/usr/include/collada2gltf/convert/animationConverter.h is in libcollada2gltfconvert-dev 20140924-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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*/
#ifndef __GLTFANIMATIONCONVERTER_H__
#define __GLTFANIMATIONCONVERTER_H__
#include "GLTF.h"
#include "../GLTFOpenCOLLADA.h"
#include "mathHelpers.h"
namespace GLTF
{
//a few helper classes to help flattening animations
typedef std::map<std::string , std::shared_ptr<COLLADAFW::Transformation> > IDToTransform;
class GLTFTransformKey {
public:
GLTFTransformKey(double time, std::shared_ptr<COLLADAFW::Transformation> transform, std::string transformID) {
this->_subTransforms[transformID] = transform;
this->_time = time;
}
double getTime() { return this->_time; }
IDToTransform* subTransforms() {
return &this->_subTransforms;
}
/*
bool canEvaluateTransform() {
for (size_t i = 0 ; i < this->_transformsOrder->size(); i++) {
std::string transformID = this->_transformsOrder->at(i);
if (this->_subTransforms.count(transformID) == 0) {
return false;
}
}
return true;
}
*/
private:
IDToTransform _subTransforms;
double _time;
};
class GLTFAnimationFlattener {
private:
void _updateTransformByReplacingValueAtIndex(std::shared_ptr<COLLADAFW::Transformation> transform, size_t index, float value)
{
switch (transform->getTransformationType()) {
case COLLADAFW::Transformation::ROTATE:
{
COLLADAFW::Rotate* rotate = (COLLADAFW::Rotate*)transform.get();
COLLADABU::Math::Vector3& rotationAxis = rotate->getRotationAxis();
switch (index) {
case 0:
rotate->setRotationAxis(value, rotationAxis.y, rotationAxis.z);
break;
case 1:
rotate->setRotationAxis(rotationAxis.x, value, rotationAxis.z);
break;
case 2:
rotate->setRotationAxis(rotationAxis.x, rotationAxis.y, value);
break;
case 3:
rotate->setRotationAngle(value);
break;
default:
break;
}
break;
}
case COLLADAFW::Transformation::TRANSLATE:
{
COLLADAFW::Translate* translate = (COLLADAFW::Translate*)transform.get();
COLLADABU::Math::Vector3& translation = translate->getTranslation();
switch (index) {
case 0:
translate->setTranslation(value, translation.y, translation.z);
break;
case 1:
translate->setTranslation(translation.x, value, translation.z);
break;
case 2:
translate->setTranslation(translation.x, translation.y, value);
break;
default:
break;
}
}
case COLLADAFW::Transformation::SCALE:
{
COLLADAFW::Scale* scale = (COLLADAFW::Scale*)transform.get();
COLLADABU::Math::Vector3& sc = scale->getScale();
switch (index) {
case 0:
scale->setScale(value, sc.y, sc.z);
break;
case 1:
scale->setScale(sc.x, value, sc.z);
break;
case 2:
scale->setScale(sc.x, sc.y, value);
break;
default:
break;
}
}
default:
break;
}
}
std::shared_ptr<COLLADAFW::Transformation> _cloneTransformByReplacingValueAtIndex(std::string transformID, size_t index, float value)
{
std::shared_ptr<COLLADAFW::Transformation> transform = _idToTransform[transformID];
std::shared_ptr<COLLADAFW::Transformation> clonedTransform(transform->clone());
_updateTransformByReplacingValueAtIndex(clonedTransform, index, value);
return clonedTransform;
}
public:
GLTFAnimationFlattener(COLLADAFW::Node *node) {
this->_transformsOrder = std::shared_ptr <std::vector<std::string> > (new std::vector<std::string>);
const COLLADAFW::TransformationPointerArray& transformations = node->getTransformations();
size_t transformationsCount = transformations.getCount();
int index = 0;
this->_hasAnimatedScale = this->_hasAnimatedTranslation = this->_hasAnimatedRotation = false;
