llpose.cpp

Go to the documentation of this file.

//-----------------------------------------------------------------------------
// Header Files
//-----------------------------------------------------------------------------
#include "linden_common.h"

#include "llpose.h"

#include "llmotion.h"
#include "llmath.h"
#include "llstl.h"

//-----------------------------------------------------------------------------
// Static
//-----------------------------------------------------------------------------

//-----------------------------------------------------------------------------
// LLPose
//-----------------------------------------------------------------------------
LLPose::~LLPose()
{
}

//-----------------------------------------------------------------------------
// getFirstJointState()
//-----------------------------------------------------------------------------
LLJointState* LLPose::getFirstJointState()
{
        mListIter = mJointMap.begin();
        if (mListIter == mJointMap.end())
        {
                return NULL;
        }
        else
        {
                return mListIter->second;
        }
}

//-----------------------------------------------------------------------------
// getNextJointState()
//-----------------------------------------------------------------------------
LLJointState *LLPose::getNextJointState()
{
        mListIter++;
        if (mListIter == mJointMap.end())
        {
                return NULL;
        }
        else
        {
                return mListIter->second;
        }
}

//-----------------------------------------------------------------------------
// addJointState()
//-----------------------------------------------------------------------------
BOOL LLPose::addJointState(const LLPointer<LLJointState>& jointState)
{
        if (mJointMap.find(jointState->getJoint()->getName()) == mJointMap.end())
        {
                mJointMap[jointState->getJoint()->getName()] = jointState;
        }
        return TRUE;
}

//-----------------------------------------------------------------------------
// removeJointState()
//-----------------------------------------------------------------------------
BOOL LLPose::removeJointState(const LLPointer<LLJointState>& jointState)
{
        mJointMap.erase(jointState->getJoint()->getName());
        return TRUE;
}

//-----------------------------------------------------------------------------
// removeAllJointStates()
//-----------------------------------------------------------------------------
BOOL LLPose::removeAllJointStates()
{
        mJointMap.clear();
        return TRUE;
}

//-----------------------------------------------------------------------------
// findJointState()
//-----------------------------------------------------------------------------
LLJointState* LLPose::findJointState(LLJoint *joint)
{
        joint_map_iterator iter = mJointMap.find(joint->getName());

        if (iter == mJointMap.end())
        {
                return NULL;
        }
        else
        {
                return iter->second;
        }
}

//-----------------------------------------------------------------------------
// findJointState()
//-----------------------------------------------------------------------------
LLJointState* LLPose::findJointState(const std::string &name)
{
        joint_map_iterator iter = mJointMap.find(name);

        if (iter == mJointMap.end())
        {
                return NULL;
        }
        else
        {
                return iter->second;
        }
}

//-----------------------------------------------------------------------------
// setWeight()
//-----------------------------------------------------------------------------
void LLPose::setWeight(F32 weight)
{
        joint_map_iterator iter;
        for(iter = mJointMap.begin(); 
                iter != mJointMap.end();
                ++iter)
        {
                iter->second->setWeight(weight);
        }
        mWeight = weight;
}

//-----------------------------------------------------------------------------
// getWeight()
//-----------------------------------------------------------------------------
F32 LLPose::getWeight() const
{
        return mWeight;
}

//-----------------------------------------------------------------------------
// getNumJointStates()
//-----------------------------------------------------------------------------
S32 LLPose::getNumJointStates() const
{
        return (S32)mJointMap.size();
}

//-----------------------------------------------------------------------------
// LLJointStateBlender
//-----------------------------------------------------------------------------

LLJointStateBlender::LLJointStateBlender()
{
        for(S32 i = 0; i < JSB_NUM_JOINT_STATES; i++)
        {
                mJointStates[i] = NULL;
                mPriorities[i] = S32_MIN;
        }
}

