source: orxonox.OLD/branches/bsp_model/src/lib/graphics/importer/md3/md3_model.cc @ 8645

/*
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: Patrick Boenzli
*/

#define DEBUG_SPECIAL_MODULE DEBUG_MODULE_IMPORTER

#include "md3_model.h"

#include "md3_data.h"
#include "md3_mesh.h"
#include "md3_tag.h"
#include "md3_bone_frame.h"
#include "md3_animation.h"

#include "md3_animation_cfg.h"

#include "material.h"
#include "quaternion.h"

#include "loading/resource_manager.h"

#include "debug.h"

namespace md3
{

  /**
   * md3 model
   */
  MD3Model::MD3Model(std::string filename, float scaling)
  {
    this->autoAssemblePlayerModel(filename, scaling);

    this->bDrawBones = false;
    this->bDrawNormals = false;
  }



  MD3Model::~MD3Model()
  {
//     delete this->tmpBoneFrame;
//     delete [] this->tmpMesh;

    ///TODO deleting mesh
    ///TODO deleting matrices
  }


  /**
   * auto assemples a player model
   * @param filename is the name to the directory of the modelzzzzzz
   */
  void MD3Model::autoAssemblePlayerModel(std::string filename, float scaling)
  {
    // loading the config file
    std::string cfgName(filename + "/animation.cfg");
    this->config = (MD3AnimationCfg*)ResourceManager::getInstance()->load(cfgName, MD3_CONFIG, RP_GAME);

    //first load the torso or the upper part
    std::string nameUpper(filename + "/upper.md3");
    if( (this->md3Data = (MD3Data*)ResourceManager::getInstance()->load(nameUpper, MD3, RP_GAME, nameUpper, scaling)) == NULL)
    {
      std::string nameTorso(filename + "/torso.md3");
      this->md3Data = (MD3Data*)ResourceManager::getInstance()->load(nameTorso, MD3, RP_GAME, nameTorso, scaling);
    }

    if( this->md3Data == NULL)
    {
      PRINTF(1)("Problems loading the MD3Model. Abording\n");
      return;
    }

    // load lower
    std::string nameLower(filename + "/lower.md3");
    MD3Data* lower = (MD3Data*)ResourceManager::getInstance()->load(nameLower, MD3, RP_GAME, nameLower, scaling);
    if( lower != NULL)
    {
      int tag = this->md3Data->getTagIndexByName("tag_lower");
      PRINTF(0)("Loaded the %s model on index %i\n", nameLower.c_str(), tag);
      if( tag >= 0)
       this->md3Data->addLinkedModel(tag, lower);
      else
        PRINTF(0)("Could not add %s\n", nameLower.c_str());
    }


    // load head
    std::string nameHead(filename + "/head.md3");
    MD3Data* head = (MD3Data*)ResourceManager::getInstance()->load(nameHead, MD3, RP_GAME, nameLower, scaling);
    if( head != NULL)
    {
      int tag = this->md3Data->getTagIndexByName("tag_head");
      PRINTF(0)("Loaded the %s model on index %i\n", nameHead.c_str(), tag);
      if( tag >= 0)
        this->md3Data->addLinkedModel(tag, head);
      else
        PRINTF(0)("Could not add %s\n", nameHead.c_str());
    }

  }



  /**
   * tick float
   * @param time: time elapsed
   */
  void MD3Model::tick(float time)
  {

    this->visit(this->md3Data);

    this->tick(time, this->md3Data);
  }


  /**
   * tick each data
   */
  void MD3Model::tick(float time, MD3Data* data)
  {
    // draw the bones if needed
    if( this->bDrawBones)
    {
      // get bone frame, interpolate if necessary
      if( data->animationState.interpolationFraction != 0.0 &&
          data->animationState.currentFrame != data->animationState.nextFrame)
      {
        //interpolate bone frame
        data->tmpBoneFrame = this->interpolateBoneFrame(data, data->boneFrames[data->animationState.currentFrame],
                                                        data->boneFrames[data->animationState.nextFrame],
                                                        data->animationState.interpolationFraction);
      }
      else
      {
        data->tmpBoneFrame = data->boneFrames[data->animationState.currentFrame];
      }
    }