this->_targetUID = node->getOriginalId();
_idIndex = (int*)malloc(sizeof(int) * transformationsCount);
for (size_t i = 0 ; i < transformationsCount ; i++) {
const COLLADAFW::Transformation* tr = transformations[i];
std::shared_ptr<COLLADAFW::Transformation> clonedTransform(tr->clone());
const COLLADAFW::UniqueId& animationListID = tr->getAnimationList();
if (animationListID.isValid()) {
_idIndex[i] = index++;
_idToTransform[animationListID.toAscii()] = clonedTransform;
this->_transformsOrder->push_back(animationListID.toAscii());
} else {
_idIndex[i] = -1;
}
_originalTransforms.push_back(clonedTransform);
}
}
virtual ~GLTFAnimationFlattener() {
free(this->_idIndex);
}
bool hasAnimatedScale() {
return this->_hasAnimatedScale;
}
bool hasAnimatedTranslation() {
return this->_hasAnimatedTranslation;
}
bool hasAnimatedRotation() {
return this->_hasAnimatedRotation;
}
void allocAndFillAffineTransformsBuffers(float **translationsPtr, float **rotationsPtr, float **scalePtr, size_t &count) {
COLLADABU::Math::Matrix4 transformationMatrix;
float *translations = 0;
float *rotations = 0;
float *scales = 0;
count = _transforms.size();
if (this->_hasAnimatedTranslation && translationsPtr) {
*translationsPtr = (float*)malloc(sizeof(float) * count * 3);
translations = *translationsPtr;
}
if (this->_hasAnimatedRotation && rotationsPtr) {
*rotationsPtr = (float*)malloc(sizeof(float) * count * 4);
rotations = *rotationsPtr;
}
if (this->_hasAnimatedScale && scalePtr) {
*scalePtr = (float*)malloc(sizeof(float) * count * 3);
scales = *scalePtr;
}
float *previousAxisAngle = 0;
float axisAngle[4];
for (size_t i = 0 ; i < _transforms.size() ; i++) {
std::shared_ptr<GLTFTransformKey> key = this->_transforms[i];
if ((i > 0) && (rotations != 0)) {
previousAxisAngle = rotations + ((i-1) * 4);
}
getTransformationMatrixAtIndex(transformationMatrix, i);
decomposeMatrix(transformationMatrix,
(translations != 0) ? translations + (i * 3) : 0,
(rotations != 0) ? axisAngle : 0,
(scales != 0) ? scales + (i * 3) : 0);
if ((i > 0) && (rotations != 0)) {
//each quaternions have 2 possible representations from axis angle
//we want to pick-up the closest one to the last orientation
COLLADABU::Math::Vector3 axis(axisAngle[0], axisAngle[1], axisAngle[2]);
COLLADABU::Math::Quaternion key1;
COLLADABU::Math::Quaternion key2;
key1.fromAngleAxis(axisAngle[3], axis);
bool skip = false;
if (0 == memcmp(axisAngle, previousAxisAngle, 4 * sizeof(float))) {
skip = true;
}
key2.x = -key1.x;
key2.y = -key1.y;
key2.z = -key1.z;
key2.w = -key1.w;
key1.normalise();
key2.normalise();
COLLADABU::Math::Vector3 previousAxis(previousAxisAngle[0], previousAxisAngle[1], previousAxisAngle[2]);
COLLADABU::Math::Quaternion previousKey;
previousKey.fromAngleAxis(previousAxisAngle[3], previousAxis);
previousKey.normalise();
double angle1 = acos(previousKey.dot(key1));
double angle2 = acos(previousKey.dot(key2));
if (angle1 > COLLADABU::Math::HALF_PI)
angle1 -= COLLADABU::Math::HALF_PI;
if (angle2 > COLLADABU::Math::HALF_PI)
angle2 -= COLLADABU::Math::HALF_PI;
COLLADABU::Math::Vector3 destAxis1;
COLLADABU::Math::Vector3 destAxis2;
COLLADABU::Math::Real destAngle1;
COLLADABU::Math::Real destAngle2;
key1.toAngleAxis ( destAngle1, destAxis1 );
key2.toAngleAxis ( destAngle2, destAxis2 );
if ((skip == false) && (angle1 > angle2)) {
axisAngle[0] = (float)destAxis2[0];
axisAngle[1] = (float)destAxis2[1];
axisAngle[2] = (float)destAxis2[2];
axisAngle[3] = (float)destAngle2;
} else {
axisAngle[0] = (float)destAxis1[0];
