static void track_eval_linear(Lib3dsTrack track, float[] value, float t)
{
Debug.Assert(track != null);
if (track.keys.Count == 0)
{
for (int i = 0; i < (int)track.type; i++)
{
value[i] = 0.0f;
}
return;
}
float u;
int index = find_index(track, t, out u);
if (index < 0)
{
for (int i = 0; i < (int)track.type; i++)
{
value[i] = track.keys[0].value[i];
}
return;
}
if (index >= track.keys.Count)
{
for (int i = 0; i < (int)track.type; i++)
{
value[i] = track.keys[track.keys.Count - 1].value[i];
}
return;
}
Lib3dsKey pp = new Lib3dsKey(), p0 = new Lib3dsKey(), p1 = new Lib3dsKey(), pn = new Lib3dsKey();
float[] dsp = new float[3], ddp = new float[3], dsn = new float[3], ddn = new float[3];
setup_segment(track, index, ref pp, ref p0, ref p1, ref pn);
pos_key_setup((int)track.type, pp.frame >= 0?pp:null, p0, p1, ddp, dsp);
pos_key_setup((int)track.type, p0, p1, pn.frame >= 0?pn:null, ddn, dsn);
lib3ds_math_cubic_interp(value, p0.value, ddp, dsn, p1.value, (int)track.type, u);
}
static void pos_key_setup(int n, Lib3dsKey pp, Lib3dsKey pc, Lib3dsKey pn, float[] dd, float[] ds)
{
Debug.Assert(pc!=null);
float fp=1.0f, fn=1.0f;
if(pp!=null&&pn!=null)
{
float dt=0.5f*(pn.frame-pp.frame);
fp=(float)(pc.frame-pp.frame)/dt;
fn=(float)(pn.frame-pc.frame)/dt;
float c=(float)Math.Abs(pc.cont);
fp=fp+c-c*fp;
fn=fn+c-c*fn;
}
float cm=1.0f-pc.cont;
float tm=0.5f*(1.0f-pc.tens);
float cp=2.0f-cm;
float bm=1.0f-pc.bias;
float bp=2.0f-bm;
float tmcm=tm*cm;
float tmcp=tm*cp;
float ksm=tmcm*bp*fp;
float ksp=tmcp*bm*fp;
float kdm=tmcp*bp*fn;
float kdp=tmcm*bm*fn;
float[] delm=new float[3], delp=new float[3];
for(int i=0; i<n; i++) delm[i]=delp[i]=0;
if(pp!=null) for(int i=0; i<n; i++) delm[i]=pc.value[i]-pp.value[i];
if(pn!=null) for(int i=0; i<n; i++) delp[i]=pn.value[i]-pc.value[i];
if(pp==null) for(int i=0; i<n; i++) delm[i]=delp[i];
if(pn==null) for(int i=0; i<n; i++) delp[i]=delm[i];
for(int i=0; i<n; i++)
{
ds[i]=ksm*delm[i]+ksp*delp[i];
dd[i]=kdm*delm[i]+kdp*delp[i];
}
}
public static void lib3ds_track_eval_quat(Lib3dsTrack track, float[] q, float t)
{
lib3ds_quat_identity(q);
if (track == null)
{
return;
}
Debug.Assert(track.type == Lib3dsTrackType.LIB3DS_TRACK_QUAT);
if (track.keys.Count == 0)
{
return;
}
float u;
int index = find_index(track, t, out u);
if (index < 0)
{
lib3ds_quat_axis_angle(q, track.keys[0].value, track.keys[0].value[3]);
return;
}
if (index >= track.keys.Count)
{
quat_for_index(track, track.keys.Count - 1, q);
return;
}
Lib3dsKey pp = new Lib3dsKey(), p0 = new Lib3dsKey(), p1 = new Lib3dsKey(), pn = new Lib3dsKey();
setup_segment(track, index, ref pp, ref p0, ref p1, ref pn);
float[] ap = new float[4], bp = new float[4], an = new float[4], bn = new float[4];
rot_key_setup(pp.frame >= 0?pp:null, p0, p1, ap, bp);
rot_key_setup(p0, p1, pn.frame >= 0?pn:null, an, bn);
lib3ds_quat_squad(q, p0.value, ap, bn, p1.value, u);
