From d404519cce565402aa98c3f9943221ed6ddb2790 Mon Sep 17 00:00:00 2001 From: Zack Middleton Date: Mon, 29 Apr 2019 14:39:10 -0500 Subject: [PATCH] Fix rendering IQM models between model frames For lerped frames (refEntity_t frame not equal oldframe) IQM joint matrices may have incorrect axis scale. This can cause significant model distortion. The matrix lerp is linear causing each vector to move in a straight line between frames instead of arcing like a circle. Each joint frame can have a different scale so can't just normalize the joint matrix. Store joints as quaternions and spherical lerp between them and then convert to a matrix. For my test model, setting up the skeleton is four times slower now but it still seems to be fast enough to be usable. --- code/qcommon/q_shared.h | 4 + code/renderergl1/tr_local.h | 11 +- code/renderergl1/tr_model_iqm.c | 216 ++++++++++++++++++++------------ code/renderergl2/tr_local.h | 11 +- code/renderergl2/tr_model_iqm.c | 216 ++++++++++++++++++++------------ 5 files changed, 294 insertions(+), 164 deletions(-) diff --git a/code/qcommon/q_shared.h b/code/qcommon/q_shared.h index 7d8b509c..86d9ac47 100644 --- a/code/qcommon/q_shared.h +++ b/code/qcommon/q_shared.h @@ -368,6 +368,8 @@ typedef vec_t vec3_t[3]; typedef vec_t vec4_t[4]; typedef vec_t vec5_t[5]; +typedef vec_t quat_t[4]; + typedef int fixed4_t; typedef int fixed8_t; typedef int fixed16_t; @@ -578,6 +580,8 @@ typedef struct { #define Byte4Copy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2],(b)[3]=(a)[3]) +#define QuatCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2],(b)[3]=(a)[3]) + #define SnapVector(v) {v[0]=((int)(v[0]));v[1]=((int)(v[1]));v[2]=((int)(v[2]));} // just in case you don't want to use the macros vec_t _DotProduct( const vec3_t v1, const vec3_t v2 ); diff --git a/code/renderergl1/tr_local.h b/code/renderergl1/tr_local.h index fe42f4de..e07f575b 100644 --- a/code/renderergl1/tr_local.h +++ b/code/renderergl1/tr_local.h @@ -589,6 +589,12 @@ typedef struct { drawVert_t *verts; } srfTriangles_t; +typedef struct { + vec3_t translate; + quat_t rotate; + vec3_t scale; +} iqmTransform_t; + // inter-quake-model typedef struct { int num_vertexes; @@ -623,8 +629,9 @@ typedef struct { char *jointNames; int *jointParents; - float *jointMats; - float *poseMats; + float *bindJoints; // [num_joints * 12] + float *invBindJoints; // [num_joints * 12] + iqmTransform_t *poses; // [num_frames * num_poses] float *bounds; } iqmData_t; diff --git a/code/renderergl1/tr_model_iqm.c b/code/renderergl1/tr_model_iqm.c index 02616469..fc0e5810 100644 --- a/code/renderergl1/tr_model_iqm.c +++ b/code/renderergl1/tr_model_iqm.c @@ -2,6 +2,7 @@ =========================================================================== Copyright (C) 2011 Thilo Schulz Copyright (C) 2011 Matthias Bentrup +Copyright (C) 2011-2019 Zack Middleton This file is part of Quake III Arena source code. @@ -44,7 +45,7 @@ static qboolean IQM_CheckRange( iqmHeader_t *header, int offset, } // "multiply" 3x4 matrices, these are assumed to be the top 3 rows // of a 4x4 matrix with the last row = (0 0 0 1) -static void Matrix34Multiply( float *a, float *b, float *out ) { +static void Matrix34Multiply( const float *a, const float *b, float *out ) { out[ 0] = a[0] * b[0] + a[1] * b[4] + a[ 2] * b[ 8]; out[ 1] = a[0] * b[1] + a[1] * b[5] + a[ 2] * b[ 9]; out[ 2] = a[0] * b[2] + a[1] * b[6] + a[ 2] * b[10]; @@ -58,23 +59,7 @@ static void Matrix34Multiply( float *a, float *b, float *out ) { out[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10]; out[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11]; } -static void InterpolateMatrix( float *a, float *b, float lerp, float *mat ) { - float unLerp = 1.0f - lerp; - - mat[ 0] = a[ 0] * unLerp + b[ 0] * lerp; - mat[ 1] = a[ 1] * unLerp + b[ 1] * lerp; - mat[ 2] = a[ 2] * unLerp + b[ 2] * lerp; - mat[ 3] = a[ 3] * unLerp + b[ 3] * lerp; - mat[ 4] = a[ 4] * unLerp + b[ 4] * lerp; - mat[ 5] = a[ 5] * unLerp + b[ 5] * lerp; - mat[ 6] = a[ 6] * unLerp + b[ 6] * lerp; - mat[ 7] = a[ 7] * unLerp + b[ 7] * lerp; - mat[ 8] = a[ 8] * unLerp + b[ 8] * lerp; - mat[ 9] = a[ 9] * unLerp + b[ 9] * lerp; - mat[10] = a[10] * unLerp + b[10] * lerp; - mat[11] = a[11] * unLerp + b[11] * lerp; -} -static void JointToMatrix( vec4_t rot, vec3_t scale, vec3_t trans, +static void JointToMatrix( const quat_t rot, const vec3_t scale, const vec3_t trans, float *mat ) { float xx = 2.0f * rot[0] * rot[0]; float yy = 2.0f * rot[1] * rot[1]; @@ -99,8 +84,7 @@ static void JointToMatrix( vec4_t rot, vec3_t scale, vec3_t trans, mat[10] = scale[2] * (1.0f - (xx + yy)); mat[11] = trans[2]; } -static void Matrix34Invert( float *inMat, float *outMat ) -{ +static void Matrix34Invert( const float *inMat, float *outMat ) { vec3_t trans; float invSqrLen, *v; @@ -120,6 +104,61 @@ static void Matrix34Invert( float *inMat, float *outMat ) outMat[ 7] = -DotProduct(outMat + 4, trans); outMat[11] = -DotProduct(outMat + 8, trans); } +static void QuatSlerp(const quat_t from, const quat_t _to, float fraction, quat_t out) { + float angle, cosAngle, sinAngle, backlerp, lerp; + quat_t to; + + // cos() of angle + cosAngle = from[0] * _to[0] + from[1] * _to[1] + from[2] * _to[2] + from[3] * _to[3]; + + // negative handling is needed for taking shortest path (required for model joints) + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + to[0] = - _to[0]; + to[1] = - _to[1]; + to[2] = - _to[2]; + to[3] = - _to[3]; + } else { + QuatCopy( _to, to ); + } + + if ( cosAngle < 0.999999f ) { + // spherical lerp (slerp) + angle = acosf( cosAngle ); + sinAngle = sinf( angle ); + backlerp = sinf( ( 1.0f - fraction ) * angle ) / sinAngle; + lerp = sinf( fraction * angle ) / sinAngle; + } else { + // linear lerp + backlerp = 1.0f - fraction; + lerp = fraction; + } + + out[0] = from[0] * backlerp + to[0] * lerp; + out[1] = from[1] * backlerp + to[1] * lerp; + out[2] = from[2] * backlerp + to[2] * lerp; + out[3] = from[3] * backlerp + to[3] * lerp; +} +static vec_t QuatNormalize2( const quat_t v, quat_t out) { + float length, ilength; + + length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2] + v[3]*v[3]; + + if (length) { + /* writing it this way allows gcc to recognize that rsqrt can be used */ + ilength = 1/(float)sqrt (length); + /* sqrt(length) = length * (1 / sqrt(length)) */ + length *= ilength; + out[0] = v[0]*ilength; + out[1] = v[1]*ilength; + out[2] = v[2]*ilength; + out[3] = v[3]*ilength; + } else { + out[0] = out[1] = out[2] = out[3] = 0; + } + + return length; +} /* ================= @@ -139,7 +178,7 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na unsigned short *framedata; char *str; int i, j, k; - float jointInvMats[IQM_MAX_JOINTS * 12] = {0.0f}; + iqmTransform_t *transform; float *mat, *matInv; size_t size, joint_names; byte *dataPtr; @@ -559,10 +598,11 