commit 250c31bfacae9a899611ad2c6e560e081136bc98
parent 046e3ba072688a64510041578886d564c8322855
Author: William Casarin <jb55@jb55.com>
Date: Thu, 27 Jun 2019 23:43:32 -0700
Merge branch 'animation' into dynamic-wip
Diffstat:
45 files changed, 3152 insertions(+), 223 deletions(-)
diff --git a/.gitignore b/.gitignore
@@ -3,3 +3,4 @@
polyadvent
/TAGS
*.d
+/test/test_animation
diff --git a/Makefile b/Makefile
@@ -2,7 +2,7 @@ NAME ?= polyadvent
BIN ?= $(NAME)
PREFIX ?= /usr/local
DEFS= -DGLFW_INCLUDE_NONE -DDEBUG
-CFLAGS = $(DEFS) -ggdb -Ofast -I src -Wall -Werror -Wextra -std=c99 \
+CFLAGS = $(DEFS) -ggdb -O2 -I src -Wall -Werror -Wextra -std=c99 \
-Wno-unused-function \
-Wno-unused-parameter \
-Wno-unused-variable \
@@ -14,6 +14,8 @@ SRC=src
OBJS = $(SRC)/window.o
OBJS += $(SRC)/vbo.o
OBJS += $(SRC)/camera.o
+OBJS += $(SRC)/xml.o
+OBJS += $(SRC)/animation.o
OBJS += $(SRC)/debug.o
OBJS += $(SRC)/delaunay.o
OBJS += $(SRC)/entity.o
@@ -23,7 +25,6 @@ OBJS += $(SRC)/game.o
OBJS += $(SRC)/geometry.o
OBJS += $(SRC)/hires.o
OBJS += $(SRC)/input.o
-OBJS += $(SRC)/main.o
OBJS += $(SRC)/mat4.o
OBJS += $(SRC)/mat_util.o
OBJS += $(SRC)/model.o
@@ -46,17 +47,20 @@ OBJS += $(SRC)/util.o
OBJS += $(SRC)/vec3.o
OBJS += $(SRC)/scene.o
OBJS += $(SRC)/resource.o
+OBJS += $(SRC)/quickhull.o
+TESTS = test/test_animation
SRCS=$(OBJS:.o=.c)
-
all: $(BIN)
clean:
- rm -f src/main.o $(OBJS) $(SHLIB) $(BIN) $(SRC)/*.d*
+ rm -f src/main.o $(OBJS) $(TESTS) $(SHLIB) $(BIN) $(SRC)/*.d*
include $(OBJS:.o=.d)
+include src/main.d
+include test/test_animation.d
%.d: %.c
@rm -f $@; \
@@ -64,7 +68,13 @@ include $(OBJS:.o=.d)
sed 's,\(.*\)\.o[ :]*,src/\1.o $@ : ,g' < $@.$$$$ > $@; \
rm -f $@.$$$$
-$(BIN): $(OBJS)
+test/%: test/%.o $(OBJS)
+ $(CC) $(CFLAGS) $^ $(LDFLAGS) -o $@
+
+check: $(TESTS)
+ ./$(TESTS)
+
+$(BIN): src/main.o $(OBJS)
$(CC) $(CFLAGS) $^ $(LDFLAGS) -o $@
install: $(BIN)
diff --git a/TODOs.org b/TODOs.org
@@ -0,0 +1,42 @@
+
+* Rendering
+
+** TODO Debris on ground
+
+To create a sense of movement
+
+** TODO Half edge subdivision for tessellation
+
+* Multicore
+
+** TODO Simple pthreads job system
+
+* Animation
+
+** DONE Initial animation system
+CLOSED: [2019-06-22 Sat 12:52]
+** DONE Load poses in engine
+CLOSED: [2019-06-22 Sat 12:52]
+** TODO Load bone weights
+** TODO Run pose
+** TODO Simple animation test
+** TODO Procedural animation?
+
+
+* Physics
+
+** TODO Initial physics system
+* Entity
+
+** TODO Entity loading stress test
+
+* Procedural
+
+** TODO Trees
+** DONE quickhull tests
+CLOSED: [2019-04-12 Fri 09:37]
+
+* Terrain
+
+** TODO Infinite terrain
+
diff --git a/data/models/pirate-officer.blend b/data/models/pirate-officer.blend
Binary files differ.
diff --git a/data/models/pirate-officer.dae b/data/models/pirate-officer.dae
@@ -0,0 +1,531 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.79.0</authoring_tool>
+ </contributor>
+ <created>2019-06-22T11:19:51</created>
+ <modified>2019-06-22T11:19:51</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera-camera" name="Camera">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ <extra>
+ <technique profile="blender">
+ <shiftx sid="shiftx" type="float">0</shiftx>
+ <shifty sid="shifty" type="float">0</shifty>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp-light" name="Lamp">
+ <technique_common>
+ <ambient>
+ <color>0.11 0.11 0.11</color>
+ </ambient>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <type sid="type" type="int">3</type>
+ <flag sid="flag" type="int">0</flag>
+ <mode sid="mode" type="int">12288</mode>
+ <gamma sid="blender_gamma" type="float">1</gamma>
+ <red sid="red" type="float">1</red>
+ <green sid="green" type="float">1</green>
+ <blue sid="blue" type="float">1</blue>
+ <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+ <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+ <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+ <energy sid="blender_energy" type="float">0.11</energy>
+ <dist sid="blender_dist" type="float">29.99998</dist>
+ <spotsize sid="spotsize" type="float">75</spotsize>
+ <spotblend sid="spotblend" type="float">0.15</spotblend>
+ <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+ <att1 sid="att1" type="float">0</att1>
+ <att2 sid="att2" type="float">1</att2>
+ <falloff_type sid="falloff_type" type="int">2</falloff_type>
+ <clipsta sid="clipsta" type="float">1.000799</clipsta>
+ <clipend sid="clipend" type="float">30.002</clipend>
+ <bias sid="bias" type="float">1</bias>
+ <soft sid="soft" type="float">3</soft>
+ <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+ <bufsize sid="bufsize" type="int">2880</bufsize>
+ <samp sid="samp" type="int">3</samp>
+ <buffers sid="buffers" type="int">1</buffers>
+ <filtertype sid="filtertype" type="int">0</filtertype>
+ <bufflag sid="bufflag" type="int">0</bufflag>
+ <buftype sid="buftype" type="int">2</buftype>
+ <ray_samp sid="ray_samp" type="int">1</ray_samp>
+ <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+ <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+ <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+ <area_shape sid="area_shape" type="int">1</area_shape>
+ <area_size sid="area_size" type="float">0.1</area_size>
+ <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+ <area_sizez sid="area_sizez" type="float">1</area_sizez>
+ <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+ <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+ <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+ <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+ <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+ <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+ <spread sid="spread" type="float">1</spread>
+ <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+ <sun_size sid="sun_size" type="float">1</sun_size>
+ <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+ <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+ <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+ <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+ <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+ <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+ <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+ <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+ </technique>
+ </extra>
+ </light>
+ </library_lights>
+ <library_images/>
+ <library_effects>
+ <effect id="sand_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.8470588 0.7607843 0.6078432 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.33 0.33 0.33 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="textile_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.8196079 0.7529412 0.6705883 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.33 0.33 0.33 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="textileBlue_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.3568628 0.5411765 0.6980392 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.33 0.33 0.33 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="iron_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.3764706 0.3764706 0.3764706 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.33 0.33 0.33 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="wood_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.7294118 0.4627451 0.2784314 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.33 0.33 0.33 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="sand_001-material" name="sand_001">
+ <instance_effect url="#sand_001-effect"/>
+ </material>
+ <material id="textile_001-material" name="textile_001">
+ <instance_effect url="#textile_001-effect"/>
+ </material>
+ <material id="textileBlue_001-material" name="textileBlue_001">
+ <instance_effect url="#textileBlue_001-effect"/>
+ </material>
+ <material id="iron_001-material" name="iron_001">
+ <instance_effect url="#iron_001-effect"/>
+ </material>
+ <material id="wood_001-material" name="wood_001">
+ <instance_effect url="#wood_001-effect"/>
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+ </library_materials>
+ <library_geometries>
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+ </triangles>
+ <triangles material="textileBlue_001-material" count="55">
+ <input semantic="VERTEX" source="#armRight_2-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#armRight_2-mesh-normals" offset="1"/>
+ <input semantic="TEXCOORD" source="#armRight_2-mesh-map-0" offset="2" set="0"/>
+ <input semantic="COLOR" source="#armRight_2-mesh-colors-Col" offset="3" set="0"/>
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+ </triangles>
+ <triangles material="iron_001-material" count="155">
+ <input semantic="VERTEX" source="#armRight_2-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#armRight_2-mesh-normals" offset="1"/>
+ <input semantic="TEXCOORD" source="#armRight_2-mesh-map-0" offset="2" set="0"/>
+ <input semantic="COLOR" source="#armRight_2-mesh-colors-Col" offset="3" set="0"/>
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987 174 22 988 988 170 22 989 989</p>
+ </triangles>
+ <triangles material="wood_001-material" count="61">
+ <input semantic="VERTEX" source="#armRight_2-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#armRight_2-mesh-normals" offset="1"/>
+ <input semantic="TEXCOORD" source="#armRight_2-mesh-map-0" offset="2" set="0"/>
+ <input semantic="COLOR" source="#armRight_2-mesh-colors-Col" offset="3" set="0"/>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_controllers>
+ <controller id="Armature_pirate-officer-skin" name="Armature">
+ <skin source="#armRight_2-mesh">
+ <bind_shape_matrix>0.1514977 -2.01481e-4 -6.3167e-5 0.003487766 -6.33061e-5 -1.02032e-4 -0.1514978 0.001529097 2.01393e-4 0.1514977 -1.02117e-4 7.57932e-4 0 0 0 1</bind_shape_matrix>
+ <source id="Armature_pirate-officer-skin-joints">
+ <Name_array id="Armature_pirate-officer-skin-joints-array" count="11">Step core arm_r arm_r_1 arm_l arm_l_1 head leg_l leg_l_1 leg_r leg_r_1</Name_array>
+ <technique_common>
+ <accessor source="#Armature_pirate-officer-skin-joints-array" count="11" stride="1">
+ <param name="JOINT" type="name"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="Armature_pirate-officer-skin-bind_poses">
+ <float_array id="Armature_pirate-officer-skin-bind_poses-array" count="176">0.9999153 -4.08413e-4 -0.01301229 0.0116567 0.01301199 -6.79513e-4 0.9999151 -0.670503 -4.17221e-4 -0.9999997 -6.74089e-4 0.02088719 0 0 0 1 0.9999992 -4.17846e-4 0.00132966 -0.001190602 -0.001329898 -6.73586e-4 0.9999989 -0.8957912 -4.1695e-4 -0.9999997 -6.74089e-4 0.02088707 0 0 0 1 -4.17256e-4 -1.000002 -6.74165e-4 0.02088737 0.2405146 5.54513e-4 -0.9706454 0.9874006 0.9706456 -5.67168e-4 0.2405143 -0.5605208 0 0 0 1 4.17114e-4 1.000002 6.74084e-4 -0.02088713 -0.03126174 6.87273e-4 -0.9995108 0.8813203 -0.9995113 3.95717e-4 0.03126209 0.3343999 0 0 0 1 -4.17256e-4 -1.000002 -6.74015e-4 0.02088695 -0.237932 7.53543e-4 -0.9712815 0.9871978 0.9712818 -2.44893e-4 -0.2379322 0.5613447 0 0 0 1 4.16871e-4 1.000002 6.74041e-4 -0.02088713 0.03392028 6.59136e-4 -0.9994247 0.8813487 -0.9994245 4.39378e-4 -0.03391999 -0.3352481 0 0 0 1 0.9999856 -0.001201391 -0.005246043 0.006351053 0.00503534 -0.1352643 0.9907967 -1.13126 -0.001899957 -0.9908088 -0.1352563 0.1747332 0 0 0 1 -0.9997861 2.27078e-4 0.00772494 -0.12509 -0.007727622 0.00974065 -0.9999226 0.6469785 -9.32847e-4 -0.9994118 -0.009721815 0.0203334 0 0 0 1 0.9997422 1.37847e-4 -0.01215755 0.1263704 -0.01213753 0.04115223 -0.9990785 0.2890269 9.93053e-4 0.9986117 0.0411511 -0.02947407 0 0 0 1 -0.9998788 1.57881e-4 0.01514071 0.1219941 -0.01513856 0.008916616 -0.9998458 0.6501998 -2.40851e-4 -0.9998601 -0.008912146 0.01985657 0 0 0 1 0.9999924 -4.16031e-4 0.001330256 -0.1262257 0.001345455 0.04410344 -0.999026 0.2551205 3.04984e-4 0.9989264 0.04410648 -0.02886915 0 0 0 1</float_array>
+ <technique_common>
+ <accessor source="#Armature_pirate-officer-skin-bind_poses-array" count="11" stride="16">
+ <param name="TRANSFORM" type="float4x4"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="Armature_pirate-officer-skin-weights">