}
public static void tcb_write(Lib3dsKey key, Lib3dsIo io)
{
lib3ds_io_write_word(io, (ushort)key.flags);
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_TENS) != 0)
{
lib3ds_io_write_float(io, key.tens);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_CONT) != 0)
{
lib3ds_io_write_float(io, key.cont);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_BIAS) != 0)
{
lib3ds_io_write_float(io, key.bias);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_TO) != 0)
{
lib3ds_io_write_float(io, key.ease_to);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_FROM) != 0)
{
lib3ds_io_write_float(io, key.ease_from);
}
}
static void tcb_read(Lib3dsKey key, Lib3dsIo io)
{
key.flags = (Lib3dsKeyFlags)lib3ds_io_read_word(io);
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_TENS) != 0)
{
key.tens = lib3ds_io_read_float(io);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_CONT) != 0)
{
key.cont = lib3ds_io_read_float(io);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_BIAS) != 0)
{
key.bias = lib3ds_io_read_float(io);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_TO) != 0)
{
key.ease_to = lib3ds_io_read_float(io);
}
if ((key.flags & Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_FROM) != 0)
{
key.ease_from = lib3ds_io_read_float(io);
}
}
static void rot_key_setup(Lib3dsKey prev, Lib3dsKey cur, Lib3dsKey next, float[] a, float[] b)
{
Debug.Assert(cur!=null);
float[] qm=new float[4], qp=new float[4];
if(prev!=null)
{
if(cur.value[3]>TWOPI-EPSILON)
{
lib3ds_quat_axis_angle(qm, cur.value, 0.0f);
lib3ds_quat_ln(qm);
}
else
{
float[] q=new float[4];
lib3ds_quat_copy(q, prev.value);
if(lib3ds_quat_dot(q, cur.value)<0) lib3ds_quat_neg(q);
lib3ds_quat_ln_dif(qm, q, cur.value);
}
}
if(next!=null)
{
if(next.value[3]>TWOPI-EPSILON)
{
lib3ds_quat_axis_angle(qp, next.value, 0.0f);
lib3ds_quat_ln(qp);
}
else
{
float[] q=new float[4];
lib3ds_quat_copy(q, next.value);
if(lib3ds_quat_dot(q, cur.value)<0) lib3ds_quat_neg(q);
lib3ds_quat_ln_dif(qp, cur.value, q);
}
}
if(prev==null) lib3ds_quat_copy(qm, qp);
if(next==null) lib3ds_quat_copy(qp, qm);
float fp=1.0f, fn=1.0f;
float cm=1.0f-cur.cont;
if(prev!=null&&next!=null)
{
float dt=0.5f*(next.frame-prev.frame);
fp=(float)(cur.frame-prev.frame)/dt;
fn=(float)(next.frame-cur.frame)/dt;
float c=(float)Math.Abs(cur.cont);
fp=fp+c-c*fp;
fn=fn+c-c*fn;
}
float tm=0.5f*(1.0f-cur.tens);
float cp=2.0f-cm;
float bm=1.0f-cur.bias;
float bp=2.0f-bm;
float tmcm=tm*cm;
float tmcp=tm*cp;
float ksm=1.0f-tmcm*bp*fp;
float ksp=-tmcp*bm*fp;
float kdm=tmcp*bp*fn;
float kdp=tmcm*bm*fn-1.0f;
float[] qa=new float[4], qb=new float[4];
for(int i=0; i<4; i++)
{
qa[i]=0.5f*(kdm*qm[i]+kdp*qp[i]);
qb[i]=0.5f*(ksm*qm[i]+ksp*qp[i]);
}
lib3ds_quat_exp(qa);
lib3ds_quat_exp(qb);
lib3ds_quat_mul(a, cur.value, qa);
lib3ds_quat_mul(b, cur.value, qb);
}
