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Diffstat (limited to 'Runtime/mecanim/skeleton/skeleton.h')
| -rw-r--r-- | Runtime/mecanim/skeleton/skeleton.h | 186 |
1 files changed, 186 insertions, 0 deletions
diff --git a/Runtime/mecanim/skeleton/skeleton.h b/Runtime/mecanim/skeleton/skeleton.h new file mode 100644 index 0000000..e9e9c4b --- /dev/null +++ b/Runtime/mecanim/skeleton/skeleton.h @@ -0,0 +1,186 @@ +#pragma once + +#include "Runtime/mecanim/defs.h" +#include "Runtime/mecanim/memory.h" +#include "Runtime/mecanim/types.h" +#include "Runtime/Math/Simd/xform.h" +#include "Runtime/mecanim/math/axes.h" + + +#include "Runtime/Serialize/Blobification/offsetptr.h" +#include "Runtime/Serialize/TransferFunctions/SerializeTransfer.h" +#include "Runtime/Animation/MecanimArraySerialization.h" + +namespace mecanim +{ +namespace skeleton +{ + struct Node + { + DEFINE_GET_TYPESTRING(Node) + + Node() : m_ParentId(-1), m_AxesId(-1) {} + int32_t m_ParentId; + int32_t m_AxesId; + + template<class TransferFunction> + inline void Transfer (TransferFunction& transfer) + { + TRANSFER(m_ParentId); + TRANSFER(m_AxesId); + } + }; + + struct Skeleton + { + DEFINE_GET_TYPESTRING(Skeleton) + + Skeleton() : m_Count(0), m_AxesCount(0) {} + + uint32_t m_Count; + OffsetPtr<Node> m_Node; + OffsetPtr<uint32_t> m_ID; // CRC(path) + + uint32_t m_AxesCount; + OffsetPtr<math::Axes> m_AxesArray; + + template<class TransferFunction> + inline void Transfer (TransferFunction& transfer) + { + TRANSFER_BLOB_ONLY(m_Count); + MANUAL_ARRAY_TRANSFER2(Node, m_Node, m_Count); + MANUAL_ARRAY_TRANSFER2(uint32_t, m_ID, m_Count); + TRANSFER_BLOB_ONLY(m_AxesCount); + MANUAL_ARRAY_TRANSFER2(math::Axes, m_AxesArray, m_AxesCount); + } + }; + + struct ATTRIBUTE_ALIGN(ALIGN4F) SkeletonPose + { + DEFINE_GET_TYPESTRING(SkeletonPose) + + SkeletonPose() : m_Count(0) {} + + uint32_t m_Count; + OffsetPtr<math::xform> m_X; + + template<class TransferFunction> + inline void Transfer (TransferFunction& transfer) + { + TRANSFER_BLOB_ONLY(m_Count); + MANUAL_ARRAY_TRANSFER2(math::xform, m_X, m_Count); + } + }; + + struct SkeletonMaskElement + { + DEFINE_GET_TYPESTRING(SkeletonMaskElement) + + SkeletonMaskElement(): m_PathHash(0), m_Weight(0.f){} + + uint32_t m_PathHash; + float m_Weight; + + template<class TransferFunction> + inline void Transfer (TransferFunction& transfer) + { + TRANSFER(m_PathHash); + TRANSFER(m_Weight); + } + }; + + struct SkeletonMask + { + DEFINE_GET_TYPESTRING(SkeletonMask) + + SkeletonMask():m_Count(0){} + + uint32_t m_Count; + OffsetPtr<SkeletonMaskElement> m_Data; + + template<class TransferFunction> + inline void Transfer (TransferFunction& transfer) + { + TRANSFER_BLOB_ONLY(m_Count); + MANUAL_ARRAY_TRANSFER2(SkeletonMaskElement, m_Data, m_Count); + } + }; + + Skeleton* CreateSkeleton(int32_t aNodeCount, int32_t aAxesCount, memory::Allocator& arAlloc); + void DestroySkeleton(Skeleton* apSkeleton, memory::Allocator& arAlloc); + + SkeletonPose* CreateSkeletonPose(Skeleton const* apSkeleton, memory::Allocator& arAlloc); + void DestroySkeletonPose(SkeletonPose* apSkeletonPose, memory::Allocator& arAlloc); + + SkeletonMask* CreateSkeletonMask(uint32_t aNodeCount, SkeletonMaskElement* elements, memory::Allocator& arAlloc); + void DestroySkeletonMask(SkeletonMask* skeletonMask, memory::Allocator& arAlloc); + + // copy skeleton + void SkeletonCopy(Skeleton const* apSrc, Skeleton* apDst); + + // copy pose + void SkeletonPoseCopy(SkeletonPose const* apSrcPose, SkeletonPose* apDstPose); + void SkeletonPoseCopy(SkeletonPose const* apSrcPose, SkeletonPose* apDstPose, uint32_t aIndexCount, int32_t const *apIndexArray); + + // Find & Copy pose based on name binding + int32_t SkeletonFindNode(Skeleton const *apSkeleton, uint32_t aID); + void SkeletonBuildIndexArray(int32_t *indexArray,Skeleton const* apSrcSkeleton,Skeleton const* apDstSkeleton); + void SkeletonBuildReverseIndexArray(int32_t *reverseIndexArray,int32_t const*indexArray,Skeleton const* apSrcSkeleton,Skeleton const* apDstSkeleton); + void SkeletonPoseCopy(Skeleton const* apSrcSkeleton, SkeletonPose const* apSrcPose, Skeleton const* apDstSkeleton, SkeletonPose* apDstPose); + + // set mask for a skeleton mask array + void SkeletonPoseSetDirty(Skeleton const* apSkeleton, uint32_t* apSkeletonPoseMask, int