From 5510209526793ea40c1a010926f134913ddfecc3 Mon Sep 17 00:00:00 2001 From: eihrul Date: Tue, 7 Feb 2012 17:13:12 +0000 Subject: [PATCH] use dual quaternions for frame blends git-svn-id: svn://svn.icculus.org/twilight/trunk/darkplaces@11669 d7cf8633-e32d-0410-b094-e92efae38249 --- mod_skeletal_animatevertices_generic.c | 71 ++++++++++++++--------- mod_skeletal_animatevertices_sse.c | 79 ++++++++++++++++---------- 2 files changed, 92 insertions(+), 58 deletions(-) diff --git a/mod_skeletal_animatevertices_generic.c b/mod_skeletal_animatevertices_generic.c index fcaf4ed2..8c5f7d0f 100644 --- a/mod_skeletal_animatevertices_generic.c +++ b/mod_skeletal_animatevertices_generic.c @@ -41,37 +41,54 @@ void Mod_Skeletal_AnimateVertices_Generic(const dp_model_t * RESTRICT model, con } else { - float originscale = model->num_posescale; - float x,y,z,w,lerp; - const short * RESTRICT pose7s; - + float originscale = -model->num_posescale; for (i = 0;i < model->num_bones;i++) { - memset(m, 0, sizeof(m)); - for (blends = 0;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++) + const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[0].subframe * model->num_bones + i); + float lerp = frameblend[0].lerp, + tx = pose7s[0], ty = pose7s[1], tz = pose7s[2], + rx = pose7s[3] * lerp, + ry = pose7s[4] * lerp, + rz = pose7s[5] * lerp, + rw = pose7s[6] * lerp, + dx = tx*rw + ty*rz - tz*ry, + dy = -tx*rz + ty*rw + tz*rx, + dz = tx*ry - ty*rx + tz*rw, + dw = -tx*rx - ty*ry - tz*rz, + scale; + for (blends = 1;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++) { - pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i); - lerp = frameblend[blends].lerp; - x = pose7s[3] * (1.0f / 32767.0f); - y = pose7s[4] * (1.0f / 32767.0f); - z = pose7s[5] * (1.0f / 32767.0f); - w = pose7s[6] * (1.0f / 32767.0f); - m[ 0] += (1-2*(y*y+z*z)) * lerp; - m[ 1] += ( 2*(x*y-z*w)) * lerp; - m[ 2] += ( 2*(x*z+y*w)) * lerp; - m[ 3] += (pose7s[0] * originscale) * lerp; - m[ 4] += ( 2*(x*y+z*w)) * lerp; - m[ 5] += (1-2*(x*x+z*z)) * lerp; - m[ 6] += ( 2*(y*z-x*w)) * lerp; - m[ 7] += (pose7s[1] * originscale) * lerp; - m[ 8] += ( 2*(x*z-y*w)) * lerp; - m[ 9] += ( 2*(y*z+x*w)) * lerp; - m[10] += (1-2*(x*x+y*y)) * lerp; - m[11] += (pose7s[2] * originscale) * lerp; + const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i); + float lerp = frameblend[blends].lerp, + tx = pose7s[0], ty = pose7s[1], tz = pose7s[2], + qx = pose7s[3], qy = pose7s[4], qz = pose7s[5], qw = pose7s[6]; + if(rx*qx + ry*qy + rz*qz + rw*qw < 0) lerp = -lerp; + qx *= lerp; + qy *= lerp; + qz *= lerp; + qw *= lerp; + rx += qx; + ry += qy; + rz += qz; + rw += qw; + dx += tx*qw + ty*qz - tz*qy; + dy += -tx*qz + ty*qw + tz*qx; + dz += tx*qy - ty*qx + tz*qw; + dw += -tx*qx - ty*qy - tz*qz; } - VectorNormalize(m ); - VectorNormalize(m + 4); - VectorNormalize(m + 8); + scale = 1.0f / (rx*rx + ry*ry + rz*rz + rw*rw); + m[0] = scale*(rw*rw + rx*rx - ry*ry - rz*rz); + m[1] = 2*scale*(rx*ry - rw*rz); + m[2] = 2*scale*(rx*rz + rw*ry); + m[3] = originscale*scale*(dw*rx - dx*rw + dy*rz - dz*ry); + m[4] = 2*scale*(rx*ry + rw*rz); + m[5] = scale*(rw*rw + ry*ry - rx*rx - rz*rz); + m[6] = 2*scale*(ry*rz - rw*rx); + m[7] = originscale*scale*(dw*ry - dx*rz - dy*rw + dz*rx); + m[8] = 2*scale*(rx*rz - rw*ry); + m[9] = 2*scale*(ry*rz + rw*rx); + m[10] = scale*(rw*rw + rz*rz - rx*rx - ry*ry); + m[11] = originscale*scale*(dw*rz + dx*ry - dy*rx - dz*rw); if (i == r_skeletal_debugbone.integer) m[r_skeletal_debugbonecomponent.integer % 12] += r_skeletal_debugbonevalue.value; m[3] *= r_skeletal_debugtranslatex.value; diff --git a/mod_skeletal_animatevertices_sse.c b/mod_skeletal_animatevertices_sse.c index e5db8d85..c6b33f43 100644 --- a/mod_skeletal_animatevertices_sse.c +++ b/mod_skeletal_animatevertices_sse.c @@ -50,37 +50,54 @@ void Mod_Skeletal_AnimateVertices_SSE(const dp_model_t * RESTRICT model, const f } else { - float originscale = model->num_posescale; - float x,y,z,w,lerp; - const short * RESTRICT pose7s; - - for (i = 0;i < model->num_bones;i++) - { - memset(m, 0, sizeof(m)); - for (blends = 0;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++) - { - pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i); - lerp = frameblend[blends].lerp; - x = pose7s[3] * (1.0f / 32767.0f); - y = pose7s[4] * (1.0f / 32767.0f); - z = pose7s[5] * (1.0f / 32767.0f); - w = pose7s[6] * (1.0f / 32767.0f); - m[ 0] += (1-2*(y*y+z*z)) * lerp; - m[ 1] += ( 2*(x*y-z*w)) * lerp; - m[ 2] += ( 2*(x*z+y*w)) * lerp; - m[ 3] += (pose7s[0] * originscale) * lerp; - m[ 4] += ( 2*(x*y+z*w)) * lerp; - m[ 5] += (1-2*(x*x+z*z)) * lerp; - m[ 6] += ( 2*(y*z-x*w)) * lerp; - m[ 7] += (pose7s[1] * originscale) * lerp; - m[ 8] += ( 2*(x*z-y*w)) * lerp; - m[ 9] += ( 2*(y*z+x*w)) * lerp; - m[10] += (1-2*(x*x+y*y)) * lerp; - m[11] += (pose7s[2] * originscale) * lerp; - } - VectorNormalize(m ); - VectorNormalize(m + 4); - VectorNormalize(m + 8); + float originscale = -model->num_posescale; + for (i = 0;i < model->num_bones;i++) + { + const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[0].subframe * model->num_bones + i); + float lerp = frameblend[0].lerp, + tx = pose7s[0], ty = pose7s[1], tz = pose7s[2], + rx = pose7s[3] * lerp, + ry = pose7s[4] * lerp, + rz = pose7s[5] * lerp, + rw = pose7s[6] * lerp, + dx = tx*rw + ty*rz - tz*ry, + dy = -tx*rz + ty*rw + tz*rx, + dz = tx*ry - ty*rx + tz*rw, + dw = -tx*rx - ty*ry - tz*rz, + scale; + for (blends = 1;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++) + { + const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i); + float lerp = frameblend[blends].lerp, + tx = pose7s[0], ty = pose7s[1], tz = pose7s[2], + qx = pose7s[3], qy = pose7s[4], qz = pose7s[5], qw = pose7s[6]; + if(rx*qx + ry*qy + rz*qz + rw*qw < 0) lerp = -lerp; + qx *= lerp; + qy *= lerp; + qz *= lerp; + qw *= lerp; + rx += qx; + ry += qy; + rz += qz; + rw += qw; + dx += tx*qw + ty*qz - tz*qy; + dy += -tx*qz + ty*qw + tz*qx; + dz += tx*qy - ty*qx + tz*qw; + dw += -tx*qx - ty*qy - tz*qz; + } + scale = 1.0f / (rx*rx + ry*ry + rz*rz + rw*rw); + m[0] = scale*(rw*rw + rx*rx - ry*ry - rz*rz); + m[1] = 2*scale*(rx*ry - rw*rz); + m[2] = 2*scale*(rx*rz + rw*ry); + m[3] = originscale*scale*(dw*rx - dx*rw + dy*rz - dz*ry); + m[4] = 2*scale*(rx*ry + rw*rz); + m[5] = scale*(rw*rw + ry*ry - rx*rx - rz*rz); + m[6] = 2*scale*(ry*rz - rw*rx); + m[7] = originscale*scale*(dw*ry - dx*rz - dy*rw + dz*rx); + m[8] = 2*scale*(rx*rz - rw*ry); + m[9] = 2*scale*(ry*rz + rw*rx); + m[10] = scale*(rw*rw + rz*rz - rx*rx - ry*ry); + m[11] = originscale*scale*(dw*rz + dx*ry - dy*rx - dz*rw); if (i == r_skeletal_debugbone.integer) m[r_skeletal_debugbonecomponent.integer % 12] += r_skeletal_debugbonevalue.value; m[3] *= r_skeletal_debugtranslatex.value; -- 2.39.2