CWE-ou-minkata/Sources/Plasma/PubUtilLib/plInterp/plAnimPath.cpp

/*==LICENSE==*

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*==LICENSE==*/

#include "HeadSpin.h"
#include "plAnimPath.h"
#include "plController.h"
#include "hsFastMath.h"
#include "hsResMgr.h"
#include <math.h>

const float kSmallDelTime = 1.e-2f;  
const float kInvSmallDelTime = 1.f / kSmallDelTime;
const float kTerminateDelTime = 1.e-3f;
const float kTerminateDelDistSq = .1f;

plAnimPath::plAnimPath()
: fController(nil), fLength(0), fMinDistSq(0), 
    fAnimPathFlags(0)
{
    fLocalToWorld.Reset();
    fWorldToLocal.Reset();
    Reset();
}

plAnimPath::~plAnimPath()
{
    delete fController;
}

void plAnimPath::Reset()
{
    SetCurTime(0);
}

void plAnimPath::SetCurTime(float t, uint32_t calcFlags)
{
    fTime = t;
    if( !fController )
    {
        fPos.Set(0,0,0);
        fXform.Reset();
        fVel.Set(0,0,0);
        fAccel.Set(0,0,0);
        return;
    }

    float t0, t1, t2;

    if( t < kSmallDelTime )
    {
        t0 = t;
        t1 = t + kSmallDelTime;
        t2 = t + 2 * kSmallDelTime;
    }
    else if( t > fLength - kSmallDelTime )
    {
        t0 = t - 2 * kSmallDelTime;
        t1 = t - kSmallDelTime;
        t2 = t;
    }
    else
    {
        t0 = t - kSmallDelTime;
        t1 = t;
        t2 = t + kSmallDelTime;
    }


    if (!(calcFlags & kCalcPosOnly))
    {
        hsPoint3 pos[3];

        fController->Interp(t0, &fParts);
        pos[0].Set(fParts.fT.fX, fParts.fT.fY, fParts.fT.fZ);

        fController->Interp(t1, &fParts);
        pos[1].Set(fParts.fT.fX, fParts.fT.fY, fParts.fT.fZ);

        fController->Interp(t2, &fParts);
        pos[2].Set(fParts.fT.fX, fParts.fT.fY, fParts.fT.fZ);

        fVel.Set(pos+1, pos+0);
        fVel *= kInvSmallDelTime;
        fVel = fLocalToWorld * fVel;

        hsPoint3 first = pos[2] - pos[1];
        hsPoint3 second = pos[1] - pos[0];
        fAccel.Set(&first, &second);
        fAccel *= kInvSmallDelTime * kInvSmallDelTime;
        fAccel = fLocalToWorld * fAccel;
    }

    fController->Interp(t, &fParts);
    fParts.ComposeMatrix(&fXform);
    fXform = fLocalToWorld * fXform;
    fXform.GetTranslate(&fPos);

}

void plAnimPath::ICalcBounds()
{
    if( !fController )
        return;

    plController* pc = fController->GetPosController();

    int i;
    hsPoint3 pos;
    hsTArray<float> keyTimes;
    pc->GetKeyTimes(keyTimes);
    fCenter.Set(0,0,0);
    for( i = 0; i < keyTimes.GetCount() ; i++ )
    {
        pc->Interp(keyTimes[i], &pos);
        fCenter += pos;
    }
    fCenter *= hsInvert((float)keyTimes.GetCount());

    fRadius = 0;
    for( i = 0; i < keyTimes.GetCount(); i++ )
    {
        pc->Interp(keyTimes[i], &pos);
        float rad = (pos - fCenter).Magnitude();
        if( rad > fRadius )
            fRadius = rad;
    }
}

float plAnimPath::ICalcTotalLength()
{
    if( !(fController && fController->GetPosController()) )
        return 0;

    fLength = fController->GetPosController()->GetLength(); 