+ <float_array id="Armature_pirate-officer-skin-weights-array" count="389">0.05213558 0.9478644 0.1899004 0.8100996 0.84301 0.15699 0.1773984 0.8226016 0.1195933 0.8804067 0.7800852 0.2199148 0.9080803 0.09191966 0.1737173 0.8262827 0.02473646 0.9752635 1 1 0.06139206 0.9386079 0.01378506 0.9862149 1 1 0.9226101 0.07738989 0.2226876 0.7773125 1 0.9937509 0.00624901 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0.9047116 0.09528845 0.9059758 0.09402424 1 0.9717712 0.02822875 0.9402328 0.05976724 1 0.9845243 0.01547574 0.9395211 0.06047892 0.04861068 0.9513894 0.08833265 0.9116673 0.08538228 0.9146177 0.04269641 0.9573035 0.1260594 0.8739406 0.07733201 0.9226679 0.07454377 0.9254563 0.1288383 0.8711618 1 1 1 1 1 1 1 1 0.9603103 0.03968966 0.9827364 0.01726359 0.9943599 0.005640029 1 0.9694613 0.03053873 0.9494155 0.05058455 0.9436487 0.05635124 0.9874487 0.0125513 0.01423943 0.9857605 0.02413737 0.9758626 0.01615571 0.9838443 0.01339161 0.9866085 0.9303661 0.0696339 0.9964635 0.003536581 0.9391304 0.06086957 0.9212784 0.07872152 0.8224475 0.1775525 0.1542633 0.8457366 0.4910525 0.5089476 0.1145493 0.8854507 0.3708948 0.6291052 0.02560091 0.9743991 0.1465738 0.8534262 0.03300833 0.9669916 0.08633691 0.9136631 0.006125152 0.9938749 1 1 1 1 1 0.718256 0.2185608 0.06318312 0.07384365 0.606957 0.3011262 0.0180732 0.1280035 0.16171 0.6958557 0.0144307 0.2175812 0.6860687 0.09635001 0.5727672 0.1842584 0.1096959 0.1332785 0.1003786 0.1050215 0.7945998 0.1588721 0.6609361 0.1397838 0.04040789 0.06267875 0.528815 0.4085063 0.1537362 0.6480134 0.01249241 0.1857578 0.005560278 0.8144975 0.1799421 0.6885762 0.02777433 0.2836494 0.4025522 0.0555787 0.5418691 0.8466262 0.09489125 0.0584824 0.904197 0.08448588 0.01131713 0.8654766 0.117038 0.01748532 0.8216587 0.1221829 0.05615836 0.7661764 0.02213209 0.2116914 0.8670787 0.1329212 0.1071336 0.04174888 0.8511176 0.01670169 0.1939637 0.622469 0.1668655 0.05870777 0.05072677 0.8905654 0.03537517 0.05136573 0.004890501 0.9083685 0.1032173 0.1552547 0.6174408 0.1240872 0.04038077 0.8784406 0.08117854 0.05065423 0.8918457 0.0575 0.01714318 0.9239619 0.05889481 0.06628447 0.8511596 0.08255594 0.2015518 0.6648296 0.02822512 0.1053933 0.9193989 0.08060121 0.476592 0.3615991 0.07283937 0.0889694 0.1913447 0.6778306 0.0835464 0.04727816 0.8874095 0.06110209 0.05148833 0.9444072 0.04936325 0.006229579 0.88745 0.06103748 0.05151247 0.8605926 0.008665084 0.1307423 0.08605635 0.8358218 0.06047517 0.01764667 0.05510008 0.8763101 0.05619597 0.01239371 0.05999439 0.8799242 0.03371661 0.0263648 0.02918142 0.9247466 0.03212571 0.01394611</float_array>
+ <technique_common>
+ <accessor source="#Armature_pirate-officer-skin-weights-array" count="389" stride="1">
+ <param name="WEIGHT" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <joints>
+ <input semantic="JOINT" source="#Armature_pirate-officer-skin-joints"/>
+ <input semantic="INV_BIND_MATRIX" source="#Armature_pirate-officer-skin-bind_poses"/>
+ </joints>
+ <vertex_weights count="245">
+ <input semantic="JOINT" source="#Armature_pirate-officer-skin-joints" offset="0"/>
+ <input semantic="WEIGHT" source="#Armature_pirate-officer-skin-weights" offset="1"/>
+ <vcount>2 2 2 2 2 2 2 2 2 1 1 2 2 1 1 2 2 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 1 2 2 1 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 2 2 2 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 3 4 4 3 4 3 4 3 4 3 3 3 3 3 3 3 3 2 3 4 3 4 4 3 3 3 3 4 2 4 4 3 3 3 3 4 4 4 4 </vcount>
+ <v>2 0 3 1 2 2 3 3 2 4 3 5 2 6 3 7 2 8 3 9 2 10 3 11 2 12 3 13 2 14 3 15 2 16 3 17 3 18 3 19 2 20 3 21 2 22 3 23 3 24 2 25 2 26 3 27 2 28 3 29 2 30 2 31 3 32 6 33 6 34 6 35 6 36 6 37 6 38 6 39 6 40 6 41 6 42 6 43 6 44 6 45 6 46 6 47 6 48 6 49 6 50 6 51 6 52 6 53 6 54 6 55 6 56 6 57 6 58 6 59 6 60 6 61 6 62 6 63 6 64 6 65 6 66 6 67 6 68 6 69 6 70 6 71 6 72 6 73 6 74 6 75 6 76 6 77 6 78 6 79 6 80 6 81 6 82 6 83 6 84 6 85 6 86 6 87 6 88 6 89 6 90 6 91 6 92 6 93 6 94 6 95 6 96 6 97 6 98 6 99 6 100 6 101 6 102 6 103 6 104 6 105 6 106 6 107 6 108 6 109 6 110 6 111 6 112 6 113 6 114 6 115 6 116 6 117 6 118 6 119 6 120 6 121 6 122 6 123 6 124 6 125 6 126 6 127 6 128 6 129 6 130 6 131 6 132 6 133 6 134 6 135 6 136 6 137 6 138 6 139 6 140 6 141 6 142 6 143 6 144 6 145 6 146 6 147 6 148 6 149 6 150 6 151 6 152 6 153 6 154 6 155 6 156 6 157 6 158 6 159 6 160 6 161 6 162 6 163 6 164 7 165 8 166 7 167 8 168 7 169 7 170 8 171 7 172 8 173 7 174 7 175 8 176 7 177 8 178 7 179 8 180 7 181 8 182 7 183 8 184 7 185 8 186 7 187 8 188 7 189 8 190 7 191 8 192 7 193 8 194 9 195 9 196 9 197 9 198 9 199 9 200 9 201 9 202 9 203 10 204 9 205 10 206 9 207 10 208 9 209 9 210 10 211 9 212 10 213 9 214 10 215 9 216 10 217 9 218 10 219 9 220 10 221 9 222 10 223 9 224 10 225 4 226 5 227 4 228 5 229 4 230 5 231 4 232 5 233 4 234 5 235 4 236 5 237 4 238 5 239 4 240 5 241 4 242 5 243 4 244 5 245 4 246 5 247 4 248 5 249 4 250 5 251 4 252 5 253 5 254 5 255 5 256 5 257 5 258 1 259 7 260 9 261 0 262 1 263 7 264 9 265 0 266 1 267 7 268 9 269 1 270 7 271 9 272 0 273 1 274 7 275 9 276 0 277 1 278 9 279 0 280 1 281 7 282 9 283 0 284 1 285 9 286 0 287 1 288 7 289 9 290 0 291 1 292 9 293 1 294 7 295 9 296 1 297 7 298 9 299 1 300 7 301 9 302 1 303 7 304 9 305 1 306 7 307 9 308 1 309 7 310 9 311 1 312 7 313 9 314 1 315 9 316 1 317 7 318 9 319 0 320 1 321 7 322 9 323 1 324 7 325 9 326 0 327 1 328 7 329 9 330 0 331 1 332 7 333 9 334 0 335 1 336 9 337 0 338 1 339 9 340 0 341 1 342 9 343 0 344 1 345 9 346 0 347 1 348 7 349 9 350 1 351 9 352 0 353 1 354 7 355 9 356 0 357 1 358 7 359 9 360 1 361 7 362 9 363 1 364 7 365 9 366 1 367 7 368 9 369 1 370 7 371 9 372 0 373 1 374 7 375 9 376 0 377 1 378 7 379 9 380 0 381 1 382 7 383 9 384 0 385 1 386 7 387 9 388</v>
+ </vertex_weights>
+ </skin>
+ </controller>
+ </library_controllers>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Camera" name="Camera" type="NODE">
+ <matrix sid="transform">-0.9050078 -0.1924185 0.3793888 1.108588 0.425187 -0.3812937 0.8208721 2.385299 -0.01329242 0.9042069 0.4268877 2.293916 0 0 0 1</matrix>
+ <instance_camera url="#Camera-camera"/>
+ </node>
+ <node id="Lamp" name="Lamp" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp-light"/>
+ </node>
+ <node id="Armature" name="Armature" type="NODE">
+ <matrix sid="transform">0.999999 4.1695e-4 -0.001329935 -1.711201 -4.17846e-4 0.9999997 -6.73537e-4 1.125701 0.001329654 6.74093e-4 0.9999989 5.59892 0 0 0 1</matrix>
+ <node id="Armature_Step" name="Step" sid="Step" type="JOINT">
+ <matrix sid="transform">0.9998971 0.01434185 -2.70712e-7 1.702186 -2.70917e-7 0 -1 -1.107874 -0.01434185 0.9998972 -4.87489e-8 -4.92983 0 0 0 1</matrix>
+ <node id="Armature_core" name="core" sid="core" type="JOINT">
+ <matrix sid="transform">0.9998971 -0.01434187 2.70684e-7 -1.19209e-7 0.01434209 0.9998972 3.88241e-9 0.225214 -2.95751e-7 -3.88545e-9 1 0 0 0 0 1</matrix>
+ <node id="Armature_arm_r" name="arm.r" sid="arm_r" type="JOINT">
+ <matrix sid="transform">-2.01166e-7 0.2392236 0.9709646 0.3068454 -5.06639e-7 -0.9709644 0.2392235 0.1970296 0.9999982 3.815e-9 3.13159e-7 0 0 0 0 1</matrix>
+ <node id="Armature_arm_r_1" name="arm.r.1" sid="arm_r_1" type="JOINT">
+ <matrix sid="transform">-1 9.01595e-8 1.76802e-7 0 4.47552e-8 0.9626524 -0.2707413 0.2295313 -1.5717e-7 -0.2707414 -0.9626522 1.78814e-7 0 0 0 1</matrix>
+ <extra>
+ <technique profile="blender">
+ <connect sid="connect" type="bool">1</connect>
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">-1.538199</roll>
+ <tip_x sid="tip_x" type="float">-0.009689807</tip_x>
+ <tip_y sid="tip_y" type="float">0</tip_y>
+ <tip_z sid="tip_z" type="float">-0.2971559</tip_z>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="blender">
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">1.329231</roll>
+ </technique>
+ </extra>
+ </node>
+ <node id="Armature_arm_l" name="arm.l" sid="arm_l" type="JOINT">
+ <matrix sid="transform">-2.01166e-7 -0.2392235 0.9709646 -0.3100756 5.06639e-7 -0.9709644 -0.2392235 0.1970296 0.9999982 3.73026e-9 3.15018e-7 0 0 0 0 1</matrix>
+ <node id="Armature_arm_l_1" name="arm.l.1" sid="arm_l_1" type="JOINT">
+ <matrix sid="transform">-0.9999999 1.18232e-8 3.48963e-7 0 6.69024e-8 0.962652 0.2707412 0.2295313 -3.80185e-7 0.2707412 -0.962652 0 0 0 0 1</matrix>
+ <extra>
+ <technique profile="blender">
+ <connect sid="connect" type="bool">1</connect>
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">-1.603393</roll>
+ <tip_x sid="tip_x" type="float">0.009689807</tip_x>
+ <tip_y sid="tip_y" type="float">0</tip_y>
+ <tip_z sid="tip_z" type="float">-0.2971559</tip_z>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="blender">
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">1.812363</roll>
+ </technique>
+ </extra>
+ </node>
+ <node id="Armature_head" name="head" sid="head" type="JOINT">
+ <matrix sid="transform">0.9999781 0.006409289 -0.001665825 0 -0.006575178 0.99088 -0.1345863 0.2487102 7.8803e-4 0.1345943 0.9909005 0 0 0 0 1</matrix>
+ <extra>
+ <technique profile="blender">
+ <connect sid="connect" type="bool">1</connect>
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">0.005672931</roll>
+ <tip_x sid="tip_x" type="float">0.003229975</tip_x>
+ <tip_y sid="tip_y" type="float">-0.06782901</tip_y>
+ <tip_z sid="tip_z" type="float">0.4993556</tip_z>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="blender">
+ <connect sid="connect" type="bool">1</connect>
+ <layer sid="layer" type="string">0</layer>
+ </technique>
+ </extra>
+ </node>
+ <node id="Armature_leg_l" name="leg.l" sid="leg_l" type="JOINT">
+ <matrix sid="transform">-1.00017 0.005284196 2.32905e-4 -0.1168782 -0.005277731 -0.999945 -0.00906714 -0.02403545 -4.46175e-4 -0.009056773 1.0005 0.006347179 0 0 0 1</matrix>
+ <node id="Armature_leg_l_1" name="leg.l.1" sid="leg_l_1" type="JOINT">
+ <matrix sid="transform">-0.9999901 0.00444414 1.8229e-4 0 0.004436177 0.9994961 -0.03143509 0.3566098 -3.21921e-4 -0.03143401 -0.9995057 1.19209e-7 0 0 0 1</matrix>
+ <extra>
+ <technique profile="blender">
+ <connect sid="connect" type="bool">1</connect>
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">0.0129652</roll>
+ <tip_x sid="tip_x" type="float">-0.003229856</tip_x>
+ <tip_y sid="tip_y" type="float">0.009689927</tip_y>
+ <tip_z sid="tip_z" type="float">-0.2390165</tip_z>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="blender">
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">3.150466</roll>
+ </technique>
+ </extra>
+ </node>
+ <node id="Armature_leg_r" name="leg.r" sid="leg_r" type="JOINT">
+ <matrix sid="transform">-1.000004 -0.002130879 2.31564e-4 0.1350323 0.002128042 -0.9999638 -0.008237626 -0.02042198 3.01088e-4 -0.008235401 1.000067 0.00634706 0 0 0 1</matrix>
+ <node id="Armature_leg_r_1" name="leg.r.1" sid="leg_r_1" type="JOINT">
+ <matrix sid="transform">-0.9998644 -0.0164662 4.68626e-4 0 -0.01647241 0.9992446 -0.03519817 0.3921766 1.11315e-4 -0.03520112 -0.9993803 1.19209e-7 0 0 0 1</matrix>
+ <extra>
+ <technique profile="blender">
+ <connect sid="connect" type="bool">1</connect>
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">-2.38419e-6</roll>
+ <tip_x sid="tip_x" type="float">1.19209e-7</tip_x>
+ <tip_y sid="tip_y" type="float">0.009689927</tip_y>
+ <tip_z sid="tip_z" type="float">-0.2228665</tip_z>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="blender">
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">3.157817</roll>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="blender">
+ <layer sid="layer" type="string">0</layer>
+ <roll sid="roll" type="float">0.01434206</roll>
+ </technique>
+ </extra>
+ </node>
+ </node>
+ <node id="pirate-officer" name="pirate-officer" type="NODE">
+ <translate sid="location">0 0 0</translate>
+ <rotate sid="rotationZ">0 0 1 0</rotate>
+ <rotate sid="rotationY">0 1 0 0</rotate>
+ <rotate sid="rotationX">1 0 0 0</rotate>
+ <scale sid="scale">1 1 1</scale>
+ <instance_controller url="#Armature_pirate-officer-skin">
+ <skeleton>#Armature_Step</skeleton>
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="sand_001-material" target="#sand_001-material"/>
+ <instance_material symbol="textile_001-material" target="#textile_001-material"/>
+ <instance_material symbol="textileBlue_001-material" target="#textileBlue_001-material"/>
+ <instance_material symbol="iron_001-material" target="#iron_001-material"/>
+ <instance_material symbol="wood_001-material" target="#wood_001-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_controller>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>+
\ No newline at end of file
diff --git a/etc/shaders/shadows.glsl b/etc/shaders/shadows.glsl
@@ -10,16 +10,17 @@ vec3 shadow_strength(vec4 position, vec4 normal, vec4 v_shadow_coord) {
// vec4 shadow_coord = depth_vp * ((world * position) + shadow_offset);
vec4 shadow_sample = texture(shadow_map, v_shadow_coord.xy);
-
+ float light_angle = dot(light_dir, normal.xyz);
float bias = 0.0002;
+
bool in_shadow =
shadow_sample.z < v_shadow_coord.z - bias
&& shadow_sample.y < 1.0;
if (light_dir.z > 0.0 && in_shadow) {
- float factor = 1.0/(dot(light_dir, vec3(0.0, 0.0, 1.0)));
+ float factor = 1.0-abs(light_angle);
// float factor = 1.0;
- visibility = vec3(clamp(0.2 * factor, 0.5, 1.0));
+ visibility = vec3(1.0)*factor;
// visibility = shadow_sample;
}
diff --git a/src/animation.c b/src/animation.c
@@ -0,0 +1,187 @@
+
+#include <stdio.h>
+#include "xml.h"
+#include "util.h"
+#include "animation.h"
+
+enum dae_state {
+ PARSING_START,
+ PARSING_NODE,
+ PARSING_POSE,
+ PARSING_JOINT,
+ PARSING_JOINT_MATRIX,
+};
+
+struct dae_data {
+ int node_level;
+ int state;
+ FILE *dae_file;
+ struct pose *poses;
+ int *nposes;
+ char current_name[JOINT_LABEL_SIZE];
+};
+
+void init_joint(struct joint *joint)
+{
+ memset(joint->children, -1, sizeof(joint->children));
+ joint->id = -1;
+ mat4_id(joint->mat);
+}
+
+void init_pose(struct pose *pose)
+{
+ pose->njoints = 0;
+}
+
+static void parse_joint(const char *t, int id, struct joint *joint)
+{
+ float *m = joint->mat;
+ init_joint(joint);
+ joint->id = id;
+ /* printf(" parsing joint %d: %s\n", id, t); */
+
+ sscanf(t, "%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f",
+ &m[0], &m[1], &m[2], &m[3],
+ &m[4], &m[5], &m[6], &m[7],
+ &m[8], &m[9], &m[10], &m[11],
+ &m[12], &m[13], &m[14], &m[15]
+ );
+}
+
+static void dae_tag_start(struct xmlparser *x, const char *t, size_t tl)
+{
+ struct dae_data *data = (struct dae_data*)x->user_data;
+
+ if (streq(t, "node")) {
+ data->state = PARSING_NODE;
+ data->node_level++;
+ }
