1 files changed, 517 insertions, 0 deletions

diff --git a/src/animation.c b/src/animation.c
new file mode 100644
index 0000000..c52df73
--- /dev/null
+++ b/src/animation.c
@@ -0,0 +1,517 @@
+#include "animation_impl.h"
+
+#include "memory.h"
+
+#include <string.h>
+
+// #include <log/log.h> // Debugging.
+
+static const R PLAYBACK_UNINITIALIZED = -1;
+
+static joint_idx get_anima_root_joint_index(Anima* anima) {
+  assert(anima);
+  assert(anima->num_joints > 0);
+  assert(anima->num_joints < GFX_MAX_NUM_JOINTS);
+  return anima->num_joints - 1;
+}
+
+static Joint* get_anima_root_joint(Anima* anima) {
+  assert(anima);
+  return &anima->joints[get_anima_root_joint_index(anima)];
+}
+
+static const Joint* get_anima_joint(const Anima* anima, joint_idx index) {
+  assert(anima);
+  assert(index < GFX_MAX_NUM_JOINTS);
+  assert(index != INDEX_NONE);
+  assert(index < anima->num_joints);
+  return &anima->joints[index];
+}
+
+static Joint* get_anima_joint_mut(Anima* anima, joint_idx index) {
+  return (Joint*)get_anima_joint(anima, index);
+}
+
+static const Joint* get_skeleton_joint(
+    const Anima* anima, const Skeleton* skeleton, joint_idx index) {
+  assert(anima);
+  assert(skeleton);
+  return get_anima_joint(anima, skeleton->joints[index]);
+}
+
+static void set_joint_parent(
+    Anima* anima, joint_idx joint_index, joint_idx parent_index) {
+  assert(anima);
+  assert(joint_index != INDEX_NONE);
+  assert(joint_index != get_anima_root_joint_index(anima));
+  assert(parent_index != INDEX_NONE);
+
+  Joint* parent = get_anima_joint_mut(anima, parent_index);
+
+  if (parent->child == INDEX_NONE) {
+    parent->child = joint_index;
+  } else {
+    // Find the last child in the chain of children.
+    Joint* child = get_anima_joint_mut(anima, parent->child);
+    while (child->next != INDEX_NONE) {
+      child = get_anima_joint_mut(anima, child->next);
+    }
+    // Wire up this joint as the last child's sibling.
+    child->next = joint_index;
+  }
+}
+
+static void make_joint(Anima* anima, const JointDesc* desc, Joint* joint) {
+  assert(anima);
+  assert(desc);
+  assert(joint);
+
+  // The joint matrix needs to be initialized so that meshes look right even if
+  // no animation is played. Initializing joint matrices to the identity makes
+  // meshes appear in their bind pose.
+  joint->child           = INDEX_NONE;
+  joint->next            = INDEX_NONE;
+  joint->transform       = mat4_id();
+  joint->inv_bind_matrix = desc->inv_bind_matrix;
+  joint->joint_matrix    = mat4_id();
+  joint->box             = desc->box;
+}
+
+static Skeleton* make_skeleton(const SkeletonDesc* desc) {
+  assert(desc);
+  assert(desc->num_joints <= GFX_MAX_NUM_JOINTS);
+
+  Skeleton* skeleton   = mem_alloc_skeleton();
+  skeleton->num_joints = desc->num_joints;
+  memcpy(
+      skeleton->joints, desc->joints,
+      desc->num_joints * sizeof(skeleton->joints[0]));
+  return skeleton;
+}
+
+static Animation* make_animation(const AnimationDesc* desc) {
+  assert(desc);
+  assert(desc->num_channels < GFX_MAX_NUM_CHANNELS);
+
+  Animation* animation    = mem_alloc_animation();
+  animation->name         = desc->name;
+  animation->duration     = 0;
+  animation->num_channels = desc->num_channels;
+  R start_time            = 0;
+  R end_time              = 0;
+
+  for (size_t c = 0; c < desc->num_channels; ++c) {
+    const ChannelDesc* channel_desc = &desc->channels[c];
+    Channel*           channel      = &animation->channels[c];
+
+    channel->target        = channel_desc->target;
+    channel->type          = channel_desc->type;
+    channel->interpolation = channel_desc->interpolation;
+    channel->num_keyframes = channel_desc->num_keyframes;
+    assert(channel_desc->num_keyframes < GFX_MAX_NUM_KEYFRAMES);
+
+    for (size_t k = 0; k < channel_desc->num_keyframes; ++k) {
+      const KeyframeDesc* keyframe_desc = &channel_desc->keyframes[k];
+      Keyframe*           keyframe      = &channel->keyframes[k];
+
+      keyframe->time        = keyframe_desc->time;
+      keyframe->translation = keyframe_desc->translation;
+      keyframe->rotation    = keyframe_desc->rotation;
+
+      start_time = keyframe->time < start_time ? keyframe->time : start_time;
+      end_time   = keyframe->time > end_time ? keyframe->time : end_time;
+    }
+  }
+
+  // LOGD("Animation start/end: %f / %f", start_time, end_time);
+  animation->duration = end_time - start_time;
+  assert(animation->duration >= 0);
+  return animation;
+}
+
+Anima* gfx_make_anima(const AnimaDesc* desc) {
+  assert(desc);
+  assert(desc->num_joints > 0);
+  assert(desc->num_joints <= GFX_MAX_NUM_JOINTS);
+  // All joints should have a parent except for the root.
