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https://github.com/UberGames/lilium-voyager.git
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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.
This commit is contained in:
Zack Middleton
parent
d13d06424e
commit
d404519cce
5 changed files with 294 additions and 164 deletions
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@ -368,6 +368,8 @@ typedef vec_t vec3_t[3];
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typedef vec_t vec4_t[4];
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typedef vec_t vec5_t[5];
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typedef vec_t quat_t[4];
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typedef int fixed4_t;
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typedef int fixed8_t;
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typedef int fixed16_t;
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@ -578,6 +580,8 @@ typedef struct {
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#define Byte4Copy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2],(b)[3]=(a)[3])
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#define QuatCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2],(b)[3]=(a)[3])
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#define SnapVector(v) {v[0]=((int)(v[0]));v[1]=((int)(v[1]));v[2]=((int)(v[2]));}
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// just in case you don't want to use the macros
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vec_t _DotProduct( const vec3_t v1, const vec3_t v2 );
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@ -589,6 +589,12 @@ typedef struct {
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drawVert_t *verts;
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} srfTriangles_t;
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typedef struct {
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vec3_t translate;
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quat_t rotate;
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vec3_t scale;
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} iqmTransform_t;
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// inter-quake-model
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typedef struct {
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int num_vertexes;
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@ -623,8 +629,9 @@ typedef struct {
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char *jointNames;
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int *jointParents;
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float *jointMats;
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float *poseMats;
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float *bindJoints; // [num_joints * 12]
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float *invBindJoints; // [num_joints * 12]
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iqmTransform_t *poses; // [num_frames * num_poses]
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float *bounds;
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} iqmData_t;
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@ -2,6 +2,7 @@
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===========================================================================
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Copyright (C) 2011 Thilo Schulz <thilo@tjps.eu>
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Copyright (C) 2011 Matthias Bentrup <matthias.bentrup@googlemail.com>
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Copyright (C) 2011-2019 Zack Middleton <zturtleman@gmail.com>
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This file is part of Quake III Arena source code.
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@ -44,7 +45,7 @@ static qboolean IQM_CheckRange( iqmHeader_t *header, int offset,
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}
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// "multiply" 3x4 matrices, these are assumed to be the top 3 rows
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// of a 4x4 matrix with the last row = (0 0 0 1)
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static void Matrix34Multiply( float *a, float *b, float *out ) {
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static void Matrix34Multiply( const float *a, const float *b, float *out ) {
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out[ 0] = a[0] * b[0] + a[1] * b[4] + a[ 2] * b[ 8];
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out[ 1] = a[0] * b[1] + a[1] * b[5] + a[ 2] * b[ 9];
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out[ 2] = a[0] * b[2] + a[1] * b[6] + a[ 2] * b[10];
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@ -58,23 +59,7 @@ static void Matrix34Multiply( float *a, float *b, float *out ) {
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out[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10];
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out[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11];
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}
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static void InterpolateMatrix( float *a, float *b, float lerp, float *mat ) {
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float unLerp = 1.0f - lerp;
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mat[ 0] = a[ 0] * unLerp + b[ 0] * lerp;
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mat[ 1] = a[ 1] * unLerp + b[ 1] * lerp;
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mat[ 2] = a[ 2] * unLerp + b[ 2] * lerp;
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mat[ 3] = a[ 3] * unLerp + b[ 3] * lerp;
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mat[ 4] = a[ 4] * unLerp + b[ 4] * lerp;
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mat[ 5] = a[ 5] * unLerp + b[ 5] * lerp;
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mat[ 6] = a[ 6] * unLerp + b[ 6] * lerp;
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mat[ 7] = a[ 7] * unLerp + b[ 7] * lerp;
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mat[ 8] = a[ 8] * unLerp + b[ 8] * lerp;
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mat[ 9] = a[ 9] * unLerp + b[ 9] * lerp;
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mat[10] = a[10] * unLerp + b[10] * lerp;
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mat[11] = a[11] * unLerp + b[11] * lerp;
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}
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static void JointToMatrix( vec4_t rot, vec3_t scale, vec3_t trans,
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static void JointToMatrix( const quat_t rot, const vec3_t scale, const vec3_t trans,
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float *mat ) {
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float xx = 2.0f * rot[0] * rot[0];
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float yy = 2.0f * rot[1] * rot[1];
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@ -99,8 +84,7 @@ static void JointToMatrix( vec4_t rot, vec3_t scale, vec3_t trans,
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mat[10] = scale[2] * (1.0f - (xx + yy));
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mat[11] = trans[2];
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}
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static void Matrix34Invert( float *inMat, float *outMat )
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{
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static void Matrix34Invert( const float *inMat, float *outMat ) {
