/* calculate sphere that goes through 4 points */
struct sphere* sphere_circum(struct sphere* rs, const struct vec4f* v0,
const struct vec4f* v1, const struct vec4f* v2, const struct vec4f* v3)
{
struct vec4f a;
vec3_sub(&a, v1, v0);
struct vec4f b;
vec3_sub(&b, v2, v0);
struct vec4f c;
vec3_sub(&c, v3, v0);
struct vec4f o;
struct vec4f tmp;
struct mat3f m;
mat3_setf(&m,
a.x, a.y, a.z,
b.x, b.y, b.z,
c.x, c.y, c.z,
0.0f, 0.0f, 0.0f);
float denom = 2.0f * mat3_det(&m);
vec3_muls(&o, vec3_cross(&tmp, &a, &b), vec3_dot(&c, &c));
vec3_add(&o, &o, vec3_muls(&tmp, vec3_cross(&tmp, &c, &a), vec3_dot(&b, &b)));
vec3_add(&o, &o, vec3_muls(&tmp, vec3_cross(&tmp, &b, &c), vec3_dot(&a, &a)));
vec3_muls(&o, &o, 1.0f/denom);
return sphere_setf(rs, v0->x + o.x, v0->y + o.y, v0->z + o.z, vec3_len(&o) + EPSILON);
}
void cmp_model_drawbone(const struct mat3f* j0, const struct mat3f* j1, float level, float scale)
{
struct sphere s;
sphere_setf(&s, 0.0f, 0.0f, 0.0f, scale * (1.0f/level));
struct vec3f p0;
struct vec3f p1;
mat3_get_trans(&p0, j0);
mat3_get_trans(&p1, j1);
gfx_canvas_line3d(&p0, &p1);
gfx_canvas_sphere(&s, j0, GFX_SPHERE_LOW);
gfx_canvas_sphere(&s, j1, GFX_SPHERE_LOW);
}
struct sphere* sphere_xform(struct sphere* rs, const struct sphere* s, const struct mat3f* m)
{
/* we have to transform radius by scale value of transform matrix
* to determine scale value, we find the highest scale component of the matrix */
float xlen = m->m11*m->m11 + m->m12*m->m12 + m->m13*m->m13;
float ylen = m->m21*m->m21 + m->m22*m->m22 + m->m23*m->m23;
float zlen = m->m31*m->m31 + m->m32*m->m32 + m->m33*m->m33;
float isqr_scale = maxf(xlen, ylen);
isqr_scale = maxf(isqr_scale, zlen);
/* transform center */
struct vec4f c;
vec3_setf(&c, s->x, s->y, s->z);
vec3_transformsrt(&c, &c, m);
return sphere_setf(rs, c.x, c.y, c.z, s->r*sqrtf(isqr_scale));
}
void csm_calc_minsphere(struct sphere* bounds, const struct frustum* f,
const struct mat3f* view, const struct mat3f* view_inv)
{
/* reference:
* http://www.gamedev.net/topic/604797-minimum-bounding-sphere-of-a-frustum/
*/
struct vec3f a;
struct vec3f b;
struct vec3f p;
struct vec3f tmp;
vec3_transformsrt(&a, &f->points[1], view);
vec3_transformsrt(&b, &f->points[5], view);
float z = (vec3_dot(&b, &b) - vec3_dot(&a, &a))/(2.0f*(b.z - a.z));
vec3_setf(&p, 0.0f, 0.0f, z);
vec3_transformsrt(&p, &p, view_inv);
sphere_setf(bounds, p.x, p.y, p.z, vec3_len(vec3_sub(&tmp, &f->points[5], &p)) + 0.01f);
}
void cmp_model_drawpose(const struct gfx_model_geo* geo, const struct gfx_model_posegpu* pose,
const struct gfx_view_params* params, const struct mat3f* world_mat,
float scale)
{
gfx_canvas_setwireframe(FALSE, TRUE);
gfx_canvas_setlinecolor(&g_color_yellow);
gfx_canvas_setfillcolor_solid(&g_color_red);
gfx_canvas_settextcolor(&g_color_grey);
struct mat3f j1m;
struct mat3f j2m;
struct gfx_model_skeleton* sk = geo->skeleton;
for (uint i = 0; i < sk->joint_cnt; i++) {
cmp_model_calc_jointmat(&j1m, sk, i, pose->mats, world_mat);
/* find child for the current joint and draw the bone */
int nochild = FALSE;
for (uint k = 0; k < sk->joint_cnt; k++) {
struct gfx_model_joint* joint2 = &sk->joints[k];
if (joint2->parent_id == i) {
cmp_model_calc_jointmat(&j2m, sk, k, pose->mats, world_mat);
float level = cmp_model_calc_jointlevel(sk, i);
cmp_model_drawbone(&j1m, &j2m, level, scale);
/*gfx_canvas_coords(&j1m, ¶ms->cam_pos, 0.1f);*/
nochild = TRUE;
break;
}
}
if (!nochild) {
struct sphere s;
float level = cmp_model_calc_jointlevel(sk, i);
sphere_setf(&s, 0.0f, 0.0f, 0.0f, scale * (1.0f / level));
gfx_canvas_sphere(&s, &j1m, GFX_SPHERE_LOW);
/*gfx_canvas_coords(&j1m, ¶ms->cam_pos, 0.1f);*/
}
}
gfx_canvas_setwireframe(TRUE, TRUE);
}
