->modified.a[parent]) {
mmulf (h->worldInverse.a[i],
h->localInverse.a[i], h->worldInverse.a[parent]);
}
}
for (size_t i = 1; i < h->worldRotation.size; i++) {
uint32_t parent = h->parentIndex.a[i];
if (h->modified.a[i] || h->modified.a[parent]) {
h->worldRotation.a[i] = qmulf (h->worldRotation.a[parent],
h->localRotation.a[i]);
}
}
for (size_t i = 1; i < h->worldScale.size; i++) {
uint32_t parent = h->parentIndex.a[i];
if (h->modified.a[i] || h->modified.a[parent]) {
h->worldScale.a[i] = m3vmulf (h->worldMatrix.a[parent],
h->localScale.a[i]);
}
}
memset (h->modified.a, 0, h->modified.size);
}
static void
hierarchy_open (hierarchy_t *hierarchy, uint32_t index, uint32_t count)
{
DARRAY_OPEN_AT (&hierarchy->transform, index, count);
DARRAY_OPEN_AT (&hierarchy->entity, index, count);
DARRAY_OPEN_AT (&hierarchy->childCount, index, count);
DARRAY_OPEN_AT (&hierarchy->childIndex, index, count);
DARRAY_OPEN_AT (&hierarchy->parentIndex, index, count);
DARRAY_OPEN_AT (&hierarchy->name, index, count);
DARRAY_OPEN_AT (&hierarchy->tag, index, count);
DARRAY_OPEN_AT (&hierarchy->modified, index, count);
DARRAY_OPEN_AT (&hierarchy->localMatrix, index, count);
DARRAY_OPEN_AT (&hierarchy->localInverse, index, count);
DARRAY_OPEN_AT (&hierarchy->worldMatrix, index, count);
DARRAY_OPEN_AT (&hierarchy->worldInverse, index, count);
DARRAY_OPEN_AT (&hierarchy->localRotation, index, count);
DARRAY_OPEN_AT (&hierarchy->localScale, index, count);
DARRAY_OPEN_AT (&hierarchy->worldRotation, index, count);
DARRAY_OPEN_AT (&hierarchy->worldScale, index, count);
}
static void
hierarchy_close (hierarchy_t *hierarchy, uint32_t index, uint32_t count)
{
if (count) {
DARRAY_CLOSE_AT (&hierarchy->transform, index, count);
DARRAY_CLOSE_AT (&hierarchy->entity, index, count);
DARRAY_CLOSE_AT (&hierarchy->childCount, index, count);
DARRAY_CLOSE_AT (&hierarchy->childIndex, index, count);
DARRAY_CLOSE_AT (&hierarchy->parentIndex, index, count);
DARRAY_CLOSE_AT (&hierarchy->name, index, count);
DARRAY_CLOSE_AT (&hierarchy->tag, index, count);
DARRAY_CLOSE_AT (&hierarchy->modified, index, count);
DARRAY_CLOSE_AT (&hierarchy->localMatrix, index, count);
DARRAY_CLOSE_AT (&hierarchy->localInverse, index, count);
DARRAY_CLOSE_AT (&hierarchy->worldMatrix, index, count);
DARRAY_CLOSE_AT (&hierarchy->worldInverse, index, count);
DARRAY_CLOSE_AT (&hierarchy->localRotation, index, count);
DARRAY_CLOSE_AT (&hierarchy->localScale, index, count);
DARRAY_CLOSE_AT (&hierarchy->worldRotation, index, count);
DARRAY_CLOSE_AT (&hierarchy->worldScale, index, count);
}
}
static void
hierarchy_move (hierarchy_t *dst, const hierarchy_t *src,
uint32_t dstIndex, uint32_t srcIndex, uint32_t count)
{
memcpy (&dst->transform.a[dstIndex], &src->transform.a[srcIndex],
count * sizeof(dst->transform.a[0]));
memset (&src->transform.a[srcIndex], 0,
count * sizeof(dst->transform.a[0]));
memcpy (&dst->entity.a[dstIndex], &src->entity.a[srcIndex],
count * sizeof(dst->entity.a[0]));
memcpy (&dst->name.a[dstIndex], &src->name.a[srcIndex],
count * sizeof(dst->name.a[0]));
memcpy (&dst->tag.a[dstIndex], &src->tag.a[srcIndex],
count * sizeof(dst->tag.a[0]));
