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/*
   Copyright (c) 2013 DIVIDE-Studio
   Copyright (c) 2009 Ionut Cava

   This file is part of DIVIDE Framework.
   
   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 SOFTWARE 
   OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _TRANSFORM_H_
#define _TRANSFORM_H_

#include <boost/atomic.hpp>
#include "Quaternion.h"

class Transform {
public:

	Transform();
	Transform(const Quaternion<F32>& orientation, const vec3<F32>& translation, const vec3<F32>& scale);
	~Transform();

	void translate(const vec3<F32>& position)          { setDirty(); WriteLock w_lock(_lock); _translation += position; }
	void setPosition(const vec3<F32>& position)        { setDirty(); WriteLock w_lock(_lock); _translation = position;  }
	void scale(const vec3<F32>& scale)                 { setDirty(); WriteLock w_lock(_lock); _scale = scale;                           rebuildMatrix(); }
    void rotate(const vec3<F32>& axis, F32 degrees)    { setDirty(); WriteLock w_lock(_lock); _orientation.fromAxisAngle(axis,degrees); rebuildMatrix(); }
	void rotateEuler(const vec3<F32>& euler)           { setDirty(); WriteLock w_lock(_lock); _orientation.fromEuler(euler);            rebuildMatrix(); }
	void rotateQuaternion(const Quaternion<F32>& quat) { setDirty(); WriteLock w_lock(_lock); _orientation = quat;                      rebuildMatrix(); }
	///Helper functions
	inline bool isDirty()         const {return _dirty;}
    inline bool isUniformScaled() const {ReadLock r_lock(_lock); return _scale.isUniform();}
	///Transformation helper functions. These just call the normal translate/rotate/scale functions
	inline void scale(const F32 scale)            {this->scale(vec3<F32>(scale,scale,scale)); }
	inline void scaleX(const F32 scale)           {this->scale(vec3<F32>(scale,_scale.y,_scale.z));}
	inline void scaleY(const F32 scale)           {this->scale(vec3<F32>(_scale.x,scale,_scale.z));}
	inline void scaleZ(const F32 scale)           {this->scale(vec3<F32>(_scale.x,_scale.y,scale));}
	inline void rotateX(const F32 angle)          {this->rotate(vec3<F32>(1,0,0),angle);}
	inline void rotateY(const F32 angle)          {this->rotate(vec3<F32>(0,1,0),angle);}
	inline void rotateZ(const F32 angle)          {this->rotate(vec3<F32>(0,0,1),angle);}
	inline void translateX(const F32 positionX)   {this->translate(vec3<F32>(positionX,0.0f,0.0f));}
	inline void translateY(const F32 positionY)   {this->translate(vec3<F32>(0.0f,positionY,0.0f));}
	inline void translateZ(const F32 positionZ)   {this->translate(vec3<F32>(0.0f,0.0f,positionZ));}
	inline void setPositionX(const F32 positionX) {this->setPosition(vec3<F32>(positionX,_translation.y,_translation.z));}
	inline void setPositionY(const F32 positionY) {this->setPosition(vec3<F32>(_translation.x,positionY,_translation.z));}
	inline void setPositionZ(const F32 positionZ) {this->setPosition(vec3<F32>(_translation.x,_translation.y,positionZ));}
	///Transformation helper functions. These return the curent, local scale, position and orientation
	inline const vec3<F32>&       getScale()       const {ReadLock r_lock(_lock); return _scale;}
	inline const vec3<F32>&       getPosition()    const {ReadLock r_lock(_lock); return _translation;}
	inline const Quaternion<F32>& getOrientation() const {ReadLock r_lock(_lock); return _orientation;}
	///Get the local transformation matrix
	inline const mat4<F32>&  getMatrix() { this->applyTransforms(); ReadLock r_lock(_lock);	return _worldMatrix; }
	///Get the absolute transformation matrix. The local matrix with the parent's transforms applied
    inline mat4<F32>  getGlobalMatrix()  { this->applyTransforms(); ReadLock r_lock(_lock);	return _worldMatrix * this->getParentMatrix(); }
	///Get the parent's transformation matrix if it exists
	inline mat4<F32> getParentMatrix() const {
		if(_hasParentTransform){
			ReadLock r_lock(_parentLock); 
			return _parentTransform->getGlobalMatrix();
		}
		return mat4<F32>();
    }	
	///The global orientation is composed of the local orientation modified by the parent's orientation if it exists
	inline Quaternion<F32> getGlobalOrientation() const {
		if(_hasParentTransform){
			ReadLock r_lock(_parentLock); 
			return _parentTransform->_orientation.inverse() * _orientation;
		}
		return _orientation;
	}
	///Sets the transform to match a certain transformation matrix.
	///Scale, orientation and translation are extracted from the specified matrix
	inline void setTransforms(const mat4<F32>& transform) {
		WriteLock w_lock(_lock);
		_worldMatrix = transform; 
		Util::Mat4::decompose<F32>(_worldMatrix, _scale, _orientation, _translation);
		this->clean(); 
	}
	///Get the parent's global transformation
	inline Transform* const getParentTransform() const {
		if(_hasParentTransform){ //<avoid an extra mutex lock
			ReadLock r_lock(_parentLock); 
			return _parentTransform;
		}
		return NULL;
	}
	///Set the parent's global transform (the parent's transform with its parent's transform applied and so on)
	inline void setParentTransform(Transform* const transform) {
		WriteLock w_lock(_parentLock);
		_parentTransform = transform;
		_hasParentTransform = (_parentTransform != NULL);
	}

