commit d5a7200b71a6186712500affd7de6fac6ad301de
parent add32a83adccf289bced938f3d414c899eec1df6
Author: Christophe Coustet <christophe.coustet@meso-star.com>
Date: Thu, 17 Nov 2016 09:50:06 +0100
Improve node_visit_tree by constructing transforms on the fly.
Add a test for visit.
Diffstat:
3 files changed, 114 insertions(+), 20 deletions(-)
diff --git a/cmake/CMakeLists.txt b/cmake/CMakeLists.txt
@@ -98,6 +98,7 @@ if(NOT NO_TEST)
new_test(test_sanim_node)
new_test(test_sanim_node_transform)
new_test(test_sanim_node_pivot)
+ new_test(test_sanim_visit)
endif()
################################################################################
diff --git a/src/sanim.h b/src/sanim.h
@@ -167,7 +167,7 @@ sanim_node_solve_pivot
const double in_dir[3]);
/* Visit the (sub)tree starting at node
- * Solve pivots if any
+ * Solve pivots if any (an ancestor pivot would not be solved/updated)
* Call visitor on every node of the tree with its updated transform
* Visit stops if a call to visitor return is not RES_OK */
SANIM_API res_T
diff --git a/src/sanim_node.c b/src/sanim_node.c
@@ -87,7 +87,7 @@ get_Xpivot_transform
}
static double*
-compose_Xpivot_transform
+compose_Xpivot_transform_L
(const double angle,
const double spacing,
double accum[12])
@@ -108,7 +108,7 @@ get_Zpivot_transform(const double angle, double transform[12]) {
}
static double*
-compose_Zpivot_transform(const double angle, double accum[12]) {
+compose_Zpivot_transform_L(const double angle, double accum[12]) {
double pivot[12];
ASSERT(accum);
get_Zpivot_transform(angle, pivot);
@@ -125,34 +125,34 @@ get_ZXpivot_transform
{
ASSERT(transform);
get_Xpivot_transform(angleX, spacing, transform);
- compose_Zpivot_transform(angleZ, transform);
+ compose_Zpivot_transform_L(angleZ, transform);
return transform;
}
static double*
-compose_ZXpivot_transform
+compose_ZXpivot_transform_L
(const double angleZ,
const double angleX,
const double spacing,
double accum[12])
{
ASSERT(accum);
- compose_Xpivot_transform(angleX, spacing, accum);
- compose_Zpivot_transform(angleZ, accum);
+ compose_Xpivot_transform_L(angleX, spacing, accum);
+ compose_Zpivot_transform_L(angleZ, accum);
return accum;
}
static double*
-compose_pivot_transform(const struct pivot_data* pivot, double accum[12]) {
+compose_pivot_transform_L(const struct pivot_data* pivot, double accum[12]) {
ASSERT(pivot && accum);
switch (pivot->pivot.type) {
case PIVOT_SINGLE_AXIS: {
ASSERT(pivot->angleZ == 0);
- compose_Xpivot_transform(pivot->angleX, 0, accum);
+ compose_Xpivot_transform_L(pivot->angleX, 0, accum);
break;
}
case PIVOT_TWO_AXIS: {
- compose_ZXpivot_transform(
+ compose_ZXpivot_transform_L(
pivot->angleZ, pivot->angleX, pivot->pivot.data.pivot2.spacing, accum);
break;
}
@@ -202,11 +202,11 @@ node_get_own_transform
}
static double*
-compose_node_transform(const struct sanim_node* node, double accum[12]) {
+compose_node_transform_L(const struct sanim_node* node, double accum[12]) {
double local[12];
ASSERT(node && node->data && accum);
if (node->data->pivot_data) {
- compose_pivot_transform(node->data->pivot_data, accum);
+ compose_pivot_transform_L(node->data->pivot_data, accum);
}
d33_rotation(local, SPLIT3(node->data->rotations));
d3_set(local + 9, node->data->translation);
@@ -225,7 +225,7 @@ node_get_transform
father = node->data->father;
node_get_own_transform(node, include_own_pivot, transform);
while (father) {
- compose_node_transform(father, transform);
+ compose_node_transform_L(father, transform);
father = father->data->father;
}
}
@@ -773,32 +773,102 @@ node_solve_pivot
}
}
+static double*
+compose_Xpivot_transform_R
+ (const double angle,
+ const double spacing,
+ double accum[12])
+{
+ double pivot[12];
+ ASSERT(accum);