    return fLength;
}

void plAnimPath::SetController(plCompoundController* tmc)
{
    hsAssert(tmc, "Bad (nil) controller for AnimPath");
    hsAssert(tmc->GetPosController(), "Bad controller for AnimPath");
    fController = tmc;
    ICalcTotalLength();
    ICalcBounds();
}

float plAnimPath::GetMinDistance() const
{
    return sqrt(fMinDistSq);
}

void plAnimPath::SetTransform(const hsMatrix44& l2w, const hsMatrix44& w2l)
{
    fLocalToWorld = l2w;
    fWorldToLocal = w2l;
}

void plAnimPath::Read(hsStream* stream, hsResMgr* mgr)
{
    fAnimPathFlags=stream->ReadLE32();

    delete fController;
    fController = plCompoundController::ConvertNoRef(mgr->ReadCreatable(stream));

    ICalcBounds();

    fParts.Read(stream);

    fLocalToWorld.Read(stream);
    fWorldToLocal.Read(stream);

    fLength = stream->ReadLEScalar();
    fMinDistSq = stream->ReadLEScalar();
    
    Reset();
}

void plAnimPath::Write(hsStream* stream, hsResMgr* mgr)
{
    stream->WriteLE32(fAnimPathFlags);

    mgr->WriteCreatable(stream, fController);
    
    fParts.Write(stream);
    
    fLocalToWorld.Write(stream);
    fWorldToLocal.Write(stream);

    stream->WriteLEScalar(fLength);
    stream->WriteLEScalar(fMinDistSq);
}

bool plAnimPath::OutOfRange(hsPoint3 &worldPt, float range) const
{
    hsPoint3 pt = fWorldToLocal * worldPt;

    float radius = (pt - fCenter).Magnitude() - fRadius;
    return( radius > range );
}

float plAnimPath::GetExtremePoint(hsPoint3 &worldPt) const
{
    if( !fController )
        return 0;

    hsPoint3 pt = fWorldToLocal * worldPt;

    plController *pc = fController->GetPosController();

    float minDistSq = 1.e33f;
    float minTime = 0, delTime = 0;
    // start search by using the time of the closest ctrl point
    int i;
    hsTArray<float> keyTimes;
    pc->GetKeyTimes(keyTimes);
    for( i = 0; i < keyTimes.GetCount(); i++ )
    {
        float t = keyTimes[i];
        hsPoint3 pos;
        pc->Interp(t, &pos);    // handles easing
        float distSq = (pt - pos).MagnitudeSquared();
        if( distSq < minDistSq )
        {
            minDistSq = distSq;
            minTime = t;
            if( 0 == i )
                delTime = keyTimes[i+1] - t;
            else if( keyTimes.GetCount() - 1 == i )
                delTime = t - keyTimes[i - 1];
            else
            {
                float fore = keyTimes[i + 1] - t;
                float back = t - keyTimes[i - 1];
                delTime = hsMaximum(fore, back);
            }
        }
    }

    return GetExtremePoint(minTime, delTime, worldPt);
}

float plAnimPath::GetExtremePoint(float lastTime, float delTime, hsPoint3 &worldPt) const
{
    if( !fController )
        return 0;

    hsPoint3 pt = fWorldToLocal * worldPt;

    IInitInterval(lastTime, delTime, pt);
    return ICheckInterval(pt);
}

float plAnimPath::ICheckInterval(hsPoint3 &pt) const
{
    if( fDelTime <= kTerminateDelTime &&
        hsVector3(&fCurPos, &fPrevPos).MagnitudeSquared() < kTerminateDelDistSq)
    {
        return IBestTime();
    }

    if( fThisTime < 0 )
        return 0;

    if( fThisTime > fLength )
        return fLength;

    if( GetFarthest() )
    {
        if( (fLastDistSq > fThisDistSq)&&(fLastDistSq >= fNextDistSq) )
            return IShiftBack(pt);