    //draw all meshes of current frame of this model
    for( int i = 0;  i < data->header->meshNum; i++)
    {
      MD3Mesh* mesh = data->meshes[i];

      // get mesh frame, do interpolation if necessary
      sVec3D* frame;
      if( data->animationState.interpolationFraction != 0.0 &&
          data->animationState.currentFrame != data->animationState.nextFrame)
      {
        //interpolate mesh frame between the 2 current mesh frames
        frame = this->interpolateMeshFrame( data, data->meshes[data->animationState.currentFrame]->meshFrames,
                                            data->meshes[data->animationState.nextFrame]->meshFrames,
                                            data->animationState.interpolationFraction, mesh, i);
      }
      else
      {
        //no interpolation needed, just draw current frame
        frame = &mesh->meshFrames[data->animationState.currentFrame];
      }
      data->tmpMesh[i] = frame;

      // draw vertex normals if needed
      if( this->bDrawNormals)
      {
        // get vertex normals, interpolate if necessary
        if( data->animationState.interpolationFraction != 0.0 &&
            data->animationState.currentFrame != data->animationState.nextFrame)
        {
          //interpolate vertex normals
          this->interpolateVertexNormals(data, &mesh->normals[data->animationState.currentFrame],
                                         &mesh->normals[data->animationState.nextFrame],
                                         data->animationState.interpolationFraction, mesh, i);
        }
      }
    }


    // draw all models linked to this model
    std::map<int, MD3Data*>::iterator it = data->sortedMap.begin();
    int i = 0;
    while( it != data->sortedMap.end())
    {
      MD3Data* child = it->second;

      //build transformation array m from matrix, interpolate if necessary

      MD3Tag* currFrameTag = data->boneFrames[data->animationState.currentFrame]->tags[child->parentTagIndex];

      if( data->animationState.interpolationFraction != 0.0 &&
          data->animationState.currentFrame != data->animationState.nextFrame)
      {
        //we need to interpolate
        MD3Tag* nextFrameTag = data->boneFrames[data->animationState.nextFrame]->tags[child->parentTagIndex];
        this->interpolateTransformation(child, currFrameTag, nextFrameTag, data->animationState.interpolationFraction, i);
      }
      else
      {
        //no interpolation needed, stay with last transformation
        //OpenGL matrix is in column-major order
        data->tmpMatrix[i][0] = currFrameTag->matrix[0][0];
        data->tmpMatrix[i][1] = currFrameTag->matrix[1][0];
        data->tmpMatrix[i][2] = currFrameTag->matrix[2][0];
        data->tmpMatrix[i][3] = 0.0f;
        data->tmpMatrix[i][4] = currFrameTag->matrix[0][1];
        data->tmpMatrix[i][5] = currFrameTag->matrix[1][1];
        data->tmpMatrix[i][6] = currFrameTag->matrix[2][1];
        data->tmpMatrix[i][7] = 0.0f;
        data->tmpMatrix[i][8] = currFrameTag->matrix[0][2];
        data->tmpMatrix[i][9] = currFrameTag->matrix[1][2];
        data->tmpMatrix[i][10]= currFrameTag->matrix[2][2];
        data->tmpMatrix[i][11]= 0.0f;
        data->tmpMatrix[i][12] = currFrameTag->position.x;
        data->tmpMatrix[i][13] = currFrameTag->position.y;
        data->tmpMatrix[i][14] = currFrameTag->position.z;
        data->tmpMatrix[i][15] = 1.0f;
      }

      // switch to child coord system

      // and tick child
      this->tick(time, child);

      i++;
      it++;
    }
  }


  /**
   * this draws the md3 model
   */
  void MD3Model::draw() const
  {
    PRINTF(0)("\ndraw========================\n");
    //draw current bone frame
    this->draw(this->md3Data);
  }


  /**
   * draw the md3model
   * @param data: the data to be drawn
   */
  void MD3Model::draw(MD3Data* data) const
  {