+ get_Xpivot_transform(angle, spacing, pivot);
+ d34_muld34(accum, accum, pivot);
+ return accum;
+}
+
+static double*
+compose_Zpivot_transform_R(const double angle, double accum[12]) {
+ double pivot[12];
+ ASSERT(accum);
+ get_Zpivot_transform(angle, pivot);
+ d34_muld34(accum, accum, pivot);
+ return accum;
+}
+
+static double*
+compose_ZXpivot_transform_R
+ (const double angleZ,
+ const double angleX,
+ const double spacing,
+ double accum[12])
+{
+ ASSERT(accum);
+ compose_Zpivot_transform_R(angleZ, accum);
+ compose_Xpivot_transform_R(angleX, spacing, accum);
+ return accum;
+}
+
+static double*
+compose_pivot_transform_R(double accum[12], const struct pivot_data* pivot) {
+ ASSERT(pivot && accum);
+ switch (pivot->pivot.type) {
+ case PIVOT_SINGLE_AXIS: {
+ ASSERT(pivot->angleZ == 0);
+ compose_Xpivot_transform_R(pivot->angleX, 0, accum);
+ break;
+ }
+ case PIVOT_TWO_AXIS: {
+ compose_ZXpivot_transform_R(
+ pivot->angleZ, pivot->angleX, pivot->pivot.data.pivot2.spacing, accum);
+ break;
+ }
+ default: FATAL("Unreachable code.\n"); break;
+ }
+ return accum;
+}
+
+static double*
+compose_node_transform_R(double accum[12], const struct sanim_node* node) {
+ double local[12];
+ ASSERT(node && node->data && accum);
+ d33_rotation(local, SPLIT3(node->data->rotations));
+ d3_set(local + 9, node->data->translation);
+ d34_muld34(accum, accum, local);
+ if (node->data->pivot_data) {
+ compose_pivot_transform_R(accum, node->data->pivot_data);
+ }
+ return accum;
+}
+
static res_T
visit_tree
(struct sanim_node* node,
const double in_dir[3],
void* data,
- res_T(*visitor)
- (const struct sanim_node* n, const double transform[12], void* data))
+ res_T(*visitor)(
+ const struct sanim_node* n, const double transform[12], void* data),
+ double transform[12])
{
- double transform[12];
size_t count, i;
struct sanim_node* const* children;
res_T res = RES_OK;
ASSERT(node && node->data && in_dir && visitor);
ASSERT(d3_is_normalized(in_dir));
+
if (node->data->pivot_data) {
res = node_solve_pivot(node, in_dir);
if (res != RES_OK) return res;
}
- node_get_transform(node, 1, transform);
+
+ compose_node_transform_R(transform, node);
res = visitor(node, transform, data);
if (res != RES_OK) return res;
+
count = darray_children_size_get(&node->data->children);
children = darray_children_data_get(&node->data->children);
for (i = 0; i < count; i++) {
struct sanim_node* child = children[i];
- res = visit_tree(child, in_dir, data, visitor);
+ res = visit_tree(child, in_dir, data, visitor, transform);
if (res != RES_OK) return res;
}
return RES_OK;
@@ -953,12 +1023,35 @@ sanim_node_visit_tree
(struct sanim_node* node,
const double in_dir[3],
void* data,
- res_T (*visitor)(const struct sanim_node* n, const double transform[12], void* data))
+ res_T(*visitor)(
+ const struct sanim_node* n, const double transform[12], void* data))
{
double dir[3];
+ double transform[12];
+ size_t count, i;
+ struct sanim_node* const* children;
+ res_T res = RES_OK;
if (!node || !node->data || !in_dir || !visitor) return RES_BAD_ARG;
if (!d3_normalize(dir, in_dir)) return RES_BAD_ARG;
- return visit_tree(node, dir, data, visitor);
+
+ if (node->data->pivot_data) {
+ res = node_solve_pivot(node, in_dir);
+ if (res != RES_OK) return res;
+ }
+
+ /* node transform, including possible ascendants */
+ node_get_transform(node, 1, transform);
+ res = visitor(node, transform, data);
+ if (res != RES_OK) return res;
+
+ count = darray_children_size_get(&node->data->children);
+ children = darray_children_data_get(&node->data->children);
+ for (i = 0; i < count; i++) {
+ struct sanim_node* child = children[i];
+ res = visit_tree(child, dir, data, visitor, transform);
+ if (res != RES_OK) return res;
+ }
+ return RES_OK;
}
res_T