LLJointStateBlender::~LLJointStateBlender()
{
        
}

//-----------------------------------------------------------------------------
// addJointState()
//-----------------------------------------------------------------------------
BOOL LLJointStateBlender::addJointState(const LLPointer<LLJointState>& joint_state, S32 priority, BOOL additive_blend)
{
        llassert(joint_state);

        if (!joint_state->getJoint())
                // this joint state doesn't point to an actual joint, so we don't care about applying it
                return FALSE;

        for(S32 i = 0; i < JSB_NUM_JOINT_STATES; i++)
        {
                if (mJointStates[i].isNull())
                {
                        mJointStates[i] = joint_state;
                        mPriorities[i] = priority;
                        mAdditiveBlends[i] = additive_blend;
                        return TRUE;
                } 
                else if (priority > mPriorities[i])
                {
                        // we're at a higher priority than the current joint state in this slot
                        // so shift everyone over
                        // previous joint states (newer motions) with same priority should stay in place
                        for (S32 j = JSB_NUM_JOINT_STATES - 1; j > i; j--)
                        {
                                mJointStates[j] = mJointStates[j - 1];
                                mPriorities[j] = mPriorities[j - 1];
                                mAdditiveBlends[j] = mAdditiveBlends[j - 1];
                        }
                        // now store ourselves in this slot
                        mJointStates[i] = joint_state;
                        mPriorities[i] = priority;
                        mAdditiveBlends[i] = additive_blend;
                        return TRUE;
                }
        }

        return FALSE;
}

//-----------------------------------------------------------------------------
// blendJointStates()
//-----------------------------------------------------------------------------
void LLJointStateBlender::blendJointStates(BOOL apply_now)
{
        // we need at least one joint to blend
        // if there is one, it will be in slot zero according to insertion logic
        // instead of resetting joint state to default, just leave it unchanged from last frame
        if (mJointStates[0].isNull())
        {
                return;
        }

        LLJoint* target_joint = apply_now ? mJointStates[0]->getJoint() : &mJointCache;

        const S32 POS_WEIGHT = 0;
        const S32 ROT_WEIGHT = 1;
        const S32 SCALE_WEIGHT = 2;

        F32                             sum_weights[3];
        U32                             sum_usage = 0;

        LLVector3               blended_pos = target_joint->getPosition();
        LLQuaternion    blended_rot = target_joint->getRotation();
        LLVector3               blended_scale = target_joint->getScale();

        LLVector3               added_pos;
        LLQuaternion    added_rot;
        LLVector3               added_scale;

        //S32                           joint_state_index;

        sum_weights[POS_WEIGHT] = 0.f;
        sum_weights[ROT_WEIGHT] = 0.f;
        sum_weights[SCALE_WEIGHT] = 0.f;

        for(S32 joint_state_index = 0; 
                joint_state_index < JSB_NUM_JOINT_STATES && mJointStates[joint_state_index].notNull();
                joint_state_index++)
        {
                LLJointState* jsp = mJointStates[joint_state_index];
                U32 current_usage = jsp->getUsage();
                F32 current_weight = jsp->getWeight();

                if (current_weight == 0.f)
                {
                        continue;
                }

                if (mAdditiveBlends[joint_state_index])
                {
                        if(current_usage & LLJointState::POS)
                        {
                                F32 new_weight_sum = llmin(1.f, current_weight + sum_weights[POS_WEIGHT]);

                                // add in pos for this jointstate modulated by weight
                                added_pos += jsp->getPosition() * (new_weight_sum - sum_weights[POS_WEIGHT]);
                        }

                        if(current_usage & LLJointState::SCALE)
                        {
                                F32 new_weight_sum = llmin(1.f, current_weight + sum_weights[SCALE_WEIGHT]);

                                // add in scale for this jointstate modulated by weight
                                added_scale += jsp->getScale() * (new_weight_sum - sum_weights[SCALE_WEIGHT]);
                        }

                        if (current_usage & LLJointState::ROT)
                        {
                                F32 new_weight_sum = llmin(1.f, current_weight + sum_weights[ROT_WEIGHT]);

                                // add in rotation for this jointstate modulated by weight
                                added_rot = nlerp((new_weight_sum - sum_weights[ROT_WEIGHT]), added_rot, jsp->getRotation()) * added_rot;
                        }
                }
                else
                {
                        // blend two jointstates together
                