+  for (size_t i = 0; i < desc->num_joints - 1; ++i) {
+    const joint_idx parent = desc->joints[i].parent;
+    assert(parent != INDEX_NONE);
+    assert(parent < desc->num_joints);
+  }
+  // The root should have no parent.
+  assert(desc->joints[desc->num_joints - 1].parent == INDEX_NONE);
+
+  Anima* anima = mem_alloc_anima();
+
+  // Wire the skeletons in the same order they are given in the descriptor.
+  Skeleton* last_skeleton = 0;
+  for (size_t i = 0; i < desc->num_skeletons; ++i) {
+    Skeleton*          skeleton       = make_skeleton(&desc->skeletons[i]);
+    const skeleton_idx skeleton_index = mem_get_skeleton_index(skeleton);
+    if (last_skeleton == 0) {
+      anima->skeleton = skeleton_index;
+    } else {
+      last_skeleton->next = skeleton_index;
+    }
+    last_skeleton = skeleton;
+  }
+
+  // Wire the animations in the same order they are given in the descriptor.
+  Animation* last_animation = 0;
+  for (size_t i = 0; i < desc->num_animations; ++i) {
+    Animation*          animation       = make_animation(&desc->animations[i]);
+    const animation_idx animation_index = mem_get_animation_index(animation);
+    if (last_animation == 0) {
+      anima->animation = animation_index;
+    } else {
+      last_animation->next = animation_index;
+    }
+    last_animation = animation;
+  }
+
+  // Create joints.
+  anima->num_joints = desc->num_joints;
+  // Initialize all joints.
+  // Child and sibling pointers must be initialized before wiring up the
+  // hierarchy.
+  for (size_t i = 0; i < desc->num_joints; ++i) {
+    Joint* joint = get_anima_joint_mut(anima, i);
+    make_joint(anima, &desc->joints[i], joint);
+  }
+  // Wire up joints to their parents. -1 to skip the root.
+  for (size_t i = 0; i < desc->num_joints - 1; ++i) {
+    set_joint_parent(anima, i, desc->joints[i].parent);
+  }
+
+  return anima;
+}
+
+void gfx_destroy_anima(Anima** anima) {
+  assert(anima);
+
+  if (*anima) {
+    for (skeleton_idx i = (*anima)->skeleton; i.val != 0;) {
+      Skeleton* skeleton = mem_get_skeleton(i);
+      i                  = skeleton->next;
+      mem_free_skeleton(&skeleton);
+    }
+
+    for (animation_idx i = (*anima)->animation; i.val != 0;) {
+      Animation* animation = mem_get_animation(i);
+      i                    = animation->next;
+      mem_free_animation(&animation);
+    }
+
+    mem_free_anima(anima);
+  }
+}
+
+static Animation* find_animation(animation_idx index, const char* name) {
+  assert(name);
+
+  while (index.val != 0) {
+    Animation* animation = mem_get_animation(index);
+    if (sstring_eq_cstr(animation->name, name)) {
+      // LOGD(
+      //     "Found animation at index %u, %s - %s", index.val,
+      //     sstring_cstr(&animation->name), name);
+      // LOGD("Animation has duration %f", animation->duration);
+      return animation;
+    }
+    index = animation->next;
+  }
+
+  return 0;
+}
+
+bool gfx_play_animation(Anima* anima, const AnimationPlaySettings* settings) {
+  assert(anima);
+  assert(settings);
+
+  // TODO: Should we animate at t=0 here to kickstart the animation? Otherwise
+  //  the client is forced to call gfx_update_animation() to do this.
+  Animation* animation = find_animation(anima->animation, settings->name);
+  if (!animation) {
+    return false;
+  }
+  // Playback initialized on first call to update().
