void TransformPositionAll(char *label){
FILE *fp;
if((fp = fopen("../plot/Tetra-Triprism.stl", "w"))==NULL){
printf("ファイルをオープンできません\n");
} else {
srand((unsigned)time(NULL));
prStlProlog(label, fp);
TransformPosition((char*)"Tetra", fp);
TransformPosition((char*)"Triprism", fp);
prStlEpilog(label, fp);
fclose(fp);
}
}
void CBody::Draw(CLensFlare *flare)
{
TransformPosition();
if (mainbody)
{
ringchain.nextring=ringchain.prevring=&ringchain;
}
for (int i=0;i<numsubbodies;i++)
{
glPushMatrix();
subbodies[i].Draw(NULL);
glPopMatrix();
}
if (mainbody)
{
if (flare)
flare->UpdatePos();
}
glRotatef((type!=rings?own_rot:orbit_rot),0.0f,0.0f,1.0f);
if (type!=rings)
{
if (textures[3]>0)
TransformClouds();
DrawGFX();
}
else
{
SortNonSolidObject();
}
if (mainbody)
{
DrawSortedNonSolids();
}
}
Light::Light(LightType t, float x, float y, float z, float r, float g, float b, float konst/* =1.0f */, float linear/* =0.0f */, float quad/* =0.0f */)
{
type = t;
position = vec3(x, y, z);
if(t == DIRECTIONAL)
TransformDirection(position, currMatrix);
else
TransformPosition(position, currMatrix);
color = Color(r, g, b);
attenuation = vec3(konst, linear, quad);
if(type == DIRECTIONAL)
lightDir = glm::normalize(position);
}
void CPHShell::Activate(const Fmatrix &m0,float dt01,const Fmatrix &m2,bool disable){
if(isActive())return;
activate(disable);
// ELEMENT_I i;
mXFORM.set(m0);
//for(i=elements.begin();elements.end() != i;++i){
// (*i)->Activate(m0,dt01, m2, disable);
//}
{
ELEMENT_I i=elements.begin(),e=elements.end();
for(;i!=e;++i)(*i)->Activate(mXFORM,disable);
}
{
JOINT_I i=joints.begin(),e=joints.end();
for(;i!=e;++i) (*i)->Activate();
}
Fmatrix m;
{
Fmatrix old_m = mXFORM;//+GetGlobalTransformDynamic update mXFORM;
GetGlobalTransformDynamic (&m);
mXFORM = old_m;
}
m.invert();m.mulA_43 (mXFORM);
TransformPosition(m);
if(PKinematics())
{
SetCallbacks( );
}
//bActive=true;
//bActivating=true;
m_flags.set(flActive,TRUE);
m_flags.set(flActivating,TRUE);
spatial_register();
///////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////
//mXFORM.set(m0);
//Activate(disable);
Fvector lin_vel;
lin_vel.sub(m2.c,m0.c);
set_LinearVel(lin_vel);
}
bool CMotionControl::Test(const mm1000_t src[NUM_AXIS],const mm1000_t ofs[NUM_AXIS],mm1000_t dest[NUM_AXIS], bool printOK, std::function<void()> print)
{
udist_t to_m[NUM_AXIS];
mm1000_t toorig[NUM_AXIS];
memcpy(dest,src,sizeof(toorig));
bool isError = false;
if (TransformPosition(src,dest))
{
ToMachine(dest, to_m);
TransformFromMachinePosition(to_m,toorig);
for (uint8_t i = 0; i < NUM_AXIS && !isError; i++)
isError = CompareMaxDiff(src[i], toorig[i]);
}
else
{
isError = true;
}
if (printOK || isError)
{
DumpArray<mm1000_t, NUM_AXIS>(F("Src"), src, false);
DumpArray<mm1000_t, NUM_AXIS>(F("Ofs"), ofs, false);
print();
DumpArray<mm1000_t, NUM_AXIS>(F(" =>"), dest, false);
DumpArray<mm1000_t, NUM_AXIS>(F("Back"), toorig, false);