	///Creates the local transformation matrix using the position, scale and position values
	void applyTransforms();
	///Compares 2 transforms
	bool compare(const Transform* const t);

private:
	inline void clean()         {_dirty = false; _rebuildMatrix = false;}
	inline void setDirty()      {_dirty = true;}
	inline void rebuildMatrix() {_rebuildMatrix = true;}

private:
	///The object's position in the world as a 3 component vector
	vec3<F32> _translation;
	///Scaling is stored as a 3 component vector. This helps us check more easily if it's an uniform scale or not
	vec3<F32> _scale;
	///This is the actual model matrix, but it will not convert to world space as it depends on it's parent in graph
	mat4<F32> _worldMatrix;
	///All orientation/rotation info is stored in a Quaternion (because they are awesome and also have an internal mat4 if needed)
	Quaternion<F32> _orientation;
	///_dirty is set to true whenever a translation, rotation or scale is applied
    boost::atomic_bool _dirty;
	///_rebuildMatrix is set to true only when a rotation or scale is applied to avoid rebuilding matrices on translation only
	boost::atomic_bool _rebuildMatrix;
	Transform*         _parentTransform;
	boost::atomic_bool _hasParentTransform;
	mutable SharedLock _lock;
	mutable SharedLock _parentLock;
};

#endif

Commits for Divide-Framework/trunk/Source Code/Core/Math/Headers/Transform.h

Diff revisions: vs.
Revision Author Commited Message
168 Diff Diff k1ngp1n picture k1ngp1n Sat 26 Oct, 2013 19:03:21 +0000

- Reworked the Camera class[[BR]]
— Now fully quaternion based [[BR]]
— Basic camera types added but not used yet (third person, first person, orbit) [[BR]]
- Cleaned up Material and Texture handling [[BR]]
- Added clipping plane support [[BR]]
— Similar to OpenGL fixed-function clip planes but fully shader driven [[BR]]
— Added a new class, “Plane”, that helps define clip planes [[BR]]
- Optimized the Singleton class to allow faster “getInstance” calls without performance penalties [[BR]]
-- “createInstance” must be called for each singleton class before usage. Or “gerOrCreateInstance” can be used, which is basically the former “getInstance” implementation [[BR]]
- Improved console logging by changing some heap allocations to stack and removing dependencies on the std::string class [[BR]]
- Added a lot of performance optimizations related to coding standards and redundant calculations [[BR]]
— e.g. Frustum AABB check didn’t need to recompute the AABB points as they were calculated already [[BR]]
— e.g. A vector did not need to be set to 0 on initialization as that is already it’s default state on creation [[BR]]
— e.g. Faster Framerate and Timing calculations by using less member variables that are not needed outsied of calling functions [[BR]]
- The SceneState now contains the SceneRenderState and is passed on to the SceneGraph’s update calls [[BR]]
- Better material export/import to/from XML format [[BR]]
- More bug fixes and cleanups [[BR]]

160 Diff Diff k1ngp1n picture k1ngp1n Wed 10 Jul, 2013 17:07:04 +0000

[Ionut] [[BR]]
- Changed licensing from LGPL to the MIT license [[BR]]
— Code can now be used in non-commercial or commercial closed or open source projects [[BR]]

