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example/md5: add animation

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This commit is contained in:
Zack Buhman 2025-05-13 02:09:41 -05:00
parent 1a290c03d2
commit cb79c12e3c
1 changed files with 107 additions and 4 deletions
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111
example/md5.cpp
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@ -54,6 +54,11 @@ using mat4x4 = mat<4, 4, float>;
static int joint_ix_sel = 0;
static int animation_tick = 0;
static int animation_frames = 0;
constexpr int ticks_per_animation_frame = 3;
constexpr float tick_div = 1.0f / (float)ticks_per_animation_frame;
static ft0::data_transfer::data_format data[4];
uint8_t send_buf[1024] __attribute__((aligned(32)));
@ -307,6 +312,65 @@ vec3 quaternion_rotate_point(vec4 q, vec3 v)
return (vec3){qv.x, qv.y, qv.z};
}
static inline float quaternion_unit_w(vec4 q)
{
float t = 1.0 - (q.x * q.x) - (q.y * q.y) - (q.z * q.z);
if (t < 0.0)
return 0.0;
else
return -sqrt(t);
}
struct pos_orient {
vec3 pos;
vec4 orient;
};
pos_orient skeleton0[64];
pos_orient skeleton1[64];
void build_skeleton(const md5_anim * anim, int frame_ix, pos_orient * skeleton)
{
for (int i = 0; i < anim->num_joints; i++) {
md5_anim_base_frame * base_frame = &anim->base_frame[i];
vec3 pos = base_frame->pos;
vec4 orient = base_frame->orient;
float * frame = anim->frame[frame_ix];
md5_anim_hierarchy * hierarchy = &anim->hierarchy[i];
assert(hierarchy->flags == 0b111111);
pos.x = frame[hierarchy->start_index + 0];
pos.y = frame[hierarchy->start_index + 1];
pos.z = frame[hierarchy->start_index + 2];
orient.x = frame[hierarchy->start_index + 3];
orient.y = frame[hierarchy->start_index + 4];
orient.z = frame[hierarchy->start_index + 5];
orient.w = quaternion_unit_w(orient);
if (hierarchy->parent_index >= 0) {
pos_orient * parent = &skeleton[hierarchy->parent_index];
vec3 rpos = quaternion_rotate_point(parent->orient, pos);
pos = rpos + parent->pos;
orient = quaternion_mul_quaternion(parent->orient, orient);
orient = quaternion_normalize(orient);
}
skeleton[i].pos = pos;
skeleton[i].orient = orient;
}
}
void interpolate_skeleton(int length, pos_orient * a, pos_orient * b, float lerp)
{
for (int i = 0; i < length; i++) {
a[i].pos = a[i].pos + (b[i].pos - a[i].pos) * lerp;
a[i].orient = a[i].orient + (b[i].orient - a[i].orient) * lerp;
}
}
vec3 vertex_weights(const md5_mesh_joint * joints,
const md5_mesh_mesh * mesh,
const md5_mesh_vert * v)
@ -317,7 +381,8 @@ vec3 vertex_weights(const md5_mesh_joint * joints,
for (int i = 0; i < v->weight_elem; i++) {
const md5_mesh_weight * weight = &weights[i];
const md5_mesh_joint * joint = &joints[weight->joint_index];
//const md5_mesh_joint * joint = &joints[weight->joint_index];
pos_orient * joint = &skeleton0[weight->joint_index];
vec3 rv = quaternion_rotate_point(joint->orient, weight->pos);
sum += (joint->pos + rv) * weight->weight_value;
}
@ -425,6 +490,16 @@ void transfer_scene(ta_parameter_writer& writer,
tsp_instruction_word,
texture_control_word);
int frame_ix0 = animation_tick / ticks_per_animation_frame;
int frame_ix1 = frame_ix0 + 1;
if (frame_ix1 >= animation_frames)
frame_ix1 = 0;
md5_anim * anim = &boblamp_anim;
build_skeleton(anim, frame_ix0, skeleton0);
build_skeleton(anim, frame_ix1, skeleton1);
float lerp = (float)(animation_tick - (frame_ix0 * ticks_per_animation_frame)) * tick_div;
interpolate_skeleton(anim->num_joints, skeleton0, skeleton1, lerp);
for (int i = 0; i < boblamp_mesh.num_meshes; i++) {
transfer_mesh(writer, screen_trans, boblamp_mesh.joints, &boblamp_mesh.meshes[i]);
}
@ -433,13 +508,17 @@ void transfer_scene(ta_parameter_writer& writer,
ta_global_parameter::end_of_list(para_control::para_type::end_of_list);
}
void update_maple(struct md5_mesh * m)
void update_maple(struct md5_mesh * m, struct md5_anim * a)
{
int ra = ft0::data_transfer::digital_button::ra(data[0].digital_button) == 0;
int la = ft0::data_transfer::digital_button::la(data[0].digital_button) == 0;
int ua = ft0::data_transfer::digital_button::ua(data[0].digital_button) == 0;
int da = ft0::data_transfer::digital_button::da(data[0].digital_button) == 0;
static int last_ra = 0;
static int last_la = 0;
static int last_ua = 0;
static int last_da = 0;
if (ra && last_ra == 0) {
joint_ix_sel += 1;
@ -454,8 +533,25 @@ void update_maple(struct md5_mesh * m)
joint_ix_sel = m->num_joints - 1;
}
/*
if (ua && last_ua == 0) {
frame_ix_sel += 1;
printf("frame_ix_sel: %d\n", frame_ix_sel);
if (frame_ix_sel >= a->num_frames)
frame_ix_sel = 0;
}
if (da && last_da == 0) {
frame_ix_sel -= 1;
printf("frame_ix_sel: %d\n", frame_ix_sel);
if (frame_ix_sel < 0)
frame_ix_sel = a->num_frames - 1;
}
*/
last_ra = ra;
last_la = la;
last_ua = ua;
last_da = da;
}
uint8_t __attribute__((aligned(32))) ta_parameter_buf[1024 * 1024];
@ -508,13 +604,15 @@ int main()
screen_trans = translate((vec3){0, 30, 0}) * screen_trans;
animation_tick = 0;
animation_frames = boblamp_anim.num_frames;
do_get_condition();
while (1) {
maple::dma_wait_complete();
do_get_condition();
update_maple(&boblamp_mesh);
update_maple(&boblamp_mesh, &boblamp_anim);
screen_trans = screen_trans * rotate_z(0.01f);
//screen_trans = screen_trans * rotate_z(0.01f);
writer.offset = 0;
transfer_scene(writer, screen_trans);
@ -533,5 +631,10 @@ int main()
ta_polygon_converter_transfer(writer.buf, writer.offset);
while (next_frame == 0);
next_frame = 0;
// increment tick
animation_tick += 1;
if (animation_tick >= animation_frames * ticks_per_animation_frame)
animation_tick = 0;
}
}