diff --git a/iqm/LICENSE b/iqm/LICENSE new file mode 100644 index 000000000..ad0173439 --- /dev/null +++ b/iqm/LICENSE @@ -0,0 +1,7 @@ +Copyright (c) 2010-2016 Lee Salzman + +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. diff --git a/iqm/Makefile b/iqm/Makefile new file mode 100644 index 000000000..310c855a3 --- /dev/null +++ b/iqm/Makefile @@ -0,0 +1,19 @@ +CXXFLAGS= -O3 -fomit-frame-pointer +override CXXFLAGS+= -Wall -fsigned-char + +IQM_OBJS= \ + iqm.o +UPGRADE_OBJS= \ + upgrade.o + +default: all + +all: iqm upgrade + +clean: + -$(RM) $(IQM_OBJS) $(UPGRADE_OBJS) iqm upgrade + +iqm: $(IQM_OBJS) + $(CXX) $(CXXFLAGS) -o iqm $(IQM_OBJS) +upgrade: $(UPGRADE_OBJS) + $(CXX) $(CXXFLAGS) -o upgrade $(UPGRADE_OBJS) diff --git a/iqm/Makefile.mingw b/iqm/Makefile.mingw new file mode 100644 index 000000000..ea6fc78f4 --- /dev/null +++ b/iqm/Makefile.mingw @@ -0,0 +1,26 @@ +CXXFLAGS= -O3 -fomit-frame-pointer +override CXXFLAGS+= -Wall -fsigned-char + +PLATFORM= $(shell uname -s) +ifeq (,$(findstring MINGW,$(PLATFORM))) +CXX=i686-w64-mingw32-g++ +endif + +LIBS= -mwindows -static -static-libgcc -static-libstdc++ +IQM_OBJS= \ + iqm.o +UPGRADE_OBJS= \ + upgrade.o + +default: all + +all: iqm.exe upgrade.exe + +clean: + -$(RM) $(IQM_OBJS) $(UPGRADE_OBJS) iqm.exe upgrade.exe + +iqm.exe: $(IQM_OBJS) + $(CXX) $(CXXFLAGS) -o iqm.exe $(IQM_OBJS) $(LIBS) +upgrade.exe: $(UPGRADE_OBJS) + $(CXX) $(CXXFLAGS) -o upgrade.exe $(UPGRADE_OBJS) $(LIBS) + diff --git a/iqm/iqm.cpp b/iqm/iqm.cpp new file mode 100644 index 000000000..c3c5f167c --- /dev/null +++ b/iqm/iqm.cpp @@ -0,0 +1,3760 @@ +#include "util.h" + +struct triangle { uint vert[3]; triangle() {} triangle(uint v0, uint v1, uint v2) { vert[0] = v0; vert[1] = v1; vert[2] = v2; } }; +vector triangles, neighbors; + +struct mesh { uint name, material; uint firstvert, numverts; uint firsttri, numtris; mesh() : name(0), material(0), firstvert(0), numverts(0), firsttri(0), numtris(0) {} }; +vector meshes; + +struct anim { uint name; uint firstframe, numframes; float fps; uint flags; anim() : name(0), firstframe(0), numframes(0), fps(0), flags(0) {} }; +vector anims; + +struct joint { uint name; int parent; float pos[3], orient[4], scale[3]; joint() : name(0), parent(-1) { memset(pos, 0, sizeof(pos)); memset(orient, 0, sizeof(orient)); memset(scale, 0, sizeof(scale)); } }; +vector joints; + +struct pose { int parent; uint flags; float offset[10], scale[10]; pose() : parent(-1), flags(0) { memset(offset, 0, sizeof(offset)); memset(scale, 0, sizeof(scale)); } }; +vector poses; + +struct framebounds { Vec3 bbmin, bbmax; double xyradius, radius; framebounds() : bbmin(0, 0, 0), bbmax(0, 0, 0), xyradius(0), radius(0) {} }; +vector bounds; + +struct transform +{ + Vec3 pos; + Quat orient; + Vec3 scale; + + transform() {} + transform(const Vec3 &pos, const Quat &orient, const Vec3 &scale = Vec3(1, 1, 1)) : pos(pos), orient(orient), scale(scale) {} +}; +vector frames; + +vector stringdata, commentdata; + +struct sharedstring +{ + uint offset; + sharedstring() {} + sharedstring(const char *s) : offset(stringdata.length()) { stringdata.put(s, strlen(s)+1); } +}; + +static inline bool htcmp(const char *x, const sharedstring &s) +{ + return htcmp(x, &stringdata[s.offset]); +} + +hashtable stringoffsets; + +uint sharestring(const char *s) +{ + if(stringdata.empty()) stringoffsets.access("", 0); + return stringoffsets.access(s ? s : "", stringdata.length()); +} + +struct blendcombo +{ + int sorted; + double weights[4]; + uchar bones[4]; + + blendcombo() : sorted(0) {} + + void reset() { sorted = 0; } + + void addweight(double weight, int bone) + { + if(weight <= 1e-3) return; + loopk(sorted) if(weight > weights[k]) + { + for(int l = min(sorted-1, 2); l >= k; l--) + { + weights[l+1] = weights[l]; + bones[l+1] = bones[l]; + } + weights[k] = weight; + bones[k] = bone; + if(sorted<4) sorted++; + return; + } + if(sorted>=4) return; + weights[sorted] = weight; + bones[sorted] = bone; + sorted++; + } + + void finalize() + { + loopj(4-sorted) { weights[sorted+j] = 0; bones[sorted+j] = 0; } + if(sorted <= 0) return; + double total = 0; + loopj(sorted) total += weights[j]; + total = 1.0/total; + loopj(sorted) weights[j] *= total; + } + + void serialize(uchar *vweights) const + { + int total = 0; + loopk(4) total += (vweights[k] = uchar(0.5 + weights[k]*255)); + if(sorted <= 0) return; + while(total > 255) + { + loopk(4) if(vweights[k] > 0 && total > 255) { vweights[k]--; total--; } + } + while(total < 255) + { + loopk(4) if(vweights[k] < 255 && total < 255) { vweights[k]++; total++; } + } + } + + bool operator==(const blendcombo &c) { loopi(4) if(weights[i] != c.weights[i] || bones[i] != c.bones[i]) return false; return true; } + bool operator!=(const blendcombo &c) { loopi(4) if(weights[i] != c.weights[i] || bones[i] != c.bones[i]) return true; return false; } +}; + +static bool parseindex(char *&c, int &val) +{ + while(isspace(*c)) c++; + char *end = NULL; + int rval = strtol(c, &end, 10); + if(c == end) return false; + val = rval; + c = end; + return true; +} + +static double parseattrib(char *&c, double ival = 0) +{ + while(isspace(*c)) c++; + char *end = NULL; + double val = strtod(c, &end); + if(c == end) val = ival; + else c = end; + return val; +} + +static bool maybeparseattrib(char *&c, double &result) +{ + while(isspace(*c)) c++; + char *end = NULL; + double val = strtod(c, &end); + if(c == end) return false; + c = end; + result = val; + return true; +} + +#if 0 +static bool parsename(char *&c, char *buf, int bufsize = sizeof(string)) +{ + while(isspace(*c)) c++; + char *end; + if(*c == '"') + { + c++; + end = c; + while(*end && *end != '"') end++; + copystring(buf, c, min(int(end-c+1), bufsize)); + if(*end == '"') end++; + } + else + { + end = c; + while(*end && !isspace(*end)) end++; + copystring(buf, c, min(int(end-c+1), bufsize)); + } + if(c == end) return false; + c = end; + return true; +} +#endif + +static char *trimname(char *&c) +{ + while(isspace(*c)) c++; + char *start, *end; + if(*c == '"') + { + c++; + start = end = c; + while(*end && *end != '"') end++; + if(*end) { *end = '\0'; end++; } + } + else + { + start = end = c; + while(*end && !isspace(*end)) end++; + if(*end) { *end = '\0'; end++; } + } + c = end; + return start; +} + +static Vec4 parseattribs4(char *&c, const Vec4 &ival = Vec4(0, 0, 0, 0)) +{ + Vec4 val; + loopk(4) val[k] = parseattrib(c, ival[k]); + return val; +} + +static Vec3 parseattribs3(char *&c, const Vec3 &ival = Vec3(0, 0, 0)) +{ + Vec3 val; + loopk(3) val[k] = parseattrib(c, ival[k]); + return val; +} + +static blendcombo parseblends(char *&c) +{ + blendcombo b; + int index; + while(parseindex(c, index)) + { + double weight = parseattrib(c, 0); + b.addweight(weight, index); + } + b.finalize(); + return b; +} + +struct ejoint +{ + const char *name; + int parent; + + ejoint() : name(NULL), parent(-1) {} +}; + +struct eanim +{ + const char *name; + int startframe, endframe; + double fps; + uint flags; + + eanim() : name(NULL), startframe(0), endframe(INT_MAX), fps(0), flags(0) {} +}; + +struct emesh +{ + const char *name, *material; + int firsttri; + bool used; + + emesh() : name(NULL), material(NULL), firsttri(0), used(false) {} + emesh(const char *name, const char *material, int firsttri = 0) : name(name), material(material), firsttri(firsttri), used(false) {} +}; + +struct evarray +{ + string name; + int type, format, size; + + evarray() : type(IQM_POSITION), format(IQM_FLOAT), size(3) { name[0] = '\0'; } + evarray(int type, int format, int size, const char *initname = "") : type(type), format(format), size(size) { copystring(name, initname); } +}; + +struct esmoothgroup +{ + enum + { + F_USED = 1<<0, + F_UVSMOOTH = 1<<1 + }; + + int key; + float angle; + int flags; + + esmoothgroup() : key(-1), angle(-1), flags(0) {} +}; + +struct etriangle +{ + int smoothgroup; + uint vert[3], weld[3]; + + etriangle() + : smoothgroup(-1) + { + } + etriangle(int v0, int v1, int v2, int smoothgroup = -1) + : smoothgroup(smoothgroup) + { + vert[0] = v0; + vert[1] = v1; + vert[2] = v2; + } +}; + +vector mpositions, epositions, etexcoords, etangents, ecolors, ecustom[10]; +vector enormals, ebitangents; +vector mblends, eblends; +vector etriangles; +vector esmoothgroups; +vector esmoothindexes; +vector esmoothedges; +vector ejoints; +vector eposes; +vector mjoints; +vector eframes; +vector eanims; +vector emeshes; +vector evarrays; +hashtable enames; + +const char *getnamekey(const char *name) +{ + char **exists = enames.access(name); + if(exists) return *exists; + char *key = newstring(name); + enames[key] = key; + return key; +} + +struct weldinfo +{ + int tri, vert; + weldinfo *next; +}; + +void weldvert(const vector &norms, const Vec4 &pos, weldinfo *welds, int &numwelds, unionfind &welder) +{ + welder.clear(); + int windex = 0; + for(weldinfo *w = welds; w; w = w->next, windex++) + { + etriangle &wt = etriangles[w->tri]; + esmoothgroup &wg = esmoothgroups[wt.smoothgroup]; + int vindex = windex + 1; + for(weldinfo *v = w->next; v; v = v->next, vindex++) + { + etriangle &vt = etriangles[v->tri]; + esmoothgroup &vg = esmoothgroups[vt.smoothgroup]; + if(wg.key != vg.key) continue; + if(norms[w->tri].dot(norms[v->tri]) < max(wg.angle, vg.angle)) continue; + if(((wg.flags | vg.flags) & esmoothgroup::F_UVSMOOTH) && + etexcoords[wt.vert[w->vert]] != etexcoords[vt.vert[v->vert]]) + continue; + if(esmoothindexes.length() > max(w->vert, v->vert) && esmoothindexes[w->vert] != esmoothindexes[v->vert]) + continue; + if(esmoothedges.length()) + { + int w0 = w->vert, w1 = (w->vert+1)%3, w2 = (w->vert+2)%3; + const Vec4 &wp1 = epositions[wt.vert[w1]], + &wp2 = epositions[wt.vert[w2]]; + int v0 = v->vert, v1 = (v->vert+1)%3, v2 = (v->vert+2)%3; + const Vec4 &vp1 = epositions[vt.vert[v1]], + &vp2 = epositions[vt.vert[v2]]; + int wf = esmoothedges[w->tri], vf = esmoothedges[v->tri]; + if((wp1 != vp1 || !(((wf>>w0)|(vf>>v0))&1)) && + (wp1 != vp2 || !(((wf>>w0)|(vf>>v2))&1)) && + (wp2 != vp1 || !(((wf>>w2)|(vf>>v0))&1)) && + (wp2 != vp2 || !(((wf>>w2)|(vf>>v2))&1))) + continue; + } + welder.unite(windex, vindex, -1); + } + } + windex = 0; + for(weldinfo *w = welds; w; w = w->next, windex++) + { + etriangle &wt = etriangles[w->tri]; + wt.weld[w->vert] = welder.find(windex, -1, numwelds); + if(wt.weld[w->vert] == uint(numwelds)) numwelds++; + } +} + +void smoothverts(bool areaweight = true) +{ + if(etriangles.empty()) return; + + if(enormals.length()) + { + loopv(etriangles) + { + etriangle &t = etriangles[i]; + loopk(3) t.weld[k] = t.vert[k]; + } + return; + } + + if(etexcoords.empty()) loopv(esmoothgroups) esmoothgroups[i].flags &= ~esmoothgroup::F_UVSMOOTH; + if(esmoothedges.length()) while(esmoothedges.length() < etriangles.length()) esmoothedges.add(7); + + vector tarea, tnorms; + loopv(etriangles) + { + etriangle &t = etriangles[i]; + Vec3 v0(epositions[t.vert[0]]), + v1(epositions[t.vert[1]]), + v2(epositions[t.vert[2]]); + tnorms.add(tarea.add((v2 - v0).cross(v1 - v0)).normalize()); + } + + int nextalloc = 0; + vector allocs; + hashtable welds(1<<12); + + loopv(etriangles) + { + etriangle &t = etriangles[i]; + loopk(3) + { + weldinfo **next = &welds.access(epositions[t.vert[k]], NULL); + if(! (nextalloc % 1024)) allocs.add(new weldinfo[1024]); + weldinfo &w = allocs[nextalloc/1024][nextalloc%1024]; + nextalloc++; + w.tri = i; + w.vert = k; + w.next = *next; + *next = &w; + } + } + + int numwelds = 0; + unionfind welder; + enumerate(welds, Vec4, vpos, weldinfo *, vwelds, weldvert(tnorms, vpos, vwelds, numwelds, welder)); + + loopv(allocs) delete[] allocs[i]; + + loopi(numwelds) enormals.add(Vec3(0, 0, 0)); + loopv(etriangles) + { + etriangle &t = etriangles[i]; + loopk(3) enormals[t.weld[k]]+= areaweight ? tarea[i] : tnorms[i]; + } + loopv(enormals) if(enormals[i] != Vec3(0, 0, 0)) enormals[i] = enormals[i].normalize(); +} + +struct sharedvert +{ + int index, weld; + + sharedvert() {} + sharedvert(int index, int weld) : index(index), weld(weld) {} +}; + +static inline bool htcmp(const sharedvert &v, const sharedvert &s) +{ + if(epositions[v.index] != epositions[s.index]) return false; + if(etexcoords.length() && etexcoords[v.index] != etexcoords[s.index]) return false; + if(enormals.length() && enormals[v.weld] != enormals[s.weld]) return false; + if(eblends.length() && eblends[v.index] != eblends[s.index]) return false; + if(ecolors.length() && ecolors[v.index] != ecolors[s.index]) return false; + loopi(10) if(ecustom[i].length() && ecustom[i][v.index] != ecustom[i][s.index]) return false; + return true; +} + +static inline uint hthash(const sharedvert &v) +{ + return hthash(epositions[v.index]); +} + +const struct vertexarraytype +{ + const char *name; + int code; +} vatypes[] = +{ + { "position", IQM_POSITION }, + { "texcoord", IQM_TEXCOORD }, + { "normal", IQM_NORMAL }, + { "tangent", IQM_TANGENT }, + { "blendindexes", IQM_BLENDINDEXES }, + { "blendweights", IQM_BLENDWEIGHTS }, + { "color", IQM_COLOR }, + { "custom0", IQM_CUSTOM + 0 }, + { "custom1", IQM_CUSTOM + 1 }, + { "custom2", IQM_CUSTOM + 2 }, + { "custom3", IQM_CUSTOM + 3 }, + { "custom4", IQM_CUSTOM + 4 }, + { "custom5", IQM_CUSTOM + 5 }, + { "custom6", IQM_CUSTOM + 6 }, + { "custom7", IQM_CUSTOM + 7 }, + { "custom8", IQM_CUSTOM + 8 }, + { "custom9", IQM_CUSTOM + 9 } +}; + +int findvertexarraytype(const char *name) +{ + loopi(sizeof(vatypes)/sizeof(vatypes[0])) + { + if(!strcasecmp(vatypes[i].name, name)) + return vatypes[i].code; + } + return -1; +} + +const struct vertexarrayformat +{ + const char *name; + int code; + int size; +} vaformats[] = +{ + { "byte", IQM_BYTE, 1 }, + { "ubyte", IQM_UBYTE, 1 }, + { "short", IQM_SHORT, 2 }, + { "ushort", IQM_USHORT, 2 }, + { "int", IQM_INT, 4 }, + { "uint", IQM_UINT, 4 }, + { "half", IQM_HALF, 2 }, + { "float", IQM_FLOAT, 4 }, + { "double", IQM_DOUBLE, 8 } +}; + +int findvertexarrayformat(const char *name) +{ + loopi(sizeof(vaformats)/sizeof(vaformats[0])) + { + if(!strcasecmp(vaformats[i].name, name)) + return vaformats[i].code; + } + return -1; +} + +struct vertexarray +{ + uint type, flags, format, size, offset; + + vertexarray(uint type, uint format, uint size, uint offset) : type(type), flags(0), format(format), size(size), offset(offset) {} + + int formatsize() const + { + return vaformats[format].size; + } + + int bytesize() const + { + return size * vaformats[format].size; + } +}; + +vector vmap; +vector varrays; +vector vdata; + +struct halfdata +{ + ushort val; + + halfdata(double d) + { + union + { + ullong i; + double d; + } conv; + conv.d = d; + ushort signbit = ushort((conv.i>>63)&1); + ushort mantissa = ushort((conv.i>>(52-10))&0x3FF); + int exponent = int((conv.i>>52)&0x7FF) - 1023 + 15; + if(exponent <= 0) + { + mantissa |= 0x400; + mantissa >>= min(1-exponent, 10+1); + exponent = 0; + } + else if(exponent >= 0x1F) + { + mantissa = 0; + exponent = 0x1F; + } + val = (signbit<<15) | (ushort(exponent)<<10) | mantissa; + } +}; + +template<> inline halfdata endianswap(halfdata n) { n.val = endianswap16(n.val); return n; } + +template static inline int remapindex(int i, const sharedvert &v) { return v.index; } +template<> inline int remapindex(int i, const sharedvert &v) { return v.weld; } +template<> inline int remapindex(int i, const sharedvert &v) { return i; } + +template +static inline void putattrib(T &out, const U &val) { out = T(val); } + +template +static inline void uroundattrib(T &out, const U &val, double scale) { out = T(clamp(0.5 + val*scale, 0.0, scale)); } +template +static inline void sroundattrib(T &out, const U &val, double scale, double low, double high) { double n = val*scale*0.5; out = T(clamp(n < 0 ? ceil(n - 1) : floor(n), low, high)); } + +template +static inline void scaleattrib(T &out, const U &val) { putattrib(out, val); } +template +static inline void scaleattrib(char &out, const U &val) { sroundattrib(out, val, 255.0, -128.0, 127.0); } +template +static inline void scaleattrib(short &out, const U &val) { sroundattrib(out, val, 65535.0, -32768.0, 32767.0); } +template +static inline void scaleattrib(int &out, const U &val) { sroundattrib(out, val, 4294967295.0, -2147483648.0, 2147483647.0); } +template +static inline void scaleattrib(uchar &out, const U &val) { uroundattrib(out, val, 255.0); } +template +static inline void scaleattrib(ushort &out, const U &val) { uroundattrib(out, val, 65535.0); } +template +static inline void scaleattrib(uint &out, const U &val) { uroundattrib(out, val, 4294967295.0); } + +template +static inline bool normalizedattrib() { return true; } + +template +static inline void serializeattrib(const vertexarray &va, T *data, const U &attrib) +{ + if(normalizedattrib()) switch(va.size) + { + case 4: scaleattrib(data[3], attrib.w); + case 3: scaleattrib(data[2], attrib.z); + case 2: scaleattrib(data[1], attrib.y); + case 1: scaleattrib(data[0], attrib.x); + } + else switch(va.size) + { + case 4: putattrib(data[3], attrib.w); + case 3: putattrib(data[2], attrib.z); + case 2: putattrib(data[1], attrib.y); + case 1: putattrib(data[0], attrib.x); + } + lilswap(data, va.size); +} + +template +static inline void serializeattrib(const vertexarray &va, T *data, const Vec3 &attrib) +{ + if(normalizedattrib()) switch(va.size) + { + case 3: scaleattrib(data[2], attrib.z); + case 2: scaleattrib(data[1], attrib.y); + case 1: scaleattrib(data[0], attrib.x); + } + else switch(va.size) + { + case 3: putattrib(data[2], attrib.z); + case 2: putattrib(data[1], attrib.y); + case 1: putattrib(data[0], attrib.x); + } + lilswap(data, va.size); +} + +template +static inline void serializeattrib(const vertexarray &va, T *data, const blendcombo &blend) +{ + if(TYPE == IQM_BLENDINDEXES) + { + switch(va.size) + { + case 4: putattrib(data[3], blend.bones[3]); + case 3: putattrib(data[2], blend.bones[2]); + case 2: putattrib(data[1], blend.bones[1]); + case 1: putattrib(data[0], blend.bones[0]); + } + } + else if(FMT == IQM_UBYTE) + { + uchar weights[4]; + blend.serialize(weights); + switch(va.size) + { + case 4: putattrib(data[3], weights[3]); + case 3: putattrib(data[2], weights[2]); + case 2: putattrib(data[1], weights[1]); + case 1: putattrib(data[0], weights[0]); + } + } + else + { + switch(va.size) + { + case 4: scaleattrib(data[3], blend.weights[3]); + case 3: scaleattrib(data[2], blend.weights[2]); + case 2: scaleattrib(data[1], blend.weights[1]); + case 1: scaleattrib(data[0], blend.weights[0]); + } + } + lilswap(data, va.size); +} + +template +void setupvertexarray(const vector &attribs, int type, int fmt, int size) +{ + vertexarray &va = varrays.add(vertexarray(type, fmt, size, vdata.length())); + const char *name = ""; + loopv(evarrays) if(evarrays[i].type == (int)va.type) + { + evarray &info = evarrays[i]; + va.format = info.format; + va.size = clamp(info.size, 1, 4); + name = info.name; + break; + } + uint align = max(va.formatsize(), 4); + if(va.offset%align) { uint pad = align - va.offset%align; va.offset += pad; loopi(pad) vdata.add(0); } + if(va.type >= IQM_CUSTOM) + { + if(!name[0]) + { + defformatstring(customname, "custom%d", va.type-IQM_CUSTOM); + va.type = IQM_CUSTOM + sharestring(customname); + } + else va.type = IQM_CUSTOM + sharestring(name); + } + int totalsize = va.bytesize() * vmap.length(); + uchar *data = vdata.reserve(totalsize); + vdata.advance(totalsize); + loopv(vmap) + { + const T &attrib = attribs[remapindex(i, vmap[i])]; + switch(va.format) + { + case IQM_BYTE: serializeattrib(va, (char *)data, attrib); break; + case IQM_UBYTE: serializeattrib(va, (uchar *)data, attrib); break; + case IQM_SHORT: serializeattrib(va, (short *)data, attrib); break; + case IQM_USHORT: serializeattrib(va, (ushort *)data, attrib); break; + case IQM_INT: serializeattrib(va, (int *)data, attrib); break; + case IQM_UINT: serializeattrib(va, (uint *)data, attrib); break; + case IQM_HALF: serializeattrib(va, (halfdata *)data, attrib); break; + case IQM_FLOAT: serializeattrib(va, (float *)data, attrib); break; + case IQM_DOUBLE: serializeattrib(va, (double *)data, attrib); break; + } + data += va.bytesize(); + } +} + +// linear speed vertex cache optimization from Tom Forsyth + +#define MAXVCACHE 32 + +struct triangleinfo +{ + bool used; + float score; + uint vert[3]; + + triangleinfo() {} + triangleinfo(uint v0, uint v1, uint v2) + { + vert[0] = v0; + vert[1] = v1; + vert[2] = v2; + } +}; + +struct vertexcache : listnode +{ + int index, rank; + float score; + int numuses; + triangleinfo **uses; + + vertexcache() : index(-1), rank(-1), score(-1.0f), numuses(0), uses(NULL) {} + + void calcscore() + { + if(numuses > 0) + { + score = 2.0f * powf(numuses, -0.5f); + if(rank >= 3) score += powf(1.0f - (rank - 3)/float(MAXVCACHE - 3), 1.5f); + else if(rank >= 0) score += 0.75f; + } + else score = -1.0f; + } + + void removeuse(triangleinfo *t) + { + loopi(numuses) if(uses[i] == t) + { + uses[i] = uses[--numuses]; + return; + } + } +}; + +void maketriangles(vector &tris, const vector &mmap) +{ + triangleinfo **uses = new triangleinfo *[3*tris.length()]; + vertexcache *verts = new vertexcache[mmap.length()]; + list vcache; + + loopv(tris) + { + triangleinfo &t = tris[i]; + t.used = t.vert[0] == t.vert[1] || t.vert[1] == t.vert[2] || t.vert[2] == t.vert[0]; + if(t.used) continue; + loopk(3) verts[t.vert[k]].numuses++; + } + triangleinfo **curuse = uses; + loopvrev(tris) + { + triangleinfo &t = tris[i]; + if(t.used) continue; + loopk(3) + { + vertexcache &v = verts[t.vert[k]]; + if(!v.uses) { curuse += v.numuses; v.uses = curuse; } + *--v.uses = &t; + } + } + loopv(mmap) verts[i].calcscore(); + triangleinfo *besttri = NULL; + float bestscore = -1e16f; + loopv(tris) + { + triangleinfo &t = tris[i]; + if(t.used) continue; + t.score = verts[t.vert[0]].score + verts[t.vert[1]].score + verts[t.vert[2]].score; + if(t.score > bestscore) { besttri = &t; bestscore = t.score; } + } + + //int reloads = 0, n = 0; + while(besttri) + { + besttri->used = true; + triangle &t = triangles.add(); + loopk(3) + { + vertexcache &v = verts[besttri->vert[k]]; + if(v.index < 0) { v.index = vmap.length(); vmap.add(mmap[besttri->vert[k]]); } + t.vert[k] = v.index; + v.removeuse(besttri); + if(v.rank >= 0) vcache.remove(&v)->rank = -1; + //else reloads++; + if(v.numuses <= 0) continue; + vcache.insertfirst(&v); + v.rank = 0; + } + int rank = 0; + for(vertexcache *v = vcache.first(); v != vcache.end(); v = v->next) + { + v->rank = rank++; + v->calcscore(); + } + besttri = NULL; + bestscore = -1e16f; + for(vertexcache *v = vcache.first(); v != vcache.end(); v = v->next) + { + loopi(v->numuses) + { + triangleinfo &t = *v->uses[i]; + t.score = verts[t.vert[0]].score + verts[t.vert[1]].score + verts[t.vert[2]].score; + if(t.score > bestscore) { besttri = &t; bestscore = t.score; } + } + } + while(vcache.size > MAXVCACHE) vcache.removelast()->rank = -1; + if(!besttri) loopv(tris) + { + triangleinfo &t = tris[i]; + if(!t.used && t.score > bestscore) { besttri = &t; bestscore = t.score; } + } + } + //printf("reloads: %d, worst: %d, best: %d\n", reloads, tris.length()*3, mmap.length()); + + delete[] uses; + delete[] verts; +} + +void calctangents(bool areaweight = true) +{ + Vec3 *tangent = new Vec3[2*vmap.length()], *bitangent = tangent+vmap.length(); + memset(tangent, 0, 2*vmap.length()*sizeof(Vec3)); + loopv(triangles) + { + const triangle &t = triangles[i]; + sharedvert &i0 = vmap[t.vert[0]], + &i1 = vmap[t.vert[1]], + &i2 = vmap[t.vert[2]]; + + Vec3 v0(epositions[i0.index]), e1 = Vec3(epositions[i1.index]) - v0, e2 = Vec3(epositions[i2.index]) - v0; + + double u1 = etexcoords[i1.index].x - etexcoords[i0.index].x, v1 = etexcoords[i1.index].y - etexcoords[i0.index].y, + u2 = etexcoords[i2.index].x - etexcoords[i0.index].x, v2 = etexcoords[i2.index].y - etexcoords[i0.index].y; + Vec3 u = e2*v1 - e1*v2, + v = e2*u1 - e1*u2; + + if(e2.cross(e1).dot(v.cross(u)) < 0) + { + u = -u; + v = -v; + } + + if(!areaweight) + { + u = u.normalize(); + v = v.normalize(); + } + + loopj(3) + { + tangent[t.vert[j]] += u; + bitangent[t.vert[j]] += v; + } + } + loopv(vmap) + { + const Vec3 &n = enormals[vmap[i].weld], + &t = tangent[i], + &bt = bitangent[i]; + etangents.add(Vec4((t - n*n.dot(t)).normalize(), n.cross(t).dot(bt) < 0 ? -1 : 1)); + } + delete[] tangent; +} + +struct neighborkey +{ + uint e0, e1; + + neighborkey() {} + neighborkey(uint i0, uint i1) + { + if(epositions[i0] < epositions[i1]) { e0 = i0; e1 = i1; } + else { e0 = i1; e1 = i0; } + } + + uint hash() const { return hthash(epositions[e0]) + hthash(epositions[e1]); } + bool operator==(const neighborkey &n) const + { + return epositions[e0] == epositions[n.e0] && epositions[e1] == epositions[n.e1] && + (eblends.empty() || (eblends[e0] == eblends[n.e0] && eblends[e1] == eblends[n.e1])); + } +}; + +static inline uint hthash(const neighborkey &n) { return n.hash(); } +static inline bool htcmp(const neighborkey &x, const neighborkey &y) { return x == y; } + +struct neighborval +{ + uint tris[2]; + + neighborval() {} + neighborval(uint i) { tris[0] = i; tris[1] = 0xFFFFFFFFU; } + + void add(uint i) + { + if(tris[1] != 0xFFFFFFFFU) tris[0] = tris[1] = 0xFFFFFFFFU; + else if(tris[0] != 0xFFFFFFFFU) tris[1] = i; + } + + int opposite(uint i) const + { + return tris[0] == i ? tris[1] : tris[0]; + } +}; + +void makeneighbors() +{ + hashtable nhash; + + loopv(triangles) + { + triangle &t = triangles[i]; + for(int j = 0, p = 2; j < 3; p = j, j++) + { + neighborkey key(t.vert[p], t.vert[j]); + neighborval *val = nhash.access(key); + if(val) val->add(i); + else nhash[key] = neighborval(i); + } + } + + loopv(triangles) + { + triangle &t = triangles[i]; + triangle &n = neighbors.add(); + for(int j = 0, p = 2; j < 3; p = j, j++) + n.vert[p] = nhash[neighborkey(t.vert[p], t.vert[j])].opposite(i); + } +} + +Quat erotate(0, 0, 0, 1); +double escale = 1; +Vec3 emeshtrans(0, 0, 0); + +void makemeshes() +{ + meshes.setsize(0); + triangles.setsize(0); + neighbors.setsize(0); + vmap.setsize(0); + varrays.setsize(0); + vdata.setsize(0); + + hashtable mshare(1<<12); + vector mmap; + vector tinfo; + + loopv(emeshes) + { + emesh &em1 = emeshes[i]; + if(em1.used) continue; + for(int j = i; j < emeshes.length(); j++) + { + emesh &em = emeshes[j]; + if(em.name != em1.name || em.material != em1.material) continue; + int lasttri = emeshes.inrange(i+1) ? emeshes[i+1].firsttri : etriangles.length(); + for(int k = em.firsttri; k < lasttri; k++) + { + etriangle &et = etriangles[k]; + triangleinfo &t = tinfo.add(); + loopl(3) + { + sharedvert v(et.vert[l], et.weld[l]); + t.vert[l] = mshare.access(v, mmap.length()); + if(!mmap.inrange(t.vert[l])) mmap.add(v); + } + } + em.used = true; + } + if(tinfo.empty()) continue; + + mesh &m = meshes.add(); + m.name = sharestring(em1.name); + m.material = sharestring(em1.material); + m.firsttri = triangles.length(); + m.firstvert = vmap.length(); + maketriangles(tinfo, mmap); + m.numtris = triangles.length() - m.firsttri; + m.numverts = vmap.length() - m.firstvert; + + mshare.clear(); + mmap.setsize(0); + tinfo.setsize(0); + } + + if(triangles.length()) makeneighbors(); + + if(escale != 1) loopv(epositions) epositions[i] *= escale; + if(erotate != Quat(0, 0, 0, 1)) + { + loopv(epositions) epositions[i].setxyz(erotate.transform(Vec3(epositions[i]))); + loopv(enormals) enormals[i] = erotate.transform(enormals[i]); + loopv(etangents) etangents[i].setxyz(erotate.transform(Vec3(etangents[i]))); + loopv(ebitangents) ebitangents[i] = erotate.transform(ebitangents[i]); + } + if(emeshtrans != Vec3(0, 0, 0)) loopv(epositions) epositions[i] += emeshtrans; + if(epositions.length()) setupvertexarray(epositions, IQM_POSITION, IQM_FLOAT, 3); + if(etexcoords.length()) setupvertexarray(etexcoords, IQM_TEXCOORD, IQM_FLOAT, 2); + if(enormals.length()) setupvertexarray(enormals, IQM_NORMAL, IQM_FLOAT, 3); + if(etangents.length()) + { + if(ebitangents.length() && enormals.length()) + { + loopv(etangents) if(ebitangents.inrange(i) && enormals.inrange(i)) + etangents[i].w = enormals[i].cross(Vec3(etangents[i])).dot(ebitangents[i]) < 0 ? -1 : 1; + } + setupvertexarray(etangents, IQM_TANGENT, IQM_FLOAT, 4); + } + else if(enormals.length() && etexcoords.length()) + { + calctangents(); + setupvertexarray(etangents, IQM_TANGENT, IQM_FLOAT, 4); + } + if(eblends.length()) + { + setupvertexarray(eblends, IQM_BLENDINDEXES, IQM_UBYTE, 4); + setupvertexarray(eblends, IQM_BLENDWEIGHTS, IQM_UBYTE, 4); + } + if(ecolors.length()) setupvertexarray(ecolors, IQM_COLOR, IQM_UBYTE, 4); + loopi(10) if(ecustom[i].length()) setupvertexarray(ecustom[i], IQM_CUSTOM + i, IQM_FLOAT, 4); + + if(epositions.length()) + { + mpositions.setsize(0); + mpositions.swap(epositions); + } + if(eblends.length()) + { + mblends.setsize(0); + mblends.swap(eblends); + } +} + +void makebounds(framebounds &bb, Matrix3x4 *buf, Matrix3x4 *invbase, transform *frame) +{ + loopv(ejoints) + { + ejoint &j = ejoints[i]; + if(j.parent >= 0) buf[i] = buf[j.parent] * Matrix3x4(frame[i].orient, frame[i].pos, frame[i].scale); + else buf[i] = Matrix3x4(frame[i].orient, frame[i].pos, frame[i].scale); + } + loopv(ejoints) buf[i] *= invbase[i]; + loopv(mpositions) + { + const blendcombo &c = mblends[i]; + Matrix3x4 m(Vec4(0, 0, 0, 0), Vec4(0, 0, 0, 0), Vec4(0, 0, 0, 0)); + loopk(4) if(c.weights[k] > 0) + m += buf[c.bones[k]] * c.weights[k]; + Vec3 p = m.transform(Vec3(mpositions[i])); + + if(!i) bb.bbmin = bb.bbmax = p; + else + { + bb.bbmin.x = min(bb.bbmin.x, p.x); + bb.bbmin.y = min(bb.bbmin.y, p.y); + bb.bbmin.z = min(bb.bbmin.z, p.z); + bb.bbmax.x = max(bb.bbmax.x, p.x); + bb.bbmax.y = max(bb.bbmax.y, p.y); + bb.bbmax.z = max(bb.bbmax.z, p.z); + } + double xyradius = p.x*p.x + p.y*p.y; + bb.xyradius = max(bb.xyradius, xyradius); + bb.radius = max(bb.radius, xyradius + p.z*p.z); + } + if(bb.xyradius > 0) bb.xyradius = sqrt(bb.xyradius); + if(bb.radius > 0) bb.radius = sqrt(bb.radius); +} + +void makerelativebasepose() +{ + int numbasejoints = min(ejoints.length(), eframes.length() ? eframes[0] : eposes.length()); + for(int i = numbasejoints-1; i >= 0; i--) + { + ejoint &ej = ejoints[i]; + if(ej.parent < 0) continue; + transform &parent = eposes[ej.parent], &child = eposes[i]; + child.pos = (-parent.orient).transform(child.pos - parent.pos); + child.orient = (-parent.orient)*child.orient; + if(child.orient.w > 0) child.orient.flip(); + } +} + +bool forcejoints = false; + +void makeanims() +{ + if(escale != 1) loopv(eposes) eposes[i].pos *= escale; + if(erotate != Quat(0, 0, 0, 1)) loopv(ejoints) + { + ejoint &ej = ejoints[i]; + if(ej.parent < 0) for(int j = i; j < eposes.length(); j += ejoints.length()) + { + transform &p = eposes[j]; + p.orient = erotate * p.orient; + p.pos = erotate.transform(p.pos); + } + } + int numbasejoints = eframes.length() ? eframes[0] : eposes.length(); + if((forcejoints || meshes.length()) && joints.empty()) + { + mjoints.setsize(0); + loopv(ejoints) + { + ejoint &ej = ejoints[i]; + joint &j = joints.add(); + j.name = sharestring(ej.name); + j.parent = ej.parent; + if(i < numbasejoints) + { + mjoints.add().invert(Matrix3x4(eposes[i].orient, eposes[i].pos, eposes[i].scale)); + loopk(3) j.pos[k] = eposes[i].pos[k]; + loopk(4) j.orient[k] = eposes[i].orient[k]; + loopk(3) j.scale[k] = eposes[i].scale[k]; + } + else mjoints.add().invert(Matrix3x4(Quat(0, 0, 0, 1), Vec3(0, 0, 0), Vec3(1, 1, 1))); + if(ej.parent >= 0) mjoints[i] *= mjoints[ej.parent]; + } + } + if(eanims.empty()) return; + if(poses.empty()) loopv(ejoints) + { + ejoint &ej = ejoints[i]; + pose &p = poses.add(); + p.parent = ej.parent; + } + if(poses.empty()) return; + int totalframes = frames.length()/poses.length(); + Matrix3x4 *mbuf = mpositions.length() && mblends.length() && mjoints.length() ? new Matrix3x4[poses.length()] : NULL; + loopv(eanims) + { + eanim &ea = eanims[i]; + anim &a = anims.add(); + a.name = sharestring(ea.name); + a.firstframe = totalframes; + a.numframes = 0; + a.fps = ea.fps; + a.flags = ea.flags; + for(int j = ea.startframe, end = eanims.inrange(i+1) ? eanims[i+1].startframe : eframes.length(); j < end && j <= ea.endframe; j++) + { + int offset = eframes[j], range = (eframes.inrange(j+1) ? eframes[j+1] : eposes.length()) - offset; + if(range <= 0) continue; + loopk(min(range, poses.length())) frames.add(eposes[offset + k]); + loopk(max(poses.length() - range, 0)) frames.add(transform(Vec3(0, 0, 0), Quat(0, 0, 0, 1), Vec3(1, 1, 1))); + if(mbuf) makebounds(bounds.add(), mbuf, mjoints.getbuf(), &frames[frames.length() - poses.length()]); + a.numframes++; + } + totalframes += a.numframes; + } + if(mbuf) delete[] mbuf; +} + +bool resetimporter(bool reuse = false) +{ + if(reuse) + { + ejoints.setsize(0); + evarrays.setsize(0); + + return false; + } + + epositions.setsize(0); + etexcoords.setsize(0); + etangents.setsize(0); + ebitangents.setsize(0); + ecolors.setsize(0); + loopi(10) ecustom[i].setsize(0); + eblends.setsize(0); + etriangles.setsize(0); + esmoothindexes.setsize(0); + esmoothedges.setsize(0); + esmoothgroups.setsize(0); + esmoothgroups.add(); + ejoints.setsize(0); + eposes.setsize(0); + eframes.setsize(0); + eanims.setsize(0); + emeshes.setsize(0); + evarrays.setsize(0); + erotate = Quat(0, 0, 0, 1); + + return true; +} + +struct filespec +{ + const char *file; + const char *name; + double fps; + uint flags; + int startframe; + int endframe; + + filespec() { reset(); } + + void reset() + { + file = NULL; + name = NULL; + fps = 0; + flags = 0; + startframe = 0; + endframe = -1; + } +}; + +bool parseiqe(stream *f) +{ + const char *curmesh = getnamekey(""), *curmaterial = getnamekey(""); + bool needmesh = true; + int fmoffset = 0; + char buf[512]; + if(!f->getline(buf, sizeof(buf))) return false; + if(!strchr(buf, '#') || strstr(buf, "# Inter-Quake Export") != strchr(buf, '#')) return false; + while(f->getline(buf, sizeof(buf))) + { + char *c = buf; + while(isspace(*c)) ++c; + if(isalpha(c[0]) && isalnum(c[1]) && (!c[2] || isspace(c[2]))) switch(*c++) + { + case 'v': + switch(*c++) + { + case 'p': epositions.add(parseattribs4(c, Vec4(0, 0, 0, 1))); continue; + case 't': etexcoords.add(parseattribs4(c)); continue; + case 'n': enormals.add(parseattribs3(c)); continue; + case 'x': + { + Vec4 tangent(parseattribs3(c), 0); + Vec3 bitangent(0, 0, 0); + bitangent.x = parseattrib(c); + if(maybeparseattrib(c, bitangent.y)) + { + bitangent.z = parseattrib(c); + ebitangents.add(bitangent); + } + else tangent.w = bitangent.x; + etangents.add(tangent); + continue; + } + case 'b': eblends.add(parseblends(c)); continue; + case 'c': ecolors.add(parseattribs4(c, Vec4(0, 0, 0, 1))); continue; + case '0': case '1': case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9': + { + int n = c[-1] - '0'; + ecustom[n].add(parseattribs4(c)); + continue; + } + case 's': + parseindex(c, esmoothindexes.add()); + continue; + } + break; + case 'p': + { + transform t; + switch(*c++) + { + case 'q': + { + t.pos = parseattribs3(c); + loopk(3) t.orient[k] = parseattrib(c); + t.orient.restorew(); + double w = parseattrib(c, t.orient.w); + if(w != t.orient.w) + { + t.orient.w = w; + t.orient.normalize(); +// double x2 = f.orient.x*f.orient.x, y2 = f.orient.y*f.orient.y, z2 = f.orient.z*f.orient.z, w2 = f.orient.w*f.orient.w, s2 = x2 + y2 + z2 + w2; +// f.orient.x = keepsign(f.orient.x, sqrt(max(1.0 - (w2 + y2 + z2) / s2, 0.0))); +// f.orient.y = keepsign(f.orient.y, sqrt(max(1.0 - (w2 + x2 + z2) / s2, 0.0))); +// f.orient.z = keepsign(f.orient.z, sqrt(max(1.0 - (w2 + x2 + y2) / s2, 0.0))); +// f.orient.w = keepsign(f.orient.w, sqrt(max(1.0 - (x2 + y2 + z2) / s2, 0.0))); + } + if(t.orient.w > 0) t.orient.flip(); + t.scale = parseattribs3(c, Vec3(1, 1, 1)); + eposes.add(t); + continue; + } + case 'm': + { + t.pos = parseattribs3(c); + Matrix3x3 m; + m.a = parseattribs3(c); + m.b = parseattribs3(c); + m.c = parseattribs3(c); + Vec3 mscale(Vec3(m.a.x, m.b.x, m.c.x).magnitude(), Vec3(m.a.y, m.b.y, m.c.y).magnitude(), Vec3(m.a.z, m.b.z, m.c.z).magnitude()); + // check determinant for sign of scaling + if(m.determinant() < 0) mscale = -mscale; + m.a /= mscale; + m.b /= mscale; + m.c /= mscale; + t.orient = Quat(m); + if(t.orient.w > 0) t.orient.flip(); + t.scale = parseattribs3(c, Vec3(1, 1, 1)) * mscale; + eposes.add(t); + continue; + } + case 'a': + { + t.pos = parseattribs3(c); + Vec3 rot = parseattribs3(c); + t.orient = Quat::fromangles(rot); + t.scale = parseattribs3(c, Vec3(1, 1, 1)); + eposes.add(t); + continue; + } + } + break; + } + case 'f': + switch(*c++) + { + case 'a': + { + int i1 = 0, i2 = 0, i3 = 0; + if(!parseindex(c, i1) || !parseindex(c, i2)) continue; + if(needmesh) + { + emeshes.add(emesh(curmesh, curmaterial, etriangles.length())); + needmesh = false; + } + if(i1 < 0) i1 = max(epositions.length() + i1, 0); + if(i2 < 0) i2 = max(epositions.length() + i2, 0); + while(parseindex(c, i3)) + { + if(i3 < 0) i3 = max(epositions.length() + i3, 0); + esmoothgroups.last().flags |= esmoothgroup::F_USED; + etriangles.add(etriangle(i1, i2, i3, esmoothgroups.length()-1)); + i2 = i3; + } + continue; + } + case 'm': + { + int i1 = 0, i2 = 0, i3 = 0; + if(!parseindex(c, i1) || !parseindex(c, i2)) continue; + if(needmesh) + { + emeshes.add(emesh(curmesh, curmaterial, etriangles.length())); + needmesh = false; + } + i1 = i1 < 0 ? max(epositions.length() + i1, 0) : (fmoffset + i1); + i2 = i2 < 0 ? max(epositions.length() + i2, 0) : (fmoffset + i2); + while(parseindex(c, i3)) + { + i3 = i3 < 0 ? max(epositions.length() + i3, 0) : (fmoffset + i3); + esmoothgroups.last().flags |= esmoothgroup::F_USED; + etriangles.add(etriangle(i1, i2, i3, esmoothgroups.length()-1)); + i2 = i3; + } + continue; + } + case 's': + { + int i1 = 0, i2 = 0, i3 = 0; + uchar flags = 0; + if(!parseindex(c, i1) || !parseindex(c, i2) || !parseindex(c, i3)) continue; + flags |= clamp(i1, 0, 1); + flags |= clamp(i2, 0, 1)<<1; + flags |= clamp(i3, 0, 1)<<2; + esmoothgroups.last().flags |= esmoothgroup::F_USED; + while(parseindex(c, i3)) + { + esmoothedges.add(flags | 4); + flags = 1 | ((flags & 4) >> 1) | (clamp(i3, 0, 1)<<2); + } + esmoothedges.add(flags); + continue; + } + } + break; + } + char *args = c; + while(*args && !isspace(*args)) args++; + if(!strncmp(c, "smoothgroup", max(int(args-c), 11))) + { + if(esmoothgroups.last().flags & esmoothgroup::F_USED) esmoothgroups.dup(); + parseindex(args, esmoothgroups.last().key); + } + else if(!strncmp(c, "smoothangle", max(int(args-c), 11))) + { + if(esmoothgroups.last().flags & esmoothgroup::F_USED) esmoothgroups.dup(); + double angle = parseattrib(args, 0); + esmoothgroups.last().angle = fabs(cos(clamp(angle, -180.0, 180.0) * M_PI/180)); + } + else if(!strncmp(c, "smoothuv", max(int(args-c), 8))) + { + if(esmoothgroups.last().flags & esmoothgroup::F_USED) esmoothgroups.dup(); + int val = 1; + if(parseindex(args, val) && val <= 0) esmoothgroups.last().flags &= ~esmoothgroup::F_UVSMOOTH; + else esmoothgroups.last().flags |= esmoothgroup::F_UVSMOOTH; + } + else if(!strncmp(c, "mesh", max(int(args-c), 4))) + { + curmesh = getnamekey(trimname(args)); + if(emeshes.empty() || emeshes.last().name != curmesh) needmesh = true; + fmoffset = epositions.length(); + +#if 0 + emesh &m = emeshes.add(); + m.firsttri = etriangles.length(); + fmoffset = epositions.length(); + parsename(args, m.name); +#endif + } + else if(!strncmp(c, "material", max(int(args-c), 8))) + { + curmaterial = getnamekey(trimname(args)); + if(emeshes.empty() || emeshes.last().material != curmaterial) needmesh = true; +// if(emeshes.length()) parsename(c, emeshes.last().material); + } + else if(!strncmp(c, "joint", max(int(args-c), 5))) + { + ejoint &j = ejoints.add(); + j.name = getnamekey(trimname(args)); + parseindex(args, j.parent); + } + else if(!strncmp(c, "vertexarray", max(int(args-c), 11))) + { + evarray &va = evarrays.add(); + va.type = findvertexarraytype(trimname(args)); + va.format = findvertexarrayformat(trimname(args)); + va.size = strtol(args, &args, 10); + copystring(va.name, trimname(args)); + } + else if(!strncmp(c, "animation", max(int(args-c), 9))) + { + eanim &a = eanims.add(); + a.name = getnamekey(trimname(args)); + a.startframe = eframes.length(); + if(!eframes.length() || eframes.last() != eposes.length()) eframes.add(eposes.length()); + } + else if(!strncmp(c, "frame", max(int(args-c), 5))) + { + if(eanims.length() && eframes.length() && eframes.last() != eposes.length()) eframes.add(eposes.length()); + } + else if(!strncmp(c, "framerate", max(int(args-c), 9))) + { + if(eanims.length()) + { + double fps = parseattrib(args); + eanims.last().fps = max(fps, 0.0); + } + } + else if(!strncmp(c, "loop", max(int(args-c), 4))) + { + if(eanims.length()) eanims.last().flags |= IQM_LOOP; + } + else if(!strncmp(c, "comment", max(int(args-c), 7))) + { + if(commentdata.length()) break; + for(;;) + { + int len = f->read(commentdata.reserve(1024), 1024); + commentdata.advance(len); + if(len < 1024) { commentdata.add('\0'); break; } + } + } + } + + return true; +} + +bool loadiqe(const char *filename, const filespec &spec) +{ + int numfiles = 0; + while(filename) + { + const char *endfile = strchr(filename, ','); + const char *file = endfile ? newstring(filename, endfile-filename) : filename; + stream *f = openfile(file, "r"); + if(f) + { + resetimporter(numfiles > 0); + if(parseiqe(f)) numfiles++; + delete f; + } + + if(!endfile) break; + + delete[] file; + filename = endfile+1; + } + + if(!numfiles) return false; + + if(eanims.length() == 1) + { + eanim &a = eanims.last(); + if(spec.name) a.name = spec.name; + if(spec.fps > 0) a.fps = spec.fps; + a.flags |= spec.flags; + if(spec.endframe >= 0) a.endframe = a.startframe + spec.endframe; + else if(spec.endframe < -1) a.endframe = a.startframe + max(eframes.length() - a.startframe + spec.endframe + 1, 0); + a.startframe += spec.startframe; + } + + if(emeshes.length()) + { + smoothverts(); + makemeshes(); + } + makeanims(); + + return true; +} + +struct md5weight +{ + int joint; + double bias; + Vec3 pos; +}; + +struct md5vert +{ + double u, v; + uint start, count; +}; + +struct md5hierarchy +{ + const char *name; + int parent, flags, start; +}; + +vector weightinfo; +vector vertinfo; + +void buildmd5verts() +{ + loopv(vertinfo) + { + md5vert &v = vertinfo[i]; + Vec3 pos(0, 0, 0); + loopk(v.count) + { + md5weight &w = weightinfo[v.start+k]; + transform &j = eposes[w.joint]; + pos += (j.orient.transform(w.pos) + j.pos)*w.bias; + } + epositions.add(Vec4(pos, 1)); + etexcoords.add(Vec4(v.u, v.v, 0, 0)); + + blendcombo &c = eblends.add(); + loopj(v.count) + { + md5weight &w = weightinfo[v.start+j]; + c.addweight(w.bias, w.joint); + } + c.finalize(); + } +} + +void parsemd5mesh(stream *f, char *buf, size_t bufsize) +{ + md5weight w; + md5vert v; + etriangle t(0, 0, 0, 0); + int index, firsttri = etriangles.length(), firstvert = vertinfo.length(), firstweight = weightinfo.length(), numtris = 0, numverts = 0, numweights = 0; + emesh m; + + while(f->getline(buf, bufsize) && buf[0]!='}') + { + if(strstr(buf, "// meshes:")) + { + char *start = strchr(buf, ':')+1; + if(*start==' ') start++; + char *end = start + strlen(start)-1; + while(end >= start && isspace(*end)) end--; + end[1] = '\0'; + m.name = getnamekey(start); + } + else if(strstr(buf, "shader")) + { + char *start = strchr(buf, '"'), *end = start ? strchr(start+1, '"') : NULL; + if(start && end) + { + *end = '\0'; + m.material = getnamekey(start+1); + } + } + else if(sscanf(buf, " numverts %d", &numverts)==1) + { + numverts = max(numverts, 0); + if(numverts) + { + vertinfo.reserve(numverts); + vertinfo.advance(numverts); + } + } + else if(sscanf(buf, " numtris %d", &numtris)==1) + { + numtris = max(numtris, 0); + if(numtris) + { + etriangles.reserve(numtris); + etriangles.advance(numtris); + } + m.firsttri = firsttri; + } + else if(sscanf(buf, " numweights %d", &numweights)==1) + { + numweights = max(numweights, 0); + if(numweights) + { + weightinfo.reserve(numweights); + weightinfo.advance(numweights); + } + } + else if(sscanf(buf, " vert %d ( %lf %lf ) %u %u", &index, &v.u, &v.v, &v.start, &v.count)==5) + { + if(index>=0 && index=0 && index=0 && indexgetline(buf, sizeof(buf))) + { + int tmp; + if(sscanf(buf, " MD5Version %d", &tmp)==1) + { + if(tmp!=10) { delete f; return false; } + } + else if(sscanf(buf, " numJoints %d", &tmp)==1) + { + if(tmp<1 || (joints.length() && tmp != joints.length())) { delete f; return false; } + } + else if(sscanf(buf, " numMeshes %d", &tmp)==1) + { + if(tmp<1) { delete f; return false; } + } + else if(strstr(buf, "joints {")) + { + ejoint j; + transform p; + while(f->getline(buf, sizeof(buf)) && buf[0]!='}') + { + char *c = buf; + j.name = getnamekey(trimname(c)); + if(sscanf(c, " %d ( %lf %lf %lf ) ( %lf %lf %lf )", + &j.parent, &p.pos.x, &p.pos.y, &p.pos.z, + &p.orient.x, &p.orient.y, &p.orient.z)==7) + { + p.orient.restorew(); + p.scale = Vec3(1, 1, 1); + ejoints.add(j); + eposes.add(p); + } + } + } + else if(strstr(buf, "mesh {")) + { + parsemd5mesh(f, buf, sizeof(buf)); + } + } + + delete f; + + buildmd5verts(); + smoothverts(); + makemeshes(); + makerelativebasepose(); + makeanims(); + + return true; +} + +bool loadmd5anim(const char *filename, const filespec &spec) +{ + stream *f = openfile(filename, "r"); + if(!f) return false; + + resetimporter(); + + vector hierarchy; + vector baseframe; + int animdatalen = 0, animframes = 0, frameoffset = eposes.length(), firstframe = eframes.length(); + double framerate = 0; + double *animdata = NULL; + char buf[512]; + while(f->getline(buf, sizeof(buf))) + { + int tmp; + if(sscanf(buf, " MD5Version %d", &tmp)==1) + { + if(tmp!