if (isError)
printf(" ERROR");
printf("\n");
}
return isError;
}
void CBody::Predict(int bodyid, bool now, float seconds, float *x, float *y, float *z)
{
if (mainbody)
glLoadIdentity();
if (!now)
UpdateOrbit(seconds);
//no glLoadIdentity call, so coords are relative to camera
TransformPosition();
if (bodyid==id)
{
glPushMatrix();
glGetFloatv(GL_MODELVIEW_MATRIX,objectmatrix);
*x=objectmatrix[12]; *y=objectmatrix[13]; *z=objectmatrix[14];
glPopMatrix();
return;
}
// note: no error checking for incorrect results or protection faults
int i;
for (i=0; i<numsubbodies;i++)
if (subbodies[i].id>bodyid)
break;
subbodies[--i].Predict(bodyid,now,seconds,x,y,z);
}
static void ExportAnimations(ExportContext& Context, FArchive& Ar)
{
guard(ExportAnimations);
const CAnimSet* Anim = Context.SkelMesh->Anim;
int NumBones = Context.SkelMesh->RefSkeleton.Num();
// Build mesh to anim bone map
TArray<int> BoneMap;
BoneMap.Init(-1, NumBones);
TArray<int> AnimBones;
AnimBones.Empty(NumBones);
for (int i = 0; i < NumBones; i++)
{
const CSkelMeshBone &B = Context.SkelMesh->RefSkeleton[i];
for (int j = 0; j < Anim->TrackBoneNames.Num(); j++)
{
if (!stricmp(B.Name, Anim->TrackBoneNames[j]))
{
BoneMap[i] = j; // lookup CAnimSet bone by mesh bone index
AnimBones.Add(i); // indicate that the bone has animation
break;
}
}
}
Ar.Printf(
" \"animations\" : [\n"
);
int FirstDataIndex = Context.Data.Num();
// Iterate over all animations
for (int SeqIndex = 0; SeqIndex < Anim->Sequences.Num(); SeqIndex++)
{
const CAnimSequence &Seq = *Anim->Sequences[SeqIndex];
Ar.Printf(
" {\n"
" \"name\" : \"%s\",\n",
*Seq.Name
);
struct AnimSampler
{
enum ChannelType
{
TRANSLATION,
ROTATION
};
int BoneNodeIndex;
ChannelType Type;
const CAnimTrack* Track;
};
TArray<AnimSampler> Samplers;
Samplers.Empty(AnimBones.Num() * 2);
//!! Optimization:
//!! 1. there will be missing tracks (AnimRotationOnly etc) - drop such samplers
//!! 2. store all time tracks in a single BufferView, all rotation tracks in another, and all position track in 3rd one - this
//!! will reduce amount of BufferViews in json text (combine them by data type)
// Prepare channels array
Ar.Printf(" \"channels\" : [\n");
for (int BoneIndex = 0; BoneIndex < AnimBones.Num(); BoneIndex++)
{
int MeshBoneIndex = AnimBones[BoneIndex];
int AnimBoneIndex = BoneMap[MeshBoneIndex];
const CAnimTrack* Track = Seq.Tracks[AnimBoneIndex];
int TranslationSamplerIndex = Samplers.Num();
AnimSampler* Sampler = new (Samplers) AnimSampler;
Sampler->Type = AnimSampler::TRANSLATION;
Sampler->BoneNodeIndex = MeshBoneIndex + FIRST_BONE_NODE;
Sampler->Track = Track;
int RotationSamplerIndex = Samplers.Num();
Sampler = new (Samplers) AnimSampler;
Sampler->Type = AnimSampler::ROTATION;
Sampler->BoneNodeIndex = MeshBoneIndex + FIRST_BONE_NODE;
Sampler->Track = Track;
// Print glTF information. Not using usual formatting here to make output a little bit more compact.