    // draw the bones if needed
    if( this->bDrawBones)
    {
      // get bone frame, interpolate if necessary
      if( data->animationState.interpolationFraction != 0.0 &&
          data->animationState.currentFrame != data->animationState.nextFrame) {
        //interpolate bone frame
        this->drawBoneFrame(data->tmpBoneFrame);
      }
      else {
        //stick with current bone frame
        this->drawBoneFrame(data->boneFrames[data->animationState.currentFrame]);
      }
    }


    //draw all meshes of current frame of this model
    for( int i = 0;  i < data->header->meshNum; i++)
    {
      MD3Mesh* mesh = data->meshes[i];

      if( mesh->header->textureNum > 0 && &mesh->material[0] != NULL)
        mesh->material[0].select();

      // get mesh frame, do interpolation if necessary
      sVec3D* frame = data->tmpMesh[i];

      this->drawMesh(mesh, frame);

      // draw vertex normals if needed
      if( this->bDrawNormals)
      {
        // get vertex normals, interpolate if necessary
        if( data->animationState.interpolationFraction != 0.0 &&
            data->animationState.currentFrame != data->animationState.nextFrame)
        {
          //interpolate vertex normals
          this->drawVertexNormals(frame, data->tmpNormal[i]);
        }
        else {
          //stick with current vertex normals
          this->drawVertexNormals(frame, &mesh->normals[data->animationState.currentFrame]);
        }
      }
    }


    // draw all models linked to this model
    int i = 0;
    std::map<int, MD3Data*>::iterator it = data->sortedMap.begin();
    while( it != data->sortedMap.end())
    {
      MD3Data* child = it->second;

      //switch to child coord system
      glPushMatrix();
      glMultMatrixf(data->tmpMatrix[i]);

      // and draw child
      this->draw(child);

      glPopMatrix();

      i++;
      it++;
    }

  }


  /**
   * draws the mesh
   */
  void MD3Model::drawMesh(MD3Mesh* mesh, sVec3D* frame) const
  {
    PRINTF(0)("drawMesh: %s\n", mesh->header->name);
    Vector tmpVec1, tmpVec2;

    glColor3f(1.0f, 1.0f, 1.0f);
    glBegin( GL_TRIANGLES);

    // upload all triangles in the frame to OpenGL
    for( int t = 0; t < mesh->header->triangleNum; t++)
    {
      // calc normal vector
      tmpVec1.x = frame[mesh->triangles[t].vertexOffset[1]][0] - frame[mesh->triangles[t].vertexOffset[0]][0];
      tmpVec1.y = frame[mesh->triangles[t].vertexOffset[1]][1] - frame[mesh->triangles[t].vertexOffset[0]][1];
      tmpVec1.z = frame[mesh->triangles[t].vertexOffset[1]][2] - frame[mesh->triangles[t].vertexOffset[0]][2];

      tmpVec2.x = frame[mesh->triangles[t].vertexOffset[2]][0] - frame[mesh->triangles[t].vertexOffset[0]][0];
      tmpVec2.y = frame[mesh->triangles[t].vertexOffset[2]][1] - frame[mesh->triangles[t].vertexOffset[0]][1];
      tmpVec2.z = frame[mesh->triangles[t].vertexOffset[2]][2] - frame[mesh->triangles[t].vertexOffset[0]][2];

      Vector normal = tmpVec1.cross(tmpVec2);
      normal.normalize();

//       PRINTF(0)("normal: %f, %f, %f\n", normal.x, normal.y, normal.z);

      glNormal3f(normal.x, normal.y, normal.z);
      glTexCoord2fv( mesh->texVecs[mesh->triangles[t].vertexOffset[0]].textureCoord);
      glVertex3f( frame[mesh->triangles[t].vertexOffset[0]][0],
                  frame[mesh->triangles[t].vertexOffset[0]][2],
                  frame[mesh->triangles[t].vertexOffset[0]][1]);

      glNormal3f(normal.x, normal.y, normal.z);
      glTexCoord2fv( mesh->texVecs[mesh->triangles[t].vertexOffset[1]].textureCoord);
      glVertex3f( frame[mesh->triangles[t].vertexOffset[1]][0],
                  frame[mesh->triangles[t].vertexOffset[1]][2],
                  frame[mesh->triangles[t].vertexOffset[1]][1]);

      glNormal3f(normal.x, normal.y, normal.z);
      glTexCoord2fv( mesh->texVecs[mesh->triangles[t].vertexOffset[2]].textureCoord);
      glVertex3f( frame[mesh->triangles[t].vertexOffset[2]][0],
                  frame[mesh->triangles[t].vertexOffset[2]][2],
                  frame[mesh->triangles[t].vertexOffset[2]][1]);
    }
    glEnd();
  }