memset (&dst->modified.a[dstIndex], 1, count * sizeof(dst->modified.a[0]));
memcpy (&dst->localMatrix.a[dstIndex], &src->localMatrix.a[srcIndex],
count * sizeof(dst->localMatrix.a[0]));
memcpy (&dst->localInverse.a[dstIndex], &src->localInverse.a[srcIndex],
count * sizeof(dst->localInverse.a[0]));
memcpy (&dst->localRotation.a[dstIndex], &src->localRotation.a[srcIndex],
count * sizeof(dst->localRotation.a[0]));
memcpy (&dst->localScale.a[dstIndex], &src->localScale.a[srcIndex],
count * sizeof(dst->localScale.a[0]));
for (uint32_t i = 0; i < count; i++) {
dst->transform.a[dstIndex + i]->hierarchy = dst;
dst->transform.a[dstIndex + i]->index = dstIndex + i;
}
}
static void
hierarchy_init (hierarchy_t *dst, uint32_t index,
uint32_t parentIndex, uint32_t childIndex, uint32_t count)
{
memset (&dst->transform.a[index], 0,
count * sizeof(dst->transform.a[0]));
memset (&dst->entity.a[index], 0, count * sizeof(dst->entity.a[0]));
memset (&dst->name.a[index], 0, count * sizeof(dst->name.a[0]));
memset (&dst->tag.a[index], 0, count * sizeof(dst->tag.a[0]));
memset (&dst->modified.a[index], 1, count * sizeof(dst->modified.a[0]));
for (uint32_t i = 0; i < count; i++) {
mat4fidentity (dst->localMatrix.a[index]);
mat4fidentity (dst->localInverse.a[index]);
dst->localRotation.a[index] = (vec4f_t) { 0, 0, 0, 1 };
dst->localScale.a[index] = (vec4f_t) { 1, 1, 1, 1 };
dst->parentIndex.a[index + i] = parentIndex;
dst->childCount.a[index + i] = 0;
dst->childIndex.a[index + i] = childIndex;
}
}
static uint32_t
hierarchy_insert (hierarchy_t *dst, const hierarchy_t *src,
uint32_t dstParent, uint32_t srcRoot, uint32_t count)
{
uint32_t insertIndex; // where the transforms will be inserted
uint32_t childIndex; // where the transforms' children will inserted
// The newly added transforms are always last children of the parent
// transform
insertIndex = dst->childIndex.a[dstParent] + dst->childCount.a[dstParent];
// By design, all of a transform's children are in one contiguous block,
// and the blocks of children for each transform are ordered by their
// parents. Thus the child index of each transform increases monotonically
// for each child index in the array, regardless of the level of the owning
// transform (higher levels always come before lower levels).
uint32_t neighbor = insertIndex - 1; // insertIndex never zero
childIndex = dst->childIndex.a[neighbor] + dst->childCount.a[neighbor];
// Any transforms that come after the inserted transforms need to have
// thier indices adjusted.
hierarchy_UpdateTransformIndices (dst, insertIndex, count);
// The parent transform's child index is not affected, but the child
// indices of all transforms immediately after the parent transform are.
hierarchy_UpdateChildIndices (dst, dstParent + 1, count);
hierarchy_UpdateParentIndices (dst, childIndex, count);
// The beginning of the block of children for the new transforms was
// computed from the pre-insert indices of the related transforms, thus
// the index must be updated by the number of transforms being inserted
// (it would have been updated thusly if the insert was done before
// updating the indices of the other transforms).
