anki-3d-engine/include/anki/resource/Skeleton.h

#ifndef ANKI_RESOURCE_SKELETON_H
#define ANKI_RESOURCE_SKELETON_H

#include "anki/math/Math.h"
#include "anki/util/Vector.h"
#include <array>


namespace anki {


/// Skeleton bone
///
/// @note The rotation and translation that transform the bone from bone space
/// to armature space. Meaning that if MA = TRS(rotSkelSpace, tslSkelSpace)
/// then head = MA * Vec3(0.0, length, 0.0) and tail = MA * Vec3(0.0, 0.0, 0.0).
/// We need the MA because the animation rotations and translations are in bone
/// space. We also keep the inverted ones for fast calculations.
/// rotSkelSpaceInv = MA.Inverted().getRotationPart() and NOT
/// rotSkelSpaceInv = rotSkelSpace.getInverted()
struct Bone
{
	friend class Skeleton; /// For loading

public:
	/// @name Accessors
	/// @{
	const std::string& getName() const
	{
		return name;
	}

	const Vec3& getHead() const
	{
		return head;
	}

	const Vec3& getTail() const
	{
		return tail;
	}

	uint getId() const
	{
		return id;
	}

	const Bone* getParent() const
	{
		return parent;
	}

	const Bone& getChild(uint i) const
	{
		return *childs[i];
	}

	size_t getChildsNum() const
	{
		return childsNum;
	}

	const Mat3& getRotationSkeletonSpace() const
	{
		return rotSkelSpace;
	}

	const Vec3& getTranslationSkeletonSpace() const
	{
		return tslSkelSpace;
	}

	const Mat3& getRotationSkeletonSpaceInverted() const
	{
		return rotSkelSpaceInv;
	}

	const Vec3& getTranslationSkeletonSpaceInverted() const
	{
		return tslSkelSpaceInv;
	}
	/// @}

private:
	std::string name; ///< The name of the bone
	Vec3 head; ///< Starting point of the bone
	Vec3 tail; ///< End point of the bone
	uint id; ///< Pos inside the @ref Skeleton::bones vector
	static const uint MAX_CHILDS_PER_BONE = 4; ///< Please dont change this
	Bone* parent;
	std::array<Bone*, MAX_CHILDS_PER_BONE> childs;
	ushort childsNum;

	// see the class notes
	Mat3 rotSkelSpace;
	Vec3 tslSkelSpace;
	Mat3 rotSkelSpaceInv;
	Vec3 tslSkelSpaceInv;
};


/// It contains the bones with their position and hierarchy
///
/// Binary file format:
///
/// @code
/// magic: ANKISKEL
/// uint: bones num
/// n * bone: bones
/// 
/// bone:
/// string: name
/// 3 * floats: head
/// 3 * floats: tail
/// 16 * floats: armature space matrix
/// uint: parent id, if it has no parent then its 0xFFFFFFFF
/// uint: children number
/// n * child: children
/// 
/// child:
/// uint: bone id
/// @endcode
class Skeleton
{
public:
	/// Implements Resource::load
	void load(const char* filename);

	/// @name Accessors
	/// @{
	const Vector<Bone>& getBones() const
	{
		return bones;
	}
	/// @}

private:
	Vector<Bone> bones;
};


} // end namespace


#endif