/* t_insert: insert a node into the tree */
struct tnode *t_insert(struct tnode *p, const char *string, struct command *data)
{
if (p == NULL) {
p = malloc(sizeof(struct tnode));
p->splitchar = *string;
p->low = p->eq = p->hi = NULL;
p->data = NULL;
}
if (*string < p->splitchar)
p->low = t_insert(p->low, string, data);
else if (*string == p->splitchar) {
if (*++string == 0)
p->data = data;
else if (*string != 0)
p->eq = t_insert(p->eq, string, data);
} else
p->hi = t_insert(p->hi, string, data);
return p;
}
void SE_BipedController::interpolation(std::vector<SE_BipedKeyFrame*>::iterator &source,std::vector<SE_BipedKeyFrame*>::iterator &target,
std::vector<SE_BipedKeyFrame*> &targetVector)
{
SE_BipedKeyFrame* node_s = *source;
SE_BipedKeyFrame* node_t = *target;
//new frame counts,than push_back(node_s).For example:node_s = 3,node_t=0,
//needGenerate 2 frames,then,push_back(node_s),now fullframe vector is 0, 1,2, 3
int needGenerate = node_s->frameIndex - node_t->frameIndex - 1;
for(int i = 0; i < needGenerate; ++i)
{
SE_Quat q_s = node_s->rotateQ;
SE_Vector3f t_s = node_s->translate;
SE_Quat q_t = node_t->rotateQ;
SE_Vector3f t_t = node_t->translate;
float t = (i+1.0) / (needGenerate+1.0);
SE_Quat q_insert = SE_Quat::slerp(q_t,q_s,t);
float x = SE_Lerp(t_t.x,t_s.x,t);
float y = SE_Lerp(t_t.y,t_s.y,t);
float z = SE_Lerp(t_t.z,t_s.z,t);
SE_Vector3f t_insert(x,y,z);
SE_Vector3f s_insert(1,1,1);//scale,not use
SE_BipedKeyFrame* insertFrame = new SE_BipedKeyFrame();
insertFrame->rotateQ = q_insert;
insertFrame->translate = t_insert;
insertFrame->scale = s_insert;
insertFrame->frameIndex = node_t->frameIndex + i + 1;
targetVector.push_back(insertFrame);
target = targetVector.end();
--target;
}
//push source node to target
SE_BipedKeyFrame* insertSourceFrame = new SE_BipedKeyFrame();
insertSourceFrame->rotateQ = node_s->rotateQ;
insertSourceFrame->translate = node_s->translate;
insertSourceFrame->scale = node_s->scale;
insertSourceFrame->frameIndex = node_s->frameIndex;
targetVector.push_back(insertSourceFrame);
target = targetVector.end();
--target;
//don't increase source,next test will automatic increase
}
/* t_build: given an array, insert all the commands. Will produce better
results if the array is sorted. */
struct tnode *t_build(struct tnode *root, struct command c[], int n)
{
int m;
if (n < 1)
return root;
m = n / 2;
root = t_insert(root, c[m].name, &c[m]);
root = t_build(root, c, m);
root = t_build(root, c + m + 1, n - m - 1);
return root;
}
int main(){
/* construct tree by hand */
struct tree_node *tp, *root_p = 0;
int i;
/* we ingore the return value of t_insert */
t_insert(&root_p, 4);
t_insert(&root_p, 2);
t_insert(&root_p, 60);
t_insert(&root_p, 10);
t_insert(&root_p, 3);
t_insert(&root_p, 5);
t_insert(&root_p, 7);
/* try the search */
for(i = 1; i < 9; i++){
tp = t_search(root_p, i);
if(tp)
printf("%d found\n", i);
else
printf("%d not found\n", i);
}
exit(EXIT_SUCCESS);
}