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na if( header->num_joints ) { size += joint_names; // joint names size += header->num_joints * sizeof(int); // joint parents - size += header->num_joints * 12 * sizeof( float ); // joint mats + size += header->num_joints * 12 * sizeof(float); // bind joint matricies + size += header->num_joints * 12 * sizeof(float); // inverse bind joint matricies } if( header->num_poses ) { - size += header->num_poses * header->num_frames * 12 * sizeof( float ); // pose mats + size += header->num_poses * header->num_frames * sizeof(iqmTransform_t); // pose transforms } if( header->ofs_bounds ) { size += header->num_frames * 6 * sizeof(float); // model bounds @@ -633,12 +673,15 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na iqmData->jointParents = (int*)dataPtr; dataPtr += header->num_joints * sizeof(int); // joint parents - iqmData->jointMats = (float*)dataPtr; - dataPtr += header->num_joints * 12 * sizeof( float ); // joint mats + iqmData->bindJoints = (float*)dataPtr; + dataPtr += header->num_joints * 12 * sizeof(float); // bind joint matricies + + iqmData->invBindJoints = (float*)dataPtr; + dataPtr += header->num_joints * 12 * sizeof(float); // inverse bind joint matricies } if( header->num_poses ) { - iqmData->poseMats = (float*)dataPtr; - dataPtr += header->num_poses * header->num_frames * 12 * sizeof( float ); // pose mats + iqmData->poses = (iqmTransform_t*)dataPtr; + dataPtr += header->num_poses * header->num_frames * sizeof(iqmTransform_t); // pose transforms } if( header->ofs_bounds ) { iqmData->bounds = (float*)dataPtr; @@ -804,22 +847,23 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na iqmData->jointParents[i] = joint->parent; } - // calculate joint matrices and their inverses - // joint inverses are needed only until the pose matrices are calculated - mat = iqmData->jointMats; - matInv = jointInvMats; + // calculate bind joint matrices and their inverses + mat = iqmData->bindJoints; + matInv = iqmData->invBindJoints; joint = (iqmJoint_t *)((byte *)header + header->ofs_joints); for( i = 0; i < header->num_joints; i++, joint++ ) { float baseFrame[12], invBaseFrame[12]; + QuatNormalize2( joint->rotate, joint->rotate ); + JointToMatrix( joint->rotate, joint->scale, joint->translate, baseFrame ); Matrix34Invert( baseFrame, invBaseFrame ); if ( joint->parent >= 0 ) { - Matrix34Multiply( iqmData->jointMats + 12 * joint->parent, baseFrame, mat ); + Matrix34Multiply( iqmData->bindJoints + 12 * joint->parent, baseFrame, mat ); mat += 12; - Matrix34Multiply( invBaseFrame, jointInvMats + 12 * joint->parent, matInv ); + Matrix34Multiply( invBaseFrame, iqmData->invBindJoints + 12 * joint->parent, matInv ); matInv += 12; } else @@ -834,16 +878,15 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na if( header->num_poses ) { - // calculate pose matrices + // calculate pose transforms + transform = iqmData->poses; framedata = (unsigned short *)((byte *)header + header->ofs_frames); - mat = iqmData->poseMats; for( i = 0; i < header->num_frames; i++ ) { pose = (iqmPose_t *)((byte *)header + header->ofs_poses); - for( j = 0; j < header->num_poses; j++, pose++ ) { + for( j = 0; j < header->num_poses; j++, pose++, transform++ ) { vec3_t translate; - vec4_t rotate; + quat_t rotate; vec3_t scale; - float mat1[12], mat2[12]; translate[0] = pose->channeloffset[0]; if( pose->mask & 0x001) @@ -878,18 +921,9 