axisAngle[1] = (float)destAxis1[1];
axisAngle[2] = (float)destAxis1[2];
axisAngle[3] = (float)destAngle1;
}
}
if (rotations != 0)
memcpy(rotations + (i * 4), axisAngle, sizeof(float) * 4);
}
}
void transformWasInserted(std::shared_ptr<COLLADAFW::Transformation> tr) {
switch (tr->getTransformationType()) {
case COLLADAFW::Transformation::MATRIX:
this->_hasAnimatedScale = this->_hasAnimatedTranslation = this->_hasAnimatedRotation = true;
break;
case COLLADAFW::Transformation::TRANSLATE:
this->_hasAnimatedTranslation = true;
break;
case COLLADAFW::Transformation::ROTATE:
this->_hasAnimatedRotation = true;
break;
case COLLADAFW::Transformation::SCALE:
this->_hasAnimatedScale = true;
break;
default:
printf("warning: unhandled animation type\n");
break;
}
}
//to be used for whole matrices and angle axis
void insertTransformAtTime(std::string transformID, std::shared_ptr<COLLADAFW::Transformation> transformation, double time) {
transformWasInserted(transformation);
if (_transforms.size() == 0) {
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.push_back(key);
} else {
for (size_t i = 0 ; i < _transforms.size() ; i++) {
std::shared_ptr<GLTFTransformKey> key = _transforms[i];
if (time == key->getTime()) {
if ( (*key->subTransforms()).count(transformID) > 0) {
printf("INCONSISTENCY ERROR: overlap\n");
}
(*key->subTransforms())[transformID] = transformation;
return;
} else if (time > key->getTime()) {
if (i + 1 == _transforms.size()) {
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.push_back(key);
return;
} else if (time < _transforms[i+1]->getTime()) {
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.insert(_transforms.begin() + i, key);
return;
}
} else {
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.insert(_transforms.begin() + i, key);
return;
}
}
}
}
void insertValueAtTime(std::string transformID, float value, size_t index, double time) {
std::shared_ptr <COLLADAFW::Transformation> transformation;
if (_transforms.size() == 0) {
transformation = this->_cloneTransformByReplacingValueAtIndex(transformID, index, value);
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.push_back(key);
transformWasInserted(transformation);
return;
} else {
for (size_t i = 0 ; i < _transforms.size() ; i++) {
std::shared_ptr<GLTFTransformKey> key = _transforms[i];
if (time == key->getTime()) {
if ( (*key->subTransforms()).count(transformID) > 0) {
transformation = (*key->subTransforms())[transformID];
this->_updateTransformByReplacingValueAtIndex(transformation, index, value);
} else {
transformation = this->_cloneTransformByReplacingValueAtIndex(transformID, index, value);
(*key->subTransforms())[transformID] = transformation;
}
transformWasInserted(transformation);
return;
} else if (time > key->getTime()) {
if (i + 1 == _transforms.size()) {
transformation = this->_cloneTransformByReplacingValueAtIndex(transformID, index, value);
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.push_back(key);
transformWasInserted(transformation);
return;
} else if (time < _transforms[i+1]->getTime()) {
transformation = this->_cloneTransformByReplacingValueAtIndex(transformID, index, value);
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.insert(_transforms.begin() + i, key);
transformWasInserted(transformation);
return;
}
} else {
transformation = this->_cloneTransformByReplacingValueAtIndex(transformID, index, value);
std::shared_ptr <GLTFTransformKey> key(new GLTFTransformKey(time, transformation, transformID));