152 Diff Diff k1ngp1n picture k1ngp1n Thu 20 Jun, 2013 14:23:31 +0000

[Ionut] [[BR]]
- New rendering pipeline (experimental and unstable): [[BR]]
— OpenGL 3.x clean context (glLight commands are still used for now, but UBO support is there, but not used yet) [[BR]]
— Custom matrix stacks and UBO based shader data (UBOs cause some link errors on some nVidia cards)[[BR]]
— Multi-threaded texture loading and shader compilation (mt shader compilation disabled for now. needs more tests) [[BR]]
— VAO rendering is self contained (no more enable/disable calls before a draw request) [[BR]]
— Render instance class used for rendering information [[BR]]
[[BR]]
- New unique ID generation base class: GUIDWrapper. Each class that derives from this, gets an application wide unique id on construction [[BR]]
- Added base code for an in-game editor using CEGUI [[BR]]
- Replaced some mutex locks with lockless data structures or atomic data [[BR]]
- CEGUI 0.8.2, FTGL-GL3 and GLIM 0.4 modified to support GLEW_MX if defined [[BR]]
- Dropped VS2008 support [[BR]]
- Networking library, server framework and ReCast files are now projects inside the Divide Framework solution [[BR]]
- New console command “setFov” that modifies the horizontal FoV value in realtime [[BR]]
- New console command “recompileShader” that reparses shader files, recompiles shaders and relinks shader programs who’s names match or contain the argument string [[BR]]
- New debug utility: axis angle drawn in corner of the screen if needed [[BR]]
- More ‘const’-s pasted around the code, more loop performance tweaks (allocations before a loop, tighter loops, etc), more utility member functions added to various classes [[BR]]

151 Diff Diff k1ngp1n picture k1ngp1n Tue 07 May, 2013 00:00:52 +0000

[Ionut] [[BR]]
- Better ReCast integration [[BR]]
— Any entity can be used as an obstacle in the NavMesh if that’s specified in each scene’s assets.xml file for said entity [[BR]]
— New console command, “createNavMesh”, that passes geometry data to ReCast [[BR]]
-— NavMesh generation is not yet complete [[BR]]
- Better PhysX integration [[BR]]
— Each scene passes data to and gets data from the Physics API better and safer[[BR]]
- Multi-threaded support extended: [[BR]]
— Event class replaced with Task [[BR]]
— Kernel uses a threadpool for scene tasks [[BR]]
— Each task can be added to a different threadpool if needed [[BR]]
— Most critical sections use the new boost::atomic wrapper for thread safety [[BR]]
- Rendering system updated [[BR]]
— VBO’s keep track of the geometry type internally [[BR]]
— Rendering by specific element list is internal to the VBO [[BR]]
— VBO’s can draw a “lite” version that doesn’t send Tangent, BiTangent and TexCoord data for depth rendering (disabled) [[BR]]
- Reflectors now offer a preview of the generated reflective texture if needed [[BR]]
- Buttons are now added and rendered by CEGUI [[BR]]
[[BR]]
Deprecation: [[BR]]
- Removed fixed pipeline material system [[BR]]
- Removed BoundingBox late update system [[BR]]
- Shadow references in the material system are now depth references [[BR]]
[[BR]]
Bug fixes: [[BR]]
- Problematic FBO double bind check removed [[BR]]
- Faster terrain rendering via chunk size selection through each scene’s terrain.xml[[BR]]
- Rendering is paused when the window is minimized [[BR]]
- CEGUI and impostors now render properly in deferred rendering mode [[BR]]
- Fixed various level 4 (VS2008) warnings [[BR]]
- Better state management and cleaning [[BR]]
- Better SceneGraph node management and trasformation/AABB update calls [[BR]]
- AITenisScene has proper collisions now [[BR]]

149 Diff Diff k1ngp1n picture k1ngp1n Sun 21 Apr, 2013 21:38:05 +0000

[Ionut] [[BR]]
- Major GUI revamp: [[BR]]
— Fixed CEGUI rendering (invalid state reset after VBO/VAO unbind) [[BR]]
— Added a working Console window with a basic command parser [[BR]]
— GUI inputs take priority over scene (e.g. pressing a key in the console, does not affect the scene)[[BR]]
— Added AutoKey repeat [[BR]]
— Added config options for the GUI [[BR]]
- Revamped OpenGL Vertex Array Object class [[BR]]
— VBO’s without a shader attached will not use VAO’s [[BR]]
— VAO’s and VBO’s cleanup all states after them [[BR]]
- Added multiple Joystick support [[BR]]
- FrameBufferObject take in account the combination of texture id and bind slot when checking for double binds [[BR]]
- Upgraded Framerate/timing system [[BR]]
- Fixed Deferred rendering (typo in normal buffer creation) [[BR]]
- Fixed initial camera placement via scene config (RotateX(Y) replace with setAngleX(Y)) on camera init) [[BR]]
- Added better thread deletion in Event class [[BR]]
- Major mutex/semaphore/shared_lock rework in threaded classes [[BR]]
- Better A.I. initialization/destruction [[BR]]
- Fixed a typo in window positioning [[BR]]
- Better Unit movement code [[BR]]

