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panda/src/egg/eggXfmSAnim.cxx

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// Filename: eggXfmSAnim.cxx
// Created by:  drose (19Feb99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) 2001, Disney Enterprises, Inc.  All rights reserved
//
// All use of this software is subject to the terms of the Panda 3d
// Software license.  You should have received a copy of this license
// along with this source code; you will also find a current copy of
// the license at http://www.panda3d.org/license.txt .
//
// To contact the maintainers of this program write to
// panda3d@yahoogroups.com .
//
////////////////////////////////////////////////////////////////////

#include "eggXfmSAnim.h"
#include "eggSAnimData.h"
#include "eggXfmAnimData.h"
#include "eggParameters.h"
#include "config_egg.h"

#include <indent.h>
#include <compose_matrix.h>

#include <math.h>

TypeHandle EggXfmSAnim::_type_handle;

//string EggXfmSAnim::_standard_order = "srpht";

// For now, the standard order is sphrt.  This matches the old,
// incorrect behavior of decompose_matrix().  When we have a new
// egg-optchar, we can safely remove the old decompose_matrix() and
// restore the correct standard order (above).
string EggXfmSAnim::_standard_order = "sphrt";


////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::Conversion constructor
//       Access: Public
//  Description: Converts the older-style XfmAnim table to the
//               newer-style XfmSAnim table.
////////////////////////////////////////////////////////////////////
EggXfmSAnim::
EggXfmSAnim(const EggXfmAnimData &convert_from)
  : EggGroupNode(convert_from.get_name())
{
  _has_fps = false;
  _coordsys = convert_from.get_coordinate_system();

  if (convert_from.has_order()) {
    set_order(convert_from.get_order());
  }
  if (convert_from.has_fps()) {
    set_fps(convert_from.get_fps());
  }

  const string &contents = convert_from.get_contents();
  for (int col = 0; col < convert_from.get_num_cols(); col++) {
    EggSAnimData *sanim = new EggSAnimData(contents.substr(col, 1));
    add_child(sanim);
    for (int row = 0; row < convert_from.get_num_rows(); row++) {
      sanim->add_data(convert_from.get_value(row, col));
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::optimize
//       Access: Public
//  Description: Optimizes the table by collapsing redundant
//               sub-tables.
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
optimize() {
  iterator ci = begin();
  while (ci != end()) {
    iterator ci_next = ci;
    ++ci_next;

    if ((*ci)->is_of_type(EggSAnimData::get_class_type())) {
      EggSAnimData *sanim = DCAST(EggSAnimData, *ci);
      sanim->optimize();

      if (sanim->get_num_rows() == 1) {
        // If we've optimized down to one value, check to see if it is
        // a default value.
        double value = sanim->get_value(0);
        double default_value;
        if (sanim->has_name() && strchr("ijk", sanim->get_name()[0]) != NULL) {
          default_value = 1.0;
        } else {
          default_value = 0.0;
        }

        if (fabs(value - default_value) < egg_parameters->_table_threshold) {
          // It's a default-valued table, and therefore redundant:
          // remove it.
          erase(ci);
        }
      }
    }

    ci = ci_next;
  }
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::optimize_to_standard_order
//       Access: Public
//  Description: Optimizes the table by collapsing redundant
//               sub-tables, and simultaneously ensures that the order
//               string is the standard order (which is the same as
//               that supported by compose_matrix() and
//               decompose_matrix()).
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
optimize_to_standard_order() {
  if (get_order() != get_standard_order()) {
    normalize_by_rebuilding();
  }
  optimize();
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::normalize
//       Access: Public
//  Description: The inverse operation of optimize(), this ensures
//               that all the sub-tables have the same length by
//               duplicating rows as necessary.  This is needed before
//               doing operations like add_data() or set_value() on an
//               existing table.
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
normalize() {
  if (get_order() != get_standard_order()) {
    // If our order string is wrong, we must fix it now.  This will
    // incidentally also normalize the table, because we are totally
    // rebuilding it.
    normalize_by_rebuilding();