Ar.Printf(
" { \"sampler\" : %d, \"target\" : { \"node\" : %d, \"path\" : \"%s\" } },\n",
TranslationSamplerIndex, MeshBoneIndex + FIRST_BONE_NODE, "translation"
);
Ar.Printf(
" { \"sampler\" : %d, \"target\" : { \"node\" : %d, \"path\" : \"%s\" } }%s\n",
RotationSamplerIndex, MeshBoneIndex + FIRST_BONE_NODE, "rotation", BoneIndex == AnimBones.Num()-1 ? "" : ","
);
}
Ar.Printf(" ],\n");
// Prepare samplers
Ar.Printf(" \"samplers\" : [\n");
for (int SamplerIndex = 0; SamplerIndex < Samplers.Num(); SamplerIndex++)
{
const AnimSampler& Sampler = Samplers[SamplerIndex];
// Prepare time array
const TArray<float>* TimeArray = (Sampler.Type == AnimSampler::TRANSLATION) ? &Sampler.Track->KeyPosTime : &Sampler.Track->KeyQuatTime;
if (TimeArray->Num() == 0)
{
// For this situation, use track's time array
TimeArray = &Sampler.Track->KeyTime;
}
int NumKeys = Sampler.Type == (AnimSampler::TRANSLATION) ? Sampler.Track->KeyPos.Num() : Sampler.Track->KeyQuat.Num();
int TimeBufIndex = Context.Data.AddZeroed();
BufferData& TimeBuf = Context.Data[TimeBufIndex];
TimeBuf.Setup(NumKeys, "SCALAR", BufferData::FLOAT, sizeof(float));
float RateScale = 1.0f / Seq.Rate;
float LastFrameTime = 0;
if (TimeArray->Num() == 0 || NumKeys == 1)
{
// Fill with equally spaced values
for (int i = 0; i < NumKeys; i++)
{
TimeBuf.Put(i * RateScale);
}
LastFrameTime = NumKeys-1;
}
else
{
for (int i = 0; i < TimeArray->Num(); i++)
{
TimeBuf.Put((*TimeArray)[i] * RateScale);
}
LastFrameTime = (*TimeArray)[TimeArray->Num()-1];
}
// Prepare min/max values for time track, it's required by glTF standard
TimeBuf.BoundsMin = "[ 0 ]";
char buf[64];
appSprintf(ARRAY_ARG(buf), "[ %g ]", LastFrameTime * RateScale);
TimeBuf.BoundsMax = buf;
// Try to reuse TimeBuf from previous tracks
TimeBufIndex = Context.GetFinalIndexForLastBlock(FirstDataIndex);
// Prepare data
int DataBufIndex = Context.Data.AddZeroed();
BufferData& DataBuf = Context.Data[DataBufIndex];
if (Sampler.Type == AnimSampler::TRANSLATION)
{
// Translation track
DataBuf.Setup(NumKeys, "VEC3", BufferData::FLOAT, sizeof(CVec3));
for (int i = 0; i < NumKeys; i++)
{
CVec3 Pos = Sampler.Track->KeyPos[i];
TransformPosition(Pos);
DataBuf.Put(Pos);
}
}
else
{
// Rotation track
DataBuf.Setup(NumKeys, "VEC4", BufferData::FLOAT, sizeof(CQuat));
for (int i = 0; i < NumKeys; i++)
{
CQuat Rot = Sampler.Track->KeyQuat[i];
TransformRotation(Rot);
if (Sampler.BoneNodeIndex - FIRST_BONE_NODE == 0)
{
Rot.Conjugate();
}
DataBuf.Put(Rot);
}
}
// Try to reuse data block as well
DataBufIndex = Context.GetFinalIndexForLastBlock(FirstDataIndex);
// Write glTF info
Ar.Printf(
" { \"input\" : %d, \"output\" : %d }%s\n",
TimeBufIndex, DataBufIndex, SamplerIndex == Samplers.Num()-1 ? "" : ","
);
}
Ar.Printf(" ]\n");
Ar.Printf(" }%s\n", SeqIndex == Anim->Sequences.Num()-1 ? "" : ",");
}
Ar.Printf(" ],\n");
unguard;
}
static void ExportSkinData(ExportContext& Context, const CSkelMeshLod& Lod, FArchive& Ar)
{
