Program Listing for File model.cpp

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/*
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();
        }
    }
}*/