void tilt_compensate(float in[4], float tilt[4], float out[4]){
float tiltConjugate[4];
float tempQ[4];
quaternionConjugate(tilt, tiltConjugate);
quaternionMultiply(in, tiltConjugate, tempQ);
quaternionMultiply(tilt, tempQ, out);
}
void tilt_compensate(quaternion_t magQ, quaternion_t unfusedQ) {
quaternion_t unfusedConjugateQ;
quaternion_t tempQ;
quaternionConjugate(unfusedQ, unfusedConjugateQ);
quaternionMultiply(magQ, unfusedConjugateQ, tempQ);
quaternionMultiply(unfusedQ, tempQ, magQ);
}
void Game::_control_camera(float mouse_x, float mouse_y)
{
float camera_speed = 5.0f * _delta_time;
if(app_is_key_down(KEY_SHIFT))
camera_speed *= 3.0f;
float3 look = quaternionGetZAxis(&_camera.orientation);
float3 right = quaternionGetXAxis(&_camera.orientation);
float3 up = quaternionGetYAxis(&_camera.orientation);
look = float3multiplyScalar(&look, camera_speed);
up = float3multiplyScalar(&up, camera_speed);
right = float3multiplyScalar(&right, camera_speed);
if(app_is_key_down(KEY_W))
_camera.position = float3add(&_camera.position, &look);
if(app_is_key_down(KEY_S))
_camera.position = float3subtract(&_camera.position, &look);
if(app_is_key_down(KEY_D))
_camera.position = float3add(&_camera.position, &right);
if(app_is_key_down(KEY_A))
_camera.position = float3subtract(&_camera.position, &right);
if(app_is_key_down(KEY_E))
_camera.position = float3add(&_camera.position, &up);
if(app_is_key_down(KEY_Q))
_camera.position = float3subtract(&_camera.position, &up);
if(app_is_key_down(KEY_UP))
mouse_y = -1.0f;
else if(app_is_key_down(KEY_DOWN))
mouse_y = 1.0f;
if(app_is_key_down(KEY_RIGHT))
mouse_x = 1.0f;
else if(app_is_key_down(KEY_LEFT))
mouse_x = -1.0f;
if(app_is_mouse_button_down(MOUSE_LEFT) == 0)
mouse_x = mouse_y = 0.0f;
// L/R Rotation
float3 yaxis = {0.0f, 1.0f, 0.0f};
quaternion q = quaternionFromAxisAngle(&yaxis, _delta_time*mouse_x);
_camera.orientation = quaternionMultiply(&_camera.orientation, &q);
// U/D rotation
float3 xaxis = {1.0f, 0.0f, 0.0f};
q = quaternionFromAxisAngle(&xaxis, _delta_time*mouse_y);
_camera.orientation = quaternionMultiply(&q, &_camera.orientation);
}
void animSequenceLoad( tAnimSequence* pAnimSequence,
const char* szFileName,
tAnimHierarchy const* pAnimHierarchy,
CFactory<tVector4>* pVectorFactory,
CFactory<tQuaternion>* pQuaternionFactory )
{
const float fDegreeToRadian = 3.14159f / 180.0f;
char szFullPath[256];
getFullPath( szFullPath, szFileName );
TiXmlDocument doc( szFullPath );
bool bLoaded = doc.LoadFile();
if( bLoaded )
{
pAnimSequence->miNumFrames = 0;
TiXmlNode* pNode = doc.FirstChild( "jointKeyframe" )->FirstChild( "keyframe" );
while( pNode )
{
++pAnimSequence->miNumFrames;
pNode = pNode->NextSibling( "keyframe" );
}
pAnimSequence->mafTime = (float *)MALLOC( sizeof( float ) * pAnimSequence->miNumFrames );
pAnimSequence->maPositions = pVectorFactory->alloc( pAnimSequence->miNumFrames );
pAnimSequence->maRotation = pQuaternionFactory->alloc( pAnimSequence->miNumFrames );
pAnimSequence->maScalings = pVectorFactory->alloc( pAnimSequence->miNumFrames );
pAnimSequence->mapJoints = (tJoint **)MALLOC( sizeof( tJoint* ) * pAnimSequence->miNumFrames );
pAnimSequence->maRotationVec = pVectorFactory->alloc( pAnimSequence->miNumFrames );
pAnimSequence->miNumJoints = 0;
pAnimSequence->mapUniqueJoints = (tJoint **)MALLOC( sizeof( tJoint* ) * pAnimSequence->miNumFrames );