public static void tcb_write(Lib3dsKey key, Lib3dsIo io)
{
lib3ds_io_write_word(io, (ushort)key.flags);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_TENS)!=0) lib3ds_io_write_float(io, key.tens);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_CONT)!=0) lib3ds_io_write_float(io, key.cont);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_BIAS)!=0) lib3ds_io_write_float(io, key.bias);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_TO)!=0) lib3ds_io_write_float(io, key.ease_to);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_FROM)!=0) lib3ds_io_write_float(io, key.ease_from);
}
static void tcb_read(Lib3dsKey key, Lib3dsIo io)
{
key.flags=(Lib3dsKeyFlags)lib3ds_io_read_word(io);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_TENS)!=0) key.tens=lib3ds_io_read_float(io);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_CONT)!=0) key.cont=lib3ds_io_read_float(io);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_BIAS)!=0) key.bias=lib3ds_io_read_float(io);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_TO)!=0) key.ease_to=lib3ds_io_read_float(io);
if((key.flags&Lib3dsKeyFlags.LIB3DS_KEY_USE_EASE_FROM)!=0) key.ease_from=lib3ds_io_read_float(io);
}
public static void lib3ds_track_eval_quat(Lib3dsTrack track, float[] q, float t)
{
lib3ds_quat_identity(q);
if(track==null) return;
Debug.Assert(track.type==Lib3dsTrackType.LIB3DS_TRACK_QUAT);
if(track.keys.Count==0) return;
float u;
int index=find_index(track, t, out u);
if(index<0)
{
lib3ds_quat_axis_angle(q, track.keys[0].value, track.keys[0].value[3]);
return;
}
if(index>=track.keys.Count)
{
quat_for_index(track, track.keys.Count-1, q);
return;
}
Lib3dsKey pp=new Lib3dsKey(), p0=new Lib3dsKey(), p1=new Lib3dsKey(), pn=new Lib3dsKey();
setup_segment(track, index, ref pp, ref p0, ref p1, ref pn);
float[] ap=new float[4], bp=new float[4], an=new float[4], bn=new float[4];
rot_key_setup(pp.frame>=0?pp:null, p0, p1, ap, bp);
rot_key_setup(p0, p1, pn.frame>=0?pn:null, an, bn);
lib3ds_quat_squad(q, p0.value, ap, bn, p1.value, u);
}
static void track_eval_linear(Lib3dsTrack track, float[] value, float t)
{
Debug.Assert(track!=null);
if(track.keys.Count==0)
{
for(int i=0; i<(int)track.type; i++) value[i]=0.0f;
return;
}
float u;
int index=find_index(track, t, out u);
if(index<0)
{
for(int i=0; i<(int)track.type; i++) value[i]=track.keys[0].value[i];
return;
}
if(index>=track.keys.Count)
{
for(int i=0; i<(int)track.type; i++) value[i]=track.keys[track.keys.Count-1].value[i];
return;
}
Lib3dsKey pp=new Lib3dsKey(), p0=new Lib3dsKey(), p1=new Lib3dsKey(), pn=new Lib3dsKey();
float[] dsp=new float[3], ddp=new float[3], dsn=new float[3], ddn=new float[3];
setup_segment(track, index, ref pp, ref p0, ref p1, ref pn);
pos_key_setup((int)track.type, pp.frame>=0?pp:null, p0, p1, ddp, dsp);
pos_key_setup((int)track.type, p0, p1, pn.frame>=0?pn:null, ddn, dsn);