guard(ExportSkinData);
int numBones = Context.SkelMesh->RefSkeleton.Num();
int MatrixBufIndex = Context.Data.AddZeroed();
BufferData& MatrixBuf = Context.Data[MatrixBufIndex];
MatrixBuf.Setup(numBones, "MAT4", BufferData::FLOAT, sizeof(CMat4));
Ar.Printf(
" \"nodes\" : [\n"
" {\n"
" \"name\" : \"%s\",\n"
" \"mesh\" : 0,\n"
" \"skin\" : 0,\n"
" \"children\" : [ 1 ]\n"
" },\n",
Context.MeshName);
TArray<CCoords> BoneCoords;
BoneCoords.AddZeroed(numBones);
for (int boneIndex = 0; boneIndex < numBones; boneIndex++)
{
const CSkelMeshBone& B = Context.SkelMesh->RefSkeleton[boneIndex];
// Find all children
TStaticArray<int, 32> children;
for (int j = 0; j < numBones; j++)
{
if (boneIndex == j) continue;
const CSkelMeshBone& B2 = Context.SkelMesh->RefSkeleton[j];
if (B2.ParentIndex == boneIndex)
{
children.Add(j);
}
}
Ar.Printf(
" {\n"
" \"name\" : \"%s\",\n",
*B.Name
);
// Write children
if (children.Num())
{
Ar.Printf(" \"children\" : [ %d", children[0]+FIRST_BONE_NODE);
for (int j = 1; j < children.Num(); j++)
{
Ar.Printf(", %d", children[j]+FIRST_BONE_NODE);
}
Ar.Printf(" ],\n");
}
// Bone transform
CVec3 bonePos = B.Position;
CQuat boneRot = B.Orientation;
if (boneIndex == 0)
{
boneRot.Conjugate();
}
TransformPosition(bonePos);
TransformRotation(boneRot);
Ar.Printf(
" \"translation\" : [ %g, %g, %g ],\n"
" \"rotation\" : [ %g, %g, %g, %g ]\n",
bonePos[0], bonePos[1], bonePos[2],
boneRot.x, boneRot.y, boneRot.z, boneRot.w
);
boneRot.w *= -1;
CCoords& BC = BoneCoords[boneIndex];
BC.origin = bonePos;
boneRot.ToAxis(BC.axis);
if (boneIndex)
{
// World coordinate
BoneCoords[B.ParentIndex].UnTransformCoords(BC, BC);
}
CCoords InvCoords;
InvertCoords(BC, InvCoords);
CMat4 BC4x4(InvCoords);
MatrixBuf.Put(BC4x4);
// Closing brace
Ar.Printf(
" }%s\n",
boneIndex == (numBones-1) ? "" : ","
);
}
// Close "nodes" array
Ar.Printf(" ],\n");
// Make "skins"
Ar.Printf(
" \"skins\" : [\n"
" {\n"
" \"inverseBindMatrices\" : %d,\n"
" \"skeleton\" : 1,\n"
" \"joints\" : [",
MatrixBufIndex
);
for (int i = 0; i < numBones; i++)
{
if ((i & 31) == 0) Ar.Printf("\n ");
Ar.Printf("%d%s", i+FIRST_BONE_NODE, (i == numBones-1) ? "" : ",");
}
Ar.Printf(
"\n"
" ]\n"
" }\n"
" ],\n"
);
unguard;
}
static void ExportSection(ExportContext& Context, const CBaseMeshLod& Lod, const CMeshVertex* Verts, int SectonIndex, FArchive& Ar)
{
guard(ExportSection);
int VertexSize = Context.IsSkeletal() ? sizeof(CSkelMeshVertex) : sizeof(CStaticMeshVertex);
const CMeshSection& S = Lod.Sections[SectonIndex];
bool bLast = (SectonIndex == Lod.Sections.Num()-1);
// Remap section indices to local indices
CIndexBuffer::IndexAccessor_t GetIndex = Lod.Indices.GetAccessor();
TArray<int> indexRemap; // old vertex index -> new vertex index
indexRemap.Init(-1, Lod.NumVerts);
int numLocalVerts = 0;
int numLocalIndices = S.NumFaces * 3;
for (int idx = 0; idx < numLocalIndices; idx++)
{
int vertIndex = GetIndex(S.FirstIndex + idx);
if (indexRemap[vertIndex] == -1)