+ else if (data->state == PARSING_JOINT && streq(t, "matrix"))
+ data->state = PARSING_JOINT_MATRIX;
+ else
+ return;
+
+ /* printf("\n"); */
+ /* for (int i = 0; i < data->opened; i++) { */
+ /* putchar(' '); */
+ /* } */
+ /* printf("%s", t); */
+}
+
+static void dae_tag_end(struct xmlparser *x, const char *t, size_t tl, int what)
+{
+ struct dae_data *data = (struct dae_data*)x->user_data;
+
+ if (streq(t, "node"))
+ data->node_level--;
+
+ if (data->state == PARSING_NODE) {
+ data->state = PARSING_START;
+ }
+}
+
+static void dae_tagbody(struct xmlparser *x, const char *d, size_t dl)
+{
+ struct dae_data *data = (struct dae_data*)x->user_data;
+
+ if (data->state == PARSING_JOINT_MATRIX) {
+ assert(*data->nposes);
+ struct pose *pose = &data->poses[*data->nposes - 1];
+ struct joint *joint = &pose->joints[pose->njoints];
+ parse_joint(d, pose->njoints, joint);
+ strncpy(joint->name, data->current_name, sizeof(data->current_name));
+ joint->children[0] = data->node_level;
+ pose->njoints++;
+ data->state = PARSING_POSE;
+ }
+}
+
+static int dae_getc(struct xmlparser *x)
+{
+ struct dae_data *data = (struct dae_data*)x->user_data;
+ return fgetc(data->dae_file);
+}
+
+void dae_attr(struct xmlparser *x, const char *t, size_t tl,
+ const char *a, size_t al, const char *v, size_t vl)
+{
+ struct dae_data *data = (struct dae_data*)x->user_data;
+
+ if (data->state == PARSING_NODE
+ && streq(a, "id")
+ && streq(v, "Armature"))
+ {
+ struct pose *pose = &data->poses[(*data->nposes)++];
+ data->state = PARSING_POSE;
+ init_pose(pose);
+ }
+ else if (data->state == PARSING_NODE
+ && streq(a, "name"))
+ {
+ strncpy(data->current_name, v, sizeof(data->current_name));
+ }
+ else if (data->state == PARSING_NODE
+ && streq(a, "type")
+ && streq(v, "JOINT"))
+ {
+ data->state = PARSING_JOINT;
+ }
+}
+
+static void process_joint_children(struct joint *joints, int njoints)
+{
+ struct joint *joint, *j2;
+ for (int i = 0; i < njoints; i++) {
+ joint = &joints[i];
+
+ // node level is stored in here on the first parser pass
+ int level = joint->children[0];
+
+ for (int j = i+1; j < njoints; j++) {
+ j2 = &joints[j];
+ if (j2->children[0] == level + 1) {
+ /* printf("%s(%d) assigning child %s(%d)\n", */
+ /* joint->name, level, j2->name, j2->children[0]); */
+
+ assert(joint->nchildren+1 < MAX_JOINT_CHILDREN);
+ joint->children[joint->nchildren++] = j;
+ }
+ else if (j2->children[0] <= level)
+ break;
+ }
+ }
+}
+
+void load_poses(const char *filename, struct pose *poses, int *nposes)
+{
+ *nposes = 0;
+
+ struct xmlparser x = {0};
+ struct dae_data data = {
+ .node_level = 0,
+ .state = PARSING_START,
+ .poses = poses,
+ .nposes = nposes,
+ };
+
+ data.dae_file = fopen("data/models/pirate-officer.dae", "rb");
+ if (data.dae_file == NULL)
+ exit(1);
+
+ x.user_data = &data;
+ x.xmltagstart = dae_tag_start;
+ x.xmltagend = dae_tag_end;
+ x.xmlattr = dae_attr;
+ x.xmldata = dae_tagbody;
+ /* x.xmlattrend = dae_attr_end; */
+ x.getnext = dae_getc;
+
+ xml_parse(&x);
+
+ for (int i = 0; i < *nposes; i++) {
+ struct pose *pose = &poses[i];
+ process_joint_children(pose->joints, pose->njoints);
+ }
+
+ fclose(data.dae_file);
+}
diff --git a/src/animation.h b/src/animation.h
@@ -0,0 +1,34 @@
+
+#ifndef POLYADVENT_ANIMATION_H
+#define POLYADVENT_ANIMATION_H
+
+#include "common.h"
+
+#define MAX_JOINT_CHILDREN 4
+#define MAX_JOINTS 16
+#define JOINT_LABEL_SIZE 8
+
+struct joint
+{
+ int children[MAX_JOINT_CHILDREN];
+ int nchildren;
+ int id;
+ char name[JOINT_LABEL_SIZE];
+ float mat[MAT4_ELEMS];
+};
+
+
+
+struct pose
+{
+ struct joint joints[MAX_JOINTS];
+ int njoints;
+};
+
+
+void load_poses(const char *filename, struct pose *poses, int *nposes);
+
+void init_joint(struct joint *joint);
+
+
+#endif /* POLYADVENT_ANIMATION_H */
diff --git a/src/entity.c b/src/entity.c
@@ -9,7 +9,7 @@
static struct resource_manager esys;
-struct entity *get_all_entities(u32 *count, entity_id_t **ids) {
+struct entity *get_all_entities(u32 *count, entity_id **ids) {
return get_all_resources(&esys, count, ids);
}
@@ -19,26 +19,26 @@ struct entity *init_entity(struct entity *ent) {
return ent;
}
-struct entity *get_entity(entity_id_t *ent_id) {
+struct entity *get_entity(entity_id *ent_id) {
return get_resource(&esys, ent_id);
}
-static inline struct entity *new_uninitialized_entity(entity_id_t *id) {
+static inline struct entity *new_uninitialized_entity(entity_id *id) {
return new_resource(&esys, id);
}
-struct entity *new_entity(entity_id_t *id) {
+struct entity *new_entity(entity_id *id) {
return init_entity(new_uninitialized_entity(id));
}
-struct entity *add_entity(struct entity *e, entity_id_t *id) {
+struct entity *add_entity(struct entity *e, entity_id *id) {
struct entity *new = new_uninitialized_entity(id);
*new = *e;
return new;
}
void destroy_entities() {
- entity_id_t *ids;
+ entity_id *ids;
u32 count;
get_all_resources(&esys, &count, &ids);
for (u32 i = RESERVED_ENTITIES; i < count; i++) {
@@ -46,7 +46,7 @@ void destroy_entities() {
}
};
-void destroy_entity(entity_id_t *id) {
+void destroy_entity(entity_id *id) {
struct entity *ent = get_entity(id);
node_detach_from_parent(&ent->node);
destroy_resource(&esys, id);
diff --git a/src/entity.h b/src/entity.h
@@ -23,15 +23,15 @@ struct entity {
int casts_shadows;
};
-typedef struct resource_id entity_id_t;
+typedef struct resource_id entity_id;
struct entity *init_entity(struct entity *);
void destroy_entities();
-void destroy_entity(entity_id_t *);
+void destroy_entity(entity_id *);
void init_entity_system();
-struct entity *get_entity(entity_id_t *);
-struct entity *get_all_entities(u32 *count, entity_id_t **ids);
-struct entity *new_entity(entity_id_t *id);
+struct entity *get_entity(entity_id *);
+struct entity *get_all_entities(u32 *count, entity_id **ids);
+struct entity *new_entity(entity_id *id);
#endif /* ENTITY_H */
diff --git a/src/file.c b/src/file.c
@@ -13,7 +13,7 @@ time_t file_mtime(const char *filename) {
return stats.st_mtime;
}
-void *file_contents(const char *filename, size_t *length) {
+char *file_contents(const char *filename, size_t *length) {
FILE *f = fopen(filename, "r");
char *buffer;
diff --git a/src/file.h b/src/file.h
@@ -3,10 +3,7 @@
#include <time.h>
-time_t
-file_mtime(const char *filename);
-
-void *
-file_contents(const char *filename, size_t *length);
+time_t file_mtime(const char *filename);
+char *file_contents(const char *filename, size_t *length);
#endif /* POLYADVEMT_FILE_H */
diff --git a/src/game.c b/src/game.c
@@ -11,6 +11,9 @@
#include "texture.h"
#include "stb_image.h"
#include "skybox.h"
+#include "quickhull.h"
+#include "util.h"
+
#include <assert.h>
mat4 *cam_init = (float[16]){
@@ -44,11 +47,59 @@ struct entity *get_terrain_entity(struct terrain *t) {
return ent;
}
+
static void init_user_settings(struct user_settings *settings) {
SDL_SetRelativeMouseMode(SDL_TRUE);
settings->mouse_sens = 0.1;
}
+
+static void qh_mesh_to_geom(qh_mesh_t *qh, struct make_geometry *geom) {
+ assert(!geom->vertices);
+ assert(!geom->indices);
+ float *new_normals = malloc(sizeof(float) * 3 * qh->nvertices);
+
+ geom->vertices = (float*)qh->vertices;
+ geom->normals = (float*)qh->normals;
+ geom->indices = qh->indices;
+ geom->num_verts = qh->nvertices;
+ geom->num_indices = qh->nindices;
+
+ for (u32 i = 0; i < qh->nnormals; i++) {
+ int ndv = i * 9;
+
+ qh_vertex_t *n = &qh->normals[i];
+ for (int j = 0; j < 9; j++) {
+ new_normals[ndv+j] = n->v[j%3];
+ }
+ }
+
+ geom->normals = new_normals;
+}
+
+
+void proc_sphere(struct make_geometry *mkgeom, geometry_id *geom_id) {
+ const int n = 50;
+ qh_vertex_t *vertices = malloc(n*sizeof(qh_vertex_t));
+ const float radius = 2.0;
+
+
+ for (int i = 0; i < n; ++i) {
+ float a0 = (rand_0to1() * TAU);
+ float a1 = (rand_0to1() * TAU);
+ vertices[i].z = sin(a0) * radius;
+ vertices[i].x = cos(a1) * cos(a0) * rand_0to1() * radius;
+ vertices[i].y = sin(a1) * cos(a0) * rand_0to1() * radius;
+ }
+
+ qh_mesh_t mesh = qh_quickhull3d(vertices, n);
+ qh_mesh_to_geom(&mesh, mkgeom);
+ make_buffer_geometry(mkgeom, geom_id);
+
+ qh_free_mesh(mesh);
+}
+
+
void game_init(struct game *game, int width, int height) {
init_gl(&game->test_resources, width, height);
init_entity_system();
@@ -126,7 +177,7 @@ void game_init(struct game *game, int width, int height) {
// player entity
player = new_entity(&res->player_id);
assert(res->player_id.index == 1);
- player->model = get_model(model_pirateofficer);
+ player->model = get_model(MODEL_PIRATEOFFICER);
player->node.label = "player";
node_attach(&player->node, root);
node_translate(&player->node, V3(terrain->size/2.,terrain->size/2.,0.0));
diff --git a/src/game.h b/src/game.h
@@ -56,10 +56,11 @@ struct resources {
GLint view_proj;
} uniforms;
- struct attributes attributes;
+ gpu_addr vertex_attrs[n_vertex_attrs];
struct node root;
- entity_id_t player_id;
+ entity_id player_id;
+ struct geometry qh_test;
struct orbit orbit_camera;
struct node free_camera;
const struct node *camera_node;
diff --git a/src/geometry.c b/src/geometry.c
@@ -8,16 +8,12 @@
static struct resource_manager geom_manager;
void
-destroy_buffer_geometry(geometry_id_t *geom_id) {
+destroy_buffer_geometry(geometry_id *geom_id) {
struct geometry *geom = get_geometry(geom_id);
+ gpu_addr buffers[n_vertex_attrs];
- gpu_addr buffers[] = {
- geom->vertex.handle,
- geom->normal.handle,
- geom->color.handle,
- geom->index.handle,
- geom->tex_coord.handle
- };
+ for (int i = 0; i < n_vertex_attrs; i++)
+ buffers[i] = geom->vbos[i].handle;
/* void glDeleteVertexArrays(GLsizei n, const GLuint *arrays); */
/* glDisableVertexAttribArray(geom->buffer.vertex_buffer.handle); */
/* check_gl(); */
@@ -33,23 +29,14 @@ destroy_buffer_geometry(geometry_id_t *geom_id) {
geom->has_vbos = 0;
}
-void bind_geometry(struct geometry *geom, struct attributes *attrs) {
- bind_vbo(&geom->vertex, attrs->position);
- check_gl();
- if (geom->normal.handle && attrs->normal != 0xFFFFFFFF) {
- bind_vbo(&geom->normal, attrs->normal);
- check_gl();
- }
- if (geom->color.handle && attrs->color != 0xFFFFFFFF) {
- bind_vbo(&geom->color, attrs->color);
+void bind_geometry(struct geometry *geom, gpu_addr *vertex_attrs) {
+ struct vbo *vbo;
+ for (int i = 0; i < n_vertex_attrs; i++) {
+ vbo = &geom->vbos[i];
+ if (vbo->handle && vertex_attrs[i] != 0xFFFFFFFF)
+ bind_vbo(vbo, vertex_attrs[i], vbo->component_type);
check_gl();
}
- if (geom->tex_coord.handle && attrs->tex_coord != 0xFFFFFFFF) {
- bind_vbo(&geom->tex_coord, attrs->tex_coord);
- check_gl();
- }
- bind_ibo(&geom->index);
- check_gl();
}
static void check_for_patches(struct gpu_program *program, int *type) {
@@ -63,12 +50,12 @@ static void check_for_patches(struct gpu_program *program, int *type) {
}
-void render_geometry(struct geometry *geom, struct attributes *attrs,
+void render_geometry(struct geometry *geom, gpu_addr *vertex_attrs,
struct gpu_program *program)
{
int type = GL_TRIANGLES;
//check_for_patches(program, &type);
- bind_geometry(geom, attrs);
+ bind_geometry(geom, vertex_attrs);
if (geom->num_indices) {
glDrawElements(type,
geom->num_indices, /* count */
@@ -85,23 +72,27 @@ void render_geometry(struct geometry *geom, struct attributes *attrs,
}
void init_make_geometry(struct make_geometry *mkgeom) {
- mkgeom->colors = NULL;
- mkgeom->normals = NULL;
- mkgeom->indices = NULL;
- mkgeom->vertices = NULL;
- mkgeom->tex_coords = NULL;
- mkgeom->num_uv_components = 2;
- mkgeom->num_verts = 0;
- mkgeom->num_indices = 0;
+ *mkgeom = (struct make_geometry){
+ .colors = NULL,
+ .normals = NULL,
+ .indices = NULL,
+ .vertices = NULL,
+ .tex_coords = NULL,
+ .joint_ids = NULL,
+ .joint_weights = NULL,
+ .num_uv_components = 2,
+ .num_verts = 0,
+ .num_indices = 0,
+ };
}
void init_geometry(struct geometry *geom) {
geom->has_vbos = 0;
- init_vbo(&geom->vertex);
- init_vbo(&geom->color);
- init_vbo(&geom->normal);
- init_vbo(&geom->tex_coord);
- init_vbo(&geom->index);
+
+ for (int i = 0; i < n_vertex_attrs; i++)
+ init_vbo(&geom->vbos[i]);
+
+ geom->num_uv_components = 2;
}
void
@@ -119,69 +110,68 @@ make_buffer_geometry_(struct make_geometry *mkgeom, struct geometry *geom) {
/* assert(geom->num_indices >= 1); */
/* printf("making vertex buffer\n"); */
- make_vertex_buffer(
- GL_ARRAY_BUFFER,
- mkgeom->vertices,
- mkgeom->num_verts * 3 * (int)sizeof(*mkgeom->vertices),
- &geom->vertex
- );
+ make_float_vertex_buffer(&geom->vbos[va_position],
+ mkgeom->vertices,
+ mk_num_elements(mkgeom->num_verts),
+ mk_components(3)
+ );
/* printf("making normal buffer\n"); */
// cube normals
- if (mkgeom->normals != NULL)
- make_vertex_buffer(
- GL_ARRAY_BUFFER,
- mkgeom->normals,
- mkgeom->num_verts * 3 * (int)sizeof(*mkgeom->normals),
- &geom->normal
- );
+ if (mkgeom->normals)
+ make_float_vertex_buffer(&geom->vbos[va_normal],
+ mkgeom->normals,
+ mk_num_elements(mkgeom->num_verts),
+ mk_components(3)
+ );
+
+ if (mkgeom->joint_ids) {
+ make_int_vertex_buffer(&geom->vbos[va_joint_ids],
+ mkgeom->joint_ids,
+ mk_num_elements(mkgeom->num_verts),
+ mk_components(3)
+ );
+ }
// vertex colors
- if (mkgeom->colors != NULL)
- make_vertex_buffer(
- GL_ARRAY_BUFFER,
- mkgeom->colors,
- mkgeom->num_verts * 3 * (int)sizeof(*mkgeom->colors),
- &geom->color
- );
+ if (mkgeom->colors) {
+ make_float_vertex_buffer(&geom->vbos[va_color],
+ mkgeom->colors,
