75 lines
3.0 KiB
C++
75 lines
3.0 KiB
C++
#pragma once
|
|
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
// The MIT License (MIT)
|
|
//
|
|
// Copyright (c) 2018 Nicholas Frechette & Animation Compression Library contributors
|
|
//
|
|
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
// of this software and associated documentation files (the "Software"), to deal
|
|
// in the Software without restriction, including without limitation the rights
|
|
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
// copies of the Software, and to permit persons to whom the Software is
|
|
// furnished to do so, subject to the following conditions:
|
|
//
|
|
// The above copyright notice and this permission notice shall be included in all
|
|
// copies or substantial portions of the Software.
|
|
//
|
|
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
// SOFTWARE.
|
|
////////////////////////////////////////////////////////////////////////////////
|
|
|
|
#include "acl/core/impl/compiler_utils.h"
|
|
#include "acl/core/error.h"
|
|
|
|
#include <rtm/qvvf.h>
|
|
|
|
#include <cstdint>
|
|
|
|
ACL_IMPL_FILE_PRAGMA_PUSH
|
|
|
|
namespace acl
|
|
{
|
|
// Note: It is safe for both pose buffers to alias since the data if sorted parent first
|
|
inline void local_to_object_space(const uint32_t* parent_indices, const rtm::qvvf* local_pose, uint32_t num_transforms, rtm::qvvf* out_object_pose)
|
|
{
|
|
if (num_transforms == 0)
|
|
return; // Nothing to do
|
|
|
|
out_object_pose[0] = local_pose[0];
|
|
|
|
for (uint32_t bone_index = 1; bone_index < num_transforms; ++bone_index)
|
|
{
|
|
const uint32_t parent_bone_index = parent_indices[bone_index];
|
|
ACL_ASSERT(parent_bone_index < num_transforms, "Invalid parent bone index: %u >= %u", parent_bone_index, num_transforms);
|
|
|
|
out_object_pose[bone_index] = rtm::qvv_normalize(rtm::qvv_mul(local_pose[bone_index], out_object_pose[parent_bone_index]));
|
|
}
|
|
}
|
|
|
|
// Note: It is safe for both pose buffers to alias since the data if sorted parent first
|
|
inline void object_to_local_space(const uint32_t* parent_indices, const rtm::qvvf* object_pose, uint32_t num_transforms, rtm::qvvf* out_local_pose)
|
|
{
|
|
if (num_transforms == 0)
|
|
return; // Nothing to do
|
|
|
|
out_local_pose[0] = object_pose[0];
|
|
|
|
for (uint32_t bone_index = 1; bone_index < num_transforms; ++bone_index)
|
|
{
|
|
const uint32_t parent_bone_index = parent_indices[bone_index];
|
|
ACL_ASSERT(parent_bone_index < num_transforms, "Invalid parent bone index: %u >= %u", parent_bone_index, num_transforms);
|
|
|
|
const rtm::qvvf inv_parent_transform = rtm::qvv_inverse(object_pose[parent_bone_index]);
|
|
out_local_pose[bone_index] = rtm::qvv_normalize(rtm::qvv_mul(inv_parent_transform, object_pose[bone_index]));
|
|
}
|
|
}
|
|
}
|
|
|
|
ACL_IMPL_FILE_PRAGMA_POP
|