.. _program_listing_file_src_o3ds_model.cpp:

Program Listing for File model.cpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_o3ds_model.cpp>` (``src/o3ds/model.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
   Open 3D Stream
   
   Copyright 2020 Alastair Macleod
   
   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.
   */
   
   #include "model.h"
   #include "getTime.h"
   #include <algorithm>
   #include <iterator>
   
   using namespace O3DS::Data;
   
   void operator >>(const O3DS::TransformTranslation& src, O3DS::Data::Translation &dst)
   {
       dst = O3DS::Data::Translation(
           (float)src.value.v[0],
           (float)src.value.v[1],
           (float)src.value.v[2]);
   }
   
   void operator >>(const O3DS::Data::Translation& src, O3DS::TransformTranslation &dst)
   {
       dst = O3DS::TransformTranslation(src.x(), src.y(), src.z());
   }
   
   void operator >>(const O3DS::Data::TranslationUpdate& src, O3DS::TransformTranslation &dst)
   {
       dst = O3DS::TransformTranslation(src.x(), src.y(), src.z());
   }
   
   void operator >>(const O3DS::TransformRotation& src, O3DS::Data::Rotation &dst)
   {
       dst = O3DS::Data::Rotation(
           (float)src.value.v[0],
           (float)src.value.v[1],
           (float)src.value.v[2],
           (float)src.value.v[3]);
   }
   
   void operator >>(const O3DS::Data::Rotation& src, O3DS::TransformRotation &dst)
   {
       dst = O3DS::TransformRotation(src.x(), src.y(), src.z(), src.w());
   }
   
   void operator >>(const O3DS::Data::RotationUpdate& src, O3DS::TransformRotation &dst)
   {
       dst = O3DS::TransformRotation(src.x(), src.y(), src.z(), src.w());
   }
   
   
   void operator >>(const O3DS::TransformScale& src, O3DS::Data::Scale &dst)
   {
       dst = O3DS::Data::Scale(
           (float)src.value.v[0],
           (float)src.value.v[1],
           (float)src.value.v[2]);
   }
   
   void operator >>(const O3DS::Data::Scale& src, O3DS::TransformScale &dst)
   {
       dst = O3DS::TransformScale(src.x(), src.y(), src.z());
   }
   
   void operator >>(const O3DS::Data::ScaleUpdate& src, O3DS::TransformScale &dst)
   {
       dst = O3DS::TransformScale(src.x(), src.y(), src.z());
   }
   
   void operator >>(const O3DS::TransformMatrix& src, O3DS::Data::Matrix &dst)
   {
       dst = O3DS::Data::Matrix(
           (float)src.value.m[0][0],
           (float)src.value.m[0][1],
           (float)src.value.m[0][2],
           (float)src.value.m[0][3],
           (float)src.value.m[1][0],
           (float)src.value.m[1][1],
           (float)src.value.m[1][2],
           (float)src.value.m[1][3],
           (float)src.value.m[2][0],
           (float)src.value.m[2][1],
           (float)src.value.m[2][2],
           (float)src.value.m[2][3],
           (float)src.value.m[3][0],
           (float)src.value.m[3][1],
           (float)src.value.m[3][2],
           (float)src.value.m[3][3]);
   }
   
   void operator >>(const O3DS::Data::Matrix& src, O3DS::TransformMatrix &dst)
   {
       dst.value.m[0][0] = src.m00();
       dst.value.m[0][1] = src.m01();
       dst.value.m[0][2] = src.m02();
       dst.value.m[0][3] = src.m03();
       dst.value.m[1][0] = src.m10();
       dst.value.m[1][1] = src.m11();
       dst.value.m[1][2] = src.m12();
       dst.value.m[1][3] = src.m13();
       dst.value.m[2][0] = src.m20();
       dst.value.m[2][1] = src.m21();
       dst.value.m[2][2] = src.m22();
       dst.value.m[2][3] = src.m23();
       dst.value.m[3][0] = src.m30();
       dst.value.m[3][1] = src.m31();
       dst.value.m[3][2] = src.m32();
       dst.value.m[3][3] = src.m33();
   }
   