childIndex += count;
hierarchy_open (dst, insertIndex, count);
if (src) {
hierarchy_move (dst, src, insertIndex, srcRoot, count);
} else {
hierarchy_init (dst, insertIndex, dstParent, childIndex, count);
}
for (uint32_t i = 0; i < count; i++) {
dst->parentIndex.a[insertIndex + i] = dstParent;
dst->childIndex.a[insertIndex + i] = childIndex;
dst->childCount.a[insertIndex + i] = 0;
}
dst->childCount.a[dstParent] += count;
return insertIndex;
}
static void
hierarchy_insert_children (hierarchy_t *dst, const hierarchy_t *src,
uint32_t dstParent, uint32_t srcRoot)
{
uint32_t insertIndex;
uint32_t childIndex = src->childIndex.a[srcRoot];
uint32_t childCount = src->childCount.a[srcRoot];
if (childCount) {
insertIndex = hierarchy_insert (dst, src, dstParent,
childIndex, childCount);
for (uint32_t i = 0; i < childCount; i++) {
hierarchy_insert_children (dst, src, insertIndex + i,
childIndex + i);
}
}
}
uint32_t
Hierarchy_InsertHierarchy (hierarchy_t *dst, const hierarchy_t *src,
uint32_t dstParent, uint32_t srcRoot)
{
uint32_t insertIndex;
if (dstParent == null_transform) {
if (dst->transform.size) {
Sys_Error ("attempt to insert root in non-empty hierarchy");
}
hierarchy_open (dst, 0, 1);
hierarchy_move (dst, src, 0, srcRoot, 1);
dst->parentIndex.a[0] = null_transform;
dst->childIndex.a[0] = 1;
dst->childCount.a[0] = 0;
insertIndex = 0;
} else {
if (!dst->transform.size) {
Sys_Error ("attempt to insert non-root in empty hierarchy");
}
insertIndex = hierarchy_insert (dst, src, dstParent, srcRoot, 1);
}
// if src is null, then inserting a new transform which has no children
if (src) {
hierarchy_insert_children (dst, src, insertIndex, srcRoot);
}
Hierarchy_UpdateMatrices (dst);
return insertIndex;
}
static void
hierarchy_remove_children (hierarchy_t *hierarchy, uint32_t index)
{
uint32_t childIndex = hierarchy->childIndex.a[index];
uint32_t childCount = hierarchy->childCount.a[index];
uint32_t parentIndex = hierarchy->parentIndex.a[index];
uint32_t nieceIndex = null_transform;
if (parentIndex != null_transform) {
uint32_t siblingIndex = hierarchy->childIndex.a[parentIndex];
siblingIndex += hierarchy->childCount.a[parentIndex] - 1;
nieceIndex = hierarchy->childIndex.a[siblingIndex];
}
for (uint32_t i = childCount; i-- > 0; ) {
hierarchy_remove_children (hierarchy, childIndex + i);
}
hierarchy_close (hierarchy, childIndex, childCount);
hierarchy->childCount.a[index] = 0;
if (childCount) {
hierarchy_UpdateTransformIndices (hierarchy, childIndex, -childCount);
hierarchy_UpdateChildIndices (hierarchy, index, -childCount);
if (nieceIndex != null_transform) {
hierarchy_UpdateParentIndices (hierarchy, nieceIndex, -childCount);
}
}
}
void
Hierarchy_RemoveHierarchy (hierarchy_t *hierarchy, uint32_t index)
{
uint32_t parentIndex = hierarchy->parentIndex.a[index];
uint32_t childIndex = hierarchy->childIndex.a[index];
uint32_t siblingIndex = null_transform;
if (parentIndex != null_transform) {
siblingIndex = hierarchy->childIndex.a[parentIndex];
}
hierarchy_remove_children (hierarchy, index);
hierarchy_close (hierarchy, index, 1);
if (siblingIndex != null_transform) {
hierarchy_UpdateTransformIndices (hierarchy, index, -1);
hierarchy_UpdateChildIndices (hierarchy, siblingIndex, -1);