+ mk_num_elements(mkgeom->num_verts),
+ mk_components(3)
+ );
+ }
if (mkgeom->tex_coords != NULL) {
assert(geom->num_uv_components);
- printf("%f %f %f %f\n",
- mkgeom->tex_coords[0],
- mkgeom->tex_coords[1],
- mkgeom->tex_coords[2],
- mkgeom->tex_coords[3]
- );
-
- make_uv_buffer(GL_ARRAY_BUFFER,
+
+ make_uv_buffer(&geom->vbos[va_tex_coord],
mkgeom->tex_coords,
- mkgeom->num_verts * mkgeom->num_uv_components * (int)sizeof(*mkgeom->tex_coords),
- &geom->tex_coord, geom->num_uv_components);
+ mk_num_elements(geom->num_verts),
+ mk_components(geom->num_uv_components)
+ );
}
/* printf("making index buffer\n"); */
// cube indices
if (mkgeom->indices)
- make_index_buffer(
- GL_ELEMENT_ARRAY_BUFFER,
- mkgeom->indices,
- mkgeom->num_indices * (int)sizeof(*mkgeom->indices),
- &geom->index
- );
+ make_index_buffer(&geom->vbos[va_index],
+ mkgeom->indices,
+ mk_num_elements(mkgeom->num_indices)
+ );
geom->has_vbos = 1;
}
void
-make_buffer_geometry(struct make_geometry *mkgeom, geometry_id_t *geom_id) {
+make_buffer_geometry(struct make_geometry *mkgeom, geometry_id *geom_id) {
+
struct geometry *geom = new_geometry(geom_id);
make_buffer_geometry_(mkgeom, geom);
}
-
void geometry_centroid(struct geometry *geom, float *dest) {
vec3_subtract(geom->max, geom->min, dest);
vec3_scale(dest, 0.5, dest);
@@ -192,15 +182,15 @@ void init_geometry_manager() {
DEF_NUM_GEOMETRY, MAX_GEOMETRY);
}
-struct geometry *get_geometry(geometry_id_t *geom_id) {
+struct geometry *get_geometry(geometry_id *geom_id) {
return get_resource(&geom_manager, geom_id);
}
-struct geometry *new_geometry(geometry_id_t *geom_id) {
+struct geometry *new_geometry(geometry_id *geom_id) {
return new_resource(&geom_manager, geom_id);
}
-struct geometry *get_all_geometry(u32 *count, geometry_id_t **ids) {
+struct geometry *get_all_geometry(u32 *count, geometry_id **ids) {
return get_all_resources(&geom_manager, count, ids);
}
diff --git a/src/geometry.h b/src/geometry.h
@@ -11,15 +11,10 @@
#define MAX_GEOMETRY 1024
// -1 is uninitialized
-typedef struct resource_id geometry_id_t;
+typedef struct resource_id geometry_id;
struct geometry {
- struct vbo vertex;
- struct vbo index;
- struct vbo normal;
- struct vbo color;
- struct vbo tex_coord;
-
+ struct vbo vbos[n_vertex_attrs];
float min[3];
float max[3];
@@ -40,6 +35,9 @@ struct make_geometry {
float *tex_coords;
int num_uv_components;
+
+ int *joint_ids;
+ float *joint_weights;
};
struct geometry_manager {
@@ -47,18 +45,18 @@ struct geometry_manager {
int num_geometry;
};
-void render_geometry(struct geometry *geom, struct attributes *,
+void render_geometry(struct geometry *geom, gpu_addr *vertex_attrs,
struct gpu_program *current_program);
-void bind_geometry(struct geometry *geom, struct attributes *);
+void bind_geometry(struct geometry *geom, gpu_addr *vertex_attrs);
void init_geometry(struct geometry *geom);
void init_make_geometry(struct make_geometry *mkgeom);
-void make_buffer_geometry(struct make_geometry *mkgeom, geometry_id_t *);
-void destroy_buffer_geometry(geometry_id_t *geom);
+void make_buffer_geometry(struct make_geometry *mkgeom, geometry_id *);
+void destroy_buffer_geometry(geometry_id *geom);
void geometry_centroid(struct geometry *geom, float *v3);
void init_geometry_manager();
-void init_geometry_id(geometry_id_t *);
-struct geometry *new_geometry(geometry_id_t *);
-struct geometry *get_geometry(geometry_id_t *);
-struct geometry *get_all_geometry(u32 *count, geometry_id_t **ids);
+void init_geometry_id(geometry_id *);
+struct geometry *new_geometry(geometry_id *);
+struct geometry *get_geometry(geometry_id *);
+struct geometry *get_all_geometry(u32 *count, geometry_id **ids);
#endif /* GEOMETRY_H */
diff --git a/src/gl.h b/src/gl.h
@@ -29,6 +29,12 @@ void glVertexAttribPointer(GLuint index, GLint size, GLenum type,
GLboolean normalized, GLsizei stride,
const GLvoid * pointer);
+void glVertexAttribIPointer(GLuint index,
+ GLint size,
+ GLenum type,
+ GLsizei stride,
+ const GLvoid * pointer);
+
void glUniform1i(GLint location, GLint i);
void glUniform3f(GLint location, GLfloat v0, GLfloat v1, GLfloat v2);
GLuint glCreateProgram(void);
diff --git a/src/half-edge.c b/src/half-edge.c
@@ -0,0 +1,24 @@
+
+
+#include "half-edge.h"
+
+// NOTE: end = start(next(e))
+
+inline u32 he_start(struct half_edge *he)
+{
+ return he->start;
+}
+
+inline struct half_edge *he_next(struct half_edge *edges, struct half_edge *he)
+{
+ return &edges[he->next];
+}
+
+inline u32 he_end(struct half_edge *edges, struct half_edge *he)
+{
+ return he_start(he_next(edges, he));
+}
+
+inline u32 he_prev_vert(struct half_edge *he)
+{
+}
diff --git a/src/half-edge.h b/src/half-edge.h
@@ -0,0 +1,24 @@
+
+#ifndef HALF_EDGE_H
+#define HALF_EDGE_H
+
+
+
+#include "common.h"
+
+struct point
+
+struct half_edge {
+ u32 opposite;
+ struct half_edge *next;
+ struct half_edge *prev;
+ u32 start;
+};
+
+struct face {
+};
+
+
+
+
+#endif /* HALF-EDGE_H */
diff --git a/src/main.c b/src/main.c
@@ -1,4 +1,5 @@
+#include "animation.h"
#include "event.h"
#include "fbo.h"
#include "file.h"
@@ -8,21 +9,22 @@
#include "hires.h"
#include "ply.h"
#include "poisson.h"
+#include "quickhull.h"
#include "render.h"
#include "scene.h"
-#include "slab.h"
-#include "slab.h"
#include "slab_geom.h"
+#include "slab.h"
#include "terrain.h"
#include "uniform.h"
#include "update.h"
#include "util.h"
#include "window.h"
+
+
#include <assert.h>
#include <time.h>
-
int main(void)
{
int nsamples;
@@ -82,6 +84,7 @@ int main(void)
.depth_vp = depth_vp
};
+
while (1) {
game.frame++;
process_events(&game.input, game.frame);
diff --git a/src/mat4.h b/src/mat4.h
@@ -1,4 +1,9 @@
+#ifndef MAT4_H
+#define MAT4_H
+
+
+
typedef float mat4;
#define M_X 12
@@ -30,3 +35,6 @@ mat4 *mat4_rotate(const mat4 *mat, const float angle,
mat4 *mat4_remove_translations(mat4 *mat);
+
+
+#endif /* MAT4_H */
diff --git a/src/model.c b/src/model.c
@@ -1,21 +1,25 @@
#include "model.h"
#include "ply.h"
+#include "resource.h"
#include <assert.h>
-#define MODELDEF(name) { .id = model_##name, .loaded = 0, .file = #name }
+#define MODELDEF(name) { .id = MODEL_##name, .loaded = 0, .file = #name }
static struct model_def static_models[NUM_STATIC_MODELS] = {
- MODELDEF(tower),
- MODELDEF(icosphere),
- MODELDEF(pirateofficer),
+ MODELDEF(TOWER),
+ MODELDEF(ICOSPHERE),
+ MODELDEF(PIRATEOFFICER),
};
+static struct resource_manager dyn_modelman;
+
static int static_models_initialized = 0;
-void init_model(struct model *model) {
+struct model *init_model(struct model *model) {
model->shading = SHADING_VERT_COLOR;
model->texture = 0;
+ return model;
}
static void initialize_static_models() {
@@ -27,6 +31,16 @@ static void initialize_static_models() {
static_models_initialized = 1;
}
+static inline struct model *new_uninitialized_model(model_id *id) {
+ return new_resource(&dyn_modelman, id);
+}
+
+
+struct model *new_dynamic_model(model_id *id)
+{
+ return init_model(new_uninitialized_model(id));
+}
+
struct model *get_model(enum static_model m) {
static char path[128] = {0};
diff --git a/src/model.h b/src/model.h
@@ -9,11 +9,14 @@
#include "common.h"
#define MAX_STATIC_MODELS 128
+#define MAX_DYNAMIC_MODELS 512
+
+typedef struct resource_id model_id;
enum static_model {
- model_tower,
- model_icosphere,
- model_pirateofficer,
+ MODEL_TOWER,
+ MODEL_ICOSPHERE,
+ MODEL_PIRATEOFFICER,
NUM_STATIC_MODELS
};
@@ -24,7 +27,7 @@ enum shading {
};
struct model {
- geometry_id_t geom_id;
+ geometry_id geom_id;
enum shading shading;
u32 texture;
};
@@ -37,8 +40,9 @@ struct model_def {
};
-void init_model(struct model *model);
+struct model *init_model(struct model *model);
struct model *get_model(enum static_model);
+struct model *new_dynamic_model(model_id *);
#endif /* MODEL_H */
diff --git a/src/ply.c b/src/ply.c
@@ -105,7 +105,7 @@ static int parse_magic(const char **cursor) {
}
-int parse_ply(const char *filename, geometry_id_t *geom_id) {
+int parse_ply(const char *filename, geometry_id *geom_id) {
size_t len;
int success = 0;
int nverts = 0;
diff --git a/src/ply.h b/src/ply.h
@@ -5,6 +5,6 @@
#include "geometry.h"
-int parse_ply(const char *filename, geometry_id_t *geom_id);
+int parse_ply(const char *filename, geometry_id *geom_id);
#endif /* PLYPARSER_H */
diff --git a/src/quickhull.c b/src/quickhull.c
@@ -0,0 +1,1245 @@
+
+#include "quickhull.h"
+
+#include <math.h> // sqrt & fabs
+#include <stdio.h> // FILE
+#include <string.h> // memcpy
+
+// Quickhull helpers, define your own if needed
+#ifndef QUICKHULL_HELPERS
+#include <stdlib.h> // malloc, free, realloc
+#define QUICKHULL_HELPERS 1
+#define QH_MALLOC(T, N) ((T*) malloc(N * sizeof(T)))
+#define QH_REALLOC(T, P, N) ((T*)realloc(P, sizeof(T) * N))
+#define QH_FREE(T) free(T)
+#define QH_SWAP(T, A, B) { T tmp = B; B = A; A = tmp; }
+#ifdef QUICKHULL_DEBUG
+#define QH_ASSERT(STMT) if (!(STMT)) { *(int *)0 = 0; }
+#define QH_LOG(FMT, ...) printf(FMT, ## __VA_ARGS__)
+#else
+#define QH_ASSERT(STMT)
+#define QH_LOG(FMT, ...)
+#endif // QUICKHULL_DEBUG
+#endif // QUICKHULL_HELPERS
+
+#ifndef QH_FLT_MAX
+#define QH_FLT_MAX 1e+37F
+#endif
+
+#ifndef QH_FLT_EPS
+#define QH_FLT_EPS 1E-5F
+#endif
+
+#ifndef QH_VERTEX_SET_SIZE
+#define QH_VERTEX_SET_SIZE 128
+#endif
+
+typedef long qh_index_t;
+
+typedef struct qh_half_edge {
+ qh_index_t opposite_he; // index of the opposite half edge
+ qh_index_t next_he; // index of the next half edge
+ qh_index_t previous_he; // index of the previous half edge
+ qh_index_t he; // index of the current half edge
+ qh_index_t to_vertex; // index of the next vertex
+ qh_index_t adjacent_face; // index of the ajacent face
+} qh_half_edge_t;
+
+typedef struct qh_index_set {
+ qh_index_t* indices;
+ unsigned int size;
+ unsigned int capacity;
+} qh_index_set_t;
+
+typedef struct qh_face {
+ qh_index_set_t iset;
+ qh_vec3_t normal;
+ qh_vertex_t centroid;
+ qh_index_t edges[3];
+ qh_index_t face;
+ float sdist;
+ int visitededges;
+} qh_face_t;
+
+typedef struct qh_index_stack {
+ qh_index_t* begin;
+ unsigned int size;
+} qh_index_stack_t;
+
+typedef struct qh_context {
+ qh_face_t* faces;
+ qh_half_edge_t* edges;
+ qh_vertex_t* vertices;
+ qh_vertex_t centroid;
+ qh_index_stack_t facestack;
+ qh_index_stack_t scratch;
+ qh_index_stack_t horizonedges;
+ qh_index_stack_t newhorizonedges;
+ char* valid;
+ unsigned int nedges;
+ unsigned int nvertices;
+ unsigned int nfaces;
+
+ #ifdef QUICKHULL_DEBUG
+ unsigned int maxfaces;
+ unsigned int maxedges;
+ #endif
+} qh_context_t;
+
+void qh__find_6eps(qh_vertex_t* vertices, unsigned int nvertices, qh_index_t* eps)
+{
+ qh_vertex_t* ptr = vertices;
+
+ float minxy = +QH_FLT_MAX;
+ float minxz = +QH_FLT_MAX;
+ float minyz = +QH_FLT_MAX;
+
+ float maxxy = -QH_FLT_MAX;
+ float maxxz = -QH_FLT_MAX;
+ float maxyz = -QH_FLT_MAX;
+
+ unsigned int i = 0;
+ for (i = 0; i < 6; ++i) {
+ eps[i] = 0;
+ }
+
+ for (i = 0; i < nvertices; ++i) {
+ if (ptr->z < minxy) {
+ eps[0] = i;
+ minxy = ptr->z;
+ }
+ if (ptr->y < minxz) {
+ eps[1] = i;
+ minxz = ptr->y;
+ }
+ if (ptr->x < minyz) {
+ eps[2] = i;
+ minyz = ptr->x;
+ }
+ if (ptr->z > maxxy) {
+ eps[3] = i;
+ maxxy = ptr->z;
+ }
+ if (ptr->y > maxxz) {
+ eps[4] = i;
+ maxxz = ptr->y;
+ }
+ if (ptr->x > maxyz) {
+ eps[5] = i;
+ maxyz = ptr->x;
+ }
+ ptr++;
+ }
+}
+
+float qh__vertex_segment_length2(qh_vertex_t* p, qh_vertex_t* a, qh_vertex_t* b)
+{
+ float dx = b->x - a->x;
+ float dy = b->y - a->y;
+ float dz = b->z - a->z;
+
+ float d = dx * dx + dy * dy + dz * dz;
+
+ float x = a->x;
+ float y = a->y;
+ float z = a->z;
+
+ if (d != 0) {
+ float t = ((p->x - a->x) * dx +
+ (p->y - a->y) * dy +
+ (p->z - a->z) * dz) / d;
+
+ if (t > 1) {
+ x = b->x;
+ y = b->y;
+ z = b->z;
+ } else if (t > 0) {
+ x += dx * t;
+ y += dy * t;
+ z += dz * t;
+ }
+ }
+
+ dx = p->x - x;
+ dy = p->y - y;
+ dz = p->z - z;
+
+ return dx * dx + dy * dy + dz * dz;
+}
+
+void qh__vec3_sub(qh_vec3_t* a, qh_vec3_t* b)
+{
+ a->x -= b->x;
+ a->y -= b->y;
+ a->z -= b->z;
+}
+
+void qh__vec3_add(qh_vec3_t* a, qh_vec3_t* b)
+{
+ a->x += b->x;
+ a->y += b->y;
+ a->z += b->z;
+}
+
+void qh__vec3_multiply(qh_vec3_t* a, float v)
+{
+ a->x *= v;
+ a->y *= v;
+ a->z *= v;
+}
+
+int qh__vertex_equals_epsilon(qh_vertex_t* a, qh_vertex_t* b, float epsilon)
+{
+ return fabs(a->x - b->x) <= epsilon &&
+ fabs(a->y - b->y) <= epsilon &&
+ fabs(a->z - b->z) <= epsilon;
+}
+
+float qh__vec3_length2(qh_vec3_t* v)
+{
+ return v->x * v->x + v->y * v->y + v->z * v->z;
+}
+
+float qh__vec3_dot(qh_vec3_t* v1, qh_vec3_t* v2)
+{
+ return v1->x * v2->x + v1->y * v2->y + v1->z * v2->z;
+}
+
+void qh__vec3_normalize(qh_vec3_t* v)
+{
+ qh__vec3_multiply(v, 1.f / sqrt(qh__vec3_length2(v)));
+}
+
+void qh__find_2dps_6eps(qh_vertex_t* vertices, qh_index_t* eps, int* ii, int* jj)
+{
+ int i, j;
+ float max = -QH_FLT_MAX;
+
+ for (i = 0; i < 6; ++i) {
+ for (j = 0; j < 6; ++j) {
+ qh_vertex_t d;
+ float d2;
+
+ if (i == j) {
+ continue;
+ }
+
+ d = vertices[eps[i]];
+ qh__vec3_sub(&d, &vertices[eps[j]]);
+ d2 = qh__vec3_length2(&d);
+
+ if (d2 > max) {
+ *ii = i;
+ *jj = j;
+ max = d2;
+ }
+ }
+ }
+}
+
+qh_vec3_t qh__vec3_cross(qh_vec3_t* v1, qh_vec3_t* v2)
+{
+ qh_vec3_t cross;
+
+ cross.x = v1->y * v2->z - v1->z * v2->y;
+ cross.y = v1->z * v2->x - v1->x * v2->z;
+ cross.z = v1->x * v2->y - v1->y * v2->x;
+
+ return cross;
+}
+