        if( (fNextDistSq > fThisDistSq)&&(fNextDistSq >= fLastDistSq) )
            return IShiftFore(pt);

        if( (fThisDistSq >= fLastDistSq)&&(fLastDistSq >= fNextDistSq) )
            return ISubDivBack(pt);

        if( (fThisDistSq >= fNextDistSq)&&(fNextDistSq >= fLastDistSq) )
            return ISubDivFore(pt);
    }
    else
    {
        if( (fLastDistSq < fThisDistSq)&&(fLastDistSq <= fNextDistSq) )
            return IShiftBack(pt);

        if( (fNextDistSq < fThisDistSq)&&(fNextDistSq <= fLastDistSq) )
            return IShiftFore(pt);

        if( (fThisDistSq <= fLastDistSq)&&(fLastDistSq <= fNextDistSq) )
            return ISubDivBack(pt);

        if( (fThisDistSq <= fNextDistSq)&&(fNextDistSq <= fLastDistSq) )
            return ISubDivFore(pt);
    }

    hsAssert(false, "Shouldn't have gotten here");
    return 0;
}

void plAnimPath::IInitInterval(float time, float delTime, hsPoint3 &pt) const
{
    plController* pc = fController->GetPosController();

    hsPoint3 pos;

    fDelTime = delTime;
    if( fDelTime <= kTerminateDelTime )
        fDelTime = kTerminateDelTime * 2;
    else
    if( fDelTime > fLength * 0.5f )
        fDelTime = fLength * 0.5f;

    fThisTime = time;
    if( fThisTime < fDelTime )
        fThisTime = fDelTime;
    else if( fThisTime > fLength - fDelTime )
        fThisTime = fLength - fDelTime;
    pc->Interp(fThisTime, &pos);
    fPrevPos=fCurPos=pos;
    fThisDistSq = (pos - pt).MagnitudeSquared();
    
    fNextTime = fThisTime + delTime;
    if( fNextTime > fLength )
        fNextTime = fLength;
    if (!(GetAnimPathFlags() & kFavorBwdSearch))
    {
        pc->Interp(fNextTime, &pos);
        fNextDistSq = (pos - pt).MagnitudeSquared();
    }
    else
    {
        fNextDistSq = 1.e33f;
    }

    fLastTime = fThisTime - delTime;
    if( fLastTime < 0 )
        fLastTime = 0;
    if (!(GetAnimPathFlags() & kFavorFwdSearch))
    {
        pc->Interp(fLastTime, &pos);
        fLastDistSq = (pos - pt).MagnitudeSquared();
    }
    else
    {
        fLastDistSq = 1.e33f;
    }

    if( fMinDistSq != 0 )
    {
        fThisDistSq -= fMinDistSq;
        if( fThisDistSq < 0 )
            fThisDistSq = -fThisDistSq;

        fNextDistSq -= fMinDistSq;
        if( fNextDistSq < 0 )
            fNextDistSq = -fNextDistSq;

        fLastDistSq -= fMinDistSq;
        if( fLastDistSq < 0 )
            fLastDistSq = -fLastDistSq;
    }
}

float plAnimPath::ISubDivBack(hsPoint3 &pt) const
{
    fNextTime = fThisTime;
    fNextDistSq = fThisDistSq;

    fDelTime *= 0.5f;

    fThisTime -= fDelTime;
    if (fThisTime<0)
        fThisTime = GetWrap() ? fLength + fThisTime : 0;

    plController* pc = fController->GetPosController();
    hsPoint3 pos;
    pc->Interp(fThisTime, &pos);
    fThisDistSq = (pos - pt).MagnitudeSquared() - fMinDistSq;
    if( fThisDistSq < 0 )
        fThisDistSq = -fThisDistSq;

    fPrevPos=fCurPos;
    fCurPos=pos;

    return ICheckInterval(pt);
}

float plAnimPath::ISubDivFore(hsPoint3 &pt) const
{
    fLastTime = fThisTime;
    fLastDistSq = fThisDistSq;