memset( pAnimSequence->mapUniqueJoints, 0, sizeof( tJoint* ) * pAnimSequence->miNumFrames );
pAnimSequence->mfLastTime = 0.0f;
int iFrame = 0;
pNode = doc.FirstChild( "jointKeyframe" )->FirstChild( "keyframe" );
while( pNode )
{
TiXmlElement* pElement = pNode->ToElement();
const char* szName = pElement->Attribute( "joint" );
const char* szTime = pElement->Attribute( "time" );
const char* szRotX = pElement->Attribute( "rotatex" );
const char* szRotY = pElement->Attribute( "rotatey" );
const char* szRotZ = pElement->Attribute( "rotatez" );
const char* szTranslateX = pElement->Attribute( "translatex" );
const char* szTranslateY = pElement->Attribute( "translatey" );
const char* szTranslateZ = pElement->Attribute( "translatez" );
// 24 frames / sec
pAnimSequence->mafTime[iFrame] = ( (float)atof( szTime ) - 1.0f ) / 23.0f;
if( pAnimSequence->mfLastTime < pAnimSequence->mafTime[iFrame] )
{
pAnimSequence->mfLastTime = pAnimSequence->mafTime[iFrame];
}
tVector4* pPos = &pAnimSequence->maPositions[iFrame];
tVector4* pScaling = &pAnimSequence->maScalings[iFrame];
tQuaternion* pRotation = &pAnimSequence->maRotation[iFrame];
tVector4* pRotVec = &pAnimSequence->maRotationVec[iFrame];
tVector4 xAxis = { 1.0f, 0.0f, 0.0f, 1.0f };
tVector4 yAxis = { 0.0f, 1.0f, 0.0f, 1.0f };
tVector4 zAxis = { 0.0f, 0.0f, 1.0f, 1.0f };
// total rotation
tQuaternion xRot, yRot, zRot;
quaternionInit( &xRot );
quaternionInit( &yRot );
quaternionInit( &zRot );
float fRotX = (float)atof( szRotX );
float fRotY = (float)atof( szRotY );
float fRotZ = (float)atof( szRotZ );
fRotX *= fDegreeToRadian;
fRotY *= fDegreeToRadian;
fRotZ *= fDegreeToRadian;
quaternionFromAxisAngle( &xRot, &xAxis, fRotX );
quaternionFromAxisAngle( &yRot, &yAxis, fRotY );
quaternionFromAxisAngle( &zRot, &zAxis, fRotZ );
tQuaternion zyRot;
quaternionMultiply( &zyRot, &zRot, &yRot );
quaternionMultiply( pRotation, &zyRot, &xRot );
// scale
pScaling->fX = pScaling->fY = pScaling->fZ = pScaling->fW = 1.0f;
// position
pPos->fX = (float)atof( szTranslateX );
pPos->fY = (float)atof( szTranslateY );
pPos->fZ = (float)atof( szTranslateZ );
pPos->fW = 1.0f;
// rotation vector
pRotVec->fX = fRotX;
pRotVec->fY = fRotY;
pRotVec->fZ = fRotZ;
pRotVec->fW = 1.0f;
// look for the joint in the hierarchy
int iNumJoints = pAnimHierarchy->miNumJoints;
for( int i = 0; i < iNumJoints; i++ )
{
if( !strcmp( szName, pAnimHierarchy->maJoints[i].mszName ) )
{
pAnimSequence->mapJoints[iFrame] = &pAnimHierarchy->maJoints[i];
break;
}
}
//OUTPUT( "%s time = %.1f rot ( %f, %f, %f )\n", szName, pAnimSequence->mafTime[iFrame], fRotX, fRotY, fRotZ );
pNode = pNode->NextSibling( "keyframe" );
++iFrame;
}
}
// unique joints in the hierarchy
pAnimSequence->mapUniqueJoints = (tJoint **)MALLOC( sizeof( tJoint* ) * pAnimHierarchy->miNumJoints );
pAnimSequence->miNumJoints = pAnimHierarchy->miNumJoints;
for( int i = 0; i < pAnimHierarchy->miNumJoints; i++ )
{
pAnimSequence->mapUniqueJoints[i] = &pAnimHierarchy->maJoints[i];
}
// sort using joint as the index key
sortOnJoints( pAnimSequence );
pAnimSequence->maiStartFrames = (unsigned int *)MALLOC( sizeof( int ) * pAnimSequence->miNumJoints );
pAnimSequence->maiEndFrames = (unsigned int *)MALLOC( sizeof( int ) * pAnimSequence->miNumJoints );
int iNumFrames = pAnimSequence->miNumFrames;
int iNumJoints = pAnimSequence->miNumJoints;