+qh_vertex_t qh__face_centroid(qh_index_t vertices[3], qh_context_t* context)
+{
+ qh_vertex_t centroid;
+ int i;
+
+ centroid.x = centroid.y = centroid.z = 0.0;
+ for (i = 0; i < 3; ++i) {
+ qh__vec3_add(¢roid, context->vertices + vertices[i]);
+ }
+
+ qh__vec3_multiply(¢roid, 1.0 / 3.0);
+
+ return centroid;
+}
+
+float qh__dist_point_plane(qh_vertex_t* v, qh_vec3_t* normal, float sdist)
+{
+ return fabs(qh__vec3_dot(v, normal) - sdist);
+}
+
+void qh__init_half_edge(qh_half_edge_t* half_edge) {
+ half_edge->adjacent_face = -1;
+ half_edge->he = -1;
+ half_edge->next_he = -1;
+ half_edge->opposite_he = -1;
+ half_edge->to_vertex = -1;
+ half_edge->previous_he = -1;
+}
+
+qh_half_edge_t* qh__next_edge(qh_context_t* context)
+{
+ qh_half_edge_t* edge = context->edges + context->nedges;
+
+ qh__init_half_edge(edge);
+
+ edge->he = context->nedges;
+ context->nedges++;
+
+ QH_ASSERT(context->nedges < context->maxedges);
+
+ return edge;
+}
+
+qh_face_t* qh__next_face(qh_context_t* context)
+{
+ qh_face_t* face = context->faces + context->nfaces;
+
+ face->face = context->nfaces;
+ face->iset.indices = NULL;
+ context->valid[context->nfaces] = 1;
+ context->nfaces++;
+
+ QH_ASSERT(context->nfaces < context->maxfaces);
+
+ return face;
+}
+
+qh_vec3_t qh__edge_vec3(qh_half_edge_t* edge, qh_context_t* context)
+{
+ qh_half_edge_t prevhe = context->edges[edge->previous_he];
+ qh_vec3_t v0, v1;
+
+ v0 = context->vertices[prevhe.to_vertex];
+ v1 = context->vertices[edge->to_vertex];
+
+ qh__vec3_sub(&v1, &v0);
+ qh__vec3_normalize(&v1);
+
+ return v1;
+}
+
+void qh__face_init(qh_face_t* face, qh_index_t vertices[3], qh_context_t* context)
+{
+ qh_half_edge_t* e0 = qh__next_edge(context);
+ qh_half_edge_t* e1 = qh__next_edge(context);
+ qh_half_edge_t* e2 = qh__next_edge(context);
+ qh_vec3_t v0, v1;
+ qh_vertex_t centroid, normal;
+
+ e2->to_vertex = vertices[0];
+ e0->to_vertex = vertices[1];
+ e1->to_vertex = vertices[2];
+
+ e0->next_he = e1->he;
+ e2->previous_he = e1->he;
+ face->edges[1] = e1->he;
+
+ e1->next_he = e2->he;
+ e0->previous_he = e2->he;
+ face->edges[2] = e2->he;
+ v1 = qh__edge_vec3(e2, context);
+
+ e2->next_he = e0->he;
+ e1->previous_he = e0->he;
+ face->edges[0] = e0->he;
+ v0 = qh__edge_vec3(e0, context);
+
+ e2->adjacent_face = face->face;
+ e1->adjacent_face = face->face;
+ e0->adjacent_face = face->face;
+
+ qh__vec3_multiply(&v1, -1.f);
+ normal = qh__vec3_cross(&v0, &v1);
+
+ qh__vec3_normalize(&normal);
+ centroid = qh__face_centroid(vertices, context);
+ face->centroid = centroid;
+ face->sdist = qh__vec3_dot(&normal, ¢roid);
+ face->normal = normal;
+ face->iset.indices = QH_MALLOC(qh_index_t, QH_VERTEX_SET_SIZE);
+ face->iset.capacity = QH_VERTEX_SET_SIZE;
+ face->iset.size = 0;
+ face->visitededges = 0;
+}
+
+void qh__tetrahedron_basis(qh_context_t* context, qh_index_t vertices[3])
+{
+ qh_index_t eps[6];
+ int i, j, k, l = 0;
+ float max = -QH_FLT_MAX;
+
+ qh__find_6eps(context->vertices, context->nvertices, eps);
+ qh__find_2dps_6eps(context->vertices, eps, &j, &k);
+
+ for (i = 0; i < 6; ++i) {
+ float d2;
+
+ if (i == j || i == k) {
+ continue;
+ }
+
+ d2 = qh__vertex_segment_length2(context->vertices + eps[i],
+ context->vertices + eps[j],
+ context->vertices + eps[k]);
+
+ if (d2 > max) {
+ max = d2;
+ l = i;
+ }
+ }
+
+ vertices[0] = eps[j];
+ vertices[1] = eps[k];
+ vertices[2] = eps[l];
+}
+
+void qh__push_stack(qh_index_stack_t* stack, qh_index_t index)
+{
+ stack->begin[stack->size] = index;
+ stack->size++;
+}
+
+qh_index_t qh__pop_stack(qh_index_stack_t* stack)
+{
+ qh_index_t top = -1;
+
+ if (stack->size > 0) {
+ top = stack->begin[stack->size - 1];
+ stack->size--;
+ }
+
+ return top;
+}
+
+qh_index_t qh__furthest_point_from_plane(qh_context_t* context,
+ qh_index_t* indices,
+ int nindices,
+ qh_vec3_t* normal,
+ float sdist)
+{
+ int i, j = 0;
+ float max = -QH_FLT_MAX;
+
+ for (i = 0; i < nindices; ++i) {
+ qh_index_t index = indices ? *(indices + i) : i;
+ float dist = qh__dist_point_plane(context->vertices + index, normal, sdist);
+
+ if (dist > max) {
+ j = i;
+ max = dist;
+ }
+ }
+
+ return j;
+}
+
+int qh__face_can_see_vertex(qh_face_t* face, qh_vertex_t* v)
+{
+ qh_vec3_t tov = *v;
+
+ qh__vec3_sub(&tov, &face->centroid);
+ return qh__vec3_dot(&tov, &face->normal) > 0;
+}
+
+int qh__face_can_see_vertex_epsilon(qh_context_t* context, qh_face_t* face, qh_vertex_t* v, float epsilon)
+{
+ float dot;
+ qh_vec3_t tov = *v;
+
+ qh__vec3_sub(&tov, &face->centroid);
+ dot = qh__vec3_dot(&tov, &face->normal);
+
+ if (dot > epsilon) {
+ return 1;
+ } else {
+ dot = fabsf(dot);
+
+ if (dot <= epsilon && dot >= 0) {
+ qh_vec3_t n = face->normal;
+
+ // allow epsilon degeneration along the face normal
+ qh__vec3_multiply(&n, epsilon);
+ qh__vec3_add(v, &n);
+
+ return 1;
+ }
+ }
+
+ return 0;
+}
+
+static inline void qh__assert_half_edge(qh_half_edge_t* edge, qh_context_t* context)
+{
+ QH_ASSERT(edge->opposite_he != -1);
+ QH_ASSERT(edge->he != -1);
+ QH_ASSERT(edge->adjacent_face != -1);
+ QH_ASSERT(edge->next_he != -1);
+ QH_ASSERT(edge->previous_he != -1);
+ QH_ASSERT(edge->to_vertex != -1);
+ QH_ASSERT(context->edges[edge->opposite_he].to_vertex != edge->to_vertex);
+}
+
+static inline void qh__assert_face(qh_face_t* face, qh_context_t* context)
+{
+ int i;
+
+ for (i = 0; i < 3; ++i) {
+ qh__assert_half_edge(context->edges + face->edges[i], context);
+ }
+
+ QH_ASSERT(context->valid[face->face]);
+}
+
+#ifdef QUICKHULL_DEBUG
+
+void qh__log_face(qh_context_t* context, qh_face_t const* face) {
+ QH_LOG("Face %ld:\n", face->face);
+ for (int i = 0; i < 3; ++i) {
+ qh_half_edge_t edge = context->edges[face->edges[i]];
+ QH_LOG("\te%d %ld\n", i, edge.he);
+ QH_LOG("\t\te%d.opposite_he %ld\n", i, edge.opposite_he);
+ QH_LOG("\t\te%d.next_he %ld\n", i, edge.next_he);
+ QH_LOG("\t\te%d.previous_he %ld\n", i, edge.previous_he);
+ QH_LOG("\t\te%d.to_vertex %ld\n", i, edge.to_vertex);
+ QH_LOG("\t\te%d.adjacent_face %ld\n", i, edge.adjacent_face);
+ }
+ QH_LOG("\tnormal %f %f %f\n", face->normal.x, face->normal.y, face->normal.z);
+ QH_LOG("\tsdist %f\n", face->sdist);
+ QH_LOG("\tcentroid %f %f %f\n", face->centroid.x, face->centroid.y, face->centroid.z);
+}
+
+#endif
+
+int qh__test_hull(qh_context_t* context, float epsilon, int testiset)
+{
+ unsigned int i, j, k;
+
+ for (i = 0; i < context->nvertices; ++i) {
+ qh_index_t vindex = i;
+ char valid = 1;
+
+ for (j = 0; j < context->nfaces; ++j) {
+ if (!context->valid[j]) {
+ continue;
+ }
+ qh_face_t* face = context->faces + j;
+
+ qh_half_edge_t* e0 = context->edges + face->edges[0];
+ qh_half_edge_t* e1 = context->edges + face->edges[1];
+ qh_half_edge_t* e2 = context->edges + face->edges[2];
+
+ if (e0->to_vertex == vindex ||
+ e1->to_vertex == vindex ||
+ e2->to_vertex == vindex) {
+ valid = 0;
+ break;
+ }
+
+ if (testiset) {
+ for (k = 0; k < face->iset.size; ++k) {
+ if (vindex == face->iset.indices[k]) {
+ valid = 0;
+ }
+ }
+ }
+ }
+
+ if (!valid) {
+ continue;
+ }
+
+ for (j = 0; j < context->nfaces; ++j) {
+ if (!context->valid[j]) {
+ continue;
+ }
+ qh_face_t* face = context->faces + j;
+
+ qh_vertex_t vertex = context->vertices[vindex];
+ qh__vec3_sub(&vertex, &face->centroid);
+ if (qh__vec3_dot(&face->normal, &vertex) > epsilon) {
+ #ifdef QUICKHULL_DEBUG
+ qh__log_face(context, face);
+ #endif
+ return 0;
+ }
+ }
+ }
+
+ return 1;
+}
+
+#ifdef QUICKHULL_DEBUG
+void qh__build_hull(qh_context_t* context, float epsilon, unsigned int step, unsigned int* failurestep)
+#else
+void qh__build_hull(qh_context_t* context, float epsilon)
+#endif
+{
+ qh_index_t topface = qh__pop_stack(&context->facestack);
+ unsigned int i, j, k;
+
+ #ifdef QUICKHULL_DEBUG
+ unsigned int iteration = 0;
+ #endif
+
+ while (topface != -1) {
+ qh_face_t* face = context->faces + topface;
+ qh_index_t fvi, apex;
+ qh_vertex_t* fv;
+ int reversed = 0;
+
+ #ifdef QUICKHULL_DEBUG
+ if (!context->valid[topface] || face->iset.size == 0 || iteration == step)
+ #else
+ if (!context->valid[topface] || face->iset.size == 0)
+ #endif
+ {
+ topface = qh__pop_stack(&context->facestack);
+ continue;
+ }
+
+ #ifdef QUICKHULL_DEBUG
+ if (failurestep != NULL && !qh__test_hull(context, epsilon, 1)) {
+ if (*failurestep == 0) {
+ *failurestep = iteration;
+ break;
+ }
+ }
+
+ iteration++;
+ #endif
+
+ fvi = qh__furthest_point_from_plane(context, face->iset.indices,
+ face->iset.size, &face->normal, face->sdist);
+ fv = context->vertices + *(face->iset.indices + fvi);
+
+ qh__assert_face(face, context);
+
+ // Reset visited flag for faces
+ {
+ for (i = 0; i < context->nfaces; ++i) {
+ context->faces[i].visitededges = 0;
+ }
+ }
+
+ // Find horizon edge
+ {
+ qh_index_t tovisit = topface;
+ qh_face_t* facetovisit = context->faces + tovisit;
+
+ // Release scratch
+ context->scratch.size = 0;
+
+ while (tovisit != -1) {
+ if (facetovisit->visitededges >= 3) {
+ context->valid[tovisit] = 0;
+ tovisit = qh__pop_stack(&context->scratch);
+ facetovisit = context->faces + tovisit;
+ } else {
+ qh_index_t edgeindex = facetovisit->edges[facetovisit->visitededges];
+ qh_half_edge_t* edge;
+ qh_half_edge_t* oppedge;
+ qh_face_t* adjface;
+
+ facetovisit->visitededges++;
+
+ edge = context->edges + edgeindex;
+ oppedge = context->edges + edge->opposite_he;
+ adjface = context->faces + oppedge->adjacent_face;
+
+ if (!context->valid[oppedge->adjacent_face]) { continue; }
+
+ qh__assert_half_edge(oppedge, context);
+ qh__assert_half_edge(edge, context);
+ qh__assert_face(adjface, context);
+
+ if (!qh__face_can_see_vertex(adjface, fv)) {
+ qh__push_stack(&context->horizonedges, edge->he);
+ } else {
+ context->valid[tovisit] = 0;
+ qh__push_stack(&context->scratch, adjface->face);
+ }
+ }
+ }
+ }
+
+ apex = face->iset.indices[fvi];
+
+ // Sort horizon edges in CCW order
+ {
+ qh_vertex_t triangle[3];
+ int vindex = 0;
+ qh_vec3_t v0, v1, toapex;
+ qh_vertex_t n;
+
+ for (i = 0; i < context->horizonedges.size; ++i) {
+ qh_index_t he0 = context->horizonedges.begin[i];
+ qh_index_t he0vert = context->edges[he0].to_vertex;
+ qh_index_t phe0 = context->edges[he0].previous_he;
+ qh_index_t phe0vert = context->edges[phe0].to_vertex;
+
+ for (j = i + 2; j < context->horizonedges.size; ++j) {
+ qh_index_t he1 = context->horizonedges.begin[j];
+ qh_index_t he1vert = context->edges[he1].to_vertex;
+ qh_index_t phe1 = context->edges[he1].previous_he;
+ qh_index_t phe1vert = context->edges[phe1].to_vertex;
+
+ if (phe1vert == he0vert || phe0vert == he1vert) {
+ QH_SWAP(qh_index_t, context->horizonedges.begin[j],
+ context->horizonedges.begin[i + 1]);
+ break;
+ }
+ }
+
+ if (vindex < 3) {
+ triangle[vindex++] = context->vertices[context->edges[he0].to_vertex];
+ }
+ }
+
+ if (vindex == 3) {
+ // Detect first triangle face ordering
+ v0 = triangle[0];
+ v1 = triangle[2];
+
+ qh__vec3_sub(&v0, &triangle[1]);
+ qh__vec3_sub(&v1, &triangle[1]);
+
+ n = qh__vec3_cross(&v0, &v1);
+
+ // Get the vector to the apex
+ toapex = triangle[0];
+
+ qh__vec3_sub(&toapex, context->vertices + apex);
+
+ reversed = qh__vec3_dot(&n, &toapex) < 0.f;
+ }
+ }
+
+ // Create new faces
+ {
+ qh_index_t top = qh__pop_stack(&context->horizonedges);
+ qh_index_t last = qh__pop_stack(&context->horizonedges);
+ qh_index_t first = top;
+ int looped = 0;
+
+ QH_ASSERT(context->newhorizonedges.size == 0);
+
+ // Release scratch
+ context->scratch.size = 0;
+
+ while (!looped) {
+ qh_half_edge_t* prevhe;
+ qh_half_edge_t* nexthe;
+ qh_half_edge_t* oppedge;
+ qh_vec3_t normal;
+ qh_vertex_t fcentroid;
+ qh_index_t verts[3];
+ qh_face_t* newface;
+
+ if (last == -1) {
+ looped = 1;
+ last = first;
+ }
+
+ prevhe = context->edges + last;
+ nexthe = context->edges + top;
+
+ if (reversed) {
+ QH_SWAP(qh_half_edge_t*, prevhe, nexthe);
+ }
+
+ verts[0] = prevhe->to_vertex;
+ verts[1] = nexthe->to_vertex;
+ verts[2] = apex;
+
+ context->valid[nexthe->adjacent_face] = 0;
+
+ oppedge = context->edges + nexthe->opposite_he;
+ newface = qh__next_face(context);
+
+ qh__face_init(newface, verts, context);
+
+ oppedge->opposite_he = context->edges[newface->edges[0]].he;
+ context->edges[newface->edges[0]].opposite_he = oppedge->he;
+
+ qh__push_stack(&context->scratch, newface->face);
+ qh__push_stack(&context->newhorizonedges, newface->edges[0]);
+
+ top = last;
+ last = qh__pop_stack(&context->horizonedges);
+ }
+ }
+
+ // Attach point sets to newly created faces
+ {
+ for (k = 0; k < context->nfaces; ++k) {
+ qh_face_t* f = context->faces + k;
+
+ if (context->valid[k] || f->iset.size == 0) {
+ continue;
+ }
+
+ if (f->visitededges == 3) {
+ context->valid[k] = 0;
+ }
+
+ for (i = 0; i < f->iset.size; ++i) {
+ qh_index_t vertex = f->iset.indices[i];
+ qh_vertex_t* v = context->vertices + vertex;
+ qh_face_t* dface = NULL;
+
+ for (j = 0; j < context->scratch.size; ++j) {
+ qh_face_t* newface = context->faces + context->scratch.begin[j];
+ qh_half_edge_t* e0 = context->edges + newface->edges[0];
+ qh_half_edge_t* e1 = context->edges + newface->edges[1];
+ qh_half_edge_t* e2 = context->edges + newface->edges[2];
+ qh_vertex_t cv;
+
+ if (e0->to_vertex == vertex ||
+ e1->to_vertex == vertex ||
+ e2->to_vertex == vertex) {
+ continue;
+ }
+
+ if (qh__face_can_see_vertex_epsilon(context, newface, context->vertices + vertex, epsilon)) {
+ dface = newface;
+ break;
+ }
+ }
+
+ if (dface) {