    fDelTime *= 0.5f;

    fThisTime += fDelTime;
    if (fThisTime>fLength)
        fThisTime = GetWrap() ? fThisTime-fLength : fLength;

    plController* pc = fController->GetPosController();
    hsPoint3 pos;
    pc->Interp(fThisTime, &pos);
    fThisDistSq = (pos - pt).MagnitudeSquared() - fMinDistSq;
    if( fThisDistSq < 0 )
        fThisDistSq = -fThisDistSq;

    fPrevPos=fCurPos;
    fCurPos=pos;

    return ICheckInterval(pt);
}

float plAnimPath::IShiftBack(hsPoint3 &pt) const
{
    if( !GetWrap() && (fLastTime <= 0) )
        return ISubDivBack(pt);

    fNextTime = fThisTime;
    fNextDistSq = fThisDistSq;

    fThisTime = fLastTime;
    fThisDistSq = fLastDistSq;

    fLastTime -= fDelTime;
    if( fLastTime < 0 )
        fLastTime = GetWrap() ? fLength + fLastTime : 0;
    plController* pc = fController->GetPosController();
    hsPoint3 pos;
    pc->Interp(fLastTime, &pos);
    fLastDistSq = (pos - pt).MagnitudeSquared() - fMinDistSq;
    if( fLastDistSq < 0 )
        fLastDistSq = -fLastDistSq;

    fPrevPos=fCurPos;
    fCurPos=pos;

    return ICheckInterval(pt);
}

float plAnimPath::IShiftFore(hsPoint3 &pt) const
{
    if( !GetWrap() &&(fNextTime >= fLength) )
        return ISubDivFore(pt);

    fLastTime = fThisTime;
    fLastDistSq = fThisDistSq;

    fThisTime = fNextTime;
    fThisDistSq = fNextDistSq;

    fNextTime += fDelTime;
    if( fNextTime > fLength )
        fNextTime = GetWrap() ? fNextTime - fLength : fLength;
    plController* pc = fController->GetPosController();
    hsPoint3 pos;
    pc->Interp(fNextTime, &pos);
    fNextDistSq = (pos - pt).MagnitudeSquared() - fMinDistSq;
    if( fNextDistSq < 0 )
        fNextDistSq = -fNextDistSq;

    fPrevPos=fCurPos;
    fCurPos=pos;

    return ICheckInterval(pt);
}

//
// wireframe debug draw method.  
// doesn't use any fancy subdivision or curvature measure when drawing.
// Changes current time.
//
void plAnimPath::IMakeSegment(hsTArray<uint16_t>& idx, hsTArray<hsPoint3>& pos,
                              hsPoint3& p1, hsPoint3& p2)
{
    hsVector3 del(&p2, &p1);
    hsVector3 up;
    up.Set(0,0,1.f);

    const float kOutLength = 0.25f;

    hsVector3 a = del % up;
    float magSq = a.MagnitudeSquared();
    if( magSq < 1.e-3f )
    {
        a.Set(kOutLength, 0, 0);
    }
    else
    {
        a *= hsFastMath::InvSqrtAppr(magSq);
        a *= kOutLength;
    }

    hsVector3 b = a % del;
    hsFastMath::Normalize(b);
    b *= kOutLength;

    hsPoint3 p1out, p2out;

    int baseIdx = pos.GetCount();

    pos.Append(p1);
    pos.Append(p2);

    p1out = p1;
    p1out += a;
    p2out = p2;
    p2out += a;

    pos.Append(p1out);
    pos.Append(p2out);

    p1out += -2.f * a;
    p2out += -2.f * a;

    pos.Append(p1out);
    pos.Append(p2out);

    p1out = p1;
    p1out += b;
    p2out = p2;
    p2out += b;

    pos.Append(p1out);
    pos.Append(p2out);

    p1out += -2.f * b;
    p2out += -2.f * b;