_transforms.insert(_transforms.begin() + i, key);
transformWasInserted(transformation);
return;
}
}
}
}
void setTransformsOrder(std::shared_ptr<std::vector<std::string> > transformsOrder) {
this->_transformsOrder = transformsOrder;
}
std::shared_ptr<std::vector<std::string> > getTransformsOrder() {
return this->_transformsOrder;
}
size_t getCount() { return this->_transforms.size(); };
#define _INTERPOLATE(I1, I2, STEP) (I1 + (STEP * (I2-I1)))
//TODO: might be worth checking for equality for prev & transform to be interpolated here
std::shared_ptr <COLLADAFW::Transformation> _interpolateTransforms(std::shared_ptr<COLLADAFW::Transformation> previousTransform, std::shared_ptr<COLLADAFW::Transformation> nextTransform, double ratio) {
COLLADAFW::Transformation::TransformationType transformationType = previousTransform->getTransformationType();
std::shared_ptr<COLLADAFW::Transformation> transform(previousTransform->clone());
switch (transformationType) {
case COLLADAFW::Transformation::ROTATE:
{
COLLADAFW::Rotate* r1 = (COLLADAFW::Rotate*)previousTransform.get();
COLLADAFW::Rotate* r2 = (COLLADAFW::Rotate*)nextTransform.get();
COLLADAFW::Rotate* r = (COLLADAFW::Rotate*)transform.get();
r->setRotationAngle(_INTERPOLATE(r1->getRotationAngle(), r2->getRotationAngle(), ratio));
COLLADABU::Math::Vector3& rAxis1 = r1->getRotationAxis();
COLLADABU::Math::Vector3& rAxis2 = r2->getRotationAxis();
r->setRotationAxis(_INTERPOLATE(rAxis1.x, rAxis2.x, ratio),
_INTERPOLATE(rAxis1.y, rAxis2.y, ratio),
_INTERPOLATE(rAxis1.z, rAxis2.z, ratio));
break;
}
case COLLADAFW::Transformation::TRANSLATE:
{
COLLADAFW::Translate* t1 = (COLLADAFW::Translate*)previousTransform.get();
COLLADAFW::Translate* t2 = (COLLADAFW::Translate*)nextTransform.get();
COLLADAFW::Translate* t = (COLLADAFW::Translate*)transform.get();
COLLADABU::Math::Vector3& translation1 = t1->getTranslation();
COLLADABU::Math::Vector3& translation2 = t2->getTranslation();
t->setTranslation(_INTERPOLATE(translation1.x, translation2.x, ratio),
_INTERPOLATE(translation1.y, translation2.y, ratio),
_INTERPOLATE(translation1.z, translation2.z, ratio));
break;
}
case COLLADAFW::Transformation::SCALE:
{
COLLADAFW::Scale* s1 = (COLLADAFW::Scale*)previousTransform.get();
COLLADAFW::Scale* s2 = (COLLADAFW::Scale*)nextTransform.get();
COLLADAFW::Scale* t = (COLLADAFW::Scale*)transform.get();
COLLADABU::Math::Vector3& scale1 = s1->getScale();
COLLADABU::Math::Vector3& scale2 = s2->getScale();
t->setScale(_INTERPOLATE(scale1.x, scale2.x, ratio),
_INTERPOLATE(scale1.y, scale2.y, ratio),
_INTERPOLATE(scale1.z, scale2.z, ratio));
break;
}
default:
{
static bool printOnce = false;
if (!printOnce) {
printf("WARNING: unhandled interpolation in animation flattener\n");
printOnce = true;
}
}
break;
}
return transform;
}
void getTransformationMatrixAtIndex(COLLADABU::Math::Matrix4& transformationMatrix, size_t index) {
transformationMatrix = COLLADABU::Math::Matrix4::IDENTITY;
for ( size_t i = 0, count = this->_originalTransforms.size(); i < count; ++i ) {
COLLADAFW::Transformation* transform;
int idIndex = _idIndex[i];
if (idIndex != -1) {
std::string transformID = this->_transformsOrder->at(idIndex);
std::shared_ptr <GLTFTransformKey> key = this->_transforms[index];
if ((*key->subTransforms()).count(transformID) == 0) {
//so here we need to get a transform matching transformID for this key but it does not contain it,
//we need to figure it out by interpolating the previous/next key containing this transform (this involves a search.