  /**
   *  drawo vertex normals
   */
  void MD3Model::drawVertexNormals(sVec3D* frame, MD3Normal* normals) const
  {}


  /**
   * draw bone frame
   */
  void MD3Model::drawBoneFrame(MD3BoneFrame* frame) const
  {
    float x1 = frame->mins.x;
    float y1 = frame->mins.y;
    float z1 = frame->mins.z;
    float x2 = frame->maxs.x;
    float y2 = frame->maxs.y;
    float z2 = frame->maxs.z;

    glPushAttrib(GL_TEXTURE_2D);
    glPushAttrib(GL_LIGHTING);

    glColor3f(1.0f,0.0f,0.0f);
    glPointSize(6.0f);

    glBegin(GL_POINTS);
    glVertex3f(frame->position.x, frame->position.y, frame->position.z);
    glEnd();
    glPointSize(1.0f);

    glColor3f(0.0f,1.0f,0.0f);
    glBegin(GL_LINE_LOOP);
    glVertex3f(x1,y1,z1);
    glVertex3f(x1,y1,z2);
    glVertex3f(x1,y2,z2);
    glVertex3f(x1,y2,z1);
    glEnd();

    glBegin(GL_LINE_LOOP);
    glVertex3f(x2,y2,z2);
    glVertex3f(x2,y1,z2);
    glVertex3f(x2,y1,z1);
    glVertex3f(x2,y2,z1);
    glEnd();

    glBegin(GL_LINES);
    glVertex3f(x1,y1,z1);
    glVertex3f(x2,y1,z1);

    glVertex3f(x1,y1,z2);
    glVertex3f(x2,y1,z2);

    glVertex3f(x1,y2,z2);
    glVertex3f(x2,y2,z2);

    glVertex3f(x1,y2,z1);
    glVertex3f(x2,y2,z1);
    glEnd();

     glPopAttrib();
     glPopAttrib();
  }


  /**
   *  interpolate bone frame
   * @param currBoneFrame Start bone frame.
   * @param nextBoneFrame End bone frame.
   * @param frac Interpolation fraction, in [0,1].
   */
  MD3BoneFrame* MD3Model::interpolateBoneFrame(MD3Data* data, MD3BoneFrame* currBoneFrame, MD3BoneFrame* nextBoneFrame, float frac)
  {
    data->tmpBoneFrame->mins.x      = (1.0f - frac) * currBoneFrame->mins.x       + frac * nextBoneFrame->mins.x;
    data->tmpBoneFrame->maxs.x      = (1.0f - frac) * currBoneFrame->maxs.x       + frac * nextBoneFrame->maxs.x;
    data->tmpBoneFrame->position.x  = (1.0f - frac) * currBoneFrame->position.x   + frac * nextBoneFrame->position.x;
    data->tmpBoneFrame->mins.y      = (1.0f - frac) * currBoneFrame->mins.y       + frac * nextBoneFrame->mins.y;
    data->tmpBoneFrame->maxs.y      = (1.0f - frac) * currBoneFrame->maxs.y       + frac * nextBoneFrame->maxs.y;
    data->tmpBoneFrame->position.y  = (1.0f - frac) * currBoneFrame->position.y   + frac * nextBoneFrame->position.y;
    data->tmpBoneFrame->mins.z      = (1.0f - frac) * currBoneFrame->mins.z       + frac * nextBoneFrame->mins.z;
    data->tmpBoneFrame->maxs.z      = (1.0f - frac) * currBoneFrame->maxs.z       + frac * nextBoneFrame->maxs.z;
    data->tmpBoneFrame->position.z  = (1.0f - frac) * currBoneFrame->position.z   + frac * nextBoneFrame->position.z;

    return data->tmpBoneFrame;
  }



  /**
   * interpolate mesh frame
   */
  sVec3D* MD3Model::interpolateMeshFrame(MD3Data* data, sVec3D* currMeshFrame, sVec3D* nextMeshFrame, float frac, MD3Mesh* mesh, int i)
  {
    int vertexNum = mesh->header->vertexNum;