for( int i = 0; i < iNumJoints; i++ )
{
pAnimSequence->maiStartFrames[i] = -1;
pAnimSequence->maiEndFrames[i] = -1;
}
// get start and end indices of the joint's keyframes
for( int i = 0; i < iNumJoints; i++ )
{
tJoint* pJoint = pAnimSequence->mapUniqueJoints[i];
for( int j = 0; j < iNumFrames; j++ )
{
// find start
if( pAnimSequence->mapJoints[j] == pJoint )
{
// find end
pAnimSequence->maiStartFrames[i] = j;
for( int k = j + 1; k < iNumFrames; k++ )
{
if( pAnimSequence->mapJoints[k] != pJoint )
{
pAnimSequence->maiEndFrames[i] = k - 1;
break;
}
}
if( pAnimSequence->maiEndFrames[i] == -1 )
{
pAnimSequence->maiEndFrames[i] = iNumFrames - 1;
}
break;
}
} // for j = 0 to num frames
} // for i = 0 to num joints
/*for( int i = 0; i < pAnimSequence->miNumFrames; i++ )
{
OUTPUT( "%s time = %.1f rot ( %f, %f, %f )\n",
pAnimSequence->mapJoints[i]->mszName,
pAnimSequence->mafTime[i],
pAnimSequence->maRotationVec[i].fX,
pAnimSequence->maRotationVec[i].fY,
pAnimSequence->maRotationVec[i].fZ );
}*/
sortOnTime( pAnimSequence );
/*for( int i = 0; i < pAnimSequence->miNumFrames; i++ )
{
OUTPUT( "%s time = %.1f rot ( %f, %f, %f )\n",
pAnimSequence->mapJoints[i]->mszName,
pAnimSequence->mafTime[i],
pAnimSequence->maRotationVec[i].fX,
pAnimSequence->maRotationVec[i].fY,
pAnimSequence->maRotationVec[i].fZ );
}
for( int i = 0; i < pAnimSequence->miNumJoints; i++ )
{
OUTPUT( "%s\t( %d, %d )\n",
pAnimSequence->mapUniqueJoints[i]->mszName,
pAnimSequence->maiStartFrames[i],
pAnimSequence->maiEndFrames[i] );
}*/
}
int Game::on_frame(void) {
// Handle OS events
float delta_x = 0.0f;
float delta_y = 0.0f;
const SystemEvent* event = app_pop_event();
while (event) {
switch(event->type) {
case kEventResize:
_render->resize(event->data.resize.width, event->data.resize.height);
printf("W: %d H: %d\n", event->data.resize.width, event->data.resize.height);
break;
case kEventKeyDown:
if(event->data.key == KEY_ESCAPE)
return 1;
if(event->data.key == KEY_F1)
_render->toggle_debug_graphics();
if(event->data.key == KEY_F2)
_render->toggle_deferred();
break;
case kEventMouseDown:
if(event->data.mouse.button == MOUSE_LEFT)
app_lock_and_hide_cursor();
debug_output("Mouse: %.0f %.0f\n", event->data.mouse.x, event->data.mouse.y);
break;
case kEventMouseUp:
if(event->data.mouse.button == MOUSE_LEFT)
app_unlock_and_show_cursor();
break;
case kEventMouseMove:
delta_x += event->data.mouse.x;
delta_y += event->data.mouse.y;
break;
default:
break;
}
event = app_pop_event();
}
// Beginning of frame stuff
_delta_time = (float)timer_delta_time(&_timer);
update_fps(&_fps, _delta_time);
float3 xaxis = {1.0f, 0.0f, 0.0f};
quaternion q = quaternionFromAxisAngle(&xaxis, _delta_time*0.15f);
Transform t = _world.entity(_sun_id)->transform();
t.orientation = quaternionMultiply(&q, &t.orientation);
//_world.entity(_sun_id)->set_transform(t);
if(quaternionGetZAxis(&t.orientation).y > 0.0f) {
//_world.entity(_sun_id)->deactivate_component(kLightComponent);
} else {
//_world.entity(_sun_id)->activate_component(kLightComponent);
}
// Frame
_control_camera(delta_x, delta_y);
float4x4 view = TransformGetMatrix(&_camera);
_render->set_3d_view_matrix(view);
_world.update(_delta_time);
_render->render();
// End of frame stuff
if(++_frame_count % 16 == 0) {
debug_output("%.2fms (%.0f FPS)\n", get_frametime(&_fps), get_fps(&_fps));
}
return 0;
}