hierarchy_UpdateParentIndices (hierarchy, childIndex - 1, -1);
}
}
hierarchy_t *
Hierarchy_New (scene_t *scene, int createRoot)
{
scene_resources_t *res = scene->resources;
hierarchy_t *hierarchy = PR_RESNEW_NC (res->hierarchies);
hierarchy->scene = scene;
hierarchy->prev = &scene->hierarchies;
hierarchy->next = scene->hierarchies;
if (scene->hierarchies) {
scene->hierarchies->prev = &hierarchy->next;
}
scene->hierarchies = hierarchy;
size_t grow = 16;
DARRAY_INIT (&hierarchy->transform, grow);
DARRAY_INIT (&hierarchy->entity, grow);
DARRAY_INIT (&hierarchy->childCount, grow);
DARRAY_INIT (&hierarchy->childIndex, grow);
DARRAY_INIT (&hierarchy->parentIndex, grow);
DARRAY_INIT (&hierarchy->name, grow);
DARRAY_INIT (&hierarchy->tag, grow);
DARRAY_INIT (&hierarchy->modified, grow);
DARRAY_INIT (&hierarchy->localMatrix, grow);
DARRAY_INIT (&hierarchy->localInverse, grow);
DARRAY_INIT (&hierarchy->worldMatrix, grow);
DARRAY_INIT (&hierarchy->worldInverse, grow);
DARRAY_INIT (&hierarchy->localRotation, grow);
DARRAY_INIT (&hierarchy->localScale, grow);
DARRAY_INIT (&hierarchy->worldRotation, grow);
DARRAY_INIT (&hierarchy->worldScale, grow);
if (createRoot) {
hierarchy_open (hierarchy, 0, 1);
hierarchy_init (hierarchy, 0, null_transform, 1, 1);
}
return hierarchy;
}
void
Hierarchy_Delete (hierarchy_t *hierarchy)
{
if (hierarchy->next) {
hierarchy->next->prev = hierarchy->prev;
}
*hierarchy->prev = hierarchy->next;
scene_resources_t *res = hierarchy->scene->resources;
for (size_t i = 0; i < hierarchy->transform.size; i++) {
PR_RESFREE (res->transforms, hierarchy->transform.a[i]);
}
DARRAY_CLEAR (&hierarchy->transform);
DARRAY_CLEAR (&hierarchy->entity);
DARRAY_CLEAR (&hierarchy->childCount);
DARRAY_CLEAR (&hierarchy->childIndex);
DARRAY_CLEAR (&hierarchy->parentIndex);
DARRAY_CLEAR (&hierarchy->name);
DARRAY_CLEAR (&hierarchy->tag);
DARRAY_CLEAR (&hierarchy->modified);
DARRAY_CLEAR (&hierarchy->localMatrix);
DARRAY_CLEAR (&hierarchy->localInverse);
DARRAY_CLEAR (&hierarchy->worldMatrix);
DARRAY_CLEAR (&hierarchy->worldInverse);
DARRAY_CLEAR (&hierarchy->localRotation);
DARRAY_CLEAR (&hierarchy->localScale);
DARRAY_CLEAR (&hierarchy->worldRotation);
DARRAY_CLEAR (&hierarchy->worldScale);
PR_RESFREE (res->hierarchies, hierarchy);
}
void
Hierarchy_Reserve (hierarchy_t *hierarchy, uint32_t count)
{
size_t size = hierarchy->transform.size;
DARRAY_RESIZE (&hierarchy->transform, size + count);
DARRAY_RESIZE (&hierarchy->entity, size + count);
DARRAY_RESIZE (&hierarchy->childCount, size + count);
DARRAY_RESIZE (&hierarchy->childIndex, size + count);
DARRAY_RESIZE (&hierarchy->parentIndex, size + count);
DARRAY_RESIZE (&hierarchy->name, size + count);
DARRAY_RESIZE (&hierarchy->tag, size + count);
DARRAY_RESIZE (&hierarchy->modified, size + count);
DARRAY_RESIZE (&hierarchy->localMatrix, size + count);
DARRAY_RESIZE (&hierarchy->localInverse, size + count);
DARRAY_RESIZE (&hierarchy->worldMatrix, size + count);
DARRAY_RESIZE (&hierarchy->worldInverse, size + count);
DARRAY_RESIZE (&hierarchy->localRotation, size + count);
DARRAY_RESIZE (&hierarchy->localScale, size + count);
DARRAY_RESIZE (&hierarchy->worldRotation, size + count);
DARRAY_RESIZE (&hierarchy->worldScale, size + count);