+  AnimationState* state = &anima->state;
+  state->start_time     = PLAYBACK_UNINITIALIZED;
+  state->animation      = mem_get_animation_index(animation);
+  state->loop           = settings->loop;
+  return true;
+}
+
+static void gfx_set_joint_position(Joint* joint, vec3 position) {
+  assert(joint);
+  mat4_set_v3(&joint->transform, position);
+}
+
+static void gfx_set_joint_rotation(Joint* joint, quat rotation) {
+  assert(joint);
+  mat4_set_3x3(&joint->transform, mat4_from_quat(rotation));
+}
+
+static void find_keyframes(const Channel* channel, R t, int* prev, int* next) {
+  assert(channel);
+  assert(prev);
+  assert(next);
+
+  *prev = -1;
+  *next = 0;
+  while (((*next + 1) < (int)channel->num_keyframes) &&
+         (t >= channel->keyframes[*next + 1].time)) {
+    (*prev)++;
+    (*next)++;
+  }
+}
+
+static R normalize_time(R a, R b, R t) {
+  assert(a <= t);
+  assert(t <= b);
+  return (t - a) / (b - a);
+}
+
+static quat interpolate_rotation(
+    const Channel* channel, int prev, int next, R t) {
+  assert(channel);
+
+  if (next == 0) {
+    // Animation has not started at this point in time yet.
+    return channel->keyframes[next].rotation;
+  } else {
+    switch (channel->interpolation) {
+    case StepInterpolation:
+      return channel->keyframes[prev].rotation;
+    case LinearInterpolation: {
+      const R normalized_t = normalize_time(
+          channel->keyframes[prev].time, channel->keyframes[next].time, t);
+      return qnormalize(qslerp(
+          channel->keyframes[prev].rotation, channel->keyframes[next].rotation,
+          normalized_t));
+      break;
+    }
+    case CubicSplineInterpolation:
+      assert(false); // TODO
+      return qmake(0, 0, 0, 0);
+    default:
+      assert(false);
+      return qmake(0, 0, 0, 0);
+    }
+  }
+}
+
+static vec3 interpolate_translation(
+    const Channel* channel, int prev, int next, R t) {
+  assert(channel);
+
+  if (next == 0) {
+    // Animation has not started at this point in time yet.
+    return channel->keyframes[next].translation;
+  } else {
+    switch (channel->interpolation) {
+    case StepInterpolation:
+      return channel->keyframes[prev].translation;
+    case LinearInterpolation: {
+      const R normalized_t = normalize_time(
+          channel->keyframes[prev].time, channel->keyframes[next].time, t);
+      return vec3_lerp(
+          channel->keyframes[prev].translation,
+          channel->keyframes[next].translation, normalized_t);
+      break;
+    }
+    case CubicSplineInterpolation:
+      assert(false); // TODO
+      return vec3_make(0, 0, 0);
+    default:
+      assert(false);
+      return vec3_make(0, 0, 0);
+    }
+  }
+}
+
+static void animate_channel(Anima* anima, const Channel* channel, R t) {
+  assert(anima);
+  assert(channel);
+  assert(channel->target < anima->num_joints);
+
+  int prev, next;
+  find_keyframes(channel, t, &prev, &next);
+
+  // Note that not all channels extend to the duration of an animation; some
+  // channels may stop animating their targets earlier. Clamp the animation time
+  // to the channel's end keyframe to make the rest of the math (normalize_time)
+  // work.
+  t = t > channel->keyframes[next].time ? channel->keyframes[next].time : t;
+
+  Joint* target = get_anima_joint_mut(anima, channel->target);
+
+  switch (channel->type) {
+  case RotationChannel: {
+    const quat rotation = interpolate_rotation(channel, prev, next, t);
+    gfx_set_joint_rotation(target, rotation);
+    break;
+  }
+  case TranslationChannel: {
+    const vec3 translation = interpolate_translation(channel, prev, next, t);
+    gfx_set_joint_position(target, translation);
+    break;
+  }
+  // Not yet supported.
+  case ScaleChannel:
+  case WeightsChannel:
+  default:
+    // TODO: Add back the assertion or add support for scaling.
+    // assert(false);
+    break;
+  }
+}
+
+static void compute_joint_matrices_rec(
+    Anima* anima, Joint* joint, const mat4* parent_global_joint_transform,
+    const mat4* root_inv_global_transform) {
+  assert(anima);
+  assert(joint);
+  assert(parent_global_joint_transform);
+  assert(root_inv_global_transform);
+
+  const mat4 global_joint_transform =
+      mat4_mul(*parent_global_joint_transform, joint->transform);
+
+  // Compute this joint's matrix.
+  joint->joint_matrix = mat4_mul(
+      *root_inv_global_transform,
+      mat4_mul(global_joint_transform, joint->inv_bind_matrix));
+
+  // Recursively compute the joint matrices for this joint's siblings.