    // calc interpolated vertices
    for( int t = 0; t < vertexNum * 3.0f; t++)
    {
      data->tmpMesh[i][t][0]  = (1.0f - frac)   * currMeshFrame[t][0]  + frac * nextMeshFrame[t][0];
      data->tmpMesh[i][t][1]  = (1.0f - frac)   * currMeshFrame[t][1]  + frac * nextMeshFrame[t][1];
      data->tmpMesh[i][t][2]  = (1.0f - frac)   * currMeshFrame[t][2]  + frac * nextMeshFrame[t][2];
    }

    return data->tmpMesh[i];
  }


  /**
   * interpolate vertex normal
   */
  MD3Normal* MD3Model::interpolateVertexNormals(MD3Data* data, MD3Normal* currNormals, MD3Normal* nextNormals, float frac, MD3Mesh* mesh, int i)
  {
    for( int j = 0; j < mesh->header->vertexNum; j++)
    {
      data->tmpNormal[i][j].vertexNormal[0] = (int)((1.0f - frac) * currNormals[j].vertexNormal[0] + frac * nextNormals[j].vertexNormal[0]);
      data->tmpNormal[i][j].vertexNormal[1] = (int)((1.0f - frac) * currNormals[j].vertexNormal[1] + frac * nextNormals[j].vertexNormal[1]);
    }

    return data->tmpNormal[i];
  }


  /**
   * interpolate transformation
   */
  float* MD3Model::interpolateTransformation(MD3Data* data, MD3Tag* currFrameTag, MD3Tag* nextFrameTag, float frac, int i)
  {
    // interpolate position
    Vector interpolatedPosition = currFrameTag->position * (1.0f - frac) + nextFrameTag->position * frac;


    // interpolate rotation matrix
    float  currRot[4][4];
    float  nextRot[4][4];
    float  interpolatedMatrix[4][4];

    Quaternion currQuat(currFrameTag->matrix); currQuat.matrix(currRot);
    Quaternion nextQuat(nextFrameTag->matrix); nextQuat.matrix(nextRot);

    Quaternion interpolatedQuat = Quaternion::quatSlerp(currQuat, nextQuat, frac); interpolatedQuat.matrix(interpolatedMatrix);

    // quaternion code is column based, so use transposed matrix when spitting out to gl
    data->tmpMatrix[i][0] = interpolatedMatrix[0][0];
    data->tmpMatrix[i][4] = interpolatedMatrix[1][0];
    data->tmpMatrix[i][8] = interpolatedMatrix[2][0];
    data->tmpMatrix[i][12] = interpolatedPosition.x;
    data->tmpMatrix[i][1] = interpolatedMatrix[0][1];
    data->tmpMatrix[i][5] = interpolatedMatrix[1][1];
    data->tmpMatrix[i][9] = interpolatedMatrix[2][1];
    data->tmpMatrix[i][13] = interpolatedPosition.y;
    data->tmpMatrix[i][2] = interpolatedMatrix[0][2];
    data->tmpMatrix[i][6] = interpolatedMatrix[1][2];
    data->tmpMatrix[i][10]= interpolatedMatrix[2][2];
    data->tmpMatrix[i][14] = interpolatedPosition.z;
    data->tmpMatrix[i][3] = 0.0f;
    data->tmpMatrix[i][7] = 0.0f;
    data->tmpMatrix[i][11]= 0.0f;
    data->tmpMatrix[i][15] = 1.0f;

    return data->tmpMatrix[i];