   O3DS::Data::Direction dir(enum O3DS::Direction d)
   {
       switch (d)
       {
       case O3DS::Up: return O3DS::Data::Direction_Up;
       case O3DS::Down: return O3DS::Data::Direction_Down;
       case O3DS::Left: return O3DS::Data::Direction_Left;
       case O3DS::Right: return O3DS::Data::Direction_Right;
       case O3DS::Forward: return O3DS::Data::Direction_Forward;
       case O3DS::Back: return O3DS::Data::Direction_Back;
       }
       return O3DS::Data::Direction_None;
   }
   
   enum O3DS::Direction dir(O3DS::Data::Direction d)
   {
       switch (d)
       {
       case O3DS::Data::Direction_Up: return O3DS::Up;
       case O3DS::Data::Direction_Down: return O3DS::Down;
       case O3DS::Data::Direction_Left: return O3DS::Left;
       case O3DS::Data::Direction_Right: return O3DS::Right;
       case O3DS::Data::Direction_Forward: return O3DS::Forward;
       case O3DS::Data::Direction_Back: return O3DS::Back;
       }
       return O3DS::None;
   }
   
   namespace O3DS
   {
   
       Transform::Transform(std::string& name, int parentId, void *ref)
           : mName(name)
           , mParentId(parentId)
           , mReference(ref)
       {}
   
       Transform::Transform(int parentId)
           : mName()
           , mParentId(parentId)
           , mReference(nullptr)
       {}
   
       Transform::Transform()
           : mName()
           , mParentId(-1)
           , mReference(nullptr)
       {}
   
       Transform::~Transform()
       {
       };
   
       void Subject::CalcMatrices()
       {
           for (auto& transform : this->mTransforms)
           {
               transform->bWorldMatrix = false;
               auto &m = transform->mMatrix;
               m = Matrixd();
   
               int matrixId = 0;
   
               for (auto op : transform->transformOrder)
               {
                   if (op == O3DS::TTranslation)
                   {
                       m = Matrixd::TranslateXYZ(transform->translation.value) * m;
                   }
                   if (op == O3DS::TRotation)
                   {
                       m = transform->rotation.asMatrix() * m;
                   }
                   if (op == O3DS::TScale)
                   {
                       m = m.Scale(transform->scale.value) * m;
                   }
                   if (op == O3DS::TMatrix)
                   {
                       m = transform->matrices[matrixId++].value * m;
                   }
               }
   
           }
   
   
           // Calculate world matrix
           bool done = false;
           while (!done)
           {
               done = true;
               for (auto& transform : this->mTransforms)
               {
                   if (transform->bWorldMatrix) continue;
                   if (transform->mParentId == -1)
                   {
                       // No Parent - matrix is world matrix
                       transform->mWorldMatrix = transform->mMatrix;
                       transform->bWorldMatrix = true;
                       continue;
                   }
   
                   if (transform->mParentId < 0 || transform->mParentId > this->mTransforms.size())
                   {
                       // TODO: Error handling
                       done = true;
                       break;
                   }
   
                   auto& parentTransform = this->mTransforms.mItems[transform->mParentId];
                   if (!parentTransform->bWorldMatrix)
                   {
                       // Parent has not been calculated yet
                       done = false;
                       continue;
                   }
   
                   transform->mWorldMatrix = transform->mMatrix * parentTransform->mWorldMatrix;
                   transform->bWorldMatrix = true;
               }
           }
       }
   
   
       int SubjectList::Serialize(std::vector<char> &outbuf, double timestamp)
       {
           O3DS::Data::Translation translation;
           O3DS::Data::Rotation rotation;
           O3DS::Data::Scale scale;
           
   
           if(timestamp == 0.0) timestamp = GetTime();
   
           flatbuffers::FlatBufferBuilder builder;
   
           std::vector<flatbuffers::Offset<O3DS::Data::Subject>> subjects;
   
           for (auto& subject : this->mItems)
           {
               auto oSubjectName = builder.CreateString(subject->mName);
               std::vector<flatbuffers::Offset<O3DS::Data::Transform>> ovSkeleton;
   
               for (auto& t : subject->mTransforms)
               {
                   int matrixId = 0;
   
                   std::vector<O3DS::Data::Matrix> matrices;
                   std::vector<int8_t> components;
   
                   t->translation >> translation;
                   t->rotation >> rotation;
                   t->scale >> scale;
   
                   for (auto component : t->transformOrder)
                   {
                       if (component == O3DS::TTranslation)
                           components.push_back(O3DS::Data::Component::Component_Translation);
   
                       if (component == O3DS::TRotation)
                           components.push_back(O3DS::Data::Component::Component_Rotation);
   
                       if (component == O3DS::TScale)
                           components.push_back(O3DS::Data::Component::Component_Scale);
   
                       if (component == O3DS::TMatrix)
                       {
                           components.push_back(O3DS::Data::Component::Component_Matrix);
                           O3DS::Data::Matrix matrix;
                           t->matrices[matrixId++] >> matrix;
                           matrices.push_back(matrix);
                       }
                   }
   
                   auto oTransformName = builder.CreateString(t->mName);
   