lib3ds_math_cubic_interp(value, p0.value, ddp, dsn, p1.value, (int)track.type, u);
}
static void setup_segment(Lib3dsTrack track, int index, ref Lib3dsKey pp, ref Lib3dsKey p0, ref Lib3dsKey p1, ref Lib3dsKey pn)
{
int ip=0, @in=0;
pp.frame=pn.frame=-1;
if(index>=2)
{
ip=index-2;
pp=track.keys[index-2];
}
else
{
if((track.flags&Lib3dsTrackFlags.LIB3DS_TRACK_SMOOTH)!=0)
{
ip=track.keys.Count-2;
pp=track.keys[track.keys.Count-2];
pp.frame=track.keys[track.keys.Count-2].frame-(track.keys[track.keys.Count-1].frame-track.keys[0].frame);
}
}
p0=track.keys[index-1];
p1=track.keys[index];
if(index<(int)track.keys.Count-1)
{
@in=index+1;
pn=track.keys[index+1];
}
else
{
if((track.flags&Lib3dsTrackFlags.LIB3DS_TRACK_SMOOTH)!=0)
{
@in=1;
pn=track.keys[1];
pn.frame=track.keys[1].frame+(track.keys[track.keys.Count-1].frame-track.keys[0].frame);
}
}
if(track.type==Lib3dsTrackType.LIB3DS_TRACK_QUAT)
{
float[] q=new float[4];
if(pp.frame>=0) quat_for_index(track, ip, pp.value);
else lib3ds_quat_identity(pp.value);
quat_for_index(track, index-1, p0.value);
lib3ds_quat_axis_angle(q, track.keys[index].value, track.keys[index].value[3]);
lib3ds_quat_mul(p1.value, q, p0.value);
if(pn.frame>=0)
{
lib3ds_quat_axis_angle(q, track.keys[@in].value, track.keys[@in].value[3]);
lib3ds_quat_mul(pn.value, q, p1.value);
}
else lib3ds_quat_identity(pn.value);
}
}
static void pos_key_setup(int n, Lib3dsKey pp, Lib3dsKey pc, Lib3dsKey pn, float[] dd, float[] ds)
{
Debug.Assert(pc != null);
float fp = 1.0f, fn = 1.0f;
if (pp != null && pn != null)
{
float dt = 0.5f * (pn.frame - pp.frame);
fp = (float)(pc.frame - pp.frame) / dt;
fn = (float)(pn.frame - pc.frame) / dt;
float c = (float)Math.Abs(pc.cont);
fp = fp + c - c * fp;
fn = fn + c - c * fn;
}
float cm = 1.0f - pc.cont;
float tm = 0.5f * (1.0f - pc.tens);
float cp = 2.0f - cm;
float bm = 1.0f - pc.bias;
float bp = 2.0f - bm;
float tmcm = tm * cm;
float tmcp = tm * cp;
float ksm = tmcm * bp * fp;
float ksp = tmcp * bm * fp;
float kdm = tmcp * bp * fn;
float kdp = tmcm * bm * fn;
float[] delm = new float[3], delp = new float[3];
for (int i = 0; i < n; i++)
{
delm[i] = delp[i] = 0;
}
if (pp != null)
{
for (int i = 0; i < n; i++)
{
delm[i] = pc.value[i] - pp.value[i];
}
}
if (pn != null)
{
for (int i = 0; i < n; i++)
{
delp[i] = pn.value[i] - pc.value[i];
}
}
if (pp == null)
{
for (int i = 0; i < n; i++)
{
delm[i] = delp[i];
}
}
if (pn == null)
{
for (int i = 0; i < n; i++)
{
delp[i] = delm[i];
}
}
for (int i = 0; i < n; i++)
{
ds[i] = ksm * delm[i] + ksp * delp[i];
dd[i] = kdm * delm[i] + kdp * delp[i];
}
}
static void setup_segment(Lib3dsTrack track, int index, ref Lib3dsKey pp, ref Lib3dsKey p0, ref Lib3dsKey p1, ref Lib3dsKey pn)
{
int ip = 0, @in = 0;
pp.frame = pn.frame = -1;
if (index >= 2)
{
ip = index - 2;
pp = track.keys[index - 2];
}
else