                        // blend position
                        if(current_usage & LLJointState::POS)
                        {
                                if(sum_usage & LLJointState::POS)
                                {
                                        F32 new_weight_sum = llmin(1.f, current_weight + sum_weights[POS_WEIGHT]);

                                        // blend positions from both
                                        blended_pos = lerp(jsp->getPosition(), blended_pos, sum_weights[POS_WEIGHT] / new_weight_sum);
                                        sum_weights[POS_WEIGHT] = new_weight_sum;
                                } 
                                else
                                {
                                        // copy position from current
                                        blended_pos = jsp->getPosition();
                                        sum_weights[POS_WEIGHT] = current_weight;
                                }
                        }
                        
                        // now do scale
                        if(current_usage & LLJointState::SCALE)
                        {
                                if(sum_usage & LLJointState::SCALE)
                                {
                                        F32 new_weight_sum = llmin(1.f, current_weight + sum_weights[SCALE_WEIGHT]);

                                        // blend scales from both
                                        blended_scale = lerp(jsp->getScale(), blended_scale, sum_weights[SCALE_WEIGHT] / new_weight_sum);
                                        sum_weights[SCALE_WEIGHT] = new_weight_sum;
                                } 
                                else
                                {
                                        // copy scale from current
                                        blended_scale = jsp->getScale();
                                        sum_weights[SCALE_WEIGHT] = current_weight;
                                }
                        }

                        // rotation
                        if (current_usage & LLJointState::ROT)
                        {
                                if(sum_usage & LLJointState::ROT)
                                {
                                        F32 new_weight_sum = llmin(1.f, current_weight + sum_weights[ROT_WEIGHT]);

                                        // blend rotations from both
                                        blended_rot = nlerp(sum_weights[ROT_WEIGHT] / new_weight_sum, jsp->getRotation(), blended_rot);
                                        sum_weights[ROT_WEIGHT] = new_weight_sum;
                                } 
                                else
                                {
                                        // copy rotation from current
                                        blended_rot = jsp->getRotation();
                                        sum_weights[ROT_WEIGHT] = current_weight;
                                }
                        }

                        // update resulting usage mask
                        sum_usage = sum_usage | current_usage;
                }
        }

        if (!added_scale.isFinite())
        {
                added_scale.clearVec();
        }

        if (!blended_scale.isFinite())
        {
                blended_scale.setVec(1,1,1);
        }

        // apply transforms
        target_joint->setPosition(blended_pos + added_pos);
        target_joint->setScale(blended_scale + added_scale);
        target_joint->setRotation(added_rot * blended_rot);

        if (apply_now)
        {
                // now clear joint states
                for(S32 i = 0; i < JSB_NUM_JOINT_STATES; i++)
                {
                        mJointStates[i] = NULL;
                }
        }
}

//-----------------------------------------------------------------------------
// interpolate()
//-----------------------------------------------------------------------------
void LLJointStateBlender::interpolate(F32 u)
{
        // only interpolate if we have a joint state
        if (!mJointStates[0])
        {
                return;
        }
        LLJoint* target_joint = mJointStates[0]->getJoint();

        if (!target_joint)
        {
                return;
        }

        target_joint->setPosition(lerp(target_joint->getPosition(), mJointCache.getPosition(), u));
        target_joint->setScale(lerp(target_joint->getScale(), mJointCache.getScale(), u));
        target_joint->setRotation(nlerp(u, target_joint->getRotation(), mJointCache.getRotation()));
}

//-----------------------------------------------------------------------------
// clear()
//-----------------------------------------------------------------------------
void LLJointStateBlender::clear()
{
        // now clear joint states
        for(S32 i = 0; i < JSB_NUM_JOINT_STATES; i++)
        {
                mJointStates[i] = NULL;
        }
}