  } else {
    // Otherwise, if the order string is already the standard order
    // string, we can do this the easy way (from a computational
    // standpoint), which is just to lengthen the tables directly.
    normalize_by_expanding();
  }
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::write
//       Access: Public, Virtual
//  Description: Writes the data to the indicated output stream in Egg
//               format.
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
write(ostream &out, int indent_level) const {
  test_under_integrity();

  write_header(out, indent_level, "<Xfm$Anim_S$>");

  if (has_fps()) {
    indent(out, indent_level + 2) << "<Scalar> fps { " << get_fps() << " }\n";
  }

  if (has_order()) {
    indent(out, indent_level + 2)
      << "<Char*> order { " << get_order() << " }\n";
  }

  EggGroupNode::write(out, indent_level + 2);
  indent(out, indent_level) << "}\n";
}


////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::compose_with_order
//       Access: Public, Static
//  Description: Composes a matrix out of the nine individual
//               components, respecting the order string.  The
//               components will be applied in the order indicated by
//               the string.
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
compose_with_order(LMatrix4d &mat,
                   const LVecBase3d &scale,
                   const LVecBase3d &hpr,
                   const LVecBase3d &trans,
                   const string &order,
                   CoordinateSystem cs) {

  mat = LMatrix4d::ident_mat();

  bool reverse_roll = false;

  if (order == "sphrt" && egg_support_old_anims) {
    // As a special case, if the order string is exactly "sphrt"
    // (which is what all our legacy anim files used), we interpret
    // roll in the opposite direction (as our legacy anim files did).
    reverse_roll = true;
  }

  string::const_iterator pi;
  for (pi = order.begin(); pi != order.end(); ++pi) {
    switch (*pi) {
    case 's':
      mat = mat * LMatrix4d::scale_mat(scale);
      break;

    case 'h':
      mat = mat * LMatrix4d::rotate_mat_normaxis(hpr[0], LVector3d::up(cs), cs);
      break;

    case 'p':
      mat = mat * LMatrix4d::rotate_mat_normaxis(hpr[1], LVector3d::right(cs), cs);
      break;

    case 'r':
      if (reverse_roll) {
        mat = mat * LMatrix4d::rotate_mat_normaxis(-hpr[2], LVector3d::forward(cs), cs);
      } else {
        mat = mat * LMatrix4d::rotate_mat_normaxis(hpr[2], LVector3d::forward(cs), cs);
      }
      break;

    case 't':
      mat = mat * LMatrix4d::translate_mat(trans);
      break;

    default:
      egg_cat.warning()
        << "Invalid letter in order string: " << *pi << "\n";
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::get_num_rows
//       Access: Public
//  Description: Returns the effective number of rows in the table.
//               This is actually the number of rows of the smallest
//               subtable larger than one row.  This is a convenience
//               function that treats the table of tables as if it
//               were a single table of matrices.
////////////////////////////////////////////////////////////////////
int EggXfmSAnim::
get_num_rows() const {
  bool found_any = false;
  int min_rows = 1;

  const_iterator ci;
  for (ci = begin(); ci != end(); ++ci) {
    if ((*ci)->is_of_type(EggSAnimData::get_class_type())) {
      EggSAnimData *sanim = DCAST(EggSAnimData, *ci);
      if (sanim->get_num_rows() > 1) {
        if (!found_any) {
          min_rows = sanim->get_num_rows();

        } else {
          min_rows = min(min_rows, sanim->get_num_rows());
        }
      }
    }
  }

  return min_rows;
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::get_value
//       Access: Public
//  Description: Returns the value of the aggregate row of the table
//               as a matrix.  This is a convenience function that
//               treats the table of tables as if it were a single
//               table of matrices.  It is an error to call this if
//               any SAnimData children of this node have an improper
//               name (e.g. not a single letter, or not one of
//               "ijkhprxyz").
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
get_value(int row, LMatrix4d &mat) const {
  LVector3d scale(1.0, 1.0, 1.0);
  LVector3d hpr(0.0, 0.0, 0.0);
  LVector3d translate(0.0, 0.0, 0.0);