{
if ((track.flags & Lib3dsTrackFlags.LIB3DS_TRACK_SMOOTH) != 0)
{
ip = track.keys.Count - 2;
pp = track.keys[track.keys.Count - 2];
pp.frame = track.keys[track.keys.Count - 2].frame - (track.keys[track.keys.Count - 1].frame - track.keys[0].frame);
}
}
p0 = track.keys[index - 1];
p1 = track.keys[index];
if (index < (int)track.keys.Count - 1)
{
@in = index + 1;
pn = track.keys[index + 1];
}
else
{
if ((track.flags & Lib3dsTrackFlags.LIB3DS_TRACK_SMOOTH) != 0)
{
@in = 1;
pn = track.keys[1];
pn.frame = track.keys[1].frame + (track.keys[track.keys.Count - 1].frame - track.keys[0].frame);
}
}
if (track.type == Lib3dsTrackType.LIB3DS_TRACK_QUAT)
{
float[] q = new float[4];
if (pp.frame >= 0)
{
quat_for_index(track, ip, pp.value);
}
else
{
lib3ds_quat_identity(pp.value);
}
quat_for_index(track, index - 1, p0.value);
lib3ds_quat_axis_angle(q, track.keys[index].value, track.keys[index].value[3]);
lib3ds_quat_mul(p1.value, q, p0.value);
if (pn.frame >= 0)
{
lib3ds_quat_axis_angle(q, track.keys[@in].value, track.keys[@in].value[3]);
lib3ds_quat_mul(pn.value, q, p1.value);
}
else
{
lib3ds_quat_identity(pn.value);
}
}
}
static void rot_key_setup(Lib3dsKey prev, Lib3dsKey cur, Lib3dsKey next, float[] a, float[] b)
{
Debug.Assert(cur != null);
float[] qm = new float[4], qp = new float[4];
if (prev != null)
{
if (cur.value[3] > TWOPI - EPSILON)
{
lib3ds_quat_axis_angle(qm, cur.value, 0.0f);
lib3ds_quat_ln(qm);
}
else
{
float[] q = new float[4];
lib3ds_quat_copy(q, prev.value);
if (lib3ds_quat_dot(q, cur.value) < 0)
{
lib3ds_quat_neg(q);
}
lib3ds_quat_ln_dif(qm, q, cur.value);
}
}
if (next != null)
{
if (next.value[3] > TWOPI - EPSILON)
{
lib3ds_quat_axis_angle(qp, next.value, 0.0f);
lib3ds_quat_ln(qp);
}
else
{
float[] q = new float[4];
lib3ds_quat_copy(q, next.value);
if (lib3ds_quat_dot(q, cur.value) < 0)
{
lib3ds_quat_neg(q);
}
lib3ds_quat_ln_dif(qp, cur.value, q);
}
}
if (prev == null)
{
lib3ds_quat_copy(qm, qp);
}
if (next == null)
{
lib3ds_quat_copy(qp, qm);
}
float fp = 1.0f, fn = 1.0f;
float cm = 1.0f - cur.cont;
if (prev != null && next != null)
{
float dt = 0.5f * (next.frame - prev.frame);
fp = (float)(cur.frame - prev.frame) / dt;
fn = (float)(next.frame - cur.frame) / dt;
float c = (float)Math.Abs(cur.cont);
fp = fp + c - c * fp;
fn = fn + c - c * fn;
}
float tm = 0.5f * (1.0f - cur.tens);
float cp = 2.0f - cm;
float bm = 1.0f - cur.bias;
float bp = 2.0f - bm;
float tmcm = tm * cm;
float tmcp = tm * cp;
float ksm = 1.0f - tmcm * bp * fp;
float ksp = -tmcp * bm * fp;
float kdm = tmcp * bp * fn;
float kdp = tmcm * bm * fn - 1.0f;
float[] qa = new float[4], qb = new float[4];
for (int i = 0; i < 4; i++)
{
qa[i] = 0.5f * (kdm * qm[i] + kdp * qp[i]);
qb[i] = 0.5f * (ksm * qm[i] + ksp * qp[i]);
}
lib3ds_quat_exp(qa);
lib3ds_quat_exp(qb);
lib3ds_quat_mul(a, cur.value, qa);
lib3ds_quat_mul(b, cur.value, qb);
}