std::shared_ptr<COLLADAFW::Transformation> previousTransform;
std::shared_ptr<COLLADAFW::Transformation> nextTransform;
std::shared_ptr <GLTFTransformKey> previousKey;
std::shared_ptr <GLTFTransformKey> nextKey;
double t1 = 0, t2 = 0;
bool found = false;
if (index > 0) {
int previousIndex = (int)index - 1;
do {
previousKey = this->_transforms[previousIndex--];
if ((*previousKey->subTransforms()).count(transformID) != 0) {
previousTransform = (*previousKey->subTransforms())[transformID];
t1 = previousKey->getTime();
found = true;
break;
}
} while (previousIndex >= 0);
}
if (found == false) {
previousTransform = _idToTransform[transformID];
t1 = 0;
}
found = false;
if (index + 1 < this->_transforms.size()) {
size_t nextIndex = index + 1;
do {
nextKey = this->_transforms[nextIndex++];
if ((*nextKey->subTransforms()).count(transformID) != 0) {
nextTransform = (*nextKey->subTransforms())[transformID];
t2 = nextKey->getTime();
found = true;
break;
}
} while (nextIndex < this->_transforms.size());
}
if (found == false) {
std::shared_ptr <GLTFTransformKey> lastKey = this->_transforms[this->_transforms.size() - 1];
nextTransform = _idToTransform[transformID];
t2 = lastKey->getTime();
}
if (previousTransform->getTransformationType() == nextTransform->getTransformationType()) {
double ratio = key->getTime() / (t2 - t1);
(*key->subTransforms())[transformID] = _interpolateTransforms(previousTransform, nextTransform, ratio);
} else {
printf("inconsistent state: cannot interpolate keys of different types\n");
}
}
transform = (*key->subTransforms())[transformID].get();
if (!transform) {
printf("warning:can't find id\n");
}
} else {
transform = this->_originalTransforms[i].get();
}
switch ( transform->getTransformationType() ) {
case COLLADAFW::Transformation::ROTATE:
{
COLLADAFW::Rotate* rotate = (COLLADAFW::Rotate*)transform;
COLLADABU::Math::Vector3 axis = rotate->getRotationAxis();
axis.normalise();
double angle = rotate->getRotationAngle();
transformationMatrix = transformationMatrix * COLLADABU::Math::Matrix4(COLLADABU::Math::Quaternion(COLLADABU::Math::Utils::degToRad(angle), axis));
break;
}
case COLLADAFW::Transformation::TRANSLATE:
{
COLLADAFW::Translate* translate = (COLLADAFW::Translate*)transform;
const COLLADABU::Math::Vector3& translation = translate->getTranslation();
COLLADABU::Math::Matrix4 translationMatrix;
translationMatrix.makeTrans(translation);
transformationMatrix = transformationMatrix * translationMatrix;
break;
}
case COLLADAFW::Transformation::SCALE:
{
COLLADAFW::Scale* scale = (COLLADAFW::Scale*)transform;
const COLLADABU::Math::Vector3& scaleVector = scale->getScale();
COLLADABU::Math::Matrix4 scaleMatrix;
scaleMatrix.makeScale(scaleVector);
transformationMatrix = transformationMatrix * scaleMatrix;
break;
}
case COLLADAFW::Transformation::MATRIX:
{
COLLADAFW::Matrix* matrix = (COLLADAFW::Matrix*)transform;
transformationMatrix = transformationMatrix * matrix->getMatrix();
break;
}
case COLLADAFW::Transformation::LOOKAT:
break;
case COLLADAFW::Transformation::SKEW:
break;
}
}
}
private:
bool _hasAnimatedScale, _hasAnimatedTranslation, _hasAnimatedRotation;
std::string _targetUID;
int *_idIndex;
std::vector<std::shared_ptr<COLLADAFW::Transformation> > _originalTransforms;
std::vector<std::shared_ptr<GLTFTransformKey> > _transforms;
std::map<std::string , std::shared_ptr<COLLADAFW::Transformation> > _idToTransform;
std::shared_ptr<std::vector<std::string> > _transformsOrder;
};
std::shared_ptr <GLTFAnimation> convertOpenCOLLADAAnimationToGLTFAnimation(const COLLADAFW::Animation* animation, GLTF::GLTFAsset *asset);
bool writeAnimation(std::shared_ptr <GLTFAnimation> cvtAnimation,
const COLLADAFW::AnimationList::AnimationClass animationClass,
AnimatedTargetsSharedPtr animatedTargets,
GLTF::GLTFAsset *asset);
//-------
}
#endif
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