=10) { delete f; return false; } + } + else if(sscanf(buf, " numJoints %d", &tmp)==1) + { + if(tmp<1) { delete f; return false; } + } + else if(sscanf(buf, " numFrames %d", &animframes)==1) + { + if(animframes<1) { delete f; return false; } + } + else if(sscanf(buf, " frameRate %lf", &framerate)==1); + else if(sscanf(buf, " numAnimatedComponents %d", &animdatalen)==1) + { + if(animdatalen>0) animdata = new double[animdatalen]; + } + else if(strstr(buf, "bounds {")) + { + while(f->getline(buf, sizeof(buf)) && buf[0]!='}'); + } + else if(strstr(buf, "hierarchy {")) + { + while(f->getline(buf, sizeof(buf)) && buf[0]!='}') + { + char *c = buf; + md5hierarchy h; + h.name = getnamekey(trimname(c)); + if(sscanf(c, " %d %d %d", &h.parent, &h.flags, &h.start)==3) + hierarchy.add(h); + } + if(hierarchy.empty() || (poses.length() && hierarchy.length()!=poses.length())) { delete f; return false; } + loopv(hierarchy) + { + md5hierarchy &h = hierarchy[i]; + ejoint &j = ejoints.add(); + j.name = h.name; + j.parent = h.parent; + } + } + else if(strstr(buf, "baseframe {")) + { + while(f->getline(buf, sizeof(buf)) && buf[0]!='}') + { + transform j; + if(sscanf(buf, " ( %lf %lf %lf ) ( %lf %lf %lf )", &j.pos.x, &j.pos.y, &j.pos.z, &j.orient.x, &j.orient.y, &j.orient.z)==6) + { + j.orient.restorew(); + j.scale = Vec3(1, 1, 1); + baseframe.add(j); + } + } + if(baseframe.length()!=hierarchy.length()) { delete f; return false; } + eposes.reserve(animframes*baseframe.length()); + eposes.advance(animframes*baseframe.length()); + } + else if(sscanf(buf, " frame %d", &tmp)==1) + { + for(int numdata = 0; f->getline(buf, sizeof(buf)) && buf[0]!='}';) + { + for(char *src = buf, *next = src; numdata < animdatalen; numdata++, src = next) + { + animdata[numdata] = strtod(src, &next); + if(next <= src) break; + } + } + int offset = frameoffset + tmp*baseframe.length(); + eframes.add(offset); + loopv(baseframe) + { + md5hierarchy &h = hierarchy[i]; + transform j = baseframe[i]; + if(h.start < animdatalen && h.flags) + { + double *jdata = &animdata[h.start]; + if(h.flags&1) j.pos.x = *jdata++; + if(h.flags&2) j.pos.y = *jdata++; + if(h.flags&4) j.pos.z = *jdata++; + if(h.flags&8) j.orient.x = *jdata++; + if(h.flags&16) j.orient.y = *jdata++; + if(h.flags&32) j.orient.z = *jdata++; + j.orient.restorew(); + } + eposes[offset + i] = j; + } + } + } + + if(animdata) delete[] animdata; + delete f; + + eanim &a = eanims.add(); + if(spec.name) a.name = getnamekey(spec.name); + else + { + string name; + copystring(name, filename); + char *end = strrchr(name, '.'); + if(end) *end = '\0'; + a.name = getnamekey(name); + } + a.startframe = firstframe; + a.fps = spec.fps > 0 ? spec.fps : framerate; + a.flags = spec.flags; + if(spec.endframe >= 0) a.endframe = a.startframe + spec.endframe; + else if(spec.endframe < -1) a.endframe = a.startframe + max(eframes.length() - a.startframe + spec.endframe + 1, 0); + a.startframe += spec.startframe; + + makeanims(); + + return true; +} + +namespace smd +{ + +bool skipcomment(char *&curbuf) +{ + while(*curbuf && isspace(*curbuf)) curbuf++; + switch(*curbuf) + { + case '#': + case ';': + case '\r': + case '\n': + case '\0': + return true; + case '/': + if(curbuf[1] == '/') return true; + break; + } + return false; +} + +void skipsection(stream *f, char *buf, size_t bufsize) +{ + while(f->getline(buf, bufsize)) + { + char *curbuf = buf; + if(skipcomment(curbuf)) continue; + if(!strncmp(curbuf, "end", 3)) break; + } +} + +void readname(char *&curbuf, char *name, size_t namesize) +{ + char *curname = name; + while(*curbuf && isspace(*curbuf)) curbuf++; + bool allowspace = false; + if(*curbuf == '"') { curbuf++; allowspace = true; } + while(*curbuf) + { + char c = *curbuf++; + if(c == '"') break; + if(isspace(c) && !allowspace) break; + if(curname < &name[namesize-1]) *curname++ = c; + } + *curname = '\0'; +} + +void readnodes(stream *f, char *buf, size_t bufsize) +{ + while(f->getline(buf, bufsize)) + { + char *curbuf = buf; + if(skipcomment(curbuf)) continue; + if(!strncmp(curbuf, "end", 3)) break; + int id = strtol(curbuf, &curbuf, 10); + string name; + readname(curbuf, name, sizeof(name)); + int parent = strtol(curbuf, &curbuf, 10); + if(id < 0 || id > 255 || parent > 255 || !name[0] || (ejoints.inrange(id) && ejoints[id].name)) continue; + ejoint j; + j.name = getnamekey(name); + j.parent = parent; + while(ejoints.length() <= id) ejoints.add(); + ejoints[id] = j; + } +} + +void readmaterial(char *&curbuf, char *mat, char *name, size_t matsize) +{ + char *curmat = mat; + while(*curbuf && isspace(*curbuf)) curbuf++; + char *ext = NULL; + while(*curbuf) + { + char c = *curbuf++; + if(isspace(c)) break; + if(c == '.' && !ext) ext = curmat; + if(curmat < &mat[matsize-1]) *curmat++ = c; + } + *curmat = '\0'; + if(!ext) ext = curmat; + memcpy(name, mat, ext - mat); + name[ext - mat] = '\0'; +} + +void readskeleton(stream *f, char *buf, size_t bufsize) +{ + int frame = -1, firstpose = -1; + while(f->getline(buf, bufsize)) + { + char *curbuf = buf; + if(skipcomment(curbuf)) continue; + if(sscanf(curbuf, " time %d", &frame) == 1) continue; + else if(!strncmp(curbuf, "end", 3)) break; + else if(frame != 0) continue; + int bone; + Vec3 pos, rot; + if(sscanf(curbuf, " %d %lf %lf %lf %lf %lf %lf", &bone, &pos.x, &pos.y, &pos.z, &rot.x, &rot.y, &rot.z) != 7) + continue; + if(!ejoints.inrange(bone)) + continue; + if(firstpose < 0) + { + firstpose = eposes.length(); + eposes.reserve(ejoints.length()); + eposes.advance(ejoints.length()); + } + transform p(pos, Quat::fromangles(rot)); + eposes[firstpose + bone] = p; + } +} + +void readtriangles(stream *f, char *buf, size_t bufsize) +{ + emesh m; + while(f->getline(buf, bufsize)) + { + char *curbuf = buf; + if(skipcomment(curbuf)) continue; + if(!strncmp(curbuf, "end", 3)) break; + string name, material; + readmaterial(curbuf, material, name, sizeof(material)); + if(!m.name || strcmp(m.name, name)) + { + if(m.name && etriangles.length() > m.firsttri) emeshes.add(m); + m.name = getnamekey(name); + m.material = getnamekey(material); + m.firsttri = etriangles.length(); + } + Vec4 *pos = epositions.reserve(3) + 2, *tc = etexcoords.reserve(3) + 2; + Vec3 *norm = enormals.reserve(3) + 2; + blendcombo *c = eblends.reserve(3) + 2; + loopi(3) + { + char *curbuf; + do + { + if(!f->getline(buf, bufsize)) goto endsection; + curbuf = buf; + } while(skipcomment(curbuf)); + int parent = -1, numlinks = 0, len = 0; + if(sscanf(curbuf, " %d %lf %lf %lf %lf %lf %lf %lf %lf %d%n", &parent, &pos->x, &pos->y, &pos->z, &norm->x, &norm->y, &norm->z, &tc->x, &tc->y, &numlinks, &len) < 9) goto endsection; + curbuf += len; + pos->w = 1; + tc->y = 1 - tc->y; + tc->z = tc->w = 0; + c->reset(); + double pweight = 0, tweight = 0; + for(; numlinks > 0; numlinks--) + { + int bone = -1, len = 0; + double weight = 0; + if(sscanf(curbuf, " %d %lf%n", &bone, &weight, &len) < 2) break; + curbuf += len; + tweight += weight; + if(bone == parent) pweight += weight; + else c->addweight(weight, bone); + } + if(tweight < 1) pweight += 1 - tweight; + if(pweight > 0) c->addweight(pweight, parent); + c->finalize(); + --pos; + --tc; + --norm; + --c; + } + etriangle &t = etriangles.add(); + loopi(3) t.vert[i] = epositions.length() + i; + t.smoothgroup = 0; + epositions.advance(3); + enormals.advance(3); + etexcoords.advance(3); + eblends.advance(3); + } +endsection: + if(m.name && etriangles.length () > m.firsttri) emeshes.add(m); +} + +int readframes(stream *f, char *buf, size_t bufsize) +{ + int frame = -1, numframes = 0, lastbone = ejoints.length(), frameoffset = eposes.length(); + while(f->getline(buf, bufsize)) + { + char *curbuf = buf; + if(skipcomment(curbuf)) continue; + int nextframe = -1; + if(sscanf(curbuf, " time %d", &nextframe) == 1) + { + for(; lastbone < ejoints.length(); lastbone++) eposes[frameoffset + frame*ejoints.length() + lastbone] = eposes[frameoffset + lastbone]; + if(nextframe >= numframes) + { + eposes.reserve(ejoints.length() * (nextframe + 1 - numframes)); + loopi(nextframe - numframes) + { + eframes.add(eposes.length()); + eposes.put(&eposes[frameoffset], ejoints.length()); + } + eframes.add(eposes.length()); + eposes.advance(ejoints.length()); + numframes = nextframe + 1; + } + frame = nextframe; + lastbone = 0; + continue; + } + else if(!strncmp(curbuf, "end", 3)) break; + int bone; + Vec3 pos, rot; + if(sscanf(curbuf, " %d %lf %lf %lf %lf %lf %lf", &bone, &pos.x, &pos.y, &pos.z, &rot.x, &rot.y, &rot.z) != 7) + continue; + if(bone < 0 || bone >= ejoints.length()) + continue; + for(; lastbone < bone; lastbone++) eposes[frameoffset + frame*ejoints.length() + lastbone] = eposes[frameoffset + lastbone]; + lastbone++; + transform p(pos, Quat::fromangles(rot)); + eposes[frameoffset + frame*ejoints.length() + bone] = p; + } + for(; lastbone < ejoints.length(); lastbone++) eposes[frameoffset + frame*ejoints.length() + lastbone] = eposes[frameoffset + lastbone]; + return numframes; +} + +} + +bool loadsmd(const char *filename, const filespec &spec) +{ + stream *f = openfile(filename, "r"); + if(!f) return false; + + resetimporter(); + + char buf[512]; + int version = -1, firstframe = eframes.length(); + bool hastriangles = false; + while(f->getline(buf, sizeof(buf))) + { + char *curbuf = buf; + if(smd::skipcomment(curbuf)) continue; + if(sscanf(curbuf, " version %d", &version) == 1) + { + if(version != 1) { delete f; return false; } + } + else if(!strncmp(curbuf, "nodes", 5)) + smd::readnodes(f, buf, sizeof(buf)); + else if(!strncmp(curbuf, "triangles", 9)) + { + smd::readtriangles(f, buf, sizeof(buf)); + hastriangles = true; + } + else if(!strncmp(curbuf, "skeleton", 8)) + smd::readframes(f, buf, sizeof(buf)); + else if(!strncmp(curbuf, "vertexanimation", 15)) + smd::skipsection(f, buf, sizeof(buf)); + } + + delete f; + + if(poses.length() && ejoints.length() && poses.length() != ejoints.length()) return false; + + if(hastriangles) + { + eframes.setsize(firstframe); + smoothverts(); + makemeshes(); + makeanims(); + } + else + { + eanim &a = eanims.add(); + if(spec.name) a.name = getnamekey(spec.name); + else + { + string name; + copystring(name, filename); + char *end = strrchr(name, '.'); + if(end) *end = '\0'; + a.name = getnamekey(name); + } + a.startframe = firstframe; + a.fps = spec.fps; + a.flags = spec.flags; + if(spec.endframe >= 0) a.endframe = a.startframe + spec.endframe; + else if(spec.endframe < -1) a.endframe = a.startframe + max(eframes.length() - a.startframe + spec.endframe + 1, 0); + a.startframe += spec.startframe; + makeanims(); + } + + return true; +} + +struct objvert { int attrib[3]; objvert() { attrib[0] = attrib[1] = attrib[2] = -1; } }; +static inline uint hthash(const objvert &k) { return k.attrib[0] ^ k.attrib[1] ^ k.attrib[2]; }; +static inline bool htcmp(const objvert &x, const objvert &y) { return x.attrib[0] == y.attrib[0] && x.attrib[1] == y.attrib[1] && x.attrib[2] == y.attrib[2]; } + +void parseobjvert(char *s, vector &out) +{ + Vec3 &v = out.add(Vec3(0, 0, 0)); + while(isalpha(*s)) s++; + loopi(3) + { + v[i] = strtod(s, &s); + while(isspace(*s)) s++; + if(!*s) break; + } +} + +bool parseobj(stream *f) +{ + vector attrib[3]; + char buf[512]; + hashtable verthash; + string meshname = "", matname = ""; + int curmesh = -1, smooth = 0; + + while(f->getline(buf, sizeof(buf))) + { + char *c = buf; + while(isspace(*c)) c++; + switch(*c) + { + case '#': continue; + case 'v': + if(isspace(c[1])) parseobjvert(c, attrib[0]); + else if(c[1]=='t') parseobjvert(c, attrib[1]); + else if(c[1]=='n') parseobjvert(c, attrib[2]); + break; + case 'g': + { + while(isalpha(*c)) c++; + while(isspace(*c)) c++; + char *name = c; + size_t namelen = strlen(name); + while(namelen > 0 && isspace(name[namelen-1])) namelen--; + copystring(meshname, name, min(namelen+1, sizeof(meshname))); + curmesh = -1; + break; + } + case 'u': + { + if(!strncmp(c, "usemtl", 6)) continue; + while(isalpha(*c)) c++; + while(isspace(*c)) c++; + char *name = c; + size_t namelen = strlen(name); + while(namelen > 0 && isspace(name[namelen-1])) namelen--; + copystring(matname, name, min(namelen+1, sizeof(matname))); + curmesh = -1; + break; + } + case 's': + { + if(!isspace(c[1])) continue; + while(isalpha(*c)) c++; + while(isspace(*c)) c++; + int key = strtol(c, &c, 10); + smooth = -1; + loopv(esmoothgroups) if(esmoothgroups[i].key == key) { smooth = i; break; } + if(smooth < 0) + { + smooth = esmoothgroups.length(); + esmoothgroups.add().key = key; + } + break; + } + case 'f': + { + if(curmesh < 0) + { + emesh m; + m.name = getnamekey(meshname); + m.material = getnamekey(matname); + m.firsttri = etriangles.length(); + curmesh = emeshes.length(); + emeshes.add(m); + verthash.clear(); + } + int v0 = -1, v1 = -1; + while(isalpha(*c)) c++; + for(;;) + { + while(isspace(*c)) c++; + if(!*c) break; + objvert vkey; + loopi(3) + { + vkey.attrib[i] = strtol(c, &c, 10); + if(vkey.attrib[i] < 0) vkey.attrib[i] = attrib[i].length() + vkey.attrib[i]; + else vkey.attrib[i]--; + if(!attrib[i].inrange(vkey.attrib[i])) vkey.attrib[i] = -1; + if(*c!='/') break; + c++; + } + int *index = verthash.access(vkey); + if(!index) + { + index = &verthash[vkey]; + *index = epositions.length(); + epositions.add(Vec4(vkey.attrib[0] < 0 ? Vec3(0, 0, 0) : attrib[0][vkey.attrib[0]].zxy(), 1)); + if(vkey.attrib[2] >= 0) enormals.add(attrib[2][vkey.attrib[2]].zxy()); + etexcoords.add(vkey.attrib[1] < 0 ? Vec4(0, 0, 0, 0) : Vec4(attrib[1][vkey.attrib[1]].x, 1-attrib[1][vkey.attrib[1]].y, 0, 0)); + } + if(v0 < 0) v0 = *index; + else if(v1 < 0) v1 = *index; + else + { + etriangles.add(etriangle(*index, v1, v0, smooth)); + v1 = *index; + } + } + break; + } + } + } + + return true; +} + +bool loadobj(const char *filename, const filespec &spec) +{ + stream *f = openfile(filename, "r"); + if(!f) return false; + + int numfiles = 0; + while(filename) + { + const char *endfile = strchr(filename, ','); + const char *file = endfile ? newstring(filename, endfile-filename) : filename; + stream *f = openfile(file, "r"); + if(f) + { + if(resetimporter(numfiles > 0)) + { + esmoothgroups[0].key = 0; + } + if(parseobj(f)) numfiles++; + delete f; + } + + if(!endfile) break; + + delete[] file; + filename = endfile+1; + } + + if(!numfiles) return false; + + smoothverts(); + makemeshes(); + + return true; +} + +namespace fbx +{ + struct token + { + enum { NONE, PROP, NUMBER, STRING, ARRAY, BEGIN, END, LINE }; + int type; + union + { + char s[64]; + double f; + int i; + }; + + token() : type(NONE) {} + }; + + struct tokenizer + { + stream *f; + char *pos; + char buf[4096]; + + void reset(stream *s) { f = s; pos = buf; buf[0] = '\0'; } + + bool parse(token &t) + { + for(;;) + { + while(isspace(*pos)) pos++; + if(!