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na if( pose->mask & 0x200) scale[2] += *framedata++ * pose->channelscale[9]; - // construct transformation matrix - JointToMatrix( rotate, scale, translate, mat1 ); - - if( pose->parent >= 0 ) { - Matrix34Multiply( iqmData->jointMats + 12 * pose->parent, - mat1, mat2 ); - } else { - Com_Memcpy( mat2, mat1, sizeof(mat1) ); - } - - Matrix34Multiply( mat2, jointInvMats + 12 * j, mat ); - mat += 12; + VectorCopy( translate, transform->translate ); + QuatNormalize2( rotate, transform->rotate ); + VectorCopy( scale, transform->scale ); } } } @@ -1128,37 +1162,59 @@ void R_AddIQMSurfaces( trRefEntity_t *ent ) { static void ComputePoseMats( iqmData_t *data, int frame, int oldframe, - float backlerp, float *mat ) { - float *mat1, *mat2; - int *joint = data->jointParents; - int i; + float backlerp, float *poseMats ) { + iqmTransform_t relativeJoints[IQM_MAX_JOINTS]; + iqmTransform_t *relativeJoint; + const iqmTransform_t *pose; + const iqmTransform_t *oldpose; + const int *jointParent; + const float *invBindMat; + float *poseMat, lerp; + int i; + relativeJoint = relativeJoints; + + // copy or lerp animation frame pose if ( oldframe == frame ) { - mat1 = data->poseMats + 12 * data->num_poses * frame; - for( i = 0; i < data->num_poses; i++, joint++ ) { - if( *joint >= 0 ) { - Matrix34Multiply( mat + 12 * *joint, - mat1 + 12*i, mat + 12*i ); - } else { - Com_Memcpy( mat + 12*i, mat1 + 12*i, 12 * sizeof(float) ); - } + pose = &data->poses[frame * data->num_poses]; + for ( i = 0; i < data->num_poses; i++, pose++, relativeJoint++ ) { + VectorCopy( pose->translate, relativeJoint->translate ); + QuatCopy( pose->rotate, relativeJoint->rotate ); + VectorCopy( pose->scale, relativeJoint->scale ); } - } else { - mat1 = data->poseMats + 12 * data->num_poses * frame; - mat2 = data->poseMats + 12 * data->num_poses * oldframe; - - for( i = 0; i < data->num_poses; i++, joint++ ) { - if( *joint >= 0 ) { - float tmpMat[12]; - InterpolateMatrix( mat1 + 12*i, mat2 + 12*i, - backlerp, tmpMat ); - Matrix34Multiply( mat + 12 * *joint, - tmpMat, mat + 12*i ); - - } else { - InterpolateMatrix( mat1 + 12*i, mat2 + 12*i, - backlerp, mat + 12*i ); - } + } else { + lerp = 1.0f - backlerp; + pose = &data->poses[frame * data->num_poses]; + oldpose = &data->poses[oldframe * data->num_poses]; + for ( i = 0; i < data->num_poses; i++, oldpose++, pose++, relativeJoint++ ) { + relativeJoint->translate[0] = oldpose->translate[0] * backlerp + pose->translate[0] * lerp; + relativeJoint->translate[1] = oldpose->translate[1] * backlerp + pose->translate[1] * lerp; + relativeJoint->translate[2] = oldpose->translate[2] * backlerp + pose->translate[2] * lerp; + + relativeJoint->scale[0] = oldpose->scale[0] * backlerp + pose->scale[0] * lerp; + relativeJoint->scale[1] = oldpose->scale[1] * backlerp + pose->scale[1] * lerp; + relativeJoint->scale[2] = oldpose->scale[2] * backlerp + pose->scale[2] * lerp; + + QuatSlerp( oldpose->rotate, pose->rotate, lerp, relativeJoint->rotate ); + } + } + + // multiply by inverse of bind pose and parent 'pose mat' (bind pose transform matrix) + relativeJoint = relativeJoints; + jointParent = data->jointParents; + invBindMat = data->invBindJoints; + poseMat = poseMats; + for ( i = 0; i < data->num_poses; i++, relativeJoint++, jointParent++, invBindMat += 12, poseMat += 12 ) { + float mat1[12], mat2[12]; + + JointToMatrix( relativeJoint->rotate, relativeJoint->scale, relativeJoint->translate, mat1 ); + + if ( *jointParent >= 0 ) { + Matrix34Multiply( &data->bindJoints[(*jointParent)*12], mat1, mat2 ); + Matrix34Multiply( mat2, invBindMat, mat1 ); + Matrix34Multiply( &poseMats[(*jointParent)*12], mat1, poseMat ); + } else { + Matrix34Multiply( mat1, invBindMat, poseMat ); } } } @@ -1169,7 +1225,7 @@ static void ComputeJointMats( iqmData_t *data, int frame, int oldframe, int i; if ( data->num_poses == 0 ) { - Com_Memcpy( mat, data->jointMats, data->num_joints * 12 * sizeof(float) ); + Com_Memcpy( mat, data->bindJoints, data->num_joints * 12 * sizeof(float) ); return; } @@ -1181,7 +1237,7 @@ static void ComputeJointMats( iqmData_t *data, int frame, int oldframe, Com_Memcpy(outmat, mat1, sizeof(outmat)); - Matrix34Multiply( outmat, data->jointMats + 12*i, mat1 ); + Matrix34Multiply( outmat, data->bindJoints + 12*i, mat1 ); } } diff --git a/code/renderergl2/tr_local.h b/code/renderergl2/tr_local.h index 12b469c7..39f6f7a2 100644 --- a/code/renderergl2/tr_local.h +++ b/code/renderergl2/tr_local.h @@ -954,6 +954,12 @@ typedef struct srfBspSurface_s float *heightLodError; } srfBspSurface_t; +typedef struct { + vec3_t translate; + quat_t rotate; + vec3_t scale; +} iqmTransform_t; + // inter-quake-model typedef struct { int num_vertexes; @@ -988,8 +994,9 @@ typedef struct { char *jointNames; int *jointParents; - float *jointMats; - float *poseMats; + float *bindJoints; // [num_joints * 12] + float *invBindJoints; // [num_joints * 12] + iqmTransform_t *poses; // [num_frames * num_poses] float *bounds; int numVaoSurfaces; diff --git a/code/renderergl2/tr_model_iqm.c b/code/renderergl2/tr_model_iqm.c index 1a6e1e5a..649c4dc4 100644 --- a/code/renderergl2/tr_model_iqm.c +++ b/code/renderergl2/tr_model_iqm.c @@ -2,6 +2,7 @@ =========================================================================== Copyright (C) 2011 Thilo Schulz Copyright (C) 2011 Matthias Bentrup +Copyright (C) 2011-2019 Zack Middleton This file is part of Quake III Arena source code. @@ -44,7 +45,7 @@ static qboolean IQM_CheckRange( iqmHeader_t *header, int offset, } // "multiply" 3x4 matrices, these are assumed to be the top 3 rows // of a 4x4 matrix with the last row = (0 0 0 1) -static void Matrix34Multiply( float *a, float *b, float *out ) { +static void Matrix34Multiply( const float *a, const float *b, float *out ) { out[ 0] = a[0] * b[0] + a[1] * b[4] + a[ 2] * b[ 8]; out[ 1] = a[0] * b[1] + a[1] * b[5] + a[ 2] * b[ 9]; out[ 2] = a[0] * b[2] + a[1] * b[6] + a[ 2] * b[10]; @@ -58,23 +59,7 @@ static void Matrix34Multiply( float *a, float *b, float *out ) { out[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10]; out[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11]; } -static void InterpolateMatrix( float *a, float *b, float lerp, float *mat ) { - float unLerp = 1.0f - lerp; - - mat[ 0] = a[ 0] * unLerp + b[ 0] * lerp; - mat[ 1] = a[ 1] * unLerp + b[ 1] * lerp; - mat[ 2] = a[ 2] * unLerp + b[ 2] * lerp; - mat[ 3] = a[ 3] * unLerp + b[ 3] * lerp; - mat[ 4] = a[ 4] * unLerp + b[ 4] * lerp; - mat[ 5] = a[ 5] * unLerp + b[ 5] * lerp; - mat[ 6] = a[ 6] * unLerp + b[ 6] * lerp; - mat[ 7] = a[ 7] * unLerp + b[ 7] * lerp; - mat[ 8] = a[ 8] * unLerp + b[ 8] * lerp; - mat[ 9] = a[ 9] * unLerp + b[ 9] * lerp; - mat[10] = a[10] * unLerp + b[10] * lerp; - mat[11] = a[11] * unLerp + b[11] * lerp; -} -static void JointToMatrix( vec4_t rot, vec3_t