{
indexRemap[vertIndex] = numLocalVerts++;
}
}
// Prepare buffers
int IndexBufIndex = Context.Data.AddZeroed();
int PositionBufIndex = Context.Data.AddZeroed();
int NormalBufIndex = Context.Data.AddZeroed();
int TangentBufIndex = Context.Data.AddZeroed();
int BonesBufIndex = -1;
int WeightsBufIndex = -1;
if (Context.IsSkeletal())
{
BonesBufIndex = Context.Data.AddZeroed();
WeightsBufIndex = Context.Data.AddZeroed();
}
int UVBufIndex[MAX_MESH_UV_SETS];
for (int i = 0; i < Lod.NumTexCoords; i++)
{
UVBufIndex[i] = Context.Data.AddZeroed();
}
BufferData& IndexBuf = Context.Data[IndexBufIndex];
BufferData& PositionBuf = Context.Data[PositionBufIndex];
BufferData& NormalBuf = Context.Data[NormalBufIndex];
BufferData& TangentBuf = Context.Data[TangentBufIndex];
BufferData* UVBuf[MAX_MESH_UV_SETS];
BufferData* BonesBuf = NULL;
BufferData* WeightsBuf = NULL;
PositionBuf.Setup(numLocalVerts, "VEC3", BufferData::FLOAT, sizeof(CVec3));
NormalBuf.Setup(numLocalVerts, "VEC3", BufferData::FLOAT, sizeof(CVec3));
TangentBuf.Setup(numLocalVerts, "VEC4", BufferData::FLOAT, sizeof(CVec4));
for (int i = 0; i < Lod.NumTexCoords; i++)
{
UVBuf[i] = &Context.Data[UVBufIndex[i]];
UVBuf[i]->Setup(numLocalVerts, "VEC2", BufferData::FLOAT, sizeof(CMeshUVFloat));
}
if (Context.IsSkeletal())
{
BonesBuf = &Context.Data[BonesBufIndex];
WeightsBuf = &Context.Data[WeightsBufIndex];
BonesBuf->Setup(numLocalVerts, "VEC4", BufferData::UNSIGNED_SHORT, sizeof(uint16)*4);
WeightsBuf->Setup(numLocalVerts, "VEC4", BufferData::UNSIGNED_BYTE, sizeof(uint32), /*InNormalized=*/ true);
}
// Prepare and build indices
TArray<int> localIndices;
localIndices.AddUninitialized(numLocalIndices);
int* pIndex = localIndices.GetData();
for (int i = 0; i < numLocalIndices; i++)
{
*pIndex++ = GetIndex(S.FirstIndex + i);
}
if (numLocalVerts <= 65536)
{
IndexBuf.Setup(numLocalIndices, "SCALAR", BufferData::UNSIGNED_SHORT, sizeof(uint16));
for (int idx = 0; idx < numLocalIndices; idx++)
{
IndexBuf.Put<uint16>(indexRemap[localIndices[idx]]);
}
}
else
{
IndexBuf.Setup(numLocalIndices, "SCALAR", BufferData::UNSIGNED_INT, sizeof(uint32));
for (int idx = 0; idx < numLocalIndices; idx++)
{
IndexBuf.Put<uint32>(indexRemap[localIndices[idx]]);
}
}
// Build reverse index map for fast lookup of vertex by its new index.
// It maps new vertex index to old vertex index.
TArray<int> revIndexMap;
revIndexMap.AddUninitialized(numLocalVerts);
for (int i = 0; i < indexRemap.Num(); i++)
{
int newIndex = indexRemap[i];
if (newIndex != -1)
{
revIndexMap[newIndex] = i;
}
}
// Build vertices
for (int i = 0; i < numLocalVerts; i++)
{
int vertIndex = revIndexMap[i];
const CMeshVertex& V = VERT(vertIndex);
CVec3 Position = V.Position;
CVec4 Normal, Tangent;
Unpack(Normal, V.Normal);
Unpack(Tangent, V.Tangent);
// Unreal (and we are) using normal.w for computing binormal. glTF
// uses tangent.w for that. Make this value exactly 1.0 of -1.0 to make glTF
// validator happy.