*pos) + { + bool more = f->getline(buf, sizeof(buf)); + pos = buf; + if(!more) { buf[0] = '\0'; return false; } + t.type = token::LINE; + return true; + } + size_t slen = 0; + switch(*pos) + { + case ',': + pos++; + continue; + case ';': + pos++; + while(*pos) pos++; + continue; + case '{': + pos++; + t.type = token::BEGIN; + return true; + case '}': + pos++; + t.type = token::END; + return true; + case '"': + pos++; + for(; *pos && *pos != '"'; pos++) if(slen < sizeof(t.s)-1) t.s[slen++] = *pos; + t.s[slen] = '\0'; + if(*pos == '"') pos++; + t.type = token::STRING; + return true; + case '0': case '1': case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9': case '.': case '-': case '+': + t.f = strtod(pos, &pos); + t.type = token::NUMBER; + return true; + case '*': + pos++; + t.i = int(strtol(pos, &pos, 10)); + t.type = token::ARRAY; + return true; + default: + for(; *pos && !isspace(*pos) && *pos != ':'; pos++) if(slen < sizeof(t.s)-1) t.s[slen++] = *pos; + t.s[slen] = '\0'; + if(*pos == ':') pos++; + t.type = token::PROP; + return true; + } + } + return false; + } + + + bool skipprop() + { + token t; + while(parse(t)) switch(t.type) + { + case token::LINE: + return true; + + case token::BEGIN: + while(parse(t)) switch(t.type) + { + case token::PROP: + skipprop(); + break; + case token::END: + return true; + } + return true; + + case token::END: + return false; + } + return false; + } + + bool findbegin() + { + token t; + while(parse(t)) switch(t.type) + { + case token::LINE: return false; + case token::BEGIN: return true; + } + return false; + } + + template + bool readarray(vector &vals, int size = 0) + { + if(!findbegin()) return false; + + if(size > 0) vals.reserve(min(size, 1<<16)); + token t; + while(parse(t)) switch(t.type) + { + case token::NUMBER: if(size <= 0 || vals.length() < size) vals.add(T(t.f)); break; + case token::END: return true; + } + return false; + } + }; + + struct node + { + enum { GEOM = 0, MODEL, MATERIAL, LIMB, CLUSTER, SKIN, CURVE, XFORM, ANIMLAYER, ANIMSTACK }; + enum { TRANS = 0, ROT, SCALE }; + + virtual int type() = 0; + virtual ~node() {} + + virtual void process() {} + virtual void finish() {} + }; + + struct namednode : node + { + string name; + + namednode() { name[0] = 0; } + }; + + struct geomnode; + struct modelnode; + struct materialnode; + struct limbnode; + struct clusternode; + struct skinnode; + struct curvenode; + struct xformnode; + struct animlayernode; + struct animstacknode; + + struct geomnode : node + { + int mesh, firstvert, lastvert, numverts; + modelnode *model; + vector remap; + vector blends; + + geomnode() : mesh(-1), firstvert(-1), lastvert(-1), numverts(0), model(NULL) {} + int type() { return GEOM; } + + void process(); + void finish(); + }; + + struct modelnode : namednode + { + materialnode *material; + Vec3 geomtrans, prerot, lcltrans, lclrot, lclscale; + + modelnode() : material(NULL), geomtrans(0, 0, 0), prerot(0, 0, 0), lcltrans(0, 0, 0), lclrot(0, 0, 0), lclscale(1, 1, 1) {} + + int type() { return MODEL; } + }; + + struct materialnode : namednode + { + int type() { return MATERIAL; } + }; + + struct limbnode : namednode + { + limbnode *parent; + int index; + Vec3 trans, rot, prerot, scale; + clusternode *cluster; + + limbnode() : parent(NULL), index(-1), trans(0, 0, 0), rot(0, 0, 0), prerot(0, 0, 0), scale(1, 1, 1), cluster(NULL) {} + + int type() { return LIMB; } + + void process() + { + if(parent) ejoints[index].parent = parent->index; + } + + void finish(); + }; + + struct clusternode : node + { + skinnode *skin; + limbnode *limb; + vector indexes; + vector weights, transform, transformlink; + + clusternode() : skin(NULL), limb(NULL) {} + + int type() { return CLUSTER; } + + void process(); + }; + + struct skinnode : node + { + geomnode *geom; + + skinnode() : geom(NULL) {} + + int type() { return SKIN; } + }; + + struct curvenode : node + { + vector vals; + + int type() { return CURVE; } + + bool varies() const + { + loopv(vals) if(vals[i] != vals[0]) return true; + return false; + } + }; + + struct xformnode : node + { + limbnode *limb; + int xform; + Vec3 val; + curvenode *curves[3]; + + xformnode() : limb(NULL), xform(-1), val(0, 0, 0) { curves[0] = curves[1] = curves[2] = NULL; } + + void setcurve(int i, curvenode *c) + { + if(c->varies()) curves[i] = c; + else if(c->vals.length()) val[i] = c->vals[0]; + } + + int numframes() + { + int n = 0; + loopi(3) if(curves[i]) { if(!n) n = curves[i]->vals.length(); else if(n != curves[i]->vals.length()) n = -1; } + return n; + } + + int type() { return XFORM; } + }; + + struct animlayernode : namednode + { + vector xforms; + + int numframes() + { + int n = 0; + loopv(xforms) + { + int xn = xforms[i]->numframes(); + if(xn) { if(!n) n = xn; else if(n != xn) n = -1; } + } + return n; + } + + int type() { return ANIMLAYER; } + }; + + struct animstacknode : namednode + { + vector layers; + double secs; + + animstacknode() : secs(0) {} + + int numframes() + { + int n; + loopv(layers) + { + int ln = layers[i]->numframes(); + if(ln) { if(!n) n = ln; else if(n != ln) n = -1; } + } + return n; + } + + int type() { return ANIMSTACK; } + + void process(); + }; + + hashtable nodes; + tokenizer p; + + void parsegeometry() + { + token t; + if(!p.parse(t)) return; + if(t.type != token::NUMBER) { p.skipprop(); return; } + double id = t.f; + if(!p.findbegin()) return; + + vector verts, norms, uvs, colors; + vector polyidxs, uvidxs, coloridxs; + while(p.parse(t)) switch(t.type) + { + case token::END: + goto endgeometry; + + case token::PROP: + if(!strcmp(t.s, "Vertices")) p.readarray(verts); + else if(!strcmp(t.s, "PolygonVertexIndex")) p.readarray(polyidxs); + else if(!strcmp(t.s, "LayerElementNormal")) + { + if(p.findbegin()) + { + while(p.parse(t)) switch(t.type) + { + case token::PROP: + if(!strcmp(t.s, "Normals")) p.readarray(norms); + else p.skipprop(); + break; + case token::END: + goto endnormals; + } + endnormals:; + } + } + else if(!strcmp(t.s, "LayerElementUV")) + { + if(p.findbegin()) + { + while(p.parse(t)) switch(t.type) + { + case token::PROP: + if(!strcmp(t.s, "UV")) p.readarray(uvs); + else if(!strcmp(t.s, "UVIndex")) p.readarray(uvidxs); + else p.skipprop(); + break; + case token::END: + goto enduvs; + } + enduvs:; + } + } + else if(!strcmp(t.s, "LayerElementColor")) + { + if(p.findbegin()) + { + while(p.parse(t)) switch(t.type) + { + case token::PROP: + if(!strcmp(t.s, "Colors")) p.readarray(colors); + else if(!strcmp(t.s, "ColorIndex")) p.readarray(coloridxs); + else p.skipprop(); + break; + case token::END: + goto endcolors; + } + endcolors:; + } + } + else p.skipprop(); + break; + } + endgeometry: + int poslen = epositions.length(); + geomnode *n = new geomnode; + nodes[id] = n; + if(polyidxs.empty()) for(int i = 0; i + 2 < verts.length(); i += 3) epositions.add(Vec4(verts[i], verts[i+1], verts[i+2], 1)); + else + { + loopv(polyidxs) + { + int idx = polyidxs[i]; + if(idx < 0) idx = -(idx+1); + n->remap.add(idx); + idx *= 3; + epositions.add(Vec4(verts[idx], verts[idx+1], verts[idx+2], 1)); + } + } + loopi(epositions.length() - poslen) eblends.add(); + + emesh m; + m.name = getnamekey(""); + m.material = getnamekey(""); + m.firsttri = etriangles.length(); + for(int i = poslen; i + 2 < epositions.length(); i += 3) + etriangles.add(etriangle(i+1, i, i+2)); + emeshes.add(m); + + n->mesh = emeshes.length()-1; + n->firstvert = poslen; + n->lastvert = epositions.length(); + n->numverts = verts.length()/3; + + if(uvidxs.empty()) + { + if(polyidxs.length() && uvs.length()/2 == verts.length()/3) loopv(polyidxs) + { + int idx = polyidxs[i]; + if(idx < 0) idx = -(idx+1); + idx *= 2; + etexcoords.add(Vec4(uvs[idx], 1-uvs[idx+1], 0, 0)); + } + else for(int i = 0; i + 1 < uvs.length(); i += 2) etexcoords.add(Vec4(uvs[i], 1-uvs[i+1], 0, 0)); + } + else loopv(uvidxs) + { + int idx = 2*uvidxs[i]; + etexcoords.add(Vec4(uvs[idx], 1-uvs[idx+1], 0, 0)); + } + + if(polyidxs.length() && norms.length() == verts.length()) loopv(polyidxs) + { + int idx = polyidxs[i]; + if(idx < 0) idx = -(idx+1); + idx *= 3; + enormals.add(Vec3(norms[idx], norms[idx+1], norms[idx+2])); + } + else for(int i = 0; i + 2 < norms.length(); i += 3) enormals.add(Vec3(norms[i], norms[i+1], norms[i+2])); + + if(coloridxs.empty()) + { + if(polyidxs.length() && colors.length()/4 == verts.length()/3) loopv(polyidxs) + { + int idx = polyidxs[i]; + if(idx < 0) idx = -(idx+1); + idx *= 4; + ecolors.add(Vec4(colors[idx], colors[idx+1], colors[idx+2], colors[idx+3])); + } + else for(int i = 0; i + 3 < colors.length(); i += 4) ecolors.add(Vec4(colors[i], colors[i+1], colors[i+2], colors[i+3])); + } + else loopv(coloridxs) + { + int idx = 4*coloridxs[i]; + ecolors.add(Vec4(colors[idx], colors[idx+1], colors[idx+2], colors[idx+3])); + } + } + + void parsemodel() + { + token id, name, type, t; + if(!p.parse(id) || !p.parse(name) || !p.parse(type)) return; + + if(id.type != token::NUMBER || type.type != token::STRING || name.type != token::STRING) { p.skipprop(); return; } + + char *str = name.s; + if(strstr(str, "Model::") == str) str += strlen("Model::"); + if(!strcmp(type.s, "Mesh")) + { + modelnode *n = new modelnode; + copystring(n->name, str); + nodes[id.f] = n; + + if(!p.findbegin()) return; + while(p.parse(t)) switch(t.type) + { + case token::END: return; + case token::PROP: + if(!strcmp(t.s, "Properties70")) + { + if(!p.findbegin()) return; + while(p.parse(t)) switch(t.type) + { + case token::END: goto endmeshprops; + case token::PROP: + if(!strcmp(t.s, "P")) + { + if(!p.parse(t)) return; + if(t.type == token::STRING) + { + if(!strcmp(t.s, "PreRotation")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->prerot[i] = t.f; } + } + else if(!strcmp(t.s, "GeometricTranslation")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->geomtrans[i] = t.f; } + } + else if(!strcmp(t.s, "Lcl Translation")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->lcltrans[i] = t.f; } + } + else if(!strcmp(t.s, "Lcl Rotation")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->lclrot[i] = t.f; } + } + else if(!strcmp(t.s, "Lcl Scaling")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->lclscale[i] = t.f; } + } + } + } + p.skipprop(); + break; + } + endmeshprops:; + } + p.skipprop(); + break; + } + } + else if(!strcmp(type.s, "LimbNode")) + { + limbnode *n = new limbnode; + copystring(n->name, str); + n->index = ejoints.length(); + nodes[id.f] = n; + + ejoint &j = ejoints.add(); + j.name = getnamekey(str); + j.parent = -1; + eposes.add(transform(Vec3(0, 0, 0), Quat(0, 0, 0, 1))); + + if(!p.findbegin()) return; + while(p.parse(t)) switch(t.type) + { + case token::END: + { + transform &x = eposes[n->index]; + x.pos = n->trans; + x.orient = Quat::fromdegrees(n->rot); + x.scale = n->scale; + } + return; + case token::PROP: + if(!strcmp(t.s, "Properties70")) + { + if(!p.findbegin()) return; + while(p.parse(t)) switch(t.type) + { + case token::END: goto endlimbprops; + case token::PROP: + if(!strcmp(t.s, "P")) + { + if(!p.parse(t)) return; + if(t.type == token::STRING) + { + if(!strcmp(t.s, "PreRotation")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->prerot[i] = t.f; } + } + else if(!strcmp(t.s, "Lcl Translation")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->trans[i] = t.f; } + } + else if(!strcmp(t.s, "Lcl Rotation")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->rot[i] = t.f; } + } + else if(!strcmp(t.s, "Lcl Scaling")) + { + loopi(3) if(!p.parse(t)) return; + loopi(3) { if(!p.parse(t)) return; if(t.type != token::NUMBER) break; n->scale[i] = t.f; } + } + } + } + p.skipprop(); + break; + } + endlimbprops:; + } + p.skipprop(); + break; + } + } + + p.skipprop(); + } + + void parsematerial() + { + token id, name; + if(!p.parse(id) || !p.parse(name)) return; + + if(id.type == token::NUMBER) + { + if(name.type == token::STRING) + { + char *str = name.s; + if(strstr(str, "Material::") == str) str += strlen("Material::"); + materialnode *n = new materialnode; + copystring(n->name, str); + nodes[id.f] = n; + } + } + + p.skipprop(); + } + + void parsedeformer() + { + token id, name, type, t; + if(!p.parse(id) || !p.parse(name) || !p.parse(type)) return; + if(id.type != token::NUMBER || type.type != token::STRING || name.type != token::STRING) + { + p.skipprop(); + return; + } + + if(!strcmp(type.s, "Skin")) + { + skinnode *n = new skinnode; + nodes[id.f] = n; + } + else if(!strcmp(type.s, "Cluster")) + { + if(!p.findbegin()) return; + + clusternode *n = new clusternode; + nodes[id.f] = n; + while(p.parse(t)) switch(t.type) + { + case token::END: return; + case token::PROP: + if(!strcmp(t.s, "Indexes")) p.readarray(n->indexes); + else if(!strcmp(t.s, "Weights")) p.readarray(n->weights); + else if(!strcmp(t.s, "Transform")) p.readarray(n->transform); + else if(!strcmp(t.s, "TransformLink")) p.readarray(n->transformlink); + else p.skipprop(); + break; + } + return; + } + + p.skipprop(); + } + + void parsecurve() + { + token id, t; + if(!p.parse(id)) return; + if(id.type != token::NUMBER) { p.skipprop(); return; } + curvenode *n = new curvenode; + nodes[id.f] = n; + while(p.parse(t)) switch(t.type) + { + case token::END: return; + case token::PROP: + if(!strcmp(t.s, "KeyValueFloat")) p.readarray(n->vals); + else p.skipprop(); + break; + } + } + + void parsexform() + { + token id, t; + if(!p.parse(id)) return; + if(id.type != token::NUMBER) { p.skipprop(); return; } + if(!p.findbegin()) return; + xformnode *n = new xformnode; + nodes[id.f] = n; + while(p.parse(t)) switch(t.type) + { + case token::END: return; + case token::PROP: + if(!strcmp(t.s, "Properties70")) + { + if(!p.findbegin()) return; + while(p.parse(t)) switch(t.type) + { + case token::END: goto endprops; + case token::PROP: + if(!strcmp(t.s, "P")) + { + token name, type, val; + if(!p.parse(name) || !p.parse(type) || !p.parse(t) || !p.parse(t)) return; + if(name.type == token::STRING) + { + if(!strcmp(name.s, "d|X")) { if(p.parse(val) && val.type == token::NUMBER) n->val.x = val.f; } + else if(!strcmp(name.s, "d|Y")) { if(p.parse(val) && val.type == token::NUMBER) n->val.y = val.f; } + else if(!strcmp(name.s, "d|Z")) { if(p.parse(val) && val.type == token::NUMBER) n->val.z = val.f; } + } + } + p.skipprop(); + break; + } + endprops:; + } + else p.skipprop(); + break; + } + } + + void parseanimlayer() + { + token id, name; + if(!p.parse(id) || !p.parse(name)) return; + if(id.type != token::NUMBER || name.type != token::STRING) { p.skipprop(); return; } + + char *str = name.s; + if(strstr(str, "AnimLayer::") == str) str += strlen("AnimLayer::"); + animlayernode *n = new animlayernode; + copystring(n->name, str); + nodes[id.f] = n; + + p.skipprop(); + } + + #define FBX_SEC 46186158000.0 + + void parseanimstack() + { + token id, name, t; + if(!p.parse(id) || !p.parse(name)) return; + if(id.type != token::NUMBER || name.type != token::STRING) { p.skipprop(); return; } + + char *str = name.s; + if(strstr(str, "AnimStack::") == str) str += strlen("AnimStack::"); + animstacknode *n = new animstacknode; + copystring(n->name, str); + nodes[id.f] = n; + + if(!p.findbegin()) return; + while(p.parse(t)) switch(t.type) + { + case token::END: return; + case token::PROP: + if(!strcmp(t.s, "Properties70")) + { + if(!p.findbegin()) return; + while(p.parse(t)) switch(t.type) + { + case token::END: goto endprops; + case token::PROP: + if(!strcmp(t.s, "P")) + { + token name, type, val; + if(!p.parse(name) || !p.parse(type) || !p.parse(t) || !p.parse(t)) return; + if(name.type == token::STRING) + { + if(!strcmp(name.s, "LocalStop")) { if(p.parse(val) && val.type == token::NUMBER) n->secs = val.f / FBX_SEC; } + } + } + p.skipprop(); + break; + } + endprops:; + } + else p.skipprop(); + break; + } + } + + void parseobjects() + { + if(!p.findbegin()) return; + + token