                   //flatbuffers::Offset<flatbuffers::Vector<const O3DS::Data::Matrix *>> oatrices;
                   auto ovMatrices = builder.CreateVectorOfStructs(matrices);
   
                   auto ovComponents = builder.CreateVector(components);
   
                   ovSkeleton.push_back(CreateTransform(builder,
                       t->mParentId, oTransformName,
                       &translation, &rotation, &scale,
                       ovMatrices, ovComponents));
               }
   
               auto transforms = builder.CreateVector(ovSkeleton);
               auto s = CreateSubject(builder, transforms, oSubjectName,
                   dir(subject->mContext.mX),
                   dir(subject->mContext.mY),
                   dir(subject->mContext.mZ));
   
               subjects.push_back(s);
           }
   
           auto ovSubjects = builder.CreateVector(subjects);
   
           auto root = CreateSubjectList(builder, ovSubjects, 0, timestamp);
   
           builder.Finish(root);
   
           uint8_t *buf = builder.GetBufferPointer();
           int size = builder.GetSize();
   
           outbuf.resize(0);
           std::copy(buf, buf + size, back_inserter(outbuf));
   
           return size;
       }
   
       int SubjectList::SerializeUpdate(std::vector<char> &outbuf, double timestamp)
       {
           if (timestamp == 0.0)
           {
               timestamp = GetTime();
           }
   
           flatbuffers::FlatBufferBuilder builder;
   
           std::vector<flatbuffers::Offset<O3DS::Data::SubjectUpdate>> outSubjectUpdates;
   
           for (auto& subject : this->mItems)
           {
               auto oSubjectName = builder.CreateString(subject->mName);
   
               std::vector<O3DS::Data::TranslationUpdate> translations;
               std::vector<O3DS::Data::RotationUpdate> rotations;
               std::vector<O3DS::Data::ScaleUpdate> scales;
   
               int transformId = 0;
   
               for (auto& t : subject->mTransforms)
               {
                   //if (t->translation.delta() > 0.001)
                   //{
                       translations.push_back(O3DS::Data::TranslationUpdate(
                           (float)t->translation.value.v[0],
                           (float)t->translation.value.v[1],
                           (float)t->translation.value.v[2], transformId));
                       t->translation.sent();
                   //}
   
                   //if (t->rotation.delta() > 0.001)
                   //{
                       rotations.push_back(O3DS::Data::RotationUpdate(
                           (float)t->rotation.value.v[0],
                           (float)t->rotation.value.v[1],
                           (float)t->rotation.value.v[2],
                           (float)t->rotation.value.v[3], transformId));
                       t->rotation.sent();
                   //}
   
                   if (t->scale.delta() > 0.001)
                   {
                       scales.push_back(O3DS::Data::ScaleUpdate(
                           (float)t->scale.value.v[0],
                           (float)t->scale.value.v[1],
                           (float)t->scale.value.v[2], transformId));
                       t->scale.sent();
                   }
   
                   transformId++;
               }
   
               auto tr = builder.CreateVectorOfStructs(translations);
               auto ro = builder.CreateVectorOfStructs(rotations);
               auto sc = builder.CreateVectorOfStructs(scales);
               auto subjectUpdate = CreateSubjectUpdate(builder, oSubjectName, tr, ro, sc);
               outSubjectUpdates.push_back(subjectUpdate);
           }
   
           auto ovSubjectUpdates = builder.CreateVector(outSubjectUpdates);
   
           auto root = CreateSubjectList(builder, 0, ovSubjectUpdates, timestamp);
   
           builder.Finish(root);
   
           uint8_t *buf = builder.GetBufferPointer();
           int size = builder.GetSize();
   
           outbuf.resize(0);
           std::copy(buf, buf + size, back_inserter(outbuf));
   
           return size;
       }
   
       void SubjectList::Parse(const char *data, size_t len, TransformBuilder *builder)
       {
           auto root = GetSubjectList(data);
   
           this->mTime = root->time();
   
           auto subjects_data = root->subjects();
           auto updates_data = root->updates();
   
           auto ovSubjects = root->subjects();
   
           if (subjects_data)
           {
               for (uint32_t i = 0; i < subjects_data->size(); i++)
               {
                   // For each subject
                   this->ParseSubject(subjects_data->Get(i), builder);
               }
           }
   
           if (updates_data)
           {
               for (uint32_t i = 0; i < updates_data->size(); i++)
               {
                   // For each update
                   this->ParseUpdate(updates_data->Get(i), builder);
               }
           }
   
           for (auto subject : this->mItems)
               subject->CalcMatrices();
       }
   
       void SubjectList::ParseSubject(const O3DS::Data::Subject *inSubject, TransformBuilder *builder)
       {
           std::string subjectName = inSubject->name()->str();
   