#if 0
// There's some problem: V.Normal.W == 0x80 -> -1.008 instead of -1.0
if (Normal.w > 1.001 || Normal.w < -1.001)
{
appError("%X -> %g\n", V.Normal.Data, Normal.w);
}
#endif
Tangent.w = (Normal.w < 0) ? -1 : 1;
TransformPosition(Position);
TransformDirection(Normal);
TransformDirection(Tangent);
Normal.Normalize();
Tangent.Normalize();
// Fill buffers
PositionBuf.Put(Position);
NormalBuf.Put(Normal.xyz);
TangentBuf.Put(Tangent);
UVBuf[0]->Put(V.UV);
}
// Compute bounds for PositionBuf
CVec3 Mins, Maxs;
ComputeBounds((CVec3*)PositionBuf.Data, numLocalVerts, sizeof(CVec3), Mins, Maxs);
char buf[256];
appSprintf(ARRAY_ARG(buf), "[ %g, %g, %g ]", VECTOR_ARG(Mins));
PositionBuf.BoundsMin = buf;
appSprintf(ARRAY_ARG(buf), "[ %g, %g, %g ]", VECTOR_ARG(Maxs));
PositionBuf.BoundsMax = buf;
if (Context.IsSkeletal())
{
for (int i = 0; i < numLocalVerts; i++)
{
int vertIndex = revIndexMap[i];
const CMeshVertex& V0 = VERT(vertIndex);
const CSkelMeshVertex& V = static_cast<const CSkelMeshVertex&>(V0);
int16 Bones[NUM_INFLUENCES];
static_assert(NUM_INFLUENCES == 4, "Code designed for 4 influences");
static_assert(sizeof(Bones) == sizeof(V.Bone), "Unexpected V.Bones size");
memcpy(Bones, V.Bone, sizeof(Bones));
for (int j = 0; j < NUM_INFLUENCES; j++)
{
// We have INDEX_NONE as list terminator, should replace with something else for glTF
if (Bones[j] == INDEX_NONE)
{
Bones[j] = 0;
}
}
BonesBuf->Put(*(uint64*)&Bones);
WeightsBuf->Put(V.PackedWeights);
}
}
// Secondary UVs
for (int uvIndex = 1; uvIndex < Lod.NumTexCoords; uvIndex++)
{
BufferData* pBuf = UVBuf[uvIndex];
const CMeshUVFloat* srcUV = Lod.ExtraUV[uvIndex-1];
for (int i = 0; i < numLocalVerts; i++)
{
int vertIndex = revIndexMap[i];
pBuf->Put(srcUV[vertIndex]);
}
}
// Write primitive information to json
Ar.Printf(
" {\n"
" \"attributes\" : {\n"
" \"POSITION\" : %d,\n"
" \"NORMAL\" : %d,\n"
" \"TANGENT\" : %d,\n",
PositionBufIndex, NormalBufIndex, TangentBufIndex
);
if (Context.IsSkeletal())
{
Ar.Printf(
" \"JOINTS_0\" : %d,\n"
" \"WEIGHTS_0\" : %d,\n",
BonesBufIndex, WeightsBufIndex
);
}
for (int i = 0; i < Lod.NumTexCoords; i++)
{
Ar.Printf(
" \"TEXCOORD_%d\" : %d%s\n",
i, UVBufIndex[i], i < (Lod.NumTexCoords-1) ? "," : ""
);
}
Ar.Printf(
" },\n"
" \"indices\" : %d,\n"
" \"material\" : %d\n"
" }%s\n",
IndexBufIndex, SectonIndex,
SectonIndex < (Lod.Sections.Num()-1) ? "," : ""
);
unguard;
}
void TransformRay(Ray &ray, const mat4 &matrix)
{
TransformPosition(ray.origin, matrix);
TransformDirection(ray.direction, matrix);
ray.direction = glm::normalize(ray.direction);
}