t; + while(p.parse(t)) switch(t.type) + { + case token::END: + return; + + case token::PROP: + if(!strcmp(t.s, "Geometry")) parsegeometry(); + else if(!strcmp(t.s, "Model")) parsemodel(); + else if(!strcmp(t.s, "Material")) parsematerial(); + else if(!strcmp(t.s, "Deformer")) parsedeformer(); + else if(!strcmp(t.s, "AnimationCurve")) parsecurve(); + else if(!strcmp(t.s, "AnimationCurveNode")) parsexform(); + else if(!strcmp(t.s, "AnimationLayer")) parseanimlayer(); + else if(!strcmp(t.s, "AnimationStack")) parseanimstack(); + else p.skipprop(); + break; + } + } + + void parseconnection() + { + token type, from, to, prop; + if(!p.parse(type) || !p.parse(from) || !p.parse(to)) return; + if(type.type == token::STRING && from.type == token::NUMBER && to.type == token::NUMBER) + { + node *nf = nodes.find(from.f, NULL), *nt = nodes.find(to.f, NULL); + if(!strcmp(type.s, "OO") && nf && nt) + { + if(nf->type() == node::GEOM && nt->type() == node::MODEL) + ((geomnode *)nf)->model = (modelnode *)nt; + else if(nf->type() == node::MATERIAL && nt->type() == node::MODEL) + ((modelnode *)nt)->material = (materialnode *)nf; + else if(nf->type() == node::LIMB && nt->type() == node::LIMB) + ((limbnode *)nf)->parent = (limbnode *)nt; + else if(nf->type() == node::CLUSTER && nt->type() == node::SKIN) + ((clusternode *)nf)->skin = (skinnode *)nt; + else if(nf->type() == node::SKIN && nt->type() == node::GEOM) + ((skinnode *)nf)->geom = (geomnode *)nt; + else if(nf->type() == node::LIMB && nt->type() == node::CLUSTER) + { + ((clusternode *)nt)->limb = (limbnode *)nf; + ((limbnode *)nf)->cluster = (clusternode *)nt; + } + else if(nf->type() == node::ANIMLAYER && nt->type() == node::ANIMSTACK) + ((animstacknode *)nt)->layers.add((animlayernode *)nf); + else if(nf->type() == node::XFORM && nt->type() == node::ANIMLAYER) + ((animlayernode *)nt)->xforms.add((xformnode *)nf); + } + else if(!strcmp(type.s, "OP") && nf && nt && p.parse(prop) && prop.type == token::STRING) + { + if(nf->type() == node::CURVE && nt->type() == node::XFORM) + { + if(!strcmp(prop.s, "d|X")) ((xformnode *)nt)->setcurve(0, (curvenode *)nf); + else if(!strcmp(prop.s, "d|Y")) ((xformnode *)nt)->setcurve(1, (curvenode *)nf); + else if(!strcmp(prop.s, "d|Z")) ((xformnode *)nt)->setcurve(2, (curvenode *)nf); + } + else if(nf->type() == node::XFORM && nt->type() == node::LIMB) + { + ((xformnode *)nf)->limb = (limbnode *)nt; + if(!strcmp(prop.s, "Lcl Translation")) ((xformnode *)nf)->xform = xformnode::TRANS; + else if(!strcmp(prop.s, "Lcl Rotation")) ((xformnode *)nf)->xform = xformnode::ROT; + else if(!strcmp(prop.s, "Lcl Scaling")) ((xformnode *)nf)->xform = xformnode::SCALE; + } + } + } + p.skipprop(); + } + + void parseconnections() + { + if(!p.findbegin()) return; + + token t; + while(p.parse(t)) switch(t.type) + { + case token::END: + return; + + case token::PROP: + if(!strcmp(t.s, "C")) parseconnection(); + else p.skipprop(); + break; + } + } + + void geomnode::process() + { + if(model) + { + emeshes[mesh].name = getnamekey(model->name); + if(model->material) emeshes[mesh].material = getnamekey(model->material->name); + if(model->geomtrans != Vec3(0, 0, 0)) for(int i = firstvert; i < lastvert; i++) epositions[i] += model->geomtrans; + if(model->lclscale != Vec3(1, 1, 1)) + { + for(int i = firstvert; i < lastvert; i++) + { + epositions[i].setxyz(model->lclscale * Vec3(epositions[i])); + } + } + if(model->lclrot != Vec3(0, 0, 0)) + { + Quat lclquat = Quat::fromdegrees(model->lclrot); + for(int i = firstvert; i < lastvert; i++) + { + epositions[i].setxyz(lclquat.transform(Vec3(epositions[i]))); + enormals[i] = lclquat.transform(enormals[i]); + } + } + if(model->prerot != Vec3(0, 0, 0)) + { + Quat prequat = Quat::fromdegrees(model->prerot); + for(int i = firstvert; i < lastvert; i++) + { + epositions[i].setxyz(prequat.transform(Vec3(epositions[i]))); + enormals[i] = prequat.transform(enormals[i]); + } + } + if(model->lcltrans != Vec3(0, 0, 0)) for(int i = firstvert; i < lastvert; i++) epositions[i] += model->lcltrans; + } + } + + void clusternode::process() + { + if(!limb || limb->index > 255 || !skin || !skin->geom || indexes.length() != weights.length()) return; + geomnode *g = skin->geom; + if(g->blends.empty()) loopi(g->numverts) g->blends.add(); + loopv(indexes) + { + int idx = indexes[i]; + double weight = weights[i]; + g->blends[idx].addweight(weight, limb->index); + } + } + + void animstacknode::process() + { + if(layers.empty()) return; + animlayernode *l = layers[0]; + int numframes = l->numframes(); + if(numframes < 0) return; + + eanim &a = eanims.add(); + a.name = getnamekey(name); + a.startframe = eframes.length(); + a.fps = secs > 0 ? numframes/secs : 0; + + transform *poses = eposes.reserve(numframes*ejoints.length()); + loopj(numframes) + { + eframes.add(eposes.length()); + eposes.put(eposes.getbuf(), ejoints.length()); + } + loopv(l->xforms) + { + xformnode &x = *l->xforms[i]; + if(!x.limb) continue; + transform *dst = &poses[x.limb->index]; + loopj(numframes) + { + Vec3 val = x.val; + loopk(3) if(x.curves[k]) val[k] = x.curves[k]->vals[j]; + switch(x.xform) + { + case xformnode::TRANS: dst->pos = val; break; + case xformnode::ROT: dst->orient = Quat::fromdegrees(val); break; + case xformnode::SCALE: dst->scale = val; break; + } + dst += ejoints.length(); + } + } +#if 0 + loopv(eposes) + { + transform &t = eposes[i]; + Matrix3x3 m(t.orient, t.scale); + Vec3 mscale(Vec3(m.a.x, m.b.x, m.c.x).magnitude(), Vec3(m.a.y, m.b.y, m.c.y).magnitude(), Vec3(m.a.z, m.b.z, m.c.z).magnitude()); + if(m.determinant() < 0) mscale = -mscale; + m.a /= mscale; + m.b /= mscale; + m.c /= mscale; + Quat morient(m); if(morient.w > 0) morient.flip(); + t.orient = morient; + t.scale = mscale; + } +#endif + } + + void geomnode::finish() + { + if(blends.empty()) return; + + loopv(blends) blends[i].finalize(); + while(eblends.length() < lastvert) eblends.add(); + if(remap.length()) loopv(remap) eblends[firstvert + i] = blends[remap[i]]; + else loopv(blends) eblends[firstvert + i] = blends[i]; + } + + void limbnode::finish() + { + if(prerot == Vec3(0, 0, 0)) return; + Quat prequat = Quat::fromdegrees(prerot); + for(int i = index; i < eposes.length(); i += ejoints.length()) + eposes[i].orient = prequat * eposes[i].orient; + } + + bool checkversion(stream *f) + { + return f->getline(p.buf, sizeof(p.buf)) && strstr(p.buf, "FBX 7"); + } + + void parse(stream *f) + { + p.reset(f); + token t; + while(p.parse(t)) switch(t.type) + { + case token::PROP: + if(!strcmp(t.s, "Objects")) parseobjects(); + else if(!strcmp(t.s, "Connections")) parseconnections(); + else p.skipprop(); + break; + } + enumerate(nodes, double, id, node *, n, { (void)id; n->process(); }); + enumerate(nodes, double, id, node *, n, { (void)id; n->finish(); }); + enumerate(nodes, double, id, node *, n, { (void)id; delete n; }); + nodes.clear(); + } +} + +bool loadfbx(const char *filename, const filespec &spec) +{ + int numfiles = 0; + while(filename) + { + const char *endfile = strchr(filename, ','); + const char *file = endfile ? newstring(filename, endfile-filename) : filename; + stream *f = openfile(file, "r"); + if(f) + { + if(fbx::checkversion(f)) + { + resetimporter(numfiles > 0); + numfiles++; + fbx::parse(f); + } + delete f; + } + + if(!endfile) break; + + delete[] file; + filename = endfile+1; + } + + if(!numfiles) return false; + + if(poses.length() && ejoints.length() && poses.length() != ejoints.length()) return false; + + if(eanims.length() == 1) + { + eanim &a = eanims.last(); + if(spec.name) a.name = spec.name; + if(spec.fps > 0) a.fps = spec.fps; + a.flags |= spec.flags; + if(spec.endframe >= 0) a.endframe = a.startframe + spec.endframe; + else if(spec.endframe < -1) a.endframe = a.startframe + max(eframes.length() - a.startframe + spec.endframe + 1, 0); + a.startframe += spec.startframe; + } + + erotate = Quat(M_PI/2, Vec3(1, 0, 0)); + + if(emeshes.length()) + { + smoothverts(); + makemeshes(); + } + makeanims(); + + return true; +} + +int framesize = 0; +vector animdata; + +#define QUANTIZE(offset, base, scale) ushort(0.5f + (float(offset) - base) / scale) + +void calcanimdata() +{ + if(frames.length()) loopv(poses) + { + pose &j = poses[i]; + loopk(10) { j.offset[k] = 1e16f; j.scale[k] = -1e16f; } + } + loopv(frames) + { + pose &j = poses[i%poses.length()]; + transform &f = frames[i]; + loopk(3) + { + j.offset[k] = min(j.offset[k], float(f.pos[k])); + j.scale[k] = max(j.scale[k], float(f.pos[k])); + } + loopk(4) + { + j.offset[3+k] = min(j.offset[3+k], float(f.orient[k])); + j.scale[3+k] = max(j.scale[3+k], float(f.orient[k])); + } + loopk(3) + { + j.offset[7+k] = min(j.offset[7+k], float(f.scale[k])); + j.scale[7+k] = max(j.scale[7+k], float(f.scale[k])); + } + } + loopv(poses) + { + pose &j = poses[i]; + loopk(10) + { + j.scale[k] -= j.offset[k]; + if(j.scale[k] >= 1e-10f) { framesize++; j.scale[k] /= 0xFFFF; j.flags |= 1<= 0xFF : runlength || blocksize > 0xFF)) \ + { \ + animdata.add(0); \ + animdata.add(val); \ + blocksize = 1; \ + runlength = 0; \ + blocks++; \ + } \ + else if(animdata.last() == val) \ + { \ + animdata[animdata.length()-blocksize-1] += 0x10; \ + runlength++; \ + } \ + else \ + { \ + animdata[animdata.length()-blocksize-1]++; \ + animdata.add(val); \ + blocksize++; \ + } + loopv(joints) + { + joint &j = joints[i]; + loopk(3) if(j.flags & (0x01<write(&hdr, sizeof(hdr)); + + if(stringdata.length()) f->write(stringdata.getbuf(), stringdata.length()); + + loopv(meshes) + { + mesh &m = meshes[i]; + f->putlil(m.name); + f->putlil(m.material); + f->putlil(m.firstvert); + f->putlil(m.numverts); + f->putlil(m.firsttri); + f->putlil(m.numtris); + } + + loopv(varrays) + { + vertexarray &v = varrays[i]; + f->putlil(v.type); + f->putlil(v.flags); + f->putlil(v.format); + f->putlil(v.size); + f->putlil(voffset + v.offset); + } + + loopi(valign) f->putchar(0); + f->write(vdata.getbuf(), vdata.length()); + + loopv(triangles) + { + triangle &t = triangles[i]; + loopk(3) f->putlil(t.vert[k]); + } + + loopv(neighbors) + { + triangle &t = neighbors[i]; + loopk(3) f->putlil(t.vert[k]); + } + + loopv(joints) + { + joint &j = joints[i]; + f->putlil(j.name); + f->putlil(j.parent); + loopk(3) f->putlil(float(j.pos[k])); + loopk(4) f->putlil(float(j.orient[k])); + loopk(3) f->putlil(float(j.scale[k])); + } + + loopv(poses) + { + pose &p = poses[i]; + f->putlil(p.parent); + f->putlil(p.flags); + loopk(10) f->putlil(p.offset[k]); + loopk(10) f->putlil(p.scale[k]); + } + + loopv(anims) + { + anim &a = anims[i]; + f->putlil(a.name); + f->putlil(a.firstframe); + f->putlil(a.numframes); + f->putlil(a.fps); + f->putlil(a.flags); + } + + loopv(animdata) f->putlil(animdata[i]); + + loopv(bounds) + { + framebounds &b = bounds[i]; + loopk(3) f->putlil(float(b.bbmin[k])); + loopk(3) f->putlil(float(b.bbmax[k])); + f->putlil(float(b.xyradius)); + f->putlil(float(b.radius)); + } + + if(commentdata.length()) f->write(commentdata.getbuf(), commentdata.length()); + + delete f; + return true; +} + + +void help(bool exitstatus = EXIT_SUCCESS) +{ + fprintf(exitstatus != EXIT_SUCCESS ? stderr : stdout, +"Usage:\n" +"\n" +"./iqm [options] output.iqm mesh.iqe anim1.iqe ... animN.iqe\n" +"./iqm [options] output.iqm mesh.md5mesh anim1.md5anim ... animN.md5anim\n" +"./iqm [options] output.iqm mesh.smd anim1.smd ... animN.smd\n" +"./iqm [options] output.iqm mesh.fbx anim1.fbx ... animN.fbx\n" +"./iqm [options] output.iqm mesh.obj\n" +"\n" +"For certain formats, IQE, OBJ, and FBX, it is possible to combine multiple mesh\n" +"files of the exact same vertex layout and skeleton by supplying them as\n" +"\"mesh1.iqe,mesh2.iqe,mesh3.iqe\", that is, a comma-separated list of the mesh\n" +"files (with no spaces) in place of the usual mesh filename.\n" +"\n" +"Options can be any of the following command-line switches:\n" +"\n" +" -s N\n" +" --scale N\n" +" Sets the output scale to N (float).\n" +"\n" +" --meshtrans Z\n" +" --meshtrans X,Y,Z\n" +" Translates a mesh by X,Y,Z (floats). This does not affect the skeleton.\n" +"\n" +" -j\n" +" --forcejoints\n" +" Forces the exporting of joint information in animation files without\n" +" meshes.\n" +"\n" +"Each animation file can be preceded by any combination of the following command-\n" +"line switches:\n" +"\n" +" --name A\n" +" Sets the name of the animation to A.\n" +" --fps N\n" +" Sets the FPS of the animation to N (float).\n" +" --loop\n" +" Sets the loop flag for the animation.\n" +" --start N\n" +" Sets the first frame of the animation to N (integer).\n" +" --end N\n" +" Sets the last frame of the animation to N (integer).\n" +"\n" +"You can supply either a mesh file, animation files, or both.\n" +"Note that if an input mesh file is supplied, it must come before the animation\n" +"files in the file list.\n" +"The output IQM file will contain the supplied mesh and any supplied animations.\n" +"If no mesh is provided,the IQM file will simply contain the supplied animations.