+ if (dface->iset.size + 1 >= dface->iset.capacity) {
+ dface->iset.capacity *= 2;
+ dface->iset.indices = QH_REALLOC(qh_index_t,
+ dface->iset.indices, dface->iset.capacity);
+ }
+
+ dface->iset.indices[dface->iset.size++] = vertex;
+ }
+ }
+
+ f->iset.size = 0;
+ }
+ }
+
+ // Link new faces together
+ {
+ for (i = 0; i < context->newhorizonedges.size; ++i) {
+ qh_index_t phe0, nhe1;
+ qh_half_edge_t* he0;
+ qh_half_edge_t* he1;
+ int ii;
+
+ if (reversed) {
+ ii = (i == 0) ? context->newhorizonedges.size - 1 : (i-1);
+ } else {
+ ii = (i+1) % context->newhorizonedges.size;
+ }
+
+ phe0 = context->edges[context->newhorizonedges.begin[i]].previous_he;
+ nhe1 = context->edges[context->newhorizonedges.begin[ii]].next_he;
+
+ he0 = context->edges + phe0;
+ he1 = context->edges + nhe1;
+
+ QH_ASSERT(he1->to_vertex == apex);
+ QH_ASSERT(he0->opposite_he == -1);
+ QH_ASSERT(he1->opposite_he == -1);
+
+ he0->opposite_he = he1->he;
+ he1->opposite_he = he0->he;
+ }
+
+ context->newhorizonedges.size = 0;
+ }
+
+ // Push new face to stack
+ {
+ for (i = 0; i < context->scratch.size; ++i) {
+ qh_face_t* face = context->faces + context->scratch.begin[i];
+
+ if (face->iset.size > 0) {
+ qh__push_stack(&context->facestack, face->face);
+ }
+ }
+
+ // Release scratch
+ context->scratch.size = 0;
+ }
+
+ topface = qh__pop_stack(&context->facestack);
+
+ // TODO: push all non-valid faces for reuse in face stack memory pool
+ }
+}
+
+//void qh_mesh_export(qh_mesh_t const* mesh, char const* filename)
+//{
+// FILE* objfile = fopen(filename, "wt");
+// fprintf(objfile, "o\n");
+// unsigned int i, j;
+//
+// for (i = 0; i < mesh->nvertices; ++i) {
+// qh_vertex_t v = mesh->vertices[i];
+// fprintf(objfile, "v %f %f %f\n", v.x, v.y, v.z);
+// }
+//
+// for (i = 0; i < mesh->nnormals; ++i) {
+// qh_vec3_t n = mesh->normals[i];
+// fprintf(objfile, "vn %f %f %f\n", n.x, n.y, n.z);
+// }
+//
+// for (i = 0, j = 0; i < mesh->nindices; i += 3, j++) {
+// fprintf(objfile, "f %u/%u %u/%u %u/%u\n",
+// mesh->indices[i+0] + 1, mesh->normalindices[j] + 1,
+// mesh->indices[i+1] + 1, mesh->normalindices[j] + 1,
+// mesh->indices[i+2] + 1, mesh->normalindices[j] + 1);
+// }
+//
+// fclose(objfile);
+//}
+
+qh_face_t* qh__build_tetrahedron(qh_context_t* context, float epsilon)
+{
+ unsigned int i, j;
+ qh_index_t vertices[3];
+ qh_index_t apex;
+ qh_face_t* faces;
+ qh_vertex_t normal, centroid, vapex, tcentroid;
+
+ // Get the initial tetrahedron basis (first face)
+ qh__tetrahedron_basis(context, &vertices[0]);
+
+ // Find apex from the tetrahedron basis
+ {
+ float sdist;
+ qh_vec3_t v0, v1;
+
+ v0 = context->vertices[vertices[1]];
+ v1 = context->vertices[vertices[2]];
+
+ qh__vec3_sub(&v0, context->vertices + vertices[0]);
+ qh__vec3_sub(&v1, context->vertices + vertices[0]);
+
+ normal = qh__vec3_cross(&v0, &v1);
+ qh__vec3_normalize(&normal);
+
+ centroid = qh__face_centroid(vertices, context);
+ sdist = qh__vec3_dot(&normal, ¢roid);
+
+ apex = qh__furthest_point_from_plane(context, NULL,
+ context->nvertices, &normal, sdist);
+ vapex = context->vertices[apex];
+
+ qh__vec3_sub(&vapex, ¢roid);
+
+ // Whether the face is looking towards the apex
+ if (qh__vec3_dot(&vapex, &normal) > 0) {
+ QH_SWAP(qh_index_t, vertices[1], vertices[2]);
+ }
+ }
+
+ faces = qh__next_face(context);
+ qh__face_init(&faces[0], vertices, context);
+
+ // Build faces from the tetrahedron basis to the apex
+ {
+ qh_index_t facevertices[3];
+ for (i = 0; i < 3; ++i) {
+ qh_half_edge_t* edge = context->edges + faces[0].edges[i];
+ qh_half_edge_t prevedge = context->edges[edge->previous_he];
+ qh_face_t* face = faces+i+1;
+ qh_half_edge_t* e0;
+
+ facevertices[0] = edge->to_vertex;
+ facevertices[1] = prevedge.to_vertex;
+ facevertices[2] = apex;
+
+ qh__next_face(context);
+ qh__face_init(face, facevertices, context);
+
+ e0 = context->edges + faces[i+1].edges[0];
+ edge->opposite_he = e0->he;
+ e0->opposite_he = edge->he;
+ }
+ }
+
+ // Attach half edges to faces tied to the apex
+ {
+ for (i = 0; i < 3; ++i) {
+ qh_face_t* face;
+ qh_face_t* nextface;
+ qh_half_edge_t* e1;
+ qh_half_edge_t* e2;
+
+ j = (i+2) % 3;
+
+ face = faces+i+1;
+ nextface = faces+j+1;
+
+ e1 = context->edges + face->edges[1];
+ e2 = context->edges + nextface->edges[2];
+
+ QH_ASSERT(e1->opposite_he == -1);
+ QH_ASSERT(e2->opposite_he == -1);
+
+ e1->opposite_he = e2->he;
+ e2->opposite_he = e1->he;
+
+ qh__assert_half_edge(e1, context);
+ qh__assert_half_edge(e2, context);
+ }
+ }
+
+ // Create initial point set; every point is
+ // attached to the first face it can see
+ {
+ for (i = 0; i < context->nvertices; ++i) {
+ qh_vertex_t* v;
+ qh_face_t* dface = NULL;
+
+ if (vertices[0] == i || vertices[1] == i || vertices[2] == i) {
+ continue;
+ }
+
+ for (j = 0; j < 4; ++j) {
+ if (qh__face_can_see_vertex_epsilon(context, context->faces + j, context->vertices + i, epsilon)) {
+ dface = context->faces + j;
+ break;
+ }
+ }
+
+ if (dface) {
+ int valid = 1;
+
+ for (int j = 0; j < 3; ++j) {
+ qh_half_edge_t* e = context->edges + dface->edges[j];
+ if (i == e->to_vertex) {
+ valid = 0;
+ break;
+ }
+ }
+
+ if (!valid) { continue; }
+
+ if (dface->iset.size + 1 >= dface->iset.capacity) {
+ dface->iset.capacity *= 2;
+ dface->iset.indices = QH_REALLOC(qh_index_t,
+ dface->iset.indices, dface->iset.capacity);
+ }
+
+ dface->iset.indices[dface->iset.size++] = i;
+ }
+ }
+ }
+
+ // Add initial tetrahedron faces to the face stack
+ tcentroid.x = tcentroid.y = tcentroid.z = 0.0;
+ for (i = 0; i < 4; ++i) {
+ context->valid[i] = 1;
+ qh__assert_face(context->faces + i, context);
+ qh__push_stack(&context->facestack, i);
+ qh__vec3_add(&tcentroid, &context->faces[i].centroid);
+ }
+
+ // Assign the tetrahedron centroid
+ qh__vec3_multiply(&tcentroid, 0.25);
+ context->centroid = tcentroid;
+
+ QH_ASSERT(context->nedges == context->nfaces * 3);
+ QH_ASSERT(context->nfaces == 4);
+ QH_ASSERT(context->facestack.size == 4);
+
+ return faces;
+}
+
+void qh__remove_vertex_duplicates(qh_context_t* context, float epsilon)
+{
+ unsigned int i, j, k;
+ for (i = 0; i < context->nvertices; ++i) {
+ qh_vertex_t* v = context->vertices + i;
+ if (v->x == 0) v->x = 0;
+ if (v->y == 0) v->y = 0;
+ if (v->z == 0) v->z = 0;
+ for (j = i + 1; j < context->nvertices; ++j) {
+ if (qh__vertex_equals_epsilon(context->vertices + i,
+ context->vertices + j, epsilon))
+ {
+ for (k = j; k < context->nvertices - 1; ++k) {
+ context->vertices[k] = context->vertices[k+1];
+ }
+ context->nvertices--;
+ }
+ }
+ }
+}
+
+void qh__init_context(qh_context_t* context, qh_vertex_t const* vertices, unsigned int nvertices)
+{
+ // TODO:
+ // size_t nedges = 3 * nvertices - 6;
+ // size_t nfaces = 2 * nvertices - 4;
+ unsigned int nfaces = nvertices * (nvertices - 1);
+ unsigned int nedges = nfaces * 3;
+
+ context->edges = QH_MALLOC(qh_half_edge_t, nedges);
+ context->faces = QH_MALLOC(qh_face_t, nfaces);
+ context->facestack.begin = QH_MALLOC(qh_index_t, nfaces);
+ context->scratch.begin = QH_MALLOC(qh_index_t, nfaces);
+ context->horizonedges.begin = QH_MALLOC(qh_index_t, nedges);
+ context->newhorizonedges.begin = QH_MALLOC(qh_index_t, nedges);
+ context->valid = QH_MALLOC(char, nfaces);
+
+ context->vertices = QH_MALLOC(qh_vertex_t, nvertices);
+ memcpy(context->vertices, vertices, sizeof(qh_vertex_t) * nvertices);
+
+ context->nvertices = nvertices;
+ context->nedges = 0;
+ context->nfaces = 0;
+ context->facestack.size = 0;
+ context->scratch.size = 0;
+ context->horizonedges.size = 0;
+ context->newhorizonedges.size = 0;
+
+ #ifdef QUICKHULL_DEBUG
+ context->maxfaces = nfaces;
+ context->maxedges = nedges;
+ #endif
+}
+
+void qh__free_context(qh_context_t* context)
+{
+ unsigned int i;
+
+ for (i = 0; i < context->nfaces; ++i) {
+ QH_FREE(context->faces[i].iset.indices);
+ context->faces[i].iset.size = 0;
+ }
+
+ context->nvertices = 0;
+ context->nfaces = 0;
+
+ QH_FREE(context->edges);
+
+ QH_FREE(context->faces);
+ QH_FREE(context->facestack.begin);
+ QH_FREE(context->scratch.begin);
+ QH_FREE(context->horizonedges.begin);
+ QH_FREE(context->newhorizonedges.begin);
+ QH_FREE(context->vertices);
+ QH_FREE(context->valid);
+}
+
+void qh_free_mesh(qh_mesh_t mesh)
+{
+ QH_FREE(mesh.vertices);
+ QH_FREE(mesh.indices);
+ QH_FREE(mesh.normalindices);
+ QH_FREE(mesh.normals);
+}
+
+float qh__compute_epsilon(qh_vertex_t const* vertices, unsigned int nvertices)
+{
+ float epsilon;
+ unsigned int i;
+
+ float maxxi = -QH_FLT_MAX;
+ float maxyi = -QH_FLT_MAX;
+
+ for (i = 0; i < nvertices; ++i) {
+ float fxi = fabsf(vertices[i].x);
+ float fyi = fabsf(vertices[i].y);
+
+ if (fxi > maxxi) {
+ maxxi = fxi;
+ }
+ if (fyi > maxyi) {
+ maxyi = fyi;
+ }
+ }
+
+ epsilon = 2 * (maxxi + maxyi) * QH_FLT_EPS;
+
+ return epsilon;
+}
+
+qh_mesh_t qh_quickhull3d(qh_vertex_t const* vertices, unsigned int nvertices)
+{
+ qh_mesh_t m;
+ qh_context_t context;
+ unsigned int* indices;
+ unsigned int nfaces = 0, i, index, nindices;
+ float epsilon;
+
+ epsilon = qh__compute_epsilon(vertices, nvertices);
+
+ qh__init_context(&context, vertices, nvertices);
+
+ qh__remove_vertex_duplicates(&context, epsilon);
+
+ // Build the initial tetrahedron
+ qh__build_tetrahedron(&context, epsilon);
+
+ // Build the convex hull
+ #ifdef QUICKHULL_DEBUG
+ qh__build_hull(&context, epsilon, -1, NULL);
+ #else
+ qh__build_hull(&context, epsilon);
+ #endif
+
+ // QH_ASSERT(qh__test_hull(&context, epsilon));
+
+ for (i = 0; i < context.nfaces; ++i) {
+ if (context.valid[i]) { nfaces++; }
+ }
+
+ nindices = nfaces * 3;
+
+ m.normals = QH_MALLOC(qh_vertex_t, nfaces);
+ m.normalindices = QH_MALLOC(unsigned int, nfaces);
+ m.vertices = QH_MALLOC(qh_vertex_t, nindices);
+ m.indices = QH_MALLOC(unsigned int, nindices);
+ m.nindices = nindices;
+ m.nnormals = nfaces;
+ m.nvertices = 0;
+
+ {
+ index = 0;
+ for (i = 0; i < context.nfaces; ++i) {
+ if (!context.valid[i]) { continue; }
+ m.normals[index] = context.faces[i].normal;
+ index++;
+ }
+
+ index = 0;
+ for (i = 0; i < context.nfaces; ++i) {
+ if (!context.valid[i]) { continue; }
+ m.normalindices[index] = index;
+ index++;
+ }
+
+ index = 0;
+ for (i = 0; i < context.nfaces; ++i) {
+ if (!context.valid[i]) { continue; }
+ m.indices[index+0] = index+0;
+ m.indices[index+1] = index+1;
+ m.indices[index+2] = index+2;
+ index += 3;
+ }
+
+ for (i = 0; i < context.nfaces; ++i) {
+ if (!context.valid[i]) { continue; }
+ qh_half_edge_t e0 = context.edges[context.faces[i].edges[0]];
+ qh_half_edge_t e1 = context.edges[context.faces[i].edges[1]];
+ qh_half_edge_t e2 = context.edges[context.faces[i].edges[2]];
+
+ m.vertices[m.nvertices++] = context.vertices[e0.to_vertex];
+ m.vertices[m.nvertices++] = context.vertices[e1.to_vertex];
+ m.vertices[m.nvertices++] = context.vertices[e2.to_vertex];
+ }
+ }
+
+ qh__free_context(&context);
+
+ return m;
+}
diff --git a/src/quickhull.h b/src/quickhull.h
@@ -0,0 +1,88 @@
+//
+// LICENCE:
+// The MIT License (MIT)
+//
+// Copyright (c) 2016 Karim Naaji, karim.naaji@gmail.com
+//
+// 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
+//
+// REFERENCES:
+// [1] http://box2d.org/files/GDC2014/DirkGregorius_ImplementingQuickHull.pdf
+// [2] http://www.cs.smith.edu/~orourke/books/compgeom.html
+// [3] http://www.flipcode.com/archives/The_Half-Edge_Data_Structure.shtml
+// [4] http://doc.cgal.org/latest/HalfedgeDS/index.html
+// [5] http://thomasdiewald.com/blog/?p=1888
+// [6] https://fgiesen.wordpress.com/2012/02/21/half-edge-based-mesh-representations-theory/
+//
+// HOWTO:
+// #define QUICKHULL_IMPLEMENTATION
+// #define QUICKHULL_DEBUG // Only if assertions need to be checked
+// #include "quickhull.h"
+//
+// HISTORY:
+// - 1.0.1 (2016-11-01): Various improvements over epsilon issues and degenerate faces
+// Debug functionalities to test final results dynamically
+// API to export hull meshes in OBJ files
+// - 1.0 (2016-09-10): Initial
+//
+// TODO:
+// - use float* from public interface
+// - reduce memory usage
+
+#ifndef QUICKHULL_H
+#define QUICKHULL_H
+
+// ------------------------------------------------------------------------------------------------
+// QUICKHULL PUBLIC API
+//
+
+typedef struct qh_vertex {
+ union {
+ float v[3];
+ struct {
+ float x;
+ float y;
+ float z;
+ };
+ };
+} qh_vertex_t;
+
+typedef qh_vertex_t qh_vec3_t;
+
+typedef struct qh_mesh {
+ qh_vertex_t* vertices;
+ qh_vec3_t* normals;
+ unsigned int* indices;
+ unsigned int* normalindices;
+ unsigned int nindices;
+ unsigned int nvertices;
+ unsigned int nnormals;
+} qh_mesh_t;
+
+qh_mesh_t qh_quickhull3d(qh_vertex_t const* vertices, unsigned int nvertices);
+
+void qh_mesh_export(qh_mesh_t const* mesh, char const* filename);
+
+void qh_free_mesh(qh_mesh_t mesh);
+
+//
+// END QUICKHULL PUBLIC API
+// ------------------------------------------------------------------------------------------------
+
+#endif // QUICKHULL_H
+
diff --git a/src/render.c b/src/render.c
@@ -198,18 +198,18 @@ check_gl();
glGetUniformLocation(handle, "normal_matrix");
check_gl();
- resources->attributes.normal =
+ resources->vertex_attrs[va_normal] =
(gpu_addr)glGetAttribLocation(handle, "normal");
check_gl();
- resources->attributes.position =
+ resources->vertex_attrs[va_position] =
(gpu_addr)glGetAttribLocation(handle, "position");
check_gl();
}
// TODO: auto-generate these somehow?