    pos.Append(p1out);
    pos.Append(p2out);

    int i;
    for( i = 0; i < 4; i++ )
    {
        int outIdx = baseIdx + 2 + i * 2;
        idx.Append(baseIdx);
        idx.Append(baseIdx + 1);
        idx.Append(baseIdx + outIdx);

        idx.Append(baseIdx + outIdx);
        idx.Append(baseIdx + 1);
        idx.Append(baseIdx + outIdx + 1);
    }
}

void plAnimPath::MakeDrawList(hsTArray<uint16_t>& idx, hsTArray<hsPoint3>& pos)
{
    hsMatrix44 resetL2W = GetLocalToWorld();
    hsMatrix44 resetW2L = GetWorldToLocal();

    hsMatrix44 ident;
    ident.Reset();
    SetTransform(ident, ident);

    float numSegs = fRadius; // crude estimate of arclength
    if (numSegs>100)
        numSegs=100;
    float animLen = GetLength();
    float timeInc = animLen/numSegs;
    float time=0;
    hsPoint3 p1, p2;

    SetCurTime(0, kCalcPosOnly);
    GetPosition(&p1);

    time += timeInc;
    bool quit=false;
    while(! quit && time < animLen+timeInc)
    {
        if (time > animLen)
        {
            time = animLen;
            quit=true;
        }

        SetCurTime(time, kCalcPosOnly);
        GetPosition(&p2);

        IMakeSegment(idx, pos, p1, p2);

        time += timeInc;

        p1 = p2;
    }

    SetTransform(resetL2W, resetW2L);
}

//
// Precompute array of arclen deltas for lookahead ability.
// Changes current time!
//
void plAnimPath::ComputeArcLenDeltas(int32_t numSamples)
{
    if (fArcLenDeltas.GetCount() >= numSamples)
        return;     // already computed enough samples

    // compute arc len deltas
    fArcLenDeltas.Reset();
    fArcLenDeltas.SetCount(numSamples);
    float animLen = GetLength();
    float timeInc = animLen/(numSamples-1);  // use num-1 since we'll create the zeroth entry by hand
    float time=0;
    hsPoint3 p1, p2;

    int32_t cnt=0;

    // prime initial point
    SetCurTime(0, kCalcPosOnly);
    GetPosition(&p1);
    ArcLenDeltaInfo aldi(time, 0);
    fArcLenDeltas[cnt++]=aldi;
    time += timeInc;

    bool quit=false;
    while(!quit && time<animLen+timeInc)
    {
        if (time > animLen || cnt+1 == numSamples)
        {
            time = animLen;
            quit=true;
        }

        SetCurTime(time, kCalcPosOnly);
        GetPosition(&p2);

        ArcLenDeltaInfo aldi(time, hsVector3(&p2, &p1).Magnitude());
        fArcLenDeltas[cnt++]=aldi;

        time += timeInc;
        p1 = p2;
    }
    hsAssert(fArcLenDeltas.GetCount()==numSamples, "arcLenArray size wrong?");
    hsAssert(cnt==numSamples, "arcLenArray size wrong?");
}

//
// Returns time of point (at least) arcLength units away from point at startTime.
// Also sets strtSrchIdx for incremental searching.
//
float plAnimPath::GetLookAheadTime(float startTime, float arcLengthIn, bool bwd,
                                      int32_t* startSrchIdx)
{
    if (arcLengthIn==0)
        return startTime;   // default is no look ahead

    if (startTime==GetLength() && !bwd)
        return GetLength();

    if (startTime==0 && bwd)
        return 0;

    hsAssert(startSrchIdx, "nil var for startSrchIdx");

    float oldTime=fTime;

    ComputeArcLenDeltas();  // precompute first time only

    // save and change time if necessary
    if (fTime!=startTime)
        SetCurTime(startTime, kCalcPosOnly);