+  if (joint->next != INDEX_NONE) {
+    Joint* sibling = get_anima_joint_mut(anima, joint->next);
+
+    compute_joint_matrices_rec(
+        anima, sibling, parent_global_joint_transform,
+        root_inv_global_transform);
+  }
+
+  // Recursively compute the joint matrices for this joint's children.
+  if (joint->child != INDEX_NONE) {
+    Joint* child = get_anima_joint_mut(anima, joint->child);
+
+    compute_joint_matrices_rec(
+        anima, child, &global_joint_transform, root_inv_global_transform);
+  }
+}
+
+void gfx_update_animation(Anima* anima, R t) {
+  assert(anima);
+
+  AnimationState* state = &anima->state;
+  if (state->animation.val == 0) {
+    return; // No active animation.
+  }
+  const Animation* animation = mem_get_animation(state->animation);
+  assert(animation);
+
+  // On a call to play(), the start time is set to -1 to signal that the
+  // animation playback has not yet been initialized.
+  if (state->start_time == PLAYBACK_UNINITIALIZED) {
+    state->start_time = t;
+  }
+  // Locate the current time point inside the animation's timeline.
+  assert(t >= state->start_time);
+  assert(animation->duration >= 0.0);
+  const R local_time     = t - state->start_time;
+  const R animation_time = state->loop
+                               ? rmod(local_time, animation->duration)
+                               : clamp(local_time, 0.0, animation->duration);
+
+  // LOGD(
+  //     "animation_time = %f, animation duration: %f", animation_time,
+  //     animation->duration);
+
+  // Play through the animation to transform skeleton nodes.
+  for (size_t i = 0; i < animation->num_channels; ++i) {
+    const Channel* channel = &animation->channels[i];
+    animate_channel(anima, channel, animation_time);
+  }
+
+  // Compute joint matrices after having transformed the skeletons.
+  //
+  // The anima's parent node is the common ancestor of all skeletons, and its
+  // transform maps the skeletons from object space to world space. This is the
+  // transform used as the "global transform" in the joint matrix equations.
+  //
+  // Joint matrix calculation begins by descending from the anima's root joint,
+  // which we have constructed to be the common root of all skeletons.
+  //
+  // This procedure touches every joint exactly once.
+  const mat4 root_global_transform     = mat4_id();
+  const mat4 root_inv_global_transform = mat4_id();
+
+  Joint* root_joint = get_anima_root_joint(anima);
+  compute_joint_matrices_rec(
+      anima, root_joint, &root_global_transform, &root_inv_global_transform);
+}
+
+const Skeleton* gfx_get_anima_skeleton(const Anima* anima, size_t i) {
+  assert(anima);
+
+  skeleton_idx    skeleton_index = anima->skeleton;
+  const Skeleton* skeleton       = mem_get_skeleton(skeleton_index);
+
+  for (size_t j = 1; j < i; ++j) {
+    skeleton_index = skeleton->next;
+    mem_get_skeleton(skeleton_index);
+  }
+
+  return skeleton;
+}
+
+size_t gfx_get_skeleton_num_joints(const Skeleton* skeleton) {
+  assert(skeleton);
+  return skeleton->num_joints;
+}
+
+bool gfx_joint_has_box(
+    const Anima* anima, const Skeleton* skeleton, size_t joint_index) {
+  assert(anima);
+  assert(skeleton);
+  assert(joint_index < skeleton->num_joints);
+
+  const Joint* joint = get_skeleton_joint(anima, skeleton, joint_index);
+  return !aabb3_is_empty(joint->box);
+}
+
+Box gfx_get_joint_box(
+    const Anima* anima, const Skeleton* skeleton, size_t joint_index) {
+  assert(anima);
+  assert(skeleton);
+
+  const Joint* joint = get_skeleton_joint(anima, skeleton, joint_index);
+
+  // Transform the box to anima space.
+  // Note that joint matrices do not usually have a translation since joints
+  // mostly just rotate with respect to their parent.
+  const vec3 pmin = joint->box.min;
+  const vec3 pmax = joint->box.max;
+  return (Box){
+      .vertices = {
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmin.x, pmin.y, pmax.z), 1),
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmax.x, pmin.y, pmax.z), 1),
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmax.x, pmax.y, pmax.z), 1),
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmin.x, pmax.y, pmax.z), 1),
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmin.x, pmin.y, pmin.z), 1),
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmax.x, pmin.y, pmin.z), 1),
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmax.x, pmax.y, pmin.z), 1),
+                   mat4_mul_vec3(
+              joint->joint_matrix, vec3_make(pmin.x, pmax.y, pmin.z), 1),
+                   }
+  };
+}