DARRAY_RESIZE (&hierarchy->transform, size);
DARRAY_RESIZE (&hierarchy->entity, size);
DARRAY_RESIZE (&hierarchy->childCount, size);
DARRAY_RESIZE (&hierarchy->childIndex, size);
DARRAY_RESIZE (&hierarchy->parentIndex, size);
DARRAY_RESIZE (&hierarchy->name, size);
DARRAY_RESIZE (&hierarchy->tag, size);
DARRAY_RESIZE (&hierarchy->modified, size);
DARRAY_RESIZE (&hierarchy->localMatrix, size);
DARRAY_RESIZE (&hierarchy->localInverse, size);
DARRAY_RESIZE (&hierarchy->worldMatrix, size);
DARRAY_RESIZE (&hierarchy->worldInverse, size);
DARRAY_RESIZE (&hierarchy->localRotation, size);
DARRAY_RESIZE (&hierarchy->localScale, size);
DARRAY_RESIZE (&hierarchy->worldRotation, size);
DARRAY_RESIZE (&hierarchy->worldScale, size);
}
hierarchy_t *
Hierarchy_Copy (scene_t *scene, const hierarchy_t *src)
{
hierarchy_t *dst = Hierarchy_New (scene, 0);
size_t count = src->transform.size;
DARRAY_RESIZE (&dst->transform, count);
DARRAY_RESIZE (&dst->entity, count);
DARRAY_RESIZE (&dst->childCount, count);
DARRAY_RESIZE (&dst->childIndex, count);
DARRAY_RESIZE (&dst->parentIndex, count);
DARRAY_RESIZE (&dst->name, count);
DARRAY_RESIZE (&dst->tag, count);
DARRAY_RESIZE (&dst->modified, count);
DARRAY_RESIZE (&dst->localMatrix, count);
DARRAY_RESIZE (&dst->localInverse, count);
DARRAY_RESIZE (&dst->worldMatrix, count);
DARRAY_RESIZE (&dst->worldInverse, count);
DARRAY_RESIZE (&dst->localRotation, count);
DARRAY_RESIZE (&dst->localScale, count);
DARRAY_RESIZE (&dst->worldRotation, count);
DARRAY_RESIZE (&dst->worldScale, count);
for (size_t i = 0; i < count; i++) {
dst->transform.a[i] = __transform_alloc (scene);
dst->transform.a[i]->hierarchy = dst;
dst->transform.a[i]->index = i;
}
for (size_t i = 0; i < count; i++) {
dst->entity.a[i] = 0; // FIXME clone entity
}
memcpy (dst->childCount.a, src->childCount.a,
count * sizeof(dst->childCount.a[0]));
memcpy (dst->childIndex.a, src->childIndex.a,
count * sizeof(dst->childIndex.a[0]));
memcpy (dst->parentIndex.a, src->parentIndex.a,
count * sizeof(dst->parentIndex.a[0]));
for (size_t i = 0; i < count; i++) {
// use the transform code so string allocation remains consistent
// regardless how it changes.
Transform_SetName (dst->transform.a[i], src->name.a[i]);
}
memcpy (dst->tag.a, src->tag.a,
count * sizeof(dst->tag.a[0]));
memcpy (dst->modified.a, src->modified.a,
count * sizeof(dst->modified.a[0]));
memcpy (dst->localMatrix.a, src->localMatrix.a,
count * sizeof(dst->localMatrix.a[0]));
memcpy (dst->localInverse.a, src->localInverse.a,
count * sizeof(dst->localInverse.a[0]));
memcpy (dst->worldMatrix.a, src->worldMatrix.a,
count * sizeof(dst->worldMatrix.a[0]));
memcpy (dst->worldInverse.a, src->worldInverse.a,
count * sizeof(dst->worldInverse.a[0]));
memcpy (dst->localRotation.a, src->localRotation.a,
count * sizeof(dst->localRotation.a[0]));
memcpy (dst->localScale.a, src->localScale.a,
count * sizeof(dst->localScale.a[0]));
memcpy (dst->worldRotation.a, src->worldRotation.a,
count * sizeof(dst->worldRotation.a[0]));
memcpy (dst->worldScale.a, src->worldScale.a,
count * sizeof(dst->localScale.a[0]));
// Just in case the source hierarchy has modified transforms
Hierarchy_UpdateMatrices (dst);
return dst;
}
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