scale, vec3_t trans, +static void JointToMatrix( const quat_t rot, const vec3_t scale, const vec3_t trans, float *mat ) { float xx = 2.0f * rot[0] * rot[0]; float yy = 2.0f * rot[1] * rot[1]; @@ -99,8 +84,7 @@ static void JointToMatrix( vec4_t rot, vec3_t scale, vec3_t trans, mat[10] = scale[2] * (1.0f - (xx + yy)); mat[11] = trans[2]; } -static void Matrix34Invert( float *inMat, float *outMat ) -{ +static void Matrix34Invert( const float *inMat, float *outMat ) { vec3_t trans; float invSqrLen, *v; @@ -120,6 +104,61 @@ static void Matrix34Invert( float *inMat, float *outMat ) outMat[ 7] = -DotProduct(outMat + 4, trans); outMat[11] = -DotProduct(outMat + 8, trans); } +static void QuatSlerp(const quat_t from, const quat_t _to, float fraction, quat_t out) { + float angle, cosAngle, sinAngle, backlerp, lerp; + quat_t to; + + // cos() of angle + cosAngle = from[0] * _to[0] + from[1] * _to[1] + from[2] * _to[2] + from[3] * _to[3]; + + // negative handling is needed for taking shortest path (required for model joints) + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + to[0] = - _to[0]; + to[1] = - _to[1]; + to[2] = - _to[2]; + to[3] = - _to[3]; + } else { + QuatCopy( _to, to ); + } + + if ( cosAngle < 0.999999f ) { + // spherical lerp (slerp) + angle = acosf( cosAngle ); + sinAngle = sinf( angle ); + backlerp = sinf( ( 1.0f - fraction ) * angle ) / sinAngle; + lerp = sinf( fraction * angle ) / sinAngle; + } else { + // linear lerp + backlerp = 1.0f - fraction; + lerp = fraction; + } + + out[0] = from[0] * backlerp + to[0] * lerp; + out[1] = from[1] * backlerp + to[1] * lerp; + out[2] = from[2] * backlerp + to[2] * lerp; + out[3] = from[3] * backlerp + to[3] * lerp; +} +static vec_t QuatNormalize2( const quat_t v, quat_t out) { + float length, ilength; + + length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2] + v[3]*v[3]; + + if (length) { + /* writing it this way allows gcc to recognize that rsqrt can be used */ + ilength = 1/(float)sqrt (length); + /* sqrt(length) = length * (1 / sqrt(length)) */ + length *= ilength; + out[0] = v[0]*ilength; + out[1] = v[1]*ilength; + out[2] = v[2]*ilength; + out[3] = v[3]*ilength; + } else { + out[0] = out[1] = out[2] = out[3] = 0; + } + + return length; +} /* ================= @@ -139,7 +178,7 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na unsigned short *framedata; char *str; int i, j, k; - float jointInvMats[IQM_MAX_JOINTS * 12] = {0.0f}; + iqmTransform_t *transform; float *mat, *matInv; size_t size, joint_names; byte *dataPtr; @@ -562,10 +601,11 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na if( header->num_joints ) { size += joint_names; // joint names size += header->num_joints * sizeof(int); // joint parents - size += header->num_joints * 12 * sizeof( float ); // joint mats + size += header->num_joints * 12 * sizeof(float); // bind joint matricies + size += header->num_joints * 12 * sizeof(float); // inverse bind joint matricies } if( header->num_poses ) { - size += header->num_poses * header->num_frames * 12 * sizeof( float ); // pose mats + size += header->num_poses * header->num_frames * sizeof(iqmTransform_t); // pose transforms } if( header->ofs_bounds ) { size += header->num_frames * 6 * sizeof(float); // model bounds @@ -636,12 +676,15 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na iqmData->jointParents = (int*)dataPtr; dataPtr += header->num_joints * sizeof(int); // joint parents - iqmData->jointMats = (float*)dataPtr; - dataPtr += header->num_joints * 12 * sizeof( float ); // joint mats + iqmData->bindJoints = (float*)dataPtr; + dataPtr += header->num_joints * 12 * sizeof(float); // bind joint matricies + + iqmData->invBindJoints = (float*)dataPtr; + dataPtr += header->num_joints * 12 * sizeof(float); // inverse bind joint matricies } if( header->num_poses ) { - iqmData->poseMats = (float*)dataPtr; - dataPtr += header->num_poses * header->num_frames * 12 * sizeof( float ); // pose mats + iqmData->poses = (iqmTransform_t*)dataPtr; + dataPtr += header->num_poses * header->num_frames * sizeof(iqmTransform_t); // pose transforms } if( header->ofs_bounds ) { iqmData->bounds = (float*)dataPtr; @@ -807,22 +850,23 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na iqmData->jointParents[i] = joint->parent; } - // calculate joint matrices and their inverses - // joint inverses are needed only until the pose matrices are calculated - mat = iqmData->jointMats; - matInv = jointInvMats; + // calculate bind joint matrices and their inverses + mat = iqmData->bindJoints; + matInv = iqmData->invBindJoints; joint = (iqmJoint_t *)((byte *)header + header->ofs_joints); for( i = 0; i < header->num_joints; i++, joint++ ) { float baseFrame[12], invBaseFrame[12]; + QuatNormalize2( joint->rotate, joint->rotate ); + JointToMatrix( joint->rotate, joint->scale, joint->translate, baseFrame ); Matrix34Invert( baseFrame, invBaseFrame ); if ( joint->parent >= 0 ) { - Matrix34Multiply( iqmData->jointMats + 12 * joint->parent, baseFrame, mat ); + Matrix34Multiply( iqmData->bindJoints + 12 * joint->parent, baseFrame, mat ); mat += 12; - Matrix34Multiply( invBaseFrame, jointInvMats + 12 * joint->parent, matInv ); + Matrix34Multiply( invBaseFrame, iqmData->invBindJoints + 12 * joint->parent, matInv ); matInv += 12; } else @@ -837,16 +881,15 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na if( header->num_poses ) { - // calculate pose matrices + // calculate pose transforms + transform = iqmData->poses; framedata = (unsigned short *)((byte *)header + header->ofs_frames); - mat = iqmData->poseMats; for( i = 0; i < header->num_frames; i++ ) { pose = (iqmPose_t *)((byte *)header + header->ofs_poses); - for( j = 0; j < header->num_poses; j++, pose++ ) { + for( j = 0; j < header->num_poses; j++, pose++, transform++ ) { vec3_t translate; - vec4_t rotate; + quat_t rotate; vec3_t scale; - float mat1[12], mat2[12]; translate[0] = pose->channeloffset[0]; if( pose->mask & 0x001) @@ -881,18 +924,9 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na if( pose->mask & 0x200) scale[2] += *framedata++ * pose->channelscale[9]; - // construct transformation matrix - JointToMatrix( rotate, scale, translate, mat1 ); - - if( pose->parent >= 0 ) { - Matrix34Multiply( iqmData->jointMats + 12 * pose->parent, - mat1, mat2 ); - } else { - Com_Memcpy( mat2, mat1, sizeof(mat1) ); - } - - Matrix34Multiply( mat2, jointInvMats + 12 * j, mat ); - mat += 12; + VectorCopy( translate, transform->translate ); + QuatNormalize2( rotate, transform->rotate ); + VectorCopy( scale, transform->scale ); } } } @@ -1306,37 +1340,59 @@ void R_AddIQMSurfaces( trRefEntity_t *ent ) { static void ComputePoseMats( iqmData_t *data, int frame, int oldframe, - float backlerp, float *mat ) { - float *mat1, *mat2; - int *joint = data->jointParents; - int i; + float backlerp, float *poseMats ) { + iqmTransform_t relativeJoints[IQM_MAX_JOINTS]; + iqmTransform_t *relativeJoint; + const iqmTransform_t *pose; + const iqmTransform_t *oldpose; + const int *jointParent; + const float *invBindMat; + float *poseMat, lerp; + int i; + relativeJoint = relativeJoints; + + // copy or lerp animation frame pose if ( oldframe == frame ) { - mat1 = data->poseMats + 12 * data->num_poses * frame; - for( i = 0; i < data->num_poses; i++, joint++ ) { - if( *joint >= 0 ) { - Matrix34Multiply( mat + 12 * *joint, - mat1 + 12*i, mat + 12*i ); - } else { - Com_Memcpy( mat + 12*i, mat1 + 12*i, 12 * sizeof(float) ); - } + pose = &data->poses[frame * data->num_poses]; + for ( i = 0; i < data->num_poses; i++, pose++, relativeJoint++ ) { + VectorCopy( pose->translate, relativeJoint->translate ); + QuatCopy( pose->rotate, relativeJoint->rotate ); + VectorCopy( pose->scale, relativeJoint->scale ); } - } else { - mat1 = data->poseMats + 12 * data->num_poses * frame; - mat2 = data->poseMats + 12 * data->num_poses * oldframe; - - for( i = 0; i < data->num_poses; i++, joint++ ) { - if( *joint >= 0 ) { - float tmpMat[12]; - InterpolateMatrix( mat1 + 12*i, mat2 + 12*i, - backlerp, tmpMat ); - Matrix34Multiply( mat + 12 * *joint, - tmpMat, mat + 12*i ); - - } else { - InterpolateMatrix( mat1 + 12*i, mat2 + 12*i, - backlerp, mat + 12*i ); - } + } else { + lerp = 1.0f - backlerp; + pose = &data->poses[frame * data->num_poses]; + oldpose = &data->poses[oldframe * data->num_poses]; + for ( i = 0; i < data->num_poses; i++, oldpose++, pose++, relativeJoint++ ) { + relativeJoint->translate[0] = oldpose->translate[0] * backlerp + pose->translate[0] * lerp; + relativeJoint->translate[1] = oldpose->translate[1] * backlerp + pose->translate[1] * lerp; + relativeJoint->translate[2] = oldpose->translate[2] * backlerp + pose->translate[2] * lerp; + + relativeJoint->scale[0] = oldpose->scale[0] * backlerp + pose->scale[0] * lerp; + relativeJoint->scale[1] = oldpose->scale[1] * backlerp + pose->scale[1] * lerp; + relativeJoint->scale[2] = oldpose->scale[2] * backlerp + pose->scale[2] * lerp; + + QuatSlerp( oldpose->rotate, pose->rotate, lerp, relativeJoint->rotate ); + } + } + + // multiply by inverse of bind pose and parent 'pose mat' (bind pose transform matrix) + relativeJoint = relativeJoints; + jointParent = data->jointParents; + invBindMat = data->invBindJoints; + poseMat = poseMats; + for ( i = 0; i < data->num_poses; i++, relativeJoint++, jointParent++, invBindMat += 12, poseMat += 12 ) { + float mat1[12], mat2[12]; + + JointToMatrix( relativeJoint->rotate, relativeJoint->scale, relativeJoint->translate, mat1 ); + + if ( *jointParent >= 0 ) { + Matrix34Multiply( &data->bindJoints[(*jointParent)*12], mat1, mat2 ); + Matrix34Multiply( mat2, invBindMat, mat1 ); + Matrix34Multiply( &poseMats[(*jointParent)*12], mat1, poseMat ); + } else { + Matrix34Multiply( mat1, invBindMat, poseMat ); } } } @@ -1347,7 +1403,7 @@ static void ComputeJointMats( iqmData_t *data, int frame, int oldframe, int i; if ( data->num_poses == 0 ) { - Com_Memcpy( mat, data->jointMats, data->num_joints * 12 * sizeof(float) ); + Com_Memcpy( mat, data->bindJoints, data->num_joints * 12 * sizeof(float) ); return; } @@ -1359,7 +1415,7 @@ static void ComputeJointMats( iqmData_t *data, int frame, int oldframe, Com_Memcpy(outmat, mat1, sizeof(outmat)); - Matrix34Multiply( outmat, data->jointMats + 12*i, mat1 ); + Matrix34Multiply( outmat, data->bindJoints + 12*i, mat1 ); } }