\n" + ); + exit(exitstatus); +} + +int main(int argc, char **argv) +{ + if(argc <= 1) help(EXIT_FAILURE); + + vector infiles; + filespec inspec; + const char *outfile = NULL; + for(int i = 1; i < argc; i++) + { + if(argv[i][0] == '-') + { + if(argv[i][1] == '-') + { + if(!strcasecmp(&argv[i][2], "fps")) { if(i + 1 < argc) inspec.fps = atof(argv[++i]); } + else if(!strcasecmp(&argv[i][2], "name")) { if(i + 1 < argc) inspec.name = argv[++i]; } + else if(!strcasecmp(&argv[i][2], "loop")) { inspec.flags |= IQM_LOOP; } + else if(!strcasecmp(&argv[i][2], "start")) { if(i + 1 < argc) inspec.startframe = max(atoi(argv[++i]), 0); } + else if(!strcasecmp(&argv[i][2], "end")) { if(i + 1 < argc) inspec.endframe = atoi(argv[++i]); } + else if(!strcasecmp(&argv[i][2], "scale")) { if(i + 1 < argc) escale = clamp(atof(argv[++i]), 1e-8, 1e8); } + else if(!strcasecmp(&argv[i][2], "help")) help(); + else if(!strcasecmp(&argv[i][2], "forcejoints")) forcejoints = true; + else if(!strcasecmp(&argv[i][2], "meshtrans")) + { + if(i + 1 < argc) switch(sscanf(argv[++i], "%lf , %lf , %lf", &emeshtrans.x, &emeshtrans.y, &emeshtrans.z)) + { + case 1: emeshtrans = Vec3(0, 0, emeshtrans.x); break; + } + } + } + else switch(argv[i][1]) + { + case 'h': + help(); + break; + case 's': + if(i + 1 < argc) escale = clamp(atof(argv[++i]), 1e-8, 1e8); + break; + case 'j': + forcejoints = true; + break; + } + } + else if(!outfile) outfile = argv[i]; + else + { + infiles.add(inspec).file = argv[i]; + inspec.reset(); + } + } + + if(!outfile) fatal("no output file specified"); + else if(infiles.empty()) fatal("no input files specified"); + + if(escale != 1) printf("scale: %f\n", escale); + if(emeshtrans != Vec3(0, 0, 0)) printf("mesh translate: %f, %f, %f\n", emeshtrans.x, emeshtrans.y, emeshtrans.z); + + loopv(infiles) + { + const filespec &inspec = infiles[i]; + const char *infile = inspec.file, *type = strrchr(infile, '.'); + if(!type) fatal("no file type: %s", infile); + else if(!strcasecmp(type, ".md5mesh")) + { + if(loadmd5mesh(infile, inspec)) conoutf("imported: %s", infile); + else fatal("failed reading: %s", infile); + } + else if(!strcasecmp(type, ".md5anim")) + { + if(loadmd5anim(infile, inspec)) conoutf("imported: %s", infile); + else fatal("failed reading: %s", infile); + } + else if(!strcasecmp(type, ".iqe")) + { + if(loadiqe(infile, inspec)) conoutf("imported: %s", infile); + else fatal("failed reading: %s", infile); + } + else if(!strcasecmp(type, ".smd")) + { + if(loadsmd(infile, inspec)) conoutf("imported: %s", infile); + else fatal("failed reading: %s", infile); + } + else if(!strcasecmp(type, ".fbx")) + { + if(loadfbx(infile, inspec)) conoutf("imported: %s", infile); + else fatal("failed reading: %s", infile); + } + else if(!strcasecmp(type, ".obj")) + { + if(loadobj(infile, inspec)) conoutf("imported: %s", infile); + else fatal("failed reading: %s", infile); + } + else fatal("unknown file type: %s", type); + } + + calcanimdata(); + + conoutf(""); + + if(writeiqm(outfile)) conoutf("exported: %s", outfile); + else fatal("failed writing: %s", outfile); + + return EXIT_SUCCESS; +} + diff --git a/iqm/iqm.h b/iqm/iqm.h new file mode 100644 index 000000000..a450504f9 --- /dev/null +++ b/iqm/iqm.h @@ -0,0 +1,134 @@ +#ifndef __IQM_H__ +#define __IQM_H__ + +#define IQM_MAGIC "INTERQUAKEMODEL" +#define IQM_VERSION 2 + +struct iqmheader +{ + char magic[16]; + unsigned int version; + unsigned int filesize; + unsigned int flags; + unsigned int num_text, ofs_text; + unsigned int num_meshes, ofs_meshes; + unsigned int num_vertexarrays, num_vertexes, ofs_vertexarrays; + unsigned int num_triangles, ofs_triangles, ofs_adjacency; + unsigned int num_joints, ofs_joints; + unsigned int num_poses, ofs_poses; + unsigned int num_anims, ofs_anims; + unsigned int num_frames, num_framechannels, ofs_frames, ofs_bounds; + unsigned int num_comment, ofs_comment; + unsigned int num_extensions, ofs_extensions; +}; + +struct iqmmesh +{ + unsigned int name; + unsigned int material; + unsigned int first_vertex, num_vertexes; + unsigned int first_triangle, num_triangles; +}; + +enum +{ + IQM_POSITION = 0, + IQM_TEXCOORD = 1, + IQM_NORMAL = 2, + IQM_TANGENT = 3, + IQM_BLENDINDEXES = 4, + IQM_BLENDWEIGHTS = 5, + IQM_COLOR = 6, + IQM_CUSTOM = 0x10 +}; + +enum +{ + IQM_BYTE = 0, + IQM_UBYTE = 1, + IQM_SHORT = 2, + IQM_USHORT = 3, + IQM_INT = 4, + IQM_UINT = 5, + IQM_HALF = 6, + IQM_FLOAT = 7, + IQM_DOUBLE = 8 +}; + +struct iqmtriangle +{ + unsigned int vertex[3]; +}; + +struct iqmadjacency +{ + unsigned int triangle[3]; +}; + +struct iqmjointv1 +{ + unsigned int name; + int parent; + float translate[3], rotate[3], scale[3]; +}; + +struct iqmjoint +{ + unsigned int name; + int parent; + float translate[3], rotate[4], scale[3]; +}; + +struct iqmposev1 +{ + int parent; + unsigned int mask; + float channeloffset[9]; + float channelscale[9]; +}; + +struct iqmpose +{ + int parent; + unsigned int mask; + float channeloffset[10]; + float channelscale[10]; +}; + +struct iqmanim +{ + unsigned int name; + unsigned int first_frame, num_frames; + float framerate; + unsigned int flags; +}; + +enum +{ + IQM_LOOP = 1<<0 +}; + +struct iqmvertexarray +{ + unsigned int type; + unsigned int flags; + unsigned int format; + unsigned int size; + unsigned int offset; +}; + +struct iqmbounds +{ + float bbmin[3], bbmax[3]; + float xyradius, radius; +}; + +struct iqmextension +{ + unsigned int name; + unsigned int num_data, ofs_data; + unsigned int ofs_extensions; // pointer to next extension +}; + +#endif + diff --git a/iqm/util.h b/iqm/util.h new file mode 100644 index 000000000..aa9352ad6 --- /dev/null +++ b/iqm/util.h @@ -0,0 +1,1080 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include "iqm.h" + +#define ASSERT(c) if(c) {} + +#ifdef NULL +#undef NULL +#endif +#define NULL 0 + +#ifdef _WIN32 +#ifndef M_PI +#define M_PI 3.1415926535897932384626433832795 +#endif +#define strcasecmp _stricmp +#endif + +typedef unsigned char uchar; +typedef unsigned short ushort; +typedef unsigned int uint; +typedef signed long long int llong; +typedef unsigned long long int ullong; + +inline void *operator new(size_t size) +{ + void *p = malloc(size); + if(!p) abort(); + return p; +} +inline void *operator new[](size_t size) +{ + void *p = malloc(size); + if(!p) abort(); + return p; +} +inline void operator delete(void *p) { if(p) free(p); } +inline void operator delete[](void *p) { if(p) free(p); } + +inline void *operator new(size_t, void *p) { return p; } +inline void *operator new[](size_t, void *p) { return p; } +inline void operator delete(void *, void *) {} +inline void operator delete[](void *, void *) {} + +#ifdef swap +#undef swap +#endif +template +static inline void swap(T &a, T &b) +{ + T t = a; + a = b; + b = t; +} +#ifdef max +#undef max +#endif +#ifdef min +#undef min +#endif +template +static inline T max(T a, T b) +{ + return a > b ? a : b; +} +template +static inline T min(T a, T b) +{ + return a < b ? a : b; +} + +#define clamp(a,b,c) (max(b, min(a, c))) + +#define loop(v,m) for(int v = 0; v inline void formatstring(char (&d)[N], const char *fmt, ...) +{ + va_list v; + va_start(v, fmt); + vformatstring(d, fmt, v, int(N)); + va_end(v); +} + +#define defformatstring(d,...) string d; formatstring(d, __VA_ARGS__) +#define defvformatstring(d,last,fmt) string d; { va_list ap; va_start(ap, last); vformatstring(d, fmt, ap); va_end(ap); } + +inline char *newstring(size_t l) { return new char[l+1]; } +inline char *newstring(const char *s, size_t l) { return copystring(newstring(l), s, l+1); } +inline char *newstring(const char *s) { size_t l = strlen(s); char *d = newstring(l); memcpy(d, s, l+1); return d; } + +#define loopv(v) for(int i = 0; i<(v).length(); i++) +#define loopvj(v) for(int j = 0; j<(v).length(); j++) +#define loopvk(v) for(int k = 0; k<(v).length(); k++) +#define loopvrev(v) for(int i = (v).length()-1; i>=0; i--) + +template struct vector +{ + static const int MINSIZE = 8; + + T *buf; + int alen, ulen; + + vector() : buf(NULL), alen(0), ulen(0) + { + } + + vector(const vector &v) : buf(NULL), alen(0), ulen(0) + { + *this = v; + } + + ~vector() { setsize(0); if(buf) delete[] (uchar *)buf; } + + vector &operator=(const vector &v) + { + setsize(0); + if(v.length() > alen) growbuf(v.length()); + loopv(v) add(v[i]); + return *this; + } + + T &add(const T &x) + { + if(ulen==alen) growbuf(ulen+1); + new (&buf[ulen]) T(x); + return buf[ulen++]; + } + + T &add() + { + if(ulen==alen) growbuf(ulen+1); + new (&buf[ulen]) T; + return buf[ulen++]; + } + + T &dup() + { + if(ulen==alen) growbuf(ulen+1); + new (&buf[ulen]) T(buf[ulen-1]); + return buf[ulen++]; + } + + bool inrange(uint i) const { return i=0 && i=0 && i= 0 && i &v) + { + ::swap(buf, v.buf); + ::swap(ulen, v.ulen); + ::swap(alen, v.alen); + } + + T *getbuf() { return buf; } + const T *getbuf() const { return buf; } + bool inbuf(const T *e) const { return e >= buf && e < &buf[ulen]; } + + void growbuf(int sz) + { + int olen = alen; + if(!alen) alen = max(MINSIZE, sz); + else while(alen < sz) alen *= 2; + if(alen <= olen) return; + uchar *newbuf = new uchar[alen*sizeof(T)]; + if(olen > 0) + { + memcpy(newbuf, buf, olen*sizeof(T)); + delete[] (uchar *)buf; + } + buf = (T *)newbuf; + } + + T *reserve(int sz) + { + if(ulen+sz > alen) growbuf(ulen+sz); + return &buf[ulen]; + } + + void advance(int sz) + { + ulen += sz; + } + + void put(const T *v, int n) + { + memcpy(reserve(n), v, n*sizeof(T)); + advance(n); + } +}; + +static inline uint hthash(const char *key) +{ + uint h = 5381; + for(int i = 0, k; (k = key[i]); i++) h = ((h<<5)+h)^k; // bernstein k=33 xor + return h; +} + +static inline bool htcmp(const char *x, const char *y) +{ + return !strcmp(x, y); +} + +static inline uint hthash(int key) +{ + return key; +} + +static inline bool htcmp(int x, int y) +{ + return x==y; +} + +static inline bool htcmp(double x, double y) +{ + return x == y; +} + +static inline uint hthash(double k) +{ + union { double f; uint h[sizeof(double)/sizeof(uint)]; } conv; + conv.f = k; + uint hash = conv.h[0]; + for(size_t i = 1; i < sizeof(conv.h)/sizeof(uint); i++) hash ^= conv.h[i]; + return hash; +} + +template struct hashtable +{ + typedef K key; + typedef const K const_key; + typedef T value; + typedef const T const_value; + + enum { CHUNKSIZE = 64 }; + + struct chain { T data; K key; chain *next; }; + struct chainchunk { chain chains[CHUNKSIZE]; chainchunk *next; }; + + int size; + int numelems; + chain **table; + + chainchunk *chunks; + chain *unused; + + hashtable(int size = 1<<10) + : size(size) + { + numelems = 0; + chunks = NULL; + unused = NULL; + table = new chain *[size]; + loopi(size) table[i] = NULL; + } + + ~hashtable() + { + if(table) delete[] table; + deletechunks(); + } + + chain *insert(const K &key, uint h) + { + if(!unused) + { + chainchunk *chunk = new chainchunk; + chunk->next = chunks; + chunks = chunk; + loopi(CHUNKSIZE-1) chunk->chains[i].next = &chunk->chains[i+1]; + chunk->chains[CHUNKSIZE-1].next = unused; + unused = chunk->chains; + } + chain *c = unused; + unused = unused->next; + c->key = key; + c->next = table[h]; + table[h] = c; + numelems++; + return c; + } + + #define HTFIND(success, fail) \ + uint h = hthash(key)&(size-1); \ + for(chain *c = table[h]; c; c = c->next) \ + { \ + if(htcmp(key, c->key)) return (success); \ + } \ + return (fail); + + template + T *access(const L &key) + { + HTFIND(&c->data, NULL); + } + + template + T &access(const L &key, const T &data) + { + HTFIND(c->data, insert(key, h)->data = data); + } + + template + const T &find(const L &key, const T ¬found) + { + HTFIND(c->data, notfound); + } + + template + T &operator[](const L &key) + { + HTFIND(c->data, insert(key, h)->data); + } + + #undef HTFIND + + template + bool remove(const L &key) + { + uint h = hthash(key)&(size-1); + for(chain **p = &table[h], *c = table[h]; c; p = &c->next, c = c->next) + { + if(htcmp(key, c->key)) + { + *p = c->next; + c->data.~T(); + c->key.~K(); + new (&c->data) T; + new (&c->key) K; + c->next = unused; + unused = c; + numelems--; + return true; + } + } + return false; + } + + void deletechunks() + { + for(chainchunk *nextchunk; chunks; chunks = nextchunk) + { + nextchunk = chunks->next; + delete chunks; + } + } + + void clear() + { + if(!numelems) return; + loopi(size) table[i] = NULL; + numelems = 0; + unused = NULL; + deletechunks(); + } +}; + +#define enumerate(ht,k,e,t,f,b) loopi((ht).size) for(hashtable::chain *enumc = (ht).table[i]; enumc;) { hashtable::const_key &e = enumc->key; t &f = enumc->data; enumc = enumc->next; b; } + +template +struct unionfind +{ + struct ufval + { + int rank, next; + T val; + + ufval(const T &val) : rank(0), next(-1), val(val) {} + }; + + vector ufvals; + + void clear() + { + ufvals.setsize(0); + } + + const T &find(int k, const T &noval, const T &initval) + { + if(k>=ufvals.length()) return initval; + while(ufvals[k].next>=0) k = ufvals[k].next; + if(ufvals[k].val == noval) ufvals[k].val = initval; + return ufvals[k].val; + } + + int compressfind(int k) + { + if(ufvals[k].next<0) return k; + return ufvals[k].next = compressfind(ufvals[k].next); + } + + void unite (int x, int y, const T &noval) + { + while(ufvals.length() <= max(x, y)) ufvals.add(ufval(noval)); + x = compressfind(x); + y = compressfind(y); + if(x==y) return; + ufval &xval = ufvals[x], &yval = ufvals[y]; + if(xval.rank < yval.rank) xval.next = y; + else + { + yval.next = x; + if(xval.rank==yval.rank) yval.rank++; + } + } +}; + +template +struct listnode +{ + T *prev, *next; +}; + +template +struct list +{ + typedef listnode node; + + int size; + listnode nodes; + + list() { clear(); } + + bool empty() const { return nodes.prev == nodes.next; } + bool notempty() const { return nodes.prev != nodes.next; } + + T *first() const { return nodes.next; } + T *last() const { return nodes.prev; } + T *end() const { return (T *)&nodes; } + + void clear() + { + size = 0; + nodes.prev = nodes.next = (T *)&nodes; + } + + T *remove(T *node) + { + size--; + node->prev->next = node->next; + node->next->prev = node->prev; + return node; + } + + T *insertafter(T *node, T *pos) + { + size++; + node->next = pos->next; + node->next->prev = node; + node->prev = pos; + pos->next = node; + return node; + } + + T *insertbefore(T *node, T *pos) + { + size++; + node->prev = pos->prev; + node->prev->next = node; + node->next = pos; + pos->prev = node; + return node; + } + + T *insertfirst(T *node) { return insertafter(node, end()); } + T *insertlast(T *node) { return insertbefore(node, end()); } + + T *removefirst() { return remove(first()); } + T *removelast() { return remove(last()); } +}; + +static inline bool islittleendian() { union { int i; uchar b[sizeof(int)]; } conv; conv.i = 1; return conv.b[0] != 0; } +inline ushort endianswap16(ushort n) { return (n<<8) | (n>>8); } +inline uint endianswap32(uint n) { return (n<<24) | (n>>24) | ((n>>8)&0xFF00) | ((n<<8)&0xFF0000); } +inline ullong endianswap64(ullong n) { return endianswap32(uint(n >> 32)) | ((ullong)endianswap32(uint(n)) << 32); } +template inline T endianswap(T n) { union { T t; uint i; } conv; conv.t = n; conv.i = endianswap32(conv.i); return conv.t; } +template<> inline uchar endianswap(uchar n) { return n; } +template<> inline char endianswap(char n) { return n; } +template<> inline ushort endianswap(ushort n) { return endianswap16(n); } +template<> inline short endianswap(short n) { return endianswap16(n); } +template<> inline uint endianswap(uint n) { return endianswap32(n); } +template<> inline int endianswap(int n) { return endianswap32(n); } +template<> inline ullong endianswap(ullong n) { return endianswap64(n); } +template<> inline llong endianswap(llong n) { return endianswap64(n); } +template<> inline double endianswap(double n) { union { double t; uint i; } conv; conv.t = n; conv.i = endianswap64(conv.i); return conv.t; } +template inline void endianswap(T *buf, int len) { for(T *end = &buf[len]; buf < end; buf++) *buf = endianswap(*buf); } +template inline T endiansame(T n) { return n; } +template inline void endiansame(T *buf, int len) {} +template inline T lilswap(T n) { return islittleendian() ? n : endianswap(n); } +template inline void lilswap(T *buf, int len) { if(!islittleendian()) endianswap(buf, len); } +template inline T bigswap(T n) { return islittleendian() ? endianswap(n) : n; } +template inline void bigswap(T *buf, int len) { if(islittleendian()) endianswap(buf, len); } + +/* workaround for some C platforms that have these two functions as macros - not used anywhere */ +#ifdef getchar +#undef getchar +#endif +#ifdef putchar +#undef putchar +#endif + +struct stream +{ + virtual ~stream() {} + virtual void close() = 0; + virtual bool end() = 0; + virtual long tell() { return -1; } + virtual bool seek(long offset, int whence = SEEK_SET) { return false; } + virtual long size(); + virtual int read(void *buf, int len) { return 0; } + virtual int write(const void *buf, int len) { return 0; } + virtual int getchar() { uchar c; return read(&c, 1) == 1 ? c : -1; } + virtual bool putchar(int n) { uchar c = n; return write(&c, 1) == 1; } + virtual bool getline(char *str, int len); + virtual bool putstring(const char *str) { int len = strlen(str); return write(str, len) == len; } + virtual bool putline(const char *str) { return putstring(str) && putchar('\n'); } + virtual int printf(const char *fmt, ...) { return -1; } + + template bool put(T n) { return write(&n, sizeof(n)) == sizeof(n); } + template bool putlil(T n) { return put(lilswap(n)); } + template bool putbig(T n) { return put(bigswap(n)); } + + template T get() { T n; return read(&n, sizeof(n)) == sizeof(n) ? n : 0; } + template T getlil() { return lilswap(get()); } + template T getbig() { return bigswap(get()); } +}; + +long stream::size() +{ + long pos = tell(), endpos; + if(pos < 0 || !seek(0, SEEK_END)) return -1; + endpos = tell(); + return pos == endpos || seek(pos, SEEK_SET) ? endpos : -1; +} + +bool stream::getline(char *str, int len) +{ + loopi(len-1) + { + if(read(&str[i], 1) != 1) { str[i] = '\0'; return i > 0; } + else if(str[i] == '\n') { str[i+1] = '\0'; return true; } + } + if(len > 0) str[len-1] = '\0'; + return true; +} + +struct filestream : stream +{ + FILE *file; + + filestream() : file(NULL) {} + ~filestream() { close(); } + + bool open(const char *name, const char *mode) + { + if(file) return false; + file = fopen(name, mode); + return file!