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vec3_t trans;
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float invSqrLen, *v;
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@ -120,6 +104,61 @@ static void Matrix34Invert( float *inMat, float *outMat )
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outMat[ 7] = -DotProduct(outMat + 4, trans);
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outMat[11] = -DotProduct(outMat + 8, trans);
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}
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static void QuatSlerp(const quat_t from, const quat_t _to, float fraction, quat_t out) {
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float angle, cosAngle, sinAngle, backlerp, lerp;
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quat_t to;
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// cos() of angle
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cosAngle = from[0] * _to[0] + from[1] * _to[1] + from[2] * _to[2] + from[3] * _to[3];
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// negative handling is needed for taking shortest path (required for model joints)
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if ( cosAngle < 0.0f ) {
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cosAngle = -cosAngle;
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to[0] = - _to[0];
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to[1] = - _to[1];
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to[2] = - _to[2];
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to[3] = - _to[3];
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} else {
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QuatCopy( _to, to );
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}
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if ( cosAngle < 0.999999f ) {
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// spherical lerp (slerp)
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angle = acosf( cosAngle );
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sinAngle = sinf( angle );
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backlerp = sinf( ( 1.0f - fraction ) * angle ) / sinAngle;
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lerp = sinf( fraction * angle ) / sinAngle;
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} else {
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// linear lerp
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backlerp = 1.0f - fraction;
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lerp = fraction;
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}
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out[0] = from[0] * backlerp + to[0] * lerp;
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out[1] = from[1] * backlerp + to[1] * lerp;
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out[2] = from[2] * backlerp + to[2] * lerp;
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out[3] = from[3] * backlerp + to[3] * lerp;
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}
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static vec_t QuatNormalize2( const quat_t v, quat_t out) {
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float length, ilength;
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length = v[0]*v[0] + v[1]*v[1] + v[2]*v[2] + v[3]*v[3];
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if (length) {
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/* writing it this way allows gcc to recognize that rsqrt can be used */
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ilength = 1/(float)sqrt (length);
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/* sqrt(length) = length * (1 / sqrt(length)) */
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length *= ilength;
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out[0] = v[0]*ilength;
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out[1] = v[1]*ilength;
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out[2] = v[2]*ilength;
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out[3] = v[3]*ilength;
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} else {
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out[0] = out[1] = out[2] = out[3] = 0;
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}
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return length;
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}
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/*
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=================
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@ -139,7 +178,7 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na
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unsigned short *framedata;
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char *str;
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int i, j, k;
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float jointInvMats[IQM_MAX_JOINTS * 12] = {0.0f};
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iqmTransform_t *transform;
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float *mat, *matInv;
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size_t size, joint_names;
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byte *dataPtr;
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@ -559,10 +598,11 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na
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if( header->num_joints ) {
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size += joint_names; // joint names
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size += header->num_joints * sizeof(int); // joint parents
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size += header->num_joints * 12 * sizeof( float ); // joint mats
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size += header->num_joints * 12 * sizeof(float); // bind joint matricies
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size += header->num_joints * 12 * sizeof(float); // inverse bind joint matricies
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}
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if( header->num_poses ) {
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size += header->num_poses * header->num_frames * 12 * sizeof( float ); // pose mats
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size += header->num_poses * header->num_frames * sizeof(iqmTransform_t); // pose transforms
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}
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if( header->ofs_bounds ) {
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size += header->num_frames * 6 * sizeof(float); // model bounds
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@ -633,12 +673,15 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na
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iqmData->jointParents = (int*)dataPtr;
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dataPtr += header->num_joints * sizeof(int); // joint parents
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iqmData->jointMats = (float*)dataPtr;
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dataPtr += header->num_joints * 12 * sizeof( float ); // joint mats
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iqmData->bindJoints = (float*)dataPtr;
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dataPtr += header->num_joints * 12 * sizeof(float); // bind joint matricies
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iqmData->invBindJoints = (float*)dataPtr;
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dataPtr += header->num_joints * 12 * sizeof(float); // inverse bind joint matricies