  const_iterator ci;
  for (ci = begin(); ci != end(); ++ci) {
    if ((*ci)->is_of_type(EggSAnimData::get_class_type())) {
      EggSAnimData *sanim = DCAST(EggSAnimData, *ci);

      if (sanim->get_num_rows() == 0) {
        // If the table is totally empty, let's keep the default
        // value.
        break;
      }

      double value;
      if (sanim->get_num_rows() == 1) {
        value = sanim->get_value(0);
      } else {
        nassertv(row < sanim->get_num_rows());
        value = sanim->get_value(row);
      }

      // Each child SAnimData table should have a one-letter name.
      nassertv(sanim->get_name().length() == 1);

      switch (sanim->get_name()[0]) {
      case 'i':
        scale[0] = value;
        break;

      case 'j':
        scale[1] = value;
        break;

      case 'k':
        scale[2] = value;
        break;

      case 'h':
        hpr[0] = value;
        break;

      case 'p':
        hpr[1] = value;
        break;

      case 'r':
        hpr[2] = value;
        break;

      case 'x':
        translate[0] = value;
        break;

      case 'y':
        translate[1] = value;
        break;

      case 'z':
        translate[2] = value;
        break;

      default:
        // One of the child tables had an invalid name.
        nassertv(false);
      }
    }
  }

  // So now we've got the nine components; build a matrix.
  compose_with_order(mat, scale, hpr, translate, get_order(), _coordsys);
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::set_value
//       Access: Public
//  Description: Replaces the indicated row of the table with the
//               given matrix.
//
//               This function can only be called if all the
//               constraints of add_data(), below, are met.  Call
//               normalize() first if you are not sure.
//
//               The return value is true if the matrix can be
//               decomposed and stored as scale, rotate, and
//               translate, or false otherwise.
////////////////////////////////////////////////////////////////////
bool EggXfmSAnim::
set_value(int row, const LMatrix4d &mat) {
  nassertr(get_order() == get_standard_order(), false);

  LVector3d scale, hpr, translate;
  bool result = decompose_matrix(mat, scale, hpr, translate, _coordsys);
  if (!result) {
    return false;
  }

  // Sanity check our sub-tables.
#ifndef NDEBUG
  int table_length = -1;
  int num_tables = 0;
#endif

  const_iterator ci;
  for (ci = begin(); ci != end(); ++ci) {
    if ((*ci)->is_of_type(EggSAnimData::get_class_type())) {
      EggSAnimData *sanim = DCAST(EggSAnimData, *ci);

#ifndef NDEBUG
      num_tables++;

      // Each table must have the same length.
      if (table_length < 0) {
        table_length = sanim->get_num_rows();
      } else {
        nassertr(sanim->get_num_rows() == table_length, false);
      }
#endif

      // Each child SAnimData table should have a one-letter name.
      nassertr(sanim->get_name().length() == 1, false);

      switch (sanim->get_name()[0]) {
      case 'i':
        sanim->set_value(row, scale[0]);
        break;

      case 'j':
        sanim->set_value(row, scale[1]);
        break;

      case 'k':
        sanim->set_value(row, scale[2]);
        break;

      case 'h':
        sanim->set_value(row, hpr[0]);
        break;

      case 'p':
        sanim->set_value(row, hpr[1]);
        break;

      case 'r':
        sanim->set_value(row, hpr[2]);
        break;

      case 'x':
        sanim->set_value(row, translate[0]);
        break;

      case 'y':
        sanim->set_value(row, translate[1]);
        break;

      case 'z':
        sanim->set_value(row, translate[2]);
        break;

      default:
        // One of the child tables had an invalid name.
        nassertr(false, false);
      }
    }
  }