=NULL; + } + + void close() + { + if(file) { fclose(file); file = NULL; } + } + + bool end() { return feof(file)!=0; } + long tell() { return ftell(file); } + bool seek(long offset, int whence) { return fseek(file, offset, whence) >= 0; } + int read(void *buf, int len) { return fread(buf, 1, len, file); } + int write(const void *buf, int len) { return fwrite(buf, 1, len, file); } + int getchar() { return fgetc(file); } + bool putchar(int c) { return fputc(c, file)!=EOF; } + bool getline(char *str, int len) { return fgets(str, len, file)!=NULL; } + bool putstring(const char *str) { return fputs(str, file)!=EOF; } + + int printf(const char *fmt, ...) + { + va_list v; + va_start(v, fmt); + int result = vfprintf(file, fmt, v); + va_end(v); + return result; + } +}; + +char *path(char *s) +{ + for(char *curpart = s;;) + { + char *endpart = strchr(curpart, '&'); + if(endpart) *endpart = '\0'; + if(curpart[0]=='<') + { + char *file = strrchr(curpart, '>'); + if(!file) return s; + curpart = file+1; + } + for(char *t = curpart; (t = strpbrk(t, "/\\")); *t++ = PATHDIV); + for(char *prevdir = NULL, *curdir = s;;) + { + prevdir = curdir[0]==PATHDIV ? curdir+1 : curdir; + curdir = strchr(prevdir, PATHDIV); + if(!curdir) break; + if(prevdir+1==curdir && prevdir[0]=='.') + { + memmove(prevdir, curdir+1, strlen(curdir+1)+1); + curdir = prevdir; + } + else if(curdir[1]=='.' && curdir[2]=='.' && curdir[3]==PATHDIV) + { + if(prevdir+2==curdir && prevdir[0]=='.' && prevdir[1]=='.') continue; + memmove(prevdir, curdir+4, strlen(curdir+4)+1); + curdir = prevdir; + } + } + if(endpart) + { + *endpart = '&'; + curpart = endpart+1; + } + else break; + } + return s; +} + +char *path(const char *s, bool copy) +{ + static string tmp; + copystring(tmp, s); + path(tmp); + return tmp; +} + +const char *parentdir(const char *directory) +{ + const char *p = directory + strlen(directory); + while(p > directory && *p != '/' && *p != '\\') p--; + static string parent; + size_t len = p-directory+1; + copystring(parent, directory, len); + return parent; +} + +stream *openfile(const char *filename, const char *mode) +{ + filestream *file = new filestream; + if(!file->open(path(filename, true), mode)) { delete file; return NULL; } + return file; +} + +struct Vec4; + +struct Vec3 +{ + union + { + struct { double x, y, z; }; + double v[3]; + uint h[3*sizeof(double)/sizeof(uint)]; + }; + + Vec3() {} + Vec3(double x, double y, double z) : x(x), y(y), z(z) {} + explicit Vec3(const double *v) : x(v[0]), y(v[1]), z(v[2]) {} + explicit Vec3(const Vec4 &v); + + double &operator[](int i) { return v[i]; } + double operator[](int i) const { return v[i]; } + + bool operator==(const Vec3 &o) const { return x == o.x && y == o.y && z == o.z; } + bool operator!=(const Vec3 &o) const { return x != o.x || y != o.y || z != o.z; } + bool operator<(const Vec3 &o) const { return x < o.x || y < o.y || z < o.z; } + bool operator>(const Vec3 &o) const { return x > o.x || y > o.y || z > o.z; } + + Vec3 operator+(const Vec3 &o) const { return Vec3(x+o.x, y+o.y, z+o.z); } + Vec3 operator-(const Vec3 &o) const { return Vec3(x-o.x, y-o.y, z-o.z); } + Vec3 operator+(double k) const { return Vec3(x+k, y+k, z+k); } + Vec3 operator-(double k) const { return Vec3(x-k, y-k, z-k); } + Vec3 operator-() const { return Vec3(-x, -y, -z); } + Vec3 operator*(const Vec3 &o) const { return Vec3(x*o.x, y*o.y, z*o.z); } + Vec3 operator/(const Vec3 &o) const { return Vec3(x/o.x, y/o.y, z/o.z); } + Vec3 operator*(double k) const { return Vec3(x*k, y*k, z*k); } + Vec3 operator/(double k) const { return Vec3(x/k, y/k, z/k); } + + Vec3 &operator+=(const Vec3 &o) { x += o.x; y += o.y; z += o.z; return *this; } + Vec3 &operator-=(const Vec3 &o) { x -= o.x; y -= o.y; z -= o.z; return *this; } + Vec3 &operator+=(double k) { x += k; y += k; z += k; return *this; } + Vec3 &operator-=(double k) { x -= k; y -= k; z -= k; return *this; } + Vec3 &operator*=(const Vec3 &o) { x *= o.x; y *= o.y; z *= o.z; return *this; } + Vec3 &operator/=(const Vec3 &o) { x /= o.x; y /= o.y; z /= o.z; return *this; } + Vec3 &operator*=(double k) { x *= k; y *= k; z *= k; return *this; } + Vec3 &operator/=(double k) { x /= k; y /= k; z /= k; return *this; } + + double dot(const Vec3 &o) const { return x*o.x + y*o.y + z*o.z; } + double magnitude() const { return sqrt(dot(*this)); } + double squaredlen() const { return dot(*this); } + double dist(const Vec3 &o) const { return (*this - o).magnitude(); } + Vec3 normalize() const { return *this * (1.0 / magnitude()); } + Vec3 cross(const Vec3 &o) const { return Vec3(y*o.z-z*o.y, z*o.x-x*o.z, x*o.y-y*o.x); } + Vec3 reflect(const Vec3 &n) const { return *this - n*2.0*dot(n); } + Vec3 project(const Vec3 &n) const { return *this - n*dot(n); } + + Vec3 zxy() const { return Vec3(z, x, y); } + Vec3 zyx() const { return Vec3(z, y, x); } + Vec3 yxz() const { return Vec3(y, x, z); } + Vec3 yzx() const { return Vec3(y, z, x); } + Vec3 xzy() const { return Vec3(x, z, y); } +}; + +static inline bool htcmp(const Vec3 &x, const Vec3 &y) +{ + return x == y; +} + +static inline uint hthash(const Vec3 &k) +{ + uint hash = k.h[0]; + for(size_t i = 1; i < sizeof(k.h)/sizeof(uint); i++) hash ^= k.h[i]; + return hash; +} + +struct Vec4 +{ + union + { + struct { double x, y, z, w; }; + double v[4]; + uint h[4*sizeof(double)/sizeof(uint)]; + }; + + Vec4() {} + Vec4(double x, double y, double z, double w) : x(x), y(y), z(z), w(w) {} + explicit Vec4(const Vec3 &p, double w = 0) : x(p.x), y(p.y), z(p.z), w(w) {} + explicit Vec4(const double *v) : x(v[0]), y(v[1]), z(v[2]), w(v[3]) {} + + double &operator[](int i) { return v[i]; } + double operator[](int i) const { return v[i]; } + + bool operator==(const Vec4 &o) const { return x == o.x && y == o.y && z == o.z && w == o.w; } + bool operator!=(const Vec4 &o) const { return x != o.x || y != o.y || z != o.z || w != o.w; } + bool operator<(const Vec4 &o) const { return x < o.x || y < o.y || z < o.z || w < o.w; } + bool operator>(const Vec4 &o) const { return x > o.x || y > o.y || z > o.z || w > o.w; } + + Vec4 operator+(const Vec4 &o) const { return Vec4(x+o.x, y+o.y, z+o.z, w+o.w); } + Vec4 operator-(const Vec4 &o) const { return Vec4(x-o.x, y-o.y, z-o.z, w-o.w); } + Vec4 operator+(double k) const { return Vec4(x+k, y+k, z+k, w+k); } + Vec4 operator-(double k) const { return Vec4(x-k, y-k, z-k, w-k); } + Vec4 operator-() const { return Vec4(-x, -y, -z, -w); } + Vec4 operator*(double k) const { return Vec4(x*k, y*k, z*k, w*k); } + Vec4 operator/(double k) const { return Vec4(x/k, y/k, z/k, w/k); } + Vec4 addw(double f) const { return Vec4(x, y, z, w + f); } + + Vec4 &operator+=(const Vec4 &o) { x += o.x; y += o.y; z += o.z; w += o.w; return *this; } + Vec4 &operator+=(const Vec3 &o) { x += o.x; y += o.y; z += o.z; return * this; } + Vec4 &operator-=(const Vec4 &o) { x -= o.x; y -= o.y; z -= o.z; w -= o.w; return *this; } + Vec4 &operator-=(const Vec3 &o) { x -= o.x; y -= o.y; z -= o.z; return * this; } + Vec4 &operator+=(double k) { x += k; y += k; z += k; w += k; return *this; } + Vec4 &operator-=(double k) { x -= k; y -= k; z -= k; w -= k; return *this; } + Vec4 &operator*=(double k) { x *= k; y *= k; z *= k; w *= k; return *this; } + Vec4 &operator/=(double k) { x /= k; y /= k; z /= k; w /= k; return *this; } + + double dot3(const Vec4 &o) const { return x*o.x + y*o.y + z*o.z; } + double dot3(const Vec3 &o) const { return x*o.x + y*o.y + z*o.z; } + double dot(const Vec4 &o) const { return dot3(o) + w*o.w; } + double dot(const Vec3 &o) const { return x*o.x + y*o.y + z*o.z + w; } + double magnitude() const { return sqrt(dot(*this)); } + double magnitude3() const { return sqrt(dot3(*this)); } + Vec4 normalize() const { return *this * (1.0 / magnitude()); } + Vec3 cross3(const Vec4 &o) const { return Vec3(y*o.z-z*o.y, z*o.x-x*o.z, x*o.y-y*o.x); } + Vec3 cross3(const Vec3 &o) const { return Vec3(y*o.z-z*o.y, z*o.x-x*o.z, x*o.y-y*o.x); } + + void setxyz(const Vec3 &o) { x = o.x; y = o.y; z = o.z; } +}; + +inline Vec3::Vec3(const Vec4 &v) : x(v.x), y(v.y), z(v.z) {} + +static inline bool htcmp(const Vec4 &x, const Vec4 &y) +{ + return x == y; +} + +static inline uint hthash(const Vec4 &k) +{ + uint hash = k.h[0]; + for(size_t i = 1; i < sizeof(k.h)/sizeof(uint); i++) hash ^= k.h[i]; + return hash; +} + +struct Matrix3x3; +struct Matrix3x4; + +struct Quat : Vec4 +{ + Quat() {} + Quat(double x, double y, double z, double w) : Vec4(x, y, z, w) {} + Quat(double angle, const Vec3 &axis) + { + double s = sin(0.5*angle); + x = s*axis.x; + y = s*axis.y; + z = s*axis.z; + w = cos(0.5*angle); + } + explicit Quat(const Vec3 &v) : Vec4(v.x, v.y, v.z, -sqrt(max(1.0 - v.squaredlen(), 0.0))) {} + explicit Quat(const Matrix3x3 &m) { convertmatrix(m); } + explicit Quat(const Matrix3x4 &m) { convertmatrix(m); } + + void restorew() + { + w = -sqrt(max(1.0 - dot3(*this), 0.0)); + } + + Quat operator*(const Quat &o) const + { + return Quat(w*o.x + x*o.w + y*o.z - z*o.y, + w*o.y - x*o.z + y*o.w + z*o.x, + w*o.z + x*o.y - y*o.x + z*o.w, + w*o.w - x*o.x - y*o.y - z*o.z); + } + Quat &operator*=(const Quat &o) { return (*this = *this * o); } + + Quat operator+(const Vec4 &o) const { return Quat(x+o.x, y+o.y, z+o.z, w+o.w); } + Quat &operator+=(const Vec4 &o) { return (*this = *this + o); } + Quat operator-(const Vec4 &o) const { return Quat(x-o.x, y-o.y, z-o.z, w-o.w); } + Quat &operator-=(const Vec4 &o) { return (*this = *this - o); } + + Quat operator-() const { return Quat(-x, -y, -z, w); } + + void flip() { x = -x; y = -y; z = -z; w = -w; } + + Vec3 transform(const Vec3 &p) const + { + return p + cross3(cross3(p) + p*w)*2.0; + } + + template + void convertmatrix(const M &m) + { + double trace = m.a.x + m.b.y + m.c.z; + if(trace>0) + { + double r = sqrt(1 + trace), inv = 0.5/r; + w = 0.5*r; + x = (m.c.y - m.b.z)*inv; + y = (m.a.z - m.c.x)*inv; + z = (m.b.x - m.a.y)*inv; + } + else if(m.a.x > m.b.y && m.a.x > m.c.z) + { + double r = sqrt(1 + m.a.x - m.b.y - m.c.z), inv = 0.5/r; + x = 0.5*r; + y = (m.b.x + m.a.y)*inv; + z = (m.a.z + m.c.x)*inv; + w = (m.c.y - m.b.z)*inv; + } + else if(m.b.y > m.c.z) + { + double r = sqrt(1 + m.b.y - m.a.x - m.c.z), inv = 0.5/r; + x = (m.b.x + m.a.y)*inv; + y = 0.5*r; + z = (m.c.y + m.b.z)*inv; + w = (m.a.z - m.c.x)*inv; + } + else + { + double r = sqrt(1 + m.c.z - m.a.x - m.b.y), inv = 0.5/r; + x = (m.a.z + m.c.x)*inv; + y = (m.c.y + m.b.z)*inv; + z = 0.5*r; + w = (m.b.x - m.a.y)*inv; + } + } + + static Quat fromangles(const Vec3 &rot) + { + double cx = cos(rot.x/2), sx = sin(rot.x/2), + cy = cos(rot.y/2), sy = sin(rot.y/2), + cz = cos(rot.z/2), sz = sin(rot.z/2); + Quat q(sx*cy*cz - cx*sy*sz, + cx*sy*cz + sx*cy*sz, + cx*cy*sz - sx*sy*cz, + cx*cy*cz + sx*sy*sz); + if(q.w > 0) q.flip(); + return q; + } + + static Quat fromdegrees(const Vec3 &rot) { return fromangles(rot * (M_PI / 180)); } +}; + +struct Matrix3x3 +{ + Vec3 a, b, c; + + Matrix3x3() {} + Matrix3x3(const Vec3 &a, const Vec3 &b, const Vec3 &c) : a(a), b(b), c(c) {} + explicit Matrix3x3(const Quat &q) { convertquat(q); } + explicit Matrix3x3(const Quat &q, const Vec3 &scale) + { + convertquat(q); + a *= scale; + b *= scale; + c *= scale; + } + + void convertquat(const Quat &q) + { + double x = q.x, y = q.y, z = q.z, w = q.w, + tx = 2*x, ty = 2*y, tz = 2*z, + txx = tx*x, tyy = ty*y, tzz = tz*z, + txy = tx*y, txz = tx*z, tyz = ty*z, + twx = w*tx, twy = w*ty, twz = w*tz; + a = Vec3(1 - (tyy + tzz), txy - twz, txz + twy); + b = Vec3(txy + twz, 1 - (txx + tzz), tyz - twx); + c = Vec3(txz - twy, tyz + twx, 1 - (txx + tyy)); + } + + Matrix3x3 operator*(const Matrix3x3 &o) const + { + return Matrix3x3( + o.a*a.x + o.b*a.y + o.c*a.z, + o.a*b.x + o.b*b.y + o.c*b.z, + o.a*c.x + o.b*c.y + o.c*c.z); + } + Matrix3x3 &operator*=(const Matrix3x3 &o) { return (*this = *this * o); } + + void transpose(const Matrix3x3 &o) + { + a = Vec3(o.a.x, o.b.x, o.c.x); + b = Vec3(o.a.y, o.b.y, o.c.y); + c = Vec3(o.a.z, o.b.z, o.c.z); + } + void transpose() { transpose(Matrix3x3(*this)); } + + Vec3 transform(const Vec3 &o) const { return Vec3(a.dot(o), b.dot(o), c.dot(o)); } + + float determinant() + { + return + a.x * b.y * c.z + + a.y * b.z * c.x + + a.z * b.x * c.y - + a.z * b.y * c.x - + a.y * b.x * c.z - + a.x * b.z * c.y; + } +}; + +struct Matrix3x4 +{ + Vec4 a, b, c; + + Matrix3x4() {} + Matrix3x4(const Vec4 &a, const Vec4 &b, const Vec4 &c) : a(a), b(b), c(c) {} + explicit Matrix3x4(const Matrix3x3 &rot, const Vec3 &trans) + : a(Vec4(rot.a, trans.x)), b(Vec4(rot.b, trans.y)), c(Vec4(rot.c, trans.z)) + { + } + explicit Matrix3x4(const Quat &rot, const Vec3 &trans) + { + *this = Matrix3x4(Matrix3x3(rot), trans); + } + explicit Matrix3x4(const Quat &rot, const Vec3 &trans, const Vec3 &scale) + { + *this = Matrix3x4(Matrix3x3(rot, scale), trans); + } + + Matrix3x4 operator*(float k) const { return Matrix3x4(*this) *= k; } + Matrix3x4 &operator*=(float k) + { + a *= k; + b *= k; + c *= k; + return *this; + } + + Matrix3x4 operator+(const Matrix3x4 &o) const { return Matrix3x4(*this) += o; } + Matrix3x4 &operator+=(const Matrix3x4 &o) + { + a += o.a; + b += o.b; + c += o.c; + return *this; + } + + void invert(const Matrix3x4 &o) + { + Matrix3x3 invrot(Vec3(o.a.x, o.b.x, o.c.x), Vec3(o.a.y, o.b.y, o.c.y), Vec3(o.a.z, o.b.z, o.c.z)); + invrot.a /= invrot.a.squaredlen(); + invrot.b /= invrot.b.squaredlen(); + invrot.c /= invrot.c.squaredlen(); + Vec3 trans(o.a.w, o.b.w, o.c.w); + a = Vec4(invrot.a, -invrot.a.dot(trans)); + b = Vec4(invrot.b, -invrot.b.dot(trans)); + c = Vec4(invrot.c, -invrot.c.dot(trans)); + } + void invert() { invert(Matrix3x4(*this)); } + + Matrix3x4 operator*(const Matrix3x4 &o) const + { + return Matrix3x4( + (o.a*a.x + o.b*a.y + o.c*a.z).addw(a.w), + (o.a*b.x + o.b*b.y + o.c*b.z).addw(b.w), + (o.a*c.x + o.b*c.y + o.c*c.z).addw(c.w)); + } + Matrix3x4 &operator*=(const Matrix3x4 &o) { return (*this = *this * o); } + + Vec3 transform(const Vec3 &o) const { return Vec3(a.dot(o), b.dot(o), c.dot(o)); } +}; + +void conoutf(const char *s, ...) +{ + defvformatstring(msg,s,s); + printf("%s\n", msg); +} + +void fatal(const char *s, ...) // failure exit +{ + defvformatstring(msg,s,s); + fprintf(stderr, "%s\n", msg); + + exit(EXIT_FAILURE); +} +