148 Diff Diff k1ngp1n picture k1ngp1n Sun 14 Apr, 2013 23:07:58 +0000

[Ionut] [[BR]]
- Changed the ParamHandler from using “boost::any” to the more faster “cdiggins::any”. More info here: http://bit.ly/YVGa9X [[BR]]
- Disabled mutexes from BoundingBox. Thread safety should be applied from a higher level [[BR]]
- Fixed a bug with important light selection for scene nodes [[BR]]
- Fixed a bug with material cache involving bump maps [[BR]]
- Fixed a bug with priority vertex properties for GLSL shaders [[BR]]

141 Diff Diff k1ngp1n picture k1ngp1n Wed 30 Jan, 2013 19:35:31 +0000

[Ionut] [[BR]]
-Updated to boost 1.52 and CEGUI 0.7.9 [[BR]]
-Updated to PhysX 3.2 [[BR]]
-Updated copyright notices [[BR]]

113 Diff Diff k1ngp1n picture k1ngp1n Fri 01 Jun, 2012 16:51:23 +0000

[Ionut] [[BR]]
-Fixed animated bounding box calculations[[BR]]
-BoundingBox recalculation per frame is now a general SceneNode property [[BR]]
--Note: Animated BB’s have problems with multi-threaded collision detection for now (see AITenisScene) [[BR]]
-Wrapped boost::mutex to separate file and moved it to shared_mutex structure as read requests are more frequent than write requests [[BR]]
-Mesh class now calls animations update on all of it’s subclasses so animations for each node in a mesh are in sync [[BR]]
-Split up GUI elements by class [[BR]]
-Added base code for a console GUI element (disabled) [[BR]]
-Animations can now be disabled in confg file [[BR]]
-Added a “texture not found” default texture [[BR]]
-Some AI rewrite in AITenisScene (translation to english in next commit) [[BR]]
-Inlines, const’s, cleanups, etc [[BR]]

111 Diff Diff k1ngp1n picture k1ngp1n Tue 08 May, 2012 21:49:31 +0000

[Ionut] [[BR]]
-Added animation support based on Scott Lee’s animation loader library added a few revision’s back [[BR]]
--Added cached skeleton rendering to the library [[BR]]
--Added cached AABB transformations based on current animation frame [[BR]]
--Scene animators are added per submesh and only processed if said submesh is visible and only in the rendering stage: FINAL_STAGE [[BR]]
[[BR]]
-Added support for shader-based VBO data upload (glVertexAttribPointer) with full backwards compatibility to old method (glTexCoordPointer)[[BR]]
-Added support for Index Buffer Object (improper name) indice upload for VBO’s with full backwards compatibility to old method [[BR]]
-Reworked coordination class to better handle AIEntity teams [[BR]]
-Added “updateSceneState(currentTime)” callback that is called once per frame (used for animation update)[[BR]]
-Added “initializeAI/deinitializeAI” scene callbacks for AI creation/destruction [[BR]]
-Templatized the Quaternion class [[BR]]
-Added a “drawLines” subroutine to the rendering api[[BR]]
-Disabled tree loading in MainScene as current ASSIMP implementation is slow. Will be restored after backing and loading models to own format is added in next revision [[BR]]
-Other various small performance tweaks [[BR]]

106 k1ngp1n picture k1ngp1n Wed 28 Mar, 2012 21:50:23 +0000

[Ionut] [[BR]]
Unstable revision – New animation code is not yet optimized and loading performance is low [[BR]]
[[BR]]
-Added animation loading and bone matrix calculations (actual skinning not implemented yet)[[BR]]
-Modified VBO classes to support dynamic data and faster updates [[BR]]
-Templatized Math classes (vec2,vec3,vec4,mat3,mat4) for greater flexibility [[BR]]
-Separated Rendering API from Rendering API version [[BR]]
-Fixed buggy GL error checking [[BR]]
-Small bugs fixed in Projectile and Weapon classes [[BR]]