           // Check to see if this subject already exists
           Subject *outSubject = this->findSubject(subjectName);
           if (outSubject == nullptr)
           {
               // Add it
               outSubject = this->addSubject(subjectName);
           }
   
           outSubject->mContext.mX = dir(inSubject->x_axis());
           outSubject->mContext.mY = dir(inSubject->y_axis());
           outSubject->mContext.mZ = dir(inSubject->z_axis());
   
           // Get the nodes (transforms) for this subject
           auto ovNodes = inSubject->nodes();
   
           // Clear the subject and add the transfoms
           outSubject->clear();
           for (int n = 0; n < (int)ovNodes->size(); n++)
           {
               auto inNode = ovNodes->Get(n);
               auto inName = inNode->name();
               auto inTranslation = inNode->translation();
               auto inRotation = inNode->rotation();
               auto inScale = inNode->scale();
               auto inMatrix = inNode->matrix();
               auto inComponents = inNode->components();
   
               auto inMatrixIter = inMatrix->begin();
   
               std::string transformName = inName->str();
               Transform *outTransform = outSubject->addTransform(transformName, inNode->parent());
   
               // Add the components to the transform stack in the order they are defined.
               for (int8_t componentId : *inComponents)
               {
                   if (componentId == O3DS::Data::Component::Component_Translation)
                   {
                       *inTranslation >> outTransform->translation;
                       outTransform->transformOrder.push_back(O3DS::TTranslation);
                   }
                   if (componentId == O3DS::Data::Component::Component_Rotation)
                   {
                       *inRotation >> outTransform->rotation;
                       outTransform->transformOrder.push_back(O3DS::TRotation);
                   }
                   if (componentId == O3DS::Data::Component::Component_Scale)
                   {
                       *inScale >> outTransform->scale;
                       outTransform->transformOrder.push_back(O3DS::TScale);
                   }
                   if (componentId == O3DS::Data::Component::Component_Matrix)
                   {
                       auto transformMatrix = O3DS::TransformMatrix();
                       **inMatrixIter++ >> transformMatrix;
                       outTransform->matrices.push_back(transformMatrix);
                       outTransform->transformOrder.push_back(O3DS::TMatrix);
                   }
               }
           }
       }
   
       void SubjectList::ParseUpdate(
           const O3DS::Data::SubjectUpdate *inUpdate,
           TransformBuilder *builder)
       {
           std::string name = inUpdate->name()->str();
           int id;
   
           // Find the subject to update, by name
           O3DS::Subject *outSubject = this->findSubject(name);
           if (!outSubject)
               return;
   
           // Update TRS
   
           for (auto inTranslation : *inUpdate->translations())
           {
               id = inTranslation->i();
               if (id < outSubject->mTransforms.size())
                   *inTranslation >> outSubject->mTransforms[id]->translation;
               else
                   break;
           }
   
           for (auto inRotation : *inUpdate->rotation())
           {
               id = inRotation->i();
               if (id < outSubject->mTransforms.size())
                   *inRotation >> outSubject->mTransforms[id]->rotation;
               else
                   break;
           }
   
           for (auto inScale : *inUpdate->scale())
           {
               id = inScale->i();
               if (id < outSubject->mTransforms.size())
                   *inScale >> outSubject->mTransforms[id]->scale;
               else
                   break;
           }
       }
   
   
   
   } // namespace O3DS
   
   /*
   void O3DS::Subject::update(bool useWorldMatrix)
   {
       for (auto transform : mTransforms)
       {
           transform->update();
       }
   
       if (useWorldMatrix)
       {
           for (auto transform : mTransforms)
           {
               if (transform->mParentId >= 0)
               {
                   transform->mParentInverseMatrix = mTransforms.mItems[transform->mParentId]->mMatrix.Inverse();
               }
           }
   
           for (auto i : mTransforms)
           {
               O3DS::Matrix<double> transformMatrix;
               if (i->mParentId >= 0)
               {
                   transformMatrix = i->mMatrix * i->mParentInverseMatrix;
               }
               else
               {
                   transformMatrix = i->mMatrix;
               }
               i->mTranslation = transformMatrix.GetTranslation();
               i->mOrientation = transformMatrix.GetQuaternion();
           }
       }
   }*/