//-----------------------------------------------------------------------------
// resetCachedJoint()
//-----------------------------------------------------------------------------
void LLJointStateBlender::resetCachedJoint()
{
        if (!mJointStates[0])
        {
                return;
        }
        LLJoint* source_joint = mJointStates[0]->getJoint();
        mJointCache.setPosition(source_joint->getPosition());
        mJointCache.setScale(source_joint->getScale());
        mJointCache.setRotation(source_joint->getRotation());
}

//-----------------------------------------------------------------------------
// LLPoseBlender
//-----------------------------------------------------------------------------

LLPoseBlender::LLPoseBlender()
{
}

LLPoseBlender::~LLPoseBlender()
{
        for_each(mJointStateBlenderPool.begin(), mJointStateBlenderPool.end(), DeletePairedPointer());
}

//-----------------------------------------------------------------------------
// addMotion()
//-----------------------------------------------------------------------------
BOOL LLPoseBlender::addMotion(LLMotion* motion)
{
        LLPose* pose = motion->getPose();

        for(LLJointState* jsp = pose->getFirstJointState(); jsp; jsp = pose->getNextJointState())
        {
                LLJoint *jointp = jsp->getJoint();
                LLJointStateBlender* joint_blender;
                if (mJointStateBlenderPool.find(jointp) == mJointStateBlenderPool.end())
                {
                        // this is the first time we are animating this joint
                        // so create new jointblender and add it to our pool
                        joint_blender = new LLJointStateBlender();
                        mJointStateBlenderPool[jointp] = joint_blender;
                }
                else
                {
                        joint_blender = mJointStateBlenderPool[jointp];
                }

                if (jsp->getPriority() == LLJoint::USE_MOTION_PRIORITY)
                {
                        joint_blender->addJointState(jsp, motion->getPriority(), motion->getBlendType() == LLMotion::ADDITIVE_BLEND);
                }
                else
                {
                        joint_blender->addJointState(jsp, jsp->getPriority(), motion->getBlendType() == LLMotion::ADDITIVE_BLEND);
                }

                // add it to our list of active blenders
                if (std::find(mActiveBlenders.begin(), mActiveBlenders.end(), joint_blender) == mActiveBlenders.end())
                {
                        mActiveBlenders.push_front(joint_blender);
                }
        }
        return TRUE;
}

//-----------------------------------------------------------------------------
// blendAndApply()
//-----------------------------------------------------------------------------
void LLPoseBlender::blendAndApply()
{
        for (blender_list_t::iterator iter = mActiveBlenders.begin();
                 iter != mActiveBlenders.end(); ++iter)
        {
                LLJointStateBlender* jsbp = *iter;
                jsbp->blendJointStates();
        }

        // we're done now so there are no more active blenders for this frame
        mActiveBlenders.clear();
}

//-----------------------------------------------------------------------------
// blendAndCache()
//-----------------------------------------------------------------------------
void LLPoseBlender::blendAndCache(BOOL reset_cached_joints)
{
        for (blender_list_t::iterator iter = mActiveBlenders.begin();
                 iter != mActiveBlenders.end(); ++iter)
        {
                LLJointStateBlender* jsbp = *iter;
                if (reset_cached_joints)
                {
                        jsbp->resetCachedJoint();
                }
                jsbp->blendJointStates(FALSE);
        }
}

//-----------------------------------------------------------------------------
// interpolate()
//-----------------------------------------------------------------------------
void LLPoseBlender::interpolate(F32 u)
{
        for (blender_list_t::iterator iter = mActiveBlenders.begin();
                 iter != mActiveBlenders.end(); ++iter)
        {
                LLJointStateBlender* jsbp = *iter;
                jsbp->interpolate(u);
        }
}

//-----------------------------------------------------------------------------
// clearBlenders()
//-----------------------------------------------------------------------------
void LLPoseBlender::clearBlenders()
{
        for (blender_list_t::iterator iter = mActiveBlenders.begin();
                 iter != mActiveBlenders.end(); ++iter)
        {
                LLJointStateBlender* jsbp = *iter;
                jsbp->clear();
        }

        mActiveBlenders.clear();
}

---