- resources->attributes.color =
+ resources->vertex_attrs[va_color] =
(gpu_addr)glGetAttribLocation(resources->programs[DEFAULT_PROGRAM]
.handle, "color");
/* assert(resources->attributes.color != 0xFFFFFFFF); */
@@ -346,7 +346,7 @@ void render (struct game *game, struct render_config *config) {
recalc_normals(res->uniforms.normal_matrix, model_view, normal_matrix);
check_gl();
- render_geometry(get_geometry(&entity->model->geom_id), &res->attributes, current_program);
+ render_geometry(get_geometry(&entity->model->geom_id), res->vertex_attrs, current_program);
check_gl();
}
diff --git a/src/scene.c b/src/scene.c
@@ -26,7 +26,7 @@ void default_scene(struct game *game) {
player->flags &= ~ENT_INVISIBLE;
struct entity *tower = new_entity(NULL);
- tower->model = get_model(model_tower);
+ tower->model = get_model(MODEL_TOWER);
tower->node.label = "tower";
node_attach(&tower->node, &player->node);
node_translate(&tower->node, V3(0.0, 50.0, 0.0));
@@ -40,5 +40,5 @@ void default_scene(struct game *game) {
}
void pbr_scene(struct game *game) {
- struct model *sphere = get_model(model_icosphere);
+ struct model *sphere = get_model(MODEL_ICOSPHERE);
}
diff --git a/src/skybox.c b/src/skybox.c
@@ -89,10 +89,10 @@ void create_skybox(struct skybox *skybox, struct gpu_program *program) {
skybox->uniforms.mvp =
glGetUniformLocation(skybox->program->handle, "mvp");
- skybox->attrs.position = (gpu_addr)
+ skybox->attrs[va_position] = (gpu_addr)
glGetAttribLocation(skybox->program->handle, "position");
- skybox->attrs.tex_coord = (gpu_addr)
+ skybox->attrs[va_tex_coord] = (gpu_addr)
glGetAttribLocation(skybox->program->handle, "tex_coord");
}
@@ -111,7 +111,7 @@ void render_skybox(struct skybox *skybox, mat4 *camera) {
glBindTexture(GL_TEXTURE_CUBE_MAP, skybox->model.texture);
check_gl();
- render_geometry(get_geometry(&skybox->model.geom_id), &skybox->attrs, skybox->program);
+ render_geometry(get_geometry(&skybox->model.geom_id), skybox->attrs, skybox->program);
check_gl();
glDepthMask(GL_TRUE);
diff --git a/src/skybox.h b/src/skybox.h
@@ -10,7 +10,7 @@
struct skybox {
struct gpu_program *program;
struct model model;
- struct attributes attrs;
+ gpu_addr attrs[n_vertex_attrs];
struct node node;
struct {
int mvp;
diff --git a/src/terrain.c b/src/terrain.c
@@ -192,7 +192,7 @@ void create_terrain(struct terrain *terrain, float scale) {
vec3_normalize(tmp2, tmp2);
for (int j = 0; j < 9; ++j) {
- del_norms[ndv+j] = tmp2[j%3];
+ del_norms[ndv+j] = tmp2[j%3];
}
del_indices[nv+0] = nv+0;
diff --git a/src/terrain.h b/src/terrain.h
@@ -21,7 +21,7 @@ struct perlin_settings {
struct terrain {
- entity_id_t entity_id;
+ entity_id entity_id;
struct perlin_settings settings;
struct point *samples;
struct model model;
diff --git a/src/ui.c b/src/ui.c
@@ -34,7 +34,7 @@ static GLfloat quad_uvs[] =
};
-static void create_quad(geometry_id_t *id)
+static void create_quad(geometry_id *id)
{
struct make_geometry mkgeom = {
.indices = quad_indices,
@@ -70,7 +70,7 @@ void render_ui(struct ui *ui, float *view) {
check_gl();
// render quad
- render_geometry(get_geometry(&ui->quad_geom_id), &ui->attrs, ui->shader);
+ render_geometry(get_geometry(&ui->quad_geom_id), ui->attrs, ui->shader);
check_gl();
}
@@ -115,9 +115,9 @@ void create_ui(struct ui *ui, int width, int height, struct gpu_program *shader)
glGetUniformLocation(program, "screen_texture");
/* ui->attrs.normal = (gpu_addr)glGetAttribLocation(program, "normal"); */
- ui->attrs.position = (gpu_addr)glGetAttribLocation(program, "position");
- ui->attrs.color = (gpu_addr)glGetAttribLocation(program, "color");
- ui->attrs.tex_coord = (gpu_addr)glGetAttribLocation(program, "tex_coords");
+ ui->attrs[va_position] = (gpu_addr)glGetAttribLocation(program, "position");
+ ui->attrs[va_color] = (gpu_addr)glGetAttribLocation(program, "color");
+ ui->attrs[va_tex_coord] = (gpu_addr)glGetAttribLocation(program, "tex_coords");
check_gl();
resize_ui(ui, width, height);
diff --git a/src/ui.h b/src/ui.h
@@ -8,8 +8,8 @@
struct ui {
struct gpu_program *shader;
- geometry_id_t quad_geom_id;
- struct attributes attrs;
+ geometry_id quad_geom_id;
+ gpu_addr attrs[n_vertex_attrs];
struct ui_uniforms {
GLint mvp;
diff --git a/src/update.c b/src/update.c
@@ -192,14 +192,14 @@ void resize_fbos(struct entity *player, struct fbo *shadow_buffer,
}
// TODO: compute better bounds based
- const float factor = 1.5;
+ const float factor = 4.5;
struct geometry *geom = get_geometry(&player->model->geom_id);
float left = geom->min[0] - factor;
float right = geom->max[0] + factor;
float bottom = geom->min[1] - factor;
float top = geom->max[1] + factor/2.0;
- const float near = -1.0;
+ const float near = -5.0;
const float far = 5.0;
// default ortho screenspace projection
@@ -301,8 +301,12 @@ void orbit_update_from_mouse(struct orbit *camera, struct input *input,
else
camera->coords.radius -= dt * 100.0;
- camera->coords.radius = max(5.0, camera->coords.radius);
}
+ else if (input->wheel_y) {
+ camera->coords.radius += input->wheel_y * dt * 100.0;
+ }
+
+ camera->coords.radius = max(5.0, camera->coords.radius);
camera->coords.azimuth += mx;
camera->coords.inclination += my;
diff --git a/src/util.c b/src/util.c
@@ -15,14 +15,6 @@ int clampi(int a, int mina, int maxa) {
return a;
}
-double max(double a, double b) {
- return a > b ? a : b;
-}
-
-double min(double a, double b) {
- return a < b ? a : b;
-}
-
double clamp(double a, double mina, double maxa) {
if (a > maxa)
return maxa;
diff --git a/src/util.h b/src/util.h
@@ -6,7 +6,7 @@
#include "vec3.h"
#include "mat4.h"
#include <assert.h>
-
+#include <string.h>
#define check_gl() { \
unsigned int e = glGetError(); \
@@ -22,13 +22,17 @@
#define RAD(x) ((x)*TAU/360.0)
+#define EPSILON 0.0001
#define ARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0]))
+#define min(a,b) (a < b ? a : b)
+#define max(a,b) (a > b ? a : b)
+#define streq(a,b) (strcmp(a,b) == 0)
+#define memeq(a,b,n1,n2) (memcmp(a,b,min(n1, n2)) == 0)
+#define approxeq(a, b) (fabs(a-b) < EPSILON)
void look_at(vec3 *eye, vec3 *target, vec3 *up, mat4 *dest);
int clampi(int a, int mina, int maxa);
double clamp(double a, double mina, double maxa);
-double max(double a, double b);
-double min(double a, double b);
double rand_0to1();
diff --git a/src/vbo.c b/src/vbo.c
@@ -20,36 +20,85 @@ make_buffer(GLenum target, const void *buffer_data, GLsizei buffer_size) {
return buffer;
}
+
+static struct vbo*
+make_vertex_buffer(struct vbo *vbo, const void *data,
+ GLenum type,
+ GLenum component_type,
+ struct element_size element_size,
+ struct num_elements num_elements,
+ struct components components)
+{
+ vbo->components = components.components;
+ vbo->handle = make_buffer(type,
+ data,
+ num_elements.num_elements *
+ element_size.element_size *
+ components.components);
+ vbo->type = type;
+ vbo->component_type = component_type;
+ return vbo;
+}
+
struct vbo*
-make_index_buffer(GLenum target, const void *data, GLsizei buffer_size,
- struct vbo *vbo) {
- vbo->components = 3;
- vbo->handle = make_buffer(target, data, buffer_size);
- vbo->type = GL_ELEMENT_ARRAY_BUFFER;
- return vbo;
+make_index_buffer(struct vbo *vbo, const void *data,
+ struct num_elements num_elements)
+{
+ return make_vertex_buffer(vbo,
+ data,
+ GL_ELEMENT_ARRAY_BUFFER,
+ GL_INT,
+ mk_element_size(sizeof(u32)),
+ num_elements,
+ mk_components(3)
+ );
}
+struct vbo* make_float_vertex_buffer(struct vbo *vbo, const void *data,
+ struct num_elements num_elements,
+ struct components components)
+{
+ return make_vertex_buffer(vbo,
+ data,
+ GL_ARRAY_BUFFER,
+ GL_FLOAT,
+ mk_element_size(sizeof(GLfloat)),
+ num_elements,
+ components);
+}
-struct vbo*
-make_vertex_buffer(GLenum target, const void *data,
- GLsizei buffer_size, struct vbo *vbo) {
- vbo->components = 3;
- vbo->handle = make_buffer(target, data, buffer_size);
- vbo->type = GL_ARRAY_BUFFER;
- return vbo;
+
+struct vbo* make_int_vertex_buffer(struct vbo *vbo, const int *data,
+ struct num_elements num_elements,
+ struct components components)
+{
+ return make_vertex_buffer(vbo,
+ data,
+ GL_ARRAY_BUFFER,
+ GL_INT,
+ mk_element_size(sizeof(u32)),
+ num_elements,
+ components);
}
-struct vbo*
-make_uv_buffer(GLenum target, const void *data,
- GLsizei buffer_size, struct vbo *vbo, int components) {
- vbo->components = components;
- vbo->handle = make_buffer(target, data, buffer_size);
- vbo->type = GL_ARRAY_BUFFER;
- return vbo;
+
+struct vbo * make_uv_buffer(struct vbo *vbo, const void *data,
+ struct num_elements num_elements,
+ struct components components)
+{
+ return make_vertex_buffer(vbo,
+ data,
+ GL_ARRAY_BUFFER,
+ GL_FLOAT,
+ mk_element_size(sizeof(float)),
+ num_elements,
+ components);
}
-void bind_ibo(struct vbo *vbo) {
- glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo->handle);
+
+static void bind_ibo(struct vbo *vbo)
+{
+ glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo->handle);
}
struct vbo* init_vbo(struct vbo *vbo) {
@@ -59,20 +108,35 @@ struct vbo* init_vbo(struct vbo *vbo) {
return vbo;
}
-static void bind_vbo_internal(struct vbo *vbo, gpu_addr slot) {
+static void bind_vbo_internal(struct vbo *vbo, gpu_addr slot, GLenum type) {
glEnableVertexAttribArray(slot);
check_gl();
glBindBuffer(vbo->type, vbo->handle);
check_gl();
- glVertexAttribPointer(slot, // attribute
- vbo->components, // size
- GL_FLOAT, // type
- GL_FALSE, // normalized?
- 0, // stride
- (void*)0 // array buffer offset
- );
+
+ // should use bind_ibo instead...
+ assert(vbo->type != GL_ELEMENT_ARRAY_BUFFER);
+
+ if (vbo->component_type == GL_INT) {
+ glVertexAttribIPointer(slot,
+ vbo->components,
+ type,
+ 0, // stride
+ (void*)0);
+ }
+ else {
+ glVertexAttribPointer(slot, // attribute
+ vbo->components, // size
+ type, // type
+ GL_FALSE, // normalized?
+ 0, // stride
+ (void*)0 // array buffer offset
+ );
+ }
}
-void bind_vbo(struct vbo *vbo, gpu_addr slot) {
- bind_vbo_internal(vbo, slot);
+void bind_vbo(struct vbo *vbo, gpu_addr slot, GLenum type) {
+ if (vbo->type == GL_ELEMENT_ARRAY_BUFFER)
+ return bind_ibo(vbo);
+ bind_vbo_internal(vbo, slot, type);
}
diff --git a/src/vbo.h b/src/vbo.h
@@ -6,40 +6,68 @@
typedef GLuint gpu_addr;
-struct attributes {
- gpu_addr position;
- gpu_addr normal;
- gpu_addr color;
- gpu_addr tex_coord;
+#define VERT_ATTRS 6
+
+enum vertex_attr {
+ va_position,
+ va_normal,
+ va_color,
+ va_index,
+ va_tex_coord,
+ va_joint_ids,
+ va_joint_weights,
+ n_vertex_attrs
};
struct vbo {
- u32 type;
- int components;
- gpu_addr handle;
+ u32 type;
+ int component_type;
+ int components;
+ gpu_addr handle;
+};
+
+struct num_elements {
+ int num_elements;
};
+#define mk_num_elements(x) ((struct num_elements){ .num_elements = x })
+
+struct element_size {
+ int element_size;
+};
+#define mk_element_size(x) ((struct element_size){ .element_size = x })
+
+struct components {
+ int components;
+};
+#define mk_components(c) ((struct components){ .components = c })
#define NUM_VBO_SLOTS 1
-gpu_addr make_buffer(GLenum target, const void *buffer_data,
- GLsizei buffer_size);
+gpu_addr make_buffer(GLenum target, const void *buffer_data, GLsizei buffer_size);
struct vbo *init_vbo(struct vbo *);
-struct vbo *
-make_vertex_buffer(GLenum target, const void *buffer_data,
- GLsizei buffer_size, struct vbo *vbo);
+struct vbo* make_float_vertex_buffer(struct vbo *vbo,
+ const void *data,
+ struct num_elements,
+ struct components);
-struct vbo *
-make_index_buffer(GLenum target, const void *buffer_data,
- GLsizei buffer_size, struct vbo *vbo);
+struct vbo* make_index_buffer(struct vbo *vbo,
+ const void *data,
+ struct num_elements);
+
+struct vbo * make_uv_buffer(struct vbo *vbo,
+ const void *data,
+ struct num_elements,
+ struct components);
struct vbo *
-make_uv_buffer(GLenum target, const void *data,
- GLsizei buffer_size, struct vbo *vbo, int components);
+make_int_vertex_buffer(struct vbo *vbo, const int *data,
+ struct num_elements num_elements,
+ struct components components);
+
void bind_uv_vbo(struct vbo *vbo, gpu_addr slot);
-void bind_vbo(struct vbo *vbo, gpu_addr slot);
-void bind_ibo(struct vbo *vbo);
+void bind_vbo(struct vbo *vbo, gpu_addr slot, GLenum type);
#endif /* POLYADVENT_BUFFER_H */
diff --git a/src/vec3.h b/src/vec3.h
@@ -1,3 +1,8 @@
+
+#ifndef VEC3_H
+#define VEC3_H
+
+
typedef float vec3;
#define V3(x,y,z) ((vec3[3]){x,y,z})
@@ -22,3 +27,6 @@ vec3 *vec3_all(vec3 *vec, float n);
vec3 *vec3_add(vec3 *vec, vec3 *vec2, vec3 *dest);
int vec3_eq(vec3 *a, vec3 *b, float precision);
void vec3_copy(vec3 *a, vec3 *dest);
+
+
+#endif /* VEC3_H */
diff --git a/src/xml.c b/src/xml.c
@@ -0,0 +1,459 @@
+#include <sys/types.h>
+
+#include <ctype.h>
+#include <errno.h>
+#include <limits.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "xml.h"
+
+static void
+xml_parseattrs(struct xmlparser *x)
+{
+ size_t namelen = 0, valuelen;
+ int c, endsep, endname = 0, valuestart = 0;
+
+ while ((c = GETNEXT) != EOF) {
+ if (isspace(c)) {
+ if (namelen)
+ endname = 1;
+ continue;
+ } else if (c == '?')