    // find nearest (forward) arcLen sample point, use starting srch index provided
    bool found=false;
    int32_t i;
    for(i=(*startSrchIdx); i<fArcLenDeltas.GetCount()-1; i++)
    {
        if (fArcLenDeltas[i].fT<=startTime && startTime<fArcLenDeltas[i+1].fT)
        {
            *startSrchIdx=i;
            found=true;
            break;
        }
    }

    if (!found)
    {
        // check if equal to last index
        if (startTime==fArcLenDeltas[fArcLenDeltas.GetCount()-1].fT)
        {
            *startSrchIdx=fArcLenDeltas.GetCount()-1;
            found=true;
        }
        else
        {
            for(i=0; i<*startSrchIdx; i++)
            {
                if (fArcLenDeltas[i].fT<=startTime && startTime<fArcLenDeltas[i+1].fT)
                {
                    *startSrchIdx=i;
                    found=true;
                    break;
                }
            }
        }
    }

    // find distance to nearest arcLen sample point
    int32_t nearestIdx = bwd ? *startSrchIdx : *startSrchIdx+1;
    hsAssert(found, "couldn't find arcLength sample");

    hsPoint3 pos;
    GetPosition(&pos);      // startTime position

    hsPoint3 pos2;
    float endTime = fArcLenDeltas[nearestIdx].fT; 
    SetCurTime(endTime, kCalcPosOnly);
    GetPosition(&pos2);     // position at nearest sample point

    float curArcLen = hsVector3(&pos2, &pos).Magnitude();
    float curTime=0;
    bool quit=false;
    float timeOut = 0;
    int32_t inc = bwd ? -1 : 1;
    // now sum distance deltas until we exceed the desired arcLen
    if (curArcLen<arcLengthIn)
    {
        for(i=bwd ? nearestIdx : nearestIdx+inc; i<fArcLenDeltas.GetCount() && i>=0; i+=inc)
        {
            if (curArcLen+fArcLenDeltas[i].fArcLenDelta>arcLengthIn)
            {
                // gone tooFar
                endTime = fArcLenDeltas[i].fT;
                curTime = fArcLenDeltas[i-1].fT;
                break;
            }
            curArcLen += fArcLenDeltas[i].fArcLenDelta;
        }   
        
        if ( (i==fArcLenDeltas.GetCount() && !bwd) || (i<0 && bwd) )
        {
            quit=true;
            timeOut = bwd ? 0 : GetLength();
        }       
    }
    else
    {
        curArcLen = 0;
        curTime = startTime;
    }

    if (!quit)
    {
        // interp remaining interval

        // 1. compute necessary distToGoal
        float distToGoal = arcLengthIn-curArcLen;
        hsAssert(distToGoal, "0 length distToGoal?");
        
        // 2. compute % of dist interval which gives distToGoal
        SetCurTime(curTime, kCalcPosOnly);
        GetPosition(&pos);

        SetCurTime(endTime, kCalcPosOnly);
        GetPosition(&pos2);

        float distInterval = hsVector3(&pos2, &pos).Magnitude();
        float percent = distToGoal/distInterval;
        hsAssert(percent>=0 && percent<=1, "illegal percent value"); 

        // 3. compute interpolated time value using percent
        if (!bwd)
            timeOut = curTime + (endTime-curTime)*percent;
        else
            timeOut = endTime - (endTime-curTime)*percent;
        hsAssert((timeOut>=curTime && timeOut<=endTime), "illegal interpolated time value");
        // hsAssert(!bwd || (timeOut<=curTime && timeOut>=endTime), "bwd: illegal interpolated time value");
    }

    // restore time
    if (fTime != oldTime)
        SetCurTime(oldTime);

    hsAssert(bwd || (timeOut>startTime && timeOut<=GetLength()), "fwd: illegal look ahead time");
    hsAssert(!bwd || (timeOut<startTime && timeOut>=0), "bwd: illegal look ahead time");

    return timeOut;
}