  }



  /**
   * visit the model
   */
  void MD3Model::visit(MD3Data* data)
  {
    if ( (data->filename.find("lower") == std::string::npos &&
          (data->animation->type == LEGS || data->animation->type == BOTH)) // this is the LEGS model and the animation is applicable
          ||
          (data->filename.find("upper") == std::string::npos &&
          (data->animation->type == TORSO || data->animation->type == BOTH)) // this is the TORSO model and the animation is applicable
          ||
          data->animation->type == ALL // the animation is allways applicable
       )
      this->doOp(data);

    // visit children
    std::map<int, MD3Data*>::iterator it = data->sortedMap.begin();
    while( it != data->sortedMap.end())
    {
      this->visit(it->second);
      it++;
    }
  }


  /**
   * Create a new visitor to apply an animation operation (NEXT, REWIND, ...)
   * to a MD3 model. The operation is executed in the context of the specified
   * animation.
   *
   * @param anim The animation that provides the context for the operation.
   * @param op The operation to apply.
   * @param interpolate Should interpolation be done?
   */
  void MD3Model::interpolate(MD3Data* data, MD3Animation* anim, int op, bool bInterpolate)
  {
     data->animation = anim;
     if( data->op == NEXT || data->op == PREVIOUS || data->op == REWIND)
      data->op = op;

     data->bInterpolate = bInterpolate;
  }


  /**
   * calc next frame number
   */
  int MD3Model::next(MD3Data* data, int nr)
  {
    if( nr < (data->upperBound - 1))
      return nr + 1;
    else
    { //rewind needed
      if( data->animation->numFrames < 0)
        return data->animation->first;
      else {
        nr = (data->animation->numLoopFrames != 0)?(data->animation->numFrames - data->animation->numLoopFrames):0;
        return data->animation->first + nr;
      }
    }
  }


  /**
   * calc prev frame number
   */
  int MD3Model::prev(MD3Data* data, int nr)
  {
    if( nr == data->animation->first)
      return data->upperBound - 1;
    else
      return nr - 1;
  }


  /**
   * apply the specified operation to the animation state data members of the model
   * taking the specified animation into account
   *
   * @param data: the data of the model
   */
  void MD3Model::doOp(MD3Data* data)
  {
    return;
    // animation to be applied could have illegal data with respect to this model,
    // ignore anim in this case
    if( data->animation->first >= data->header->boneFrameNum || data->animation->first < 0)
      return;

    //calc upper bound for animation frames in this model
    if( data->animation->numFrames < 0)
      data->upperBound = data->header->boneFrameNum; //use all available frames
    else
      data->upperBound = data->header->boneFrameNum <
          (data->animation->first + data->animation->numFrames)?data->header->boneFrameNum:(data->animation->first +
          data->animation->numFrames);

    switch( data->op) {

      case NEXT:
        if( data->bInterpolate)
        {
          data->animationState.interpolationFraction += FRACTION;
          if( data->animationState.interpolationFraction >= 1.0f)
          {
            data->animationState.currentFrame = data->animationState.nextFrame;
            data->animationState.nextFrame = next(data, data->animationState.nextFrame);
            data->animationState.interpolationFraction = 0.0f;
          }
        }
        else {
          data->animationState.currentFrame = data->animationState.nextFrame;
          data->animationState.nextFrame = next(data, data->animationState.nextFrame);
        }
        break;

      case PREVIOUS:
        if( data->bInterpolate)
        {
          data->animationState.interpolationFraction -= FRACTION;
          if( data->animationState.interpolationFraction < 0.0f)
          {
            data->animationState.nextFrame = data->animationState.currentFrame;
            data->animationState.currentFrame = prev(data, data->animationState.currentFrame);
            data->animationState.interpolationFraction = 0.8f;
          }
        }
        else
        {
          data->animationState.nextFrame = data->animationState.currentFrame;
          data->animationState.currentFrame = prev(data, data->animationState.currentFrame);
        }
        break;

      case REWIND:
        data->animationState.currentFrame = data->animation->first;
        data->animationState.nextFrame = next(data, data->animationState.currentFrame);
        data->animationState.interpolationFraction = 0.0f;
        break;
    }
  }


}