  nassertr(num_tables == 9, false);
  return true;
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::add_data
//       Access: Public
//  Description: Adds a new matrix to the table, by adding a new row
//               to each of the subtables.
//
//               This is a convenience function that
//               treats the table of tables as if it were a single
//               table of matrices.  It is an error to call this if
//               any SAnimData children of this node have an improper
//               name (e.g. not a single letter, or not one of
//               "ijkhprxyz").
//
//               This function has the further requirement that all
//               nine of the subtables must exist and be of the same
//               length.  Furthermore, the order string must be the
//               standard order string, "ijkrphxyz", which matches the
//               system compose_matrix() and decompose_matrix()
//               functions.
//
//               Thus, you probably cannot take an existing
//               EggXfmSAnim object and start adding matrices to the
//               end; you must clear out the original data first.  (As
//               a special exception, if no tables exist, they will be
//               created.)  The method normalize() will do this for
//               you on an existing EggXfmSAnim.
//
//               This function may fail silently if the matrix cannot
//               be decomposed into scale, rotate, and translate.  In
//               this case, nothing is done and the function returns
//               false.
////////////////////////////////////////////////////////////////////
bool EggXfmSAnim::
add_data(const LMatrix4d &mat) {
  LVector3d scale, hpr, translate;
  bool result = decompose_matrix(mat, scale, hpr, translate, _coordsys);
  if (!result) {
    return false;
  }

  if (empty()) {
    // If we have no children, create all nine tables now.
    const char *table_ids = "ijkhprxyz";
    for (const char *p = table_ids; *p; p++) {
      EggSAnimData *sanim = new EggSAnimData(string(1, *p));
      add_child(sanim);
    }

    // Also insist on the correct ordering right off the bat.
    set_order(get_standard_order());
  }

  nassertr(get_order() == get_standard_order(), false);

#ifndef NDEBUG
  int table_length = -1;
  int num_tables = 0;
#endif

  const_iterator ci;
  for (ci = begin(); ci != end(); ++ci) {
    if ((*ci)->is_of_type(EggSAnimData::get_class_type())) {
      EggSAnimData *sanim = DCAST(EggSAnimData, *ci);

#ifndef NDEBUG
      num_tables++;

      // Each table must have the same length.
      if (table_length < 0) {
        table_length = sanim->get_num_rows();
      } else {
        nassertr(sanim->get_num_rows() == table_length, false);
      }
#endif

      // Each child SAnimData table should have a one-letter name.
      nassertr(sanim->get_name().length() == 1, false);

      switch (sanim->get_name()[0]) {
      case 'i':
        sanim->add_data(scale[0]);
        break;

      case 'j':
        sanim->add_data(scale[1]);
        break;

      case 'k':
        sanim->add_data(scale[2]);
        break;

      case 'h':
        sanim->add_data(hpr[0]);
        break;

      case 'p':
        sanim->add_data(hpr[1]);
        break;

      case 'r':
        sanim->add_data(hpr[2]);
        break;

      case 'x':
        sanim->add_data(translate[0]);
        break;

      case 'y':
        sanim->add_data(translate[1]);
        break;

      case 'z':
        sanim->add_data(translate[2]);
        break;

      default:
        // One of the child tables had an invalid name.
        nassertr(false, false);
      }
    }
  }

  nassertr(num_tables == 9, false);
  return true;
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::r_transform
//       Access: Protected, Virtual
//  Description: Applies the indicated transform to all the rows of
//               the table.  This actually forces the generation of a
//               totally new set of rows, and will quietly change the
//               order to the standard order (if it is different).
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
r_transform(const LMatrix4d &mat, const LMatrix4d &inv,
            CoordinateSystem to_cs) {
  // We need to build an inverse matrix that doesn't reflect the
  // translation component.
  LMatrix4d inv1 = inv;
  inv1.set_row(3, LVector3d(0.0, 0.0, 0.0));

  // Save a temporary copy of the original data.
  EggXfmSAnim original;
  original.steal_children(*this);
  original = (*this);

  // Now we have no children, so our data is clear.  Rebuild it.
  if (to_cs != CS_default) {
    _coordsys = to_cs;
  }

  int num_rows = original.get_num_rows();
  LMatrix4d orig_mat;
  for (int r = 0; r < num_rows; r++) {
    original.get_value(r, orig_mat);
    bool result = add_data(inv1 * orig_mat * mat);