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}
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if( header->num_poses ) {
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iqmData->poseMats = (float*)dataPtr;
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dataPtr += header->num_poses * header->num_frames * 12 * sizeof( float ); // pose mats
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iqmData->poses = (iqmTransform_t*)dataPtr;
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dataPtr += header->num_poses * header->num_frames * sizeof(iqmTransform_t); // pose transforms
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}
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if( header->ofs_bounds ) {
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iqmData->bounds = (float*)dataPtr;
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@ -804,22 +847,23 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na
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iqmData->jointParents[i] = joint->parent;
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}
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// calculate joint matrices and their inverses
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// joint inverses are needed only until the pose matrices are calculated
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mat = iqmData->jointMats;
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matInv = jointInvMats;
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// calculate bind joint matrices and their inverses
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mat = iqmData->bindJoints;
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matInv = iqmData->invBindJoints;
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joint = (iqmJoint_t *)((byte *)header + header->ofs_joints);
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for( i = 0; i < header->num_joints; i++, joint++ ) {
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float baseFrame[12], invBaseFrame[12];
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QuatNormalize2( joint->rotate, joint->rotate );
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JointToMatrix( joint->rotate, joint->scale, joint->translate, baseFrame );
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Matrix34Invert( baseFrame, invBaseFrame );
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if ( joint->parent >= 0 )
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{
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Matrix34Multiply( iqmData->jointMats + 12 * joint->parent, baseFrame, mat );
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Matrix34Multiply( iqmData->bindJoints + 12 * joint->parent, baseFrame, mat );
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mat += 12;
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Matrix34Multiply( invBaseFrame, jointInvMats + 12 * joint->parent, matInv );
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Matrix34Multiply( invBaseFrame, iqmData->invBindJoints + 12 * joint->parent, matInv );
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matInv += 12;
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}
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else
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@ -834,16 +878,15 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na
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if( header->num_poses )
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{
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// calculate pose matrices
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// calculate pose transforms
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transform = iqmData->poses;
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framedata = (unsigned short *)((byte *)header + header->ofs_frames);
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mat = iqmData->poseMats;
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for( i = 0; i < header->num_frames; i++ ) {
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pose = (iqmPose_t *)((byte *)header + header->ofs_poses);
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for( j = 0; j < header->num_poses; j++, pose++ ) {
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for( j = 0; j < header->num_poses; j++, pose++, transform++ ) {
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vec3_t translate;
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vec4_t rotate;
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quat_t rotate;
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vec3_t scale;
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float mat1[12], mat2[12];
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translate[0] = pose->channeloffset[0];
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if( pose->mask & 0x001)
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@ -878,18 +921,9 @@ qboolean R_LoadIQM( model_t *mod, void *buffer, int filesize, const char *mod_na
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if( pose->mask & 0x200)
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scale[2] += *framedata++ * pose->channelscale[9];
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// construct transformation matrix
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JointToMatrix( rotate, scale, translate, mat1 );
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if( pose->parent >= 0 ) {
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Matrix34Multiply( iqmData->jointMats + 12 * pose->parent,
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mat1, mat2 );
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} else {
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Com_Memcpy( mat2, mat1, sizeof(mat1) );
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}
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Matrix34Multiply( mat2, jointInvMats + 12 * j, mat );
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mat += 12;
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VectorCopy( translate, transform->translate );
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QuatNormalize2( rotate, transform->rotate );
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VectorCopy( scale, transform->scale );
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}
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}
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}
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@ -1128,38 +1162,60 @@ void R_AddIQMSurfaces( trRefEntity_t *ent ) {
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static void ComputePoseMats( iqmData_t *data, int frame, int oldframe,
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float backlerp, float *mat ) {
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float *mat1, *mat2;
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int *joint = data->jointParents;
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float backlerp, float *poseMats ) {
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iqmTransform_t relativeJoints[IQM_MAX_JOINTS];
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iqmTransform_t *relativeJoint;
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const iqmTransform_t *pose;
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const iqmTransform_t *oldpose;
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const int *jointParent;
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const float *invBindMat;
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float *poseMat, lerp;
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int i;