+ ; /* ignore */
+ else if (c == '=') {
+ x->name[namelen] = '\0';
+ valuestart = 1;
+ endname = 1;
+ } else if (namelen && ((endname && !valuestart && isalpha(c)) || (c == '>' || c == '/'))) {
+ /* attribute without value */
+ x->name[namelen] = '\0';
+ if (x->xmlattrstart)
+ x->xmlattrstart(x, x->tag, x->taglen, x->name, namelen);
+ if (x->xmlattr)
+ x->xmlattr(x, x->tag, x->taglen, x->name, namelen, "", 0);
+ if (x->xmlattrend)
+ x->xmlattrend(x, x->tag, x->taglen, x->name, namelen);
+ endname = 0;
+ x->name[0] = c;
+ namelen = 1;
+ } else if (namelen && valuestart) {
+ /* attribute with value */
+ if (x->xmlattrstart)
+ x->xmlattrstart(x, x->tag, x->taglen, x->name, namelen);
+
+ valuelen = 0;
+ if (c == '\'' || c == '"') {
+ endsep = c;
+ } else {
+ endsep = ' '; /* isspace() */
+ goto startvalue;
+ }
+
+ while ((c = GETNEXT) != EOF) {
+startvalue:
+ if (c == '&') { /* entities */
+ x->data[valuelen] = '\0';
+ /* call data function with data before entity if there is data */
+ if (valuelen && x->xmlattr)
+ x->xmlattr(x, x->tag, x->taglen, x->name, namelen, x->data, valuelen);
+ x->data[0] = c;
+ valuelen = 1;
+ while ((c = GETNEXT) != EOF) {
+ if (c == endsep || (endsep == ' ' && (c == '>' || isspace(c))))
+ break;
+ if (valuelen < sizeof(x->data) - 1)
+ x->data[valuelen++] = c;
+ else {
+ /* entity too long for buffer, handle as normal data */
+ x->data[valuelen] = '\0';
+ if (x->xmlattr)
+ x->xmlattr(x, x->tag, x->taglen, x->name, namelen, x->data, valuelen);
+ x->data[0] = c;
+ valuelen = 1;
+ break;
+ }
+ if (c == ';') {
+ x->data[valuelen] = '\0';
+ if (x->xmlattrentity)
+ x->xmlattrentity(x, x->tag, x->taglen, x->name, namelen, x->data, valuelen);
+ valuelen = 0;
+ break;
+ }
+ }
+ } else if (c != endsep && !(endsep == ' ' && (c == '>' || isspace(c)))) {
+ if (valuelen < sizeof(x->data) - 1) {
+ x->data[valuelen++] = c;
+ } else {
+ x->data[valuelen] = '\0';
+ if (x->xmlattr)
+ x->xmlattr(x, x->tag, x->taglen, x->name, namelen, x->data, valuelen);
+ x->data[0] = c;
+ valuelen = 1;
+ }
+ }
+ if (c == endsep || (endsep == ' ' && (c == '>' || isspace(c)))) {
+ x->data[valuelen] = '\0';
+ if (x->xmlattr)
+ x->xmlattr(x, x->tag, x->taglen, x->name, namelen, x->data, valuelen);
+ if (x->xmlattrend)
+ x->xmlattrend(x, x->tag, x->taglen, x->name, namelen);
+ break;
+ }
+ }
+ namelen = endname = valuestart = 0;
+ } else if (namelen < sizeof(x->name) - 1) {
+ x->name[namelen++] = c;
+ }
+ if (c == '>') {
+ break;
+ } else if (c == '/') {
+ x->isshorttag = 1;
+ x->name[0] = '\0';
+ namelen = 0;
+ }
+ }
+}
+
+static void
+xml_parsecomment(struct xmlparser *x)
+{
+ size_t datalen = 0, i = 0;
+ int c;
+
+ if (x->xmlcommentstart)
+ x->xmlcommentstart(x);
+ while ((c = GETNEXT) != EOF) {
+ if (c == '-' || c == '>') {
+ if (x->xmlcomment && datalen) {
+ x->data[datalen] = '\0';
+ x->xmlcomment(x, x->data, datalen);
+ datalen = 0;
+ }
+ }
+
+ if (c == '-') {
+ if (++i > 2) {
+ if (x->xmlcomment)
+ for (; i > 2; i--)
+ x->xmlcomment(x, "-", 1);
+ i = 2;
+ }
+ continue;
+ } else if (c == '>' && i == 2) {
+ if (x->xmlcommentend)
+ x->xmlcommentend(x);
+ return;
+ } else if (i) {
+ if (x->xmlcomment) {
+ for (; i > 0; i--)
+ x->xmlcomment(x, "-", 1);
+ }
+ i = 0;
+ }
+
+ if (datalen < sizeof(x->data) - 1) {
+ x->data[datalen++] = c;
+ } else {
+ x->data[datalen] = '\0';
+ if (x->xmlcomment)
+ x->xmlcomment(x, x->data, datalen);
+ x->data[0] = c;
+ datalen = 1;
+ }
+ }
+}
+
+static void
+xml_parsecdata(struct xmlparser *x)
+{
+ size_t datalen = 0, i = 0;
+ int c;
+
+ if (x->xmlcdatastart)
+ x->xmlcdatastart(x);
+ while ((c = GETNEXT) != EOF) {
+ if (c == ']' || c == '>') {
+ if (x->xmlcdata && datalen) {
+ x->data[datalen] = '\0';
+ x->xmlcdata(x, x->data, datalen);
+ datalen = 0;
+ }
+ }
+
+ if (c == ']') {
+ if (++i > 2) {
+ if (x->xmlcdata)
+ for (; i > 2; i--)
+ x->xmlcdata(x, "]", 1);
+ i = 2;
+ }
+ continue;
+ } else if (c == '>' && i == 2) {
+ if (x->xmlcdataend)
+ x->xmlcdataend(x);
+ return;
+ } else if (i) {
+ if (x->xmlcdata)
+ for (; i > 0; i--)
+ x->xmlcdata(x, "]", 1);
+ i = 0;
+ }
+
+ if (datalen < sizeof(x->data) - 1) {
+ x->data[datalen++] = c;
+ } else {
+ x->data[datalen] = '\0';
+ if (x->xmlcdata)
+ x->xmlcdata(x, x->data, datalen);
+ x->data[0] = c;
+ datalen = 1;
+ }
+ }
+}
+
+static int
+codepointtoutf8(long r, char *s)
+{
+ if (r == 0) {
+ return 0; /* NUL byte */
+ } else if (r <= 0x7F) {
+ /* 1 byte: 0aaaaaaa */
+ s[0] = r;
+ return 1;
+ } else if (r <= 0x07FF) {
+ /* 2 bytes: 00000aaa aabbbbbb */
+ s[0] = 0xC0 | ((r & 0x0007C0) >> 6); /* 110aaaaa */
+ s[1] = 0x80 | (r & 0x00003F); /* 10bbbbbb */
+ return 2;
+ } else if (r <= 0xFFFF) {
+ /* 3 bytes: aaaabbbb bbcccccc */
+ s[0] = 0xE0 | ((r & 0x00F000) >> 12); /* 1110aaaa */
+ s[1] = 0x80 | ((r & 0x000FC0) >> 6); /* 10bbbbbb */
+ s[2] = 0x80 | (r & 0x00003F); /* 10cccccc */
+ return 3;
+ } else {
+ /* 4 bytes: 000aaabb bbbbcccc ccdddddd */
+ s[0] = 0xF0 | ((r & 0x1C0000) >> 18); /* 11110aaa */
+ s[1] = 0x80 | ((r & 0x03F000) >> 12); /* 10bbbbbb */
+ s[2] = 0x80 | ((r & 0x000FC0) >> 6); /* 10cccccc */
+ s[3] = 0x80 | (r & 0x00003F); /* 10dddddd */
+ return 4;
+ }
+}
+
+static int
+namedentitytostr(const char *e, char *buf, size_t bufsiz)
+{
+ static const struct {
+ const char *entity;
+ int c;
+ } entities[] = {
+ { "amp;", '&' },
+ { "lt;", '<' },
+ { "gt;", '>' },
+ { "apos;", '\'' },
+ { "quot;", '"' },
+ { "AMP;", '&' },
+ { "LT;", '<' },
+ { "GT;", '>' },
+ { "APOS;", '\'' },
+ { "QUOT;", '"' }
+ };
+ size_t i;
+
+ /* buffer is too small */
+ if (bufsiz < 2)
+ return -1;
+
+ for (i = 0; i < sizeof(entities) / sizeof(*entities); i++) {
+ if (!strcmp(e, entities[i].entity)) {
+ buf[0] = entities[i].c;
+ buf[1] = '\0';
+ return 1;
+ }
+ }
+ return 0;
+}
+
+static int
+numericentitytostr(const char *e, char *buf, size_t bufsiz)
+{
+ long l;
+ int len;
+ char *end;
+
+ /* buffer is too small */
+ if (bufsiz < 5)
+ return -1;
+
+ errno = 0;
+ /* hex (16) or decimal (10) */
+ if (*e == 'x')
+ l = strtoul(e + 1, &end, 16);
+ else
+ l = strtoul(e, &end, 10);
+ /* invalid value or not a well-formed entity or too high codepoint */
+ if (errno || *end != ';' || l > 0x10FFFF)
+ return 0;
+ len = codepointtoutf8(l, buf);
+ buf[len] = '\0';
+
+ return len;
+}
+
+/* convert named- or numeric entity string to buffer string
+ * returns byte-length of string. */
+int
+xml_entitytostr(const char *e, char *buf, size_t bufsiz)
+{
+ /* doesn't start with & */
+ if (e[0] != '&')
+ return 0;
+ /* numeric entity */
+ if (e[1] == '#')
+ return numericentitytostr(e + 2, buf, bufsiz);
+ else /* named entity */
+ return namedentitytostr(e + 1, buf, bufsiz);
+}
+
+void
+xml_parse(struct xmlparser *x)
+{
+ size_t datalen, tagdatalen;
+ int c, isend;
+
+ while ((c = GETNEXT) != EOF && c != '<')
+ ; /* skip until < */
+
+ while (c != EOF) {
+ if (c == '<') { /* parse tag */
+ if ((c = GETNEXT) == EOF)
+ return;
+
+ if (c == '!') { /* cdata and comments */
+ for (tagdatalen = 0; (c = GETNEXT) != EOF;) {
+ /* NOTE: sizeof(x->data) must be atleast sizeof("[CDATA[") */
+ if (tagdatalen <= sizeof("[CDATA[") - 1)
+ x->data[tagdatalen++] = c;
+ if (c == '>')
+ break;
+ else if (c == '-' && tagdatalen == sizeof("--") - 1 &&
+ (x->data[0] == '-')) {
+ xml_parsecomment(x);
+ break;
+ } else if (c == '[') {
+ if (tagdatalen == sizeof("[CDATA[") - 1 &&
+ !strncmp(x->data, "[CDATA[", tagdatalen)) {
+ xml_parsecdata(x);
+ break;
+ }
+ }
+ }
+ } else {
+ /* normal tag (open, short open, close), processing instruction. */
+ x->tag[0] = c;
+ x->taglen = 1;
+ x->isshorttag = isend = 0;
+
+ /* treat processing instruction as shorttag, don't strip "?" prefix. */
+ if (c == '?') {
+ x->isshorttag = 1;
+ } else if (c == '/') {
+ if ((c = GETNEXT) == EOF)
+ return;
+ x->tag[0] = c;
+ isend = 1;
+ }
+
+ while ((c = GETNEXT) != EOF) {
+ if (c == '/')
+ x->isshorttag = 1; /* short tag */
+ else if (c == '>' || isspace(c)) {
+ x->tag[x->taglen] = '\0';
+ if (isend) { /* end tag, starts with </ */
+ if (x->xmltagend)
+ x->xmltagend(x, x->tag, x->taglen, x->isshorttag);
+ x->tag[0] = '\0';
+ x->taglen = 0;
+ } else {
+ /* start tag */
+ if (x->xmltagstart)
+ x->xmltagstart(x, x->tag, x->taglen);
+ if (isspace(c))
+ xml_parseattrs(x);
+ if (x->xmltagstartparsed)
+ x->xmltagstartparsed(x, x->tag, x->taglen, x->isshorttag);
+ }
+ /* call tagend for shortform or processing instruction */
+ if (x->isshorttag) {
+ if (x->xmltagend)
+ x->xmltagend(x, x->tag, x->taglen, x->isshorttag);
+ x->tag[0] = '\0';
+ x->taglen = 0;
+ }
+ break;
+ } else if (x->taglen < sizeof(x->tag) - 1)
+ x->tag[x->taglen++] = c; /* NOTE: tag name truncation */
+ }
+ }
+ } else {
+ /* parse tag data */
+ datalen = 0;
+ if (x->xmldatastart)
+ x->xmldatastart(x);
+ while ((c = GETNEXT) != EOF) {
+ if (c == '&') {
+ if (datalen) {
+ x->data[datalen] = '\0';
+ if (x->xmldata)
+ x->xmldata(x, x->data, datalen);
+ }
+ x->data[0] = c;
+ datalen = 1;
+ while ((c = GETNEXT) != EOF) {
+ if (c == '<')
+ break;
+ if (datalen < sizeof(x->data) - 1)
+ x->data[datalen++] = c;
+ else {
+ /* entity too long for buffer, handle as normal data */
+ x->data[datalen] = '\0';
+ if (x->xmldata)
+ x->xmldata(x, x->data, datalen);
+ x->data[0] = c;
+ datalen = 1;
+ break;
+ }
+ if (c == ';') {
+ x->data[datalen] = '\0';
+ if (x->xmldataentity)
+ x->xmldataentity(x, x->data, datalen);
+ datalen = 0;
+ break;
+ }
+ }
+ } else if (c != '<') {
+ if (datalen < sizeof(x->data) - 1) {
+ x->data[datalen++] = c;
+ } else {
+ x->data[datalen] = '\0';
+ if (x->xmldata)
+ x->xmldata(x, x->data, datalen);
+ x->data[0] = c;
+ datalen = 1;
+ }
+ }
+ if (c == '<') {
+ x->data[datalen] = '\0';
+ if (x->xmldata && datalen)
+ x->xmldata(x, x->data, datalen);
+ if (x->xmldataend)
+ x->xmldataend(x);
+ break;
+ }
+ }
+ }
+ }
+}
diff --git a/src/xml.h b/src/xml.h
@@ -0,0 +1,73 @@
+#ifndef _XML_H
+#define _XML_H
+
+#define XML_BUFSIZ 1024
+
+#include <stdlib.h>
+
+struct xmlparser {
+ /* handlers */
+ void (*xmlattr)(struct xmlparser *, const char *, size_t,
+ const char *, size_t, const char *, size_t);
+ void (*xmlattrend)(struct xmlparser *, const char *, size_t,
+ const char *, size_t);
+ void (*xmlattrstart)(struct xmlparser *, const char *, size_t,
+ const char *, size_t);
+ void (*xmlattrentity)(struct xmlparser *, const char *, size_t,
+ const char *, size_t, const char *, size_t);
+ void (*xmlcdatastart)(struct xmlparser *);
+ void (*xmlcdata)(struct xmlparser *, const char *, size_t);
+ void (*xmlcdataend)(struct xmlparser *);
+ void (*xmlcommentstart)(struct xmlparser *);
+ void (*xmlcomment)(struct xmlparser *, const char *, size_t);
+ void (*xmlcommentend)(struct xmlparser *);
+ void (*xmldata)(struct xmlparser *, const char *, size_t);
+ void (*xmldataend)(struct xmlparser *);
+ void (*xmldataentity)(struct xmlparser *, const char *, size_t);
+ void (*xmldatastart)(struct xmlparser *);
+ void (*xmltagend)(struct xmlparser *, const char *, size_t, int);
+ void (*xmltagstart)(struct xmlparser *, const char *, size_t);
+ void (*xmltagstartparsed)(struct xmlparser *, const char *,
+ size_t, int);
+
+#ifndef GETNEXT
+ #define GETNEXT (x)->getnext(x)
+ int (*getnext)(struct xmlparser *);
+#endif
+
+ /* current tag */
+ char tag[1024];
+ size_t taglen;
+ void *user_data;
+ /* current tag is in short form ? <tag /> */
+ int isshorttag;
+ /* current attribute name */
+ char name[1024];
+ /* data buffer used for tag data, cdata and attribute data */
+ char data[XML_BUFSIZ];
+};
+
+int xml_entitytostr(const char *, char *, size_t);
+void xml_parse(struct xmlparser *);
+#endif
+
+/*
+void xmlattr(struct xmlparser *x, const char *t, size_t tl, const char *a, size_t al, const char *v, size_t vl)
+void xmlattrentity(struct xmlparser *x, const char *t, size_t tl, const char *a, size_t al, const char *v, size_t vl)
+void xmlattrend(struct xmlparser *x, const char *t, size_t tl, const char *a, size_t al)
+void xmlattrstart(struct xmlparser *x, const char *t, size_t tl, const char *a, size_t al)
+void xmlcdatastart(struct xmlparser *x)
+void xmlcdata(struct xmlparser *x, const char *d, size_t dl)
+void xmlcdataend(struct xmlparser *x)
+void xmlcommentstart(struct xmlparser *x)
+void xmlcomment(struct xmlparser *x, const char *c, size_t cl)
+void xmlcommentend(struct xmlparser *x)
+void xmldata(struct xmlparser *x, const char *d, size_t dl)
+void xmldataend(struct xmlparser *x)
+void xmldataentity(struct xmlparser *x, const char *d, size_t dl)
+void xmldatastart(struct xmlparser *x)
+void xmltagend(struct xmlparser *x, const char *t, size_t tl, int isshort)
+void xmltagstart(struct xmlparser *x, const char *t, size_t tl)
+void xmltagstartparsed(struct xmlparser *x, const char *t, size_t tl, int isshort)
+
+*/
diff --git a/test/test-half-edge.c b/test/test-half-edge.c
@@ -0,0 +1,7 @@
+
+#include "half-edge.h"
+
+int main(int argc, char *argv[])
+{
+ return 0;
+}
diff --git a/test/test_animation.c b/test/test_animation.c
@@ -0,0 +1,30 @@
+
+#include "animation.h"
+#include "util.h"
+#include <assert.h>
+#include <stdio.h>
+
+
+int main(int argc, char *argv[])
+{
+ struct pose *pose;
+ struct joint *joint;
+ struct pose poses[4];
+ int nposes;
+
+ load_poses("data/models/pirate-officer.dae", poses, &nposes);
+ assert(nposes == 1);
+
+ pose = &poses[0];
+ assert(pose->njoints == 11);
+
+ joint = &pose->joints[0];
+ assert(approxeq(joint->mat[0], 0.999897));
+
+ joint = &pose->joints[1];
+ assert(approxeq(joint->mat[1], -0.01434187));
+
+ assert(pose->joints[0].nchildren == 3);
+
+ return 0;
+}