    // If this assertion fails, we attempted to transform by a skew
    // matrix or some such thing that cannot be represented in an anim
    // file.
    nassertv(result);
  }

  // Now clean out the redundant columns we created.
  optimize();
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::r_mark_coordsys
//       Access: Protected, Virtual
//  Description: This is only called immediately after loading an egg
//               file from disk, to propagate the value found in the
//               CoordinateSystem entry (or the default Y-up
//               coordinate system) to all nodes that care about what
//               the coordinate system is.
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
r_mark_coordsys(CoordinateSystem cs) {
  _coordsys = cs;
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::normalize_by_rebuilding
//       Access: Private
//  Description: One implementation of normalize() that rebuilds the
//               entire table by composing and decomposing the rows.
//               This has the advantage that it will also reset the
//               order string to the standard order string, but it is
//               more computationally intensive and is subject to
//               roundoff error.
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
normalize_by_rebuilding() {
  // Save a temporary copy of the original data.
  EggXfmSAnim original;
  original.steal_children(*this);
  original = (*this);

  // Now we have no children, so our data is clear.  Rebuild it.
  int num_rows = original.get_num_rows();
  LMatrix4d orig_mat;
  for (int r = 0; r < num_rows; r++) {
    original.get_value(r, orig_mat);
    bool result = add_data(orig_mat);

    // If this assertion fails, we somehow got a matrix out of the
    // original table that we could not represent in the new table.
    // That shouldn't be possible; there's probably something wrong
    // in decompose_matrix().
    nassertv(result);
  }
}

////////////////////////////////////////////////////////////////////
//     Function: EggXfmSAnim::normalize_by_expanding
//       Access: Private
//  Description: Another implementation of normalize() that simply
//               expands any one-row tables and creates default-valued
//               tables where none were before.  This will not change
//               the order string, but is much faster and does not
//               introduce roundoff error.
////////////////////////////////////////////////////////////////////
void EggXfmSAnim::
normalize_by_expanding() {
  iterator ci;

  // First, determine which tables we already have, and how long they
  // are.
  int num_tables = 0;
  int table_length = 1;
  string remaining_tables = "ijkhprxyz";

  for (ci = begin(); ci != end(); ++ci) {
    if ((*ci)->is_of_type(EggSAnimData::get_class_type())) {
      EggSAnimData *sanim = DCAST(EggSAnimData, *ci);

      nassertv(sanim->get_name().length() == 1);
      char name = sanim->get_name()[0];
      size_t p = remaining_tables.find(name);
      nassertv(p != string::npos);
      remaining_tables[p] = ' ';

      num_tables++;
      if (sanim->get_num_rows() > 1) {
        if (table_length == 1) {
          table_length = sanim->get_num_rows();
        } else {
          nassertv(sanim->get_num_rows() == table_length);
        }
      }
    }
  }

  if (num_tables < 9) {
    // Create new, default, children for each table we lack.
    for (size_t p = 0; p < remaining_tables.length(); p++) {
      if (remaining_tables[p] != ' ') {
        double default_value;
        switch (remaining_tables[p]) {
        case 'i':
        case 'j':
        case 'k':
          default_value = 1.0;
          break;

        default:
          default_value = 0.0;
        }

        string name(1, remaining_tables[p]);
        EggSAnimData *sanim = new EggSAnimData(name);
        add_child(sanim);
        sanim->add_data(default_value);
      }
    }
  }

  // Now expand any one-row tables as needed.
  for (ci = begin(); ci != end(); ++ci) {
    if ((*ci)->is_of_type(EggSAnimData::get_class_type())) {
      EggSAnimData *sanim = DCAST(EggSAnimData, *ci);
      if (sanim->get_num_rows() == 1) {
        double value = sanim->get_value(0);
        for (int i = 1; i < table_length; i++) {
          sanim->add_data(value);
        }
      }
      nassertv(sanim->get_num_rows() == table_length);
    }
  }
}

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