aIndex, int aStopIndex, uint32_t aMask); + + // those functions work in place + // computes a global pose from a local pose + void SkeletonPoseComputeGlobal(Skeleton const* apSkeleton, SkeletonPose const* apLocalPose, SkeletonPose* apGlobalPose); + // computes a global pose from a local pose for part of the skeleton starting at aIndex (child) to aStopIndex (ancestor) + void SkeletonPoseComputeGlobal(Skeleton const* apSkeleton, SkeletonPose const* apSkeletonPoseLocal, SkeletonPose* apSkeletonPoseGlobal, int aIndex, int aStopIndex); + // computes a local pose from a global pose + void SkeletonPoseComputeLocal(Skeleton const* apSkeleton, SkeletonPose const* apGlobalPose, SkeletonPose* apLocalPose); + // computes a local pose from a global pose for part of the skeleton starting at aIndex (child) to aStopIndex (ancestor) + void SkeletonPoseComputeLocal(Skeleton const* apSkeleton, SkeletonPose const* apSkeletonPoseGlobal, SkeletonPose* apSkeletonPoseLocal, int aIndex, int aStopIndex); + // computes a global Q pose from a local Q pose + void SkeletonPoseComputeGlobalQ(Skeleton const* apSkeleton, SkeletonPose const* apSkeletonPoseLocal, SkeletonPose* apSkeletonPoseGlobal); + // computes a global Q pose from a local Q pose for part of the skeleton starting at aIndex (child) to aStopIndex (ancestor) + void SkeletonPoseComputeGlobalQ(Skeleton const* apSkeleton, SkeletonPose const* apSkeletonPoseLocal, SkeletonPose* apSkeletonPoseGlobal, int aIndex, int aStopIndex); + // computes a local Q pose from a global Q pose + void SkeletonPoseComputeLocalQ(Skeleton const* apSkeleton, SkeletonPose const* apSkeletonPoseGlobal, SkeletonPose* apSkeletonPoseLocal); + // computes a local Q pose from a global Q pose for part of the skeleton starting at aIndex (child) to aStopIndex (ancestor) + void SkeletonPoseComputeLocalQ(Skeleton const* apSkeleton, SkeletonPose const* apSkeletonPoseGlobal, SkeletonPose* apSkeletonPoseLocal, int aIndex, int aStopIndex); + + // get dof for bone index in pose + math::float4 SkeletonGetDoF(Skeleton const* apSkeleton,SkeletonPose const *apSkeletonPose, int32_t aIndex); + // set dof for bone index in pose + void SkeletonSetDoF(Skeleton const* apSkeleton, SkeletonPose * apSkeletonPose, math::float4 const& aDoF, int32_t aIndex); + // algin x axis of skeleton node quaternion to ref node quaternion + void SkeletonAlign(skeleton::Skeleton const *apSkeleton, math::float4 const &arRefQ, math::float4 & arQ, int32_t aIndex); + // algin x axis of skeleton pose node to ref pose node + void SkeletonAlign(skeleton::Skeleton const *apSkeleton, skeleton::SkeletonPose const*apSkeletonPoseRef, skeleton::SkeletonPose *apSkeletonPose, int32_t aIndex); + + // ik + // compute end point of a node which is x * xcos * lenght. + math::float4 SkeletonNodeEndPoint(Skeleton const *apSkeleton, int32_t aIndex, SkeletonPose const*apSkeletonPose); + // The apSkeletonPoseWorkspace parameter has to be a valid global pose, otherwise unexpected result may occur + void Skeleton2BoneAdjustLength(Skeleton const *apSkeleton, int32_t aIndexA, int32_t aIndexB, int32_t aIndexC, math::float4 const &aTarget, math::float1 const& aRatio, SkeletonPose *apSkeletonPose, SkeletonPose *apSkeletonPoseWorkspace); + // The apSkeletonPoseWorkspace parameter has to be a valid global pose, otherwise unexpected result may occur + void Skeleton2BoneIK(Skeleton const *apSkeleton, int32_t aIndexA, int32_t aIndexB, int32_t aIndexC, math::float4 const &aTarget, float aWeight, SkeletonPose *apSkeletonPose, SkeletonPose *apSkeletonPoseWorkspace); + // The apSkeletonPoseWorkspace parameter has to be a valid global pose, otherwise unexpected result may occur + void Skeleton3BoneIK(Skeleton const *apSkeleton, int32_t aIndexA, int32_t aIndexB, int32_t aIndexC, math::float4 const &aTarget, float weight, SkeletonPose *apSkeletonPose, SkeletonPose *apSkeletonPoseWorkspace); + + // setup axes utilities + struct SetupAxesInfo + { + float m_PreQ[4]; + float m_MainAxis[4]; + float m_Min[4]; + float m_Max[4]; + float m_Sgn[4]; + math::AxesType m_Type; + int32_t m_ForceAxis; + }; + + void SetupAxes(skeleton::Skeleton *apSkeleton, skeleton::SkeletonPose const *apSkeletonPoseGlobal, SetupAxesInfo const& apSetupAxesInfo, int32_t aIndex, int32_t aAxisIndex, bool aLeft, float aLen = 1.0f); +} + +} |