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relativeJoint = relativeJoints;
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// copy or lerp animation frame pose
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if ( oldframe == frame ) {
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mat1 = data->poseMats + 12 * data->num_poses * frame;
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for( i = 0; i < data->num_poses; i++, joint++ ) {
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if( *joint >= 0 ) {
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Matrix34Multiply( mat + 12 * *joint,
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mat1 + 12*i, mat + 12*i );
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} else {
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Com_Memcpy( mat + 12*i, mat1 + 12*i, 12 * sizeof(float) );
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}
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pose = &data->poses[frame * data->num_poses];
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for ( i = 0; i < data->num_poses; i++, pose++, relativeJoint++ ) {
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VectorCopy( pose->translate, relativeJoint->translate );
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QuatCopy( pose->rotate, relativeJoint->rotate );
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VectorCopy( pose->scale, relativeJoint->scale );
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}
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} else {
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mat1 = data->poseMats + 12 * data->num_poses * frame;
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mat2 = data->poseMats + 12 * data->num_poses * oldframe;
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lerp = 1.0f - backlerp;
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pose = &data->poses[frame * data->num_poses];
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oldpose = &data->poses[oldframe * data->num_poses];
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for ( i = 0; i < data->num_poses; i++, oldpose++, pose++, relativeJoint++ ) {
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relativeJoint->translate[0] = oldpose->translate[0] * backlerp + pose->translate[0] * lerp;
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relativeJoint->translate[1] = oldpose->translate[1] * backlerp + pose->translate[1] * lerp;
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relativeJoint->translate[2] = oldpose->translate[2] * backlerp + pose->translate[2] * lerp;
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for( i = 0; i < data->num_poses; i++, joint++ ) {
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if( *joint >= 0 ) {
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float tmpMat[12];
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InterpolateMatrix( mat1 + 12*i, mat2 + 12*i,
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backlerp, tmpMat );
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Matrix34Multiply( mat + 12 * *joint,
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tmpMat, mat + 12*i );
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relativeJoint->scale[0] = oldpose->scale[0] * backlerp + pose->scale[0] * lerp;
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relativeJoint->scale[1] = oldpose->scale[1] * backlerp + pose->scale[1] * lerp;
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relativeJoint->scale[2] = oldpose->scale[2] * backlerp + pose->scale[2] * lerp;
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} else {
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InterpolateMatrix( mat1 + 12*i, mat2 + 12*i,
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backlerp, mat + 12*i );
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QuatSlerp( oldpose->rotate, pose->rotate, lerp, relativeJoint->rotate );
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}
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}
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// multiply by inverse of bind pose and parent 'pose mat' (bind pose transform matrix)
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relativeJoint = relativeJoints;
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jointParent = data->jointParents;
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invBindMat = data->invBindJoints;
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poseMat = poseMats;
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for ( i = 0; i < data->num_poses; i++, relativeJoint++, jointParent++, invBindMat += 12, poseMat += 12 ) {
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float mat1[12], mat2[12];
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JointToMatrix( relativeJoint->rotate, relativeJoint->scale, relativeJoint->translate, mat1 );
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if ( *jointParent >= 0 ) {
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Matrix34Multiply( &data->bindJoints[(*jointParent)*12], mat1, mat2 );
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Matrix34Multiply( mat2, invBindMat, mat1 );
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Matrix34Multiply( &poseMats[(*jointParent)*12], mat1, poseMat );
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} else {
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Matrix34Multiply( mat1, invBindMat, poseMat );
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}
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}
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}
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@ -1169,7 +1225,7 @@ static void ComputeJointMats( iqmData_t *data, int frame, int oldframe,
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int i;
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if ( data->num_poses == 0 ) {
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Com_Memcpy( mat, data->jointMats, data->num_joints * 12 * sizeof(float) );
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Com_Memcpy( mat, data->bindJoints, data->num_joints * 12 * sizeof(float) );
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return;
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}
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@ -1181,7 +1237,7 @@ static void ComputeJointMats( iqmData_t *data, int frame, int oldframe,
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Com_Memcpy(outmat, mat1, sizeof(outmat));
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Matrix34Multiply( outmat, data->jointMats + 12*i, mat1 );
|
||||
Matrix34Multiply( outmat, data->bindJoints + 12*i, mat1 );
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
===========================================================================
|
||||
Copyright (C) 2011 Thilo Schulz <thilo@tjps.eu>
|
||||
Copyright (C) 2011 Matthias Bentrup <matthias.bentrup@googlemail.com>
|
||||
Copyright (C) 2011-2019 Zack Middleton <zturtleman@gmail.com>
|
||||
|
||||
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 );
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1306,38 +1340,60 @@ 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;
|
||||
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;
|
||||
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;
|
||||
|
||||
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 );
|
||||
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;
|
||||
|
||||
} else {
|
||||
InterpolateMatrix( mat1 + 12*i, mat2 + 12*i,
|
||||
backlerp, mat + 12*i );
|
||||
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 );
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue