From 687db8a01a0719b2f4f23b6aef27bddb8f23d31c Mon Sep 17 00:00:00 2001
From: XProger <xproger@list.ru>
Date: Wed, 28 Dec 2016 01:18:12 +0300
Subject: [PATCH] #16 transform meshes by quaternion & pos instead of matrix

---
 bin/OpenLara.exe | Bin 134144 -> 136192 bytes
 src/animation.h  |  22 +++++++++++-----------
 src/controller.h |  16 ++++++++--------
 src/core.h       |   3 ++-
 src/enemy.h      |   4 ++--
 src/lara.h       |  20 ++++++++++----------
 src/level.h      |  17 ++++++++---------
 src/mesh.h       |  17 +++++++++--------
 src/shader.glsl  |  18 ++++++++++++++----
 src/shader.h     |   9 +++++++--
 src/sprite.h     |   6 +++---
 src/utils.h      |  40 +++++++++++++++++++++++++++++++++++++++-
 12 files changed, 113 insertions(+), 59 deletions(-)

diff --git a/bin/OpenLara.exe b/bin/OpenLara.exe
index fe9329e315e7aee99edb2525b3a38322a9ff9678..c55c28aa3c205917646054d0c5963155dba8c49c 100644
GIT binary patch
delta 28749
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diff --git a/src/animation.h b/src/animation.h
index 73274161..19a53cc4 100644
--- a/src/animation.h
+++ b/src/animation.h
@@ -200,46 +200,46 @@ struct Animation {
         return lerpAngle(frameA->getAngle(joint), frameB->getAngle(joint), delta);
     }
 
-    mat4 getJoints(mat4 matrix, int joint, bool postRot = false, mat4 *joints = NULL) {
+    Basis getJoints(Basis basis, int joint, bool postRot = false, Basis *joints = NULL) {
         ASSERT(model);
         vec3 offset = isPrepareToNext ? this->offset : vec3(0.0f);
-        matrix.translate(((vec3)frameA->pos).lerp(offset + frameB->pos, delta));
+        basis.translate(((vec3)frameA->pos).lerp(offset + frameB->pos, delta));
 
         TR::Node *node = (int)model->node < level->nodesDataSize ? (TR::Node*)&level->nodesData[model->node] : NULL;
 
         int sIndex = 0;
-        mat4 stack[16];
+        Basis stack[16];
 
         for (int i = 0; i < model->mCount; i++) {
 
             if (i > 0 && node) {
                 TR::Node &t = node[i - 1];
 
-                if (t.flags & 0x01) matrix = stack[--sIndex];
-                if (t.flags & 0x02) stack[sIndex++] = matrix;
+                if (t.flags & 0x01) basis = stack[--sIndex];
+                if (t.flags & 0x02) stack[sIndex++] = basis;
 
                 ASSERT(sIndex >= 0 && sIndex < 16);
 
-                matrix.translate(vec3((float)t.x, (float)t.y, (float)t.z));
+                basis.translate(vec3((float)t.x, (float)t.y, (float)t.z));
             }
 
             if (i == joint && !postRot)
-                return matrix;
+                return basis;
 
             quat q;
             if (overrideMask & (1 << i))
                 q = overrides[i];
             else
                 q = getJointRot(i);
-            matrix = matrix * mat4(q, vec3(0.0f));
+            basis.rotate(q);
 
             if (i == joint && postRot)
-                return matrix;
+                return basis;
 
             if (joints)
-                joints[i] = matrix;
+                joints[i] = basis;
         }
-        return matrix;
+        return basis;
     }
 
     Box getBoundingBox(const vec3 &pos, int dir) {
diff --git a/src/controller.h b/src/controller.h
index 4632b02d..98affeb9 100644
--- a/src/controller.h
+++ b/src/controller.h
@@ -22,7 +22,7 @@ struct Controller {
     vec3    pos;
     vec3    angle;
 
-    mat4    *joints;
+    Basis   *joints;
     int     frameIndex;
 
     vec3    ambient[6];
@@ -49,7 +49,7 @@ struct Controller {
         pos        = vec3((float)e.x, (float)e.y, (float)e.z);
         angle      = vec3(0.0f, e.rotation, 0.0f);
         TR::Model  *m = getModel();
-        joints     = m ? new mat4[m->mCount] : NULL;
+        joints     = m ? new Basis[m->mCount] : NULL;
         frameIndex = -1;
         specular   = 0.0f;
     }
@@ -85,8 +85,8 @@ struct Controller {
             Box box = ((Controller*)e.controller)->getBoundingBox();
             vec3 t = (box.min + box.max) * 0.5f;
 
-            mat4 m = animation.getJoints(getMatrix(), joint);
-            vec3 delta = (m.inverse() * t).normal();
+            Basis b = animation.getJoints(Basis(getMatrix()), joint);
+            vec3 delta = (b.inverse() * t).normal();
 
             float angleY = clampAngle(atan2f(delta.x, delta.z));
             float angleX = clampAngle(asinf(delta.y));
@@ -99,7 +99,7 @@ struct Controller {
 
                 rot = ay * ax;
                 if (rotAbs)
-                    *rotAbs = m.getRot() * rot;
+                    *rotAbs = b.rot * rot;
                 return true;
             }
         }
@@ -470,13 +470,13 @@ struct Controller {
                 mask |= layers[i].mask;
             // set meshes visibility
                 for (int j = 0; j < model->mCount; j++)
-                    joints[j].e33 = (vmask & (1 << j)) ? 1.0f : -1.0f;
+                    joints[j].w = (vmask & (1 << j)) ? 1.0f : -1.0f; // AHAHA
             // render
-                Core::active.shader->setParam(uModel, joints[0], model->mCount);
+                Core::active.shader->setParam(uBasis, joints[0], model->mCount);
                 mesh->renderModel(layers[i].model);
             }
         } else {
-            Core::active.shader->setParam(uModel, joints[0], model->mCount);
+            Core::active.shader->setParam(uBasis, joints[0], model->mCount);
             mesh->renderModel(entity.modelIndex - 1);
         }
 
diff --git a/src/core.h b/src/core.h
index 903be280..42150b8a 100644
--- a/src/core.h
+++ b/src/core.h
@@ -135,7 +135,8 @@ namespace Core {
     int width, height;
     int frameIndex;
     float deltaTime;
-    mat4 mView, mProj, mViewProj, mViewInv, mModel, mLightProj;
+    mat4 mView, mProj, mViewProj, mViewInv, mLightProj;
+    Basis basis;
     vec3 viewPos;
     vec3 lightPos[MAX_LIGHTS];
     vec4 lightColor[MAX_LIGHTS];
diff --git a/src/enemy.h b/src/enemy.h
index 49236f4b..2a86d285 100644
--- a/src/enemy.h
+++ b/src/enemy.h
@@ -211,7 +211,7 @@ struct Wolf : Enemy {
         if ((state == STATE_JUMP || state == STATE_BITE) && !bitten) {
             float dist;
             if (getTargetInfo(0, NULL, NULL, NULL, &dist) && dist < 256.0f)
-                bite(animation.getJoints(getMatrix(), JOINT_HEAD, true).getPos(), state == STATE_BITE ? 100 : 50);                
+                bite(animation.getJoints(getMatrix(), JOINT_HEAD, true).pos, state == STATE_BITE ? 100 : 50);                
         }
 
         if (state == STATE_JUMP)
@@ -300,7 +300,7 @@ struct Bear : Enemy {
         if ((state == STATE_ATTACK || state == STATE_BITE) && !bitten) {
             float dist;
             if (getTargetInfo(0, NULL, NULL, NULL, &dist) && dist < 256.0f)
-                bite(animation.getJoints(getMatrix(), JOINT_HEAD, true).getPos(), state == STATE_BITE ? 100 : 50);                
+                bite(animation.getJoints(getMatrix(), JOINT_HEAD, true).pos, state == STATE_BITE ? 100 : 50);                
         }
 
         return state;
diff --git a/src/lara.h b/src/lara.h
index 2fe0aa6a..2f5a1ebc 100644
--- a/src/lara.h
+++ b/src/lara.h
@@ -300,7 +300,7 @@ struct Lara : Character {
 */
         updateEntity();
     #endif
-        chestOffset = animation.getJoints(getMatrix(), 7).getPos();
+        chestOffset = animation.getJoints(getMatrix(), 7).pos;
         if (getRoom().flags.water)
             animation.setAnim(ANIM_UNDERWATER);
     }
@@ -561,7 +561,7 @@ struct Lara : Character {
 
             int joint = wpnCurrent == Weapon::SHOTGUN ? 8 : (i ? 11 : 8);
 
-            vec3 p = animation.getJoints(getMatrix(), joint, false).getPos();
+            vec3 p = animation.getJoints(getMatrix(), joint, false).pos;
             vec3 d = arm->rotAbs * vec3(0, 0, 1);
             vec3 t = p + d * (24.0f * 1024.0f) + ((vec3(randf(), randf(), randf()) * 2.0f) - vec3(1.0f)) * 1024.0f;
 
@@ -582,7 +582,7 @@ struct Lara : Character {
                 }
             }
 
-            Core::lightPos[1 + armIndex]   = animation.getJoints(getMatrix(), armIndex == 0 ? 10 : 13, false).getPos();
+            Core::lightPos[1 + armIndex]   = animation.getJoints(getMatrix(), armIndex == 0 ? 10 : 13, false).pos;
             Core::lightColor[1 + armIndex] = FLASH_LIGHT_COLOR;
         }
 
@@ -1050,7 +1050,7 @@ struct Lara : Character {
     }
 
     vec3 getViewPoint() {
-        vec3 offset = chestOffset = animation.getJoints(getMatrix(), 7).getPos();
+        vec3 offset = chestOffset = animation.getJoints(getMatrix(), 7).pos;
         if (stand != STAND_UNDERWATER)
             offset.y -= 256.0f;
         if (!emptyHands())
@@ -1768,23 +1768,23 @@ struct Lara : Character {
     }
 
 
-    void renderMuzzleFlash(MeshBuilder *mesh, const mat4 &matrix, const vec3 &offset, float time) {
+    void renderMuzzleFlash(MeshBuilder *mesh, const Basis &basis, const vec3 &offset, float time) {
         ASSERT(level->extra.muzzleFlash);
         if (time > MUZZLE_FLASH_TIME) return;
         float alpha = min(1.0f, (0.1f - time) * 20.0f);
         float lum   = 3.0f;
-        mat4 m(matrix);
-        m.rotateX(-PI * 0.5f);
-        m.translate(offset);
+        Basis b(basis);
+        b.rotate(quat(vec3(1, 0, 0), -PI * 0.5f));
+        b.translate(offset);
         
         Core::active.shader->setParam(uColor, vec4(lum, lum, lum, alpha));
-        Core::active.shader->setParam(uModel, m);
+        Core::active.shader->setParam(uBasis, b);
         mesh->renderModel(level->extra.muzzleFlash);
     }
 
     virtual void render(Frustum *frustum, MeshBuilder *mesh) {
         Controller::render(frustum, mesh);
-        chestOffset = animation.getJoints(getMatrix(), 7).getPos(); // TODO: move to update func
+        chestOffset = animation.getJoints(getMatrix(), 7).pos; // TODO: move to update func
 
         if (wpnCurrent != Weapon::SHOTGUN && Core::pass != Core::passShadow && (arms[0].shotTimer < MUZZLE_FLASH_TIME || arms[1].shotTimer < MUZZLE_FLASH_TIME)) {
             mat4 matrix = getMatrix();
diff --git a/src/level.h b/src/level.h
index 6816b0ee..cbca4623 100644
--- a/src/level.h
+++ b/src/level.h
@@ -557,14 +557,13 @@ struct Level {
 
             if (Core::pass != Core::passShadow) {
                 setRoomParams(room, intensityf(room.ambient));
-                Shader *sh = Core::active.shader;
-
-                sh->setParam(uType, Shader::ROOM);
 
-                mat4 mTemp = Core::mModel;
-                Core::mModel.translate(offset);
+                Basis qTemp = Core::basis;
+                Core::basis.translate(offset);
 
-                sh->setParam(uModel, Core::mModel);
+                Shader *sh = Core::active.shader;
+                sh->setParam(uType, Shader::ROOM);
+                sh->setParam(uBasis, Core::basis);
 
             // render room geometry
                 mesh->renderRoomGeometry(roomIndex);
@@ -577,7 +576,7 @@ struct Level {
                     mesh->renderRoomSprites(roomIndex);
                 }
 
-                Core::mModel = mTemp;
+                Core::basis = qTemp;
             }
         }
 
@@ -728,7 +727,7 @@ struct Level {
         sh->setParam(uAnimTexRanges,    mesh->animTexRanges[0],     mesh->animTexRangesCount);
         sh->setParam(uAnimTexOffsets,   mesh->animTexOffsets[0],    mesh->animTexOffsetsCount);
 
-        Core::mModel.identity();
+        Core::basis.identity();
 
         // clear visibility flag for rooms
         for (int i = 0; i < level.roomsCount; i++)
@@ -786,7 +785,7 @@ struct Level {
     }
 
     bool setupLightCamera() {
-        vec3 pos = (lara->animation.getJoints(lara->getMatrix(), 0, false, NULL)).getPos();
+        vec3 pos = (lara->animation.getJoints(lara->getMatrix(), 0, false, NULL)).pos;
     
     // omni-spot light shadows
         int room = lara->getRoomIndex();
diff --git a/src/mesh.h b/src/mesh.h
index 20029f4b..5b7e1270 100644
--- a/src/mesh.h
+++ b/src/mesh.h
@@ -211,7 +211,8 @@ struct MeshBuilder {
             TR::Model &model = level.models[i];
             for (int j = 0; j < model.mCount; j++) {
                 int index = level.meshOffsets[model.mStart + j];
-                if (!index && model.mCount == 1) continue;
+                if (!index && model.mStart + j > 0) 
+                    continue;
                 aCount++;
                 TR::Mesh &mesh = level.meshes[index];
                 iCount += mesh.rCount * 6 + mesh.tCount * 3;
@@ -337,7 +338,7 @@ struct MeshBuilder {
 
             for (int j = 0; j < model.mCount; j++) {
                 int index = level.meshOffsets[model.mStart + j];
-                if (!index && model.mCount == 1) continue;
+                if (!index && model.mStart + j > 0) continue;
 
                 TR::Mesh &mesh = level.meshes[index];
                 buildMesh(mesh, level, indices, vertices, iCount, vCount, vStart, j, 0, 0, 0, 0);
@@ -725,9 +726,9 @@ struct MeshBuilder {
         
         Core::active.shader->setParam(uColor, color);
         //text = "a: b";
-        mat4 m;
-        m.identity();
-        m.translate(vec3(pos.x, pos.y, 0.0f));
+        Basis basis;
+        basis.identity();
+        basis.translate(vec3(pos.x, pos.y, 0.0f));
        // text = "A";
         while (char c = *text++) {
             
@@ -749,13 +750,13 @@ struct MeshBuilder {
             }
             */
             if (c == ' ' || c == '_') {
-                m.translate(vec3(char_width[0], 0.0f, 0.0f));
+                basis.translate(vec3(char_width[0], 0.0f, 0.0f));
                 continue;
             }
 
-            Core::active.shader->setParam(uModel, m);
+            Core::active.shader->setParam(uBasis, basis);
             renderSprite(15, frame);
-            m.translate(vec3(char_width[frame], 0.0f, 0.0f));
+            basis.translate(vec3(char_width[frame], 0.0f, 0.0f));
         }
     }
 };
diff --git a/src/shader.glsl b/src/shader.glsl
index bf278db4..d40fb625 100644
--- a/src/shader.glsl
+++ b/src/shader.glsl
@@ -26,7 +26,7 @@ uniform int   uType;
 
 #ifdef VERTEX
     uniform mat4 uViewProj;
-    uniform mat4 uModel[32];
+    uniform vec4 uBasis[32 * 2];
 
     #ifndef PASS_AMBIENT
         uniform mat4 uViewInv;
@@ -51,11 +51,21 @@ uniform int   uType;
     #endif
 
     #define TEXCOORD_SCALE (1.0 / 32767.0)
+
+    vec3 mulQuat(vec4 q, vec3 v) { 
+        return v + 2.0 * cross(q.xyz, cross(q.xyz, v) + v * q.w);
+    }
+
+    vec3 mulBasis(vec4 rot, vec4 pos, vec3 v) {
+        return mulQuat(rot, v) + pos.xyz;
+    }
     
     void main() {
-        mat4 rJoint = uModel[int(aCoord.w)];
+        int index = int(aCoord.w) * 2;
+        vec4 rBasisRot = uBasis[index];
+        vec4 rBasisPos = uBasis[index + 1];
 
-        vec4 coord  = rJoint * vec4(aCoord.xyz, 1.0);
+        vec4 coord = vec4(mulBasis(rBasisRot, rBasisPos, aCoord.xyz), rBasisPos.w);
         
         #ifdef PASS_COMPOSE
             if (uType != TYPE_SPRITE) {
@@ -66,7 +76,7 @@ uniform int   uType;
                 vec2 offset = uAnimTexOffsets[int(range.x + f)]; // texCoord offset from first frame
 
                 vTexCoord  = (aTexCoord.xy + offset) * TEXCOORD_SCALE; // first frame + offset * isAnimated
-                vNormal    = vec4((rJoint * vec4(aNormal.xyz, 0.0)).xyz, aNormal.w);
+                vNormal    = vec4(mulQuat(rBasisRot, aNormal.xyz), aNormal.w);
             } else {
                 coord.xyz += uViewInv[0].xyz * aTexCoord.z - uViewInv[1].xyz * aTexCoord.w;
                 vTexCoord  = aTexCoord.xy * TEXCOORD_SCALE;
diff --git a/src/shader.h b/src/shader.h
index 2152fbf3..34957f07 100644
--- a/src/shader.h
+++ b/src/shader.h
@@ -5,11 +5,11 @@
 
 enum AttribType     { aCoord, aTexCoord, aNormal, aColor, aMAX };
 enum SamplerType    { sDiffuse, sShadow, sEnvironment, sMAX };
-enum UniformType    { uType, uCaustics, uTime, uViewProj, uViewInv, uModel, uLightProj, uColor, uAmbient, uViewPos, uLightsCount, uLightPos, uLightColor, uAnimTexRanges, uAnimTexOffsets, uMAX };
+enum UniformType    { uType, uCaustics, uTime, uViewProj, uViewInv, uBasis, uLightProj, uColor, uAmbient, uViewPos, uLightsCount, uLightPos, uLightColor, uAnimTexRanges, uAnimTexOffsets, uMAX };
 
 const char *AttribName[aMAX]    = { "aCoord", "aTexCoord", "aNormal", "aColor" };
 const char *SamplerName[sMAX]   = { "sDiffuse", "sShadow", "sEnvironment" };
-const char *UniformName[uMAX]   = { "uType", "uCaustics",  "uTime", "uViewProj", "uViewInv", "uModel", "uLightProj", "uColor", "uAmbient", "uViewPos", "uLightsCount", "uLightPos", "uLightColor", "uAnimTexRanges", "uAnimTexOffsets" };
+const char *UniformName[uMAX]   = { "uType", "uCaustics",  "uTime", "uViewProj", "uViewInv", "uBasis", "uLightProj", "uColor", "uAmbient", "uViewPos", "uLightsCount", "uLightPos", "uLightColor", "uAnimTexRanges", "uAnimTexOffsets" };
 
 struct Shader {
     GLuint  ID;
@@ -103,6 +103,11 @@ struct Shader {
         if (uID[uType] != -1)
             glUniformMatrix4fv(uID[uType], count, false, (GLfloat*)&value);
     }
+
+    void setParam(UniformType uType, const Basis &value, int count = 1) {
+        if (uID[uType] != -1)
+            glUniform4fv(uID[uType], count * 2, (GLfloat*)&value);
+    }
 };
 
 #endif
\ No newline at end of file
diff --git a/src/sprite.h b/src/sprite.h
index 424ed6bc..259611b1 100644
--- a/src/sprite.h
+++ b/src/sprite.h
@@ -60,9 +60,9 @@ struct Sprite : Controller {
     }
 
     virtual void render(Frustum *frustum, MeshBuilder *mesh) {
-        mat4 m(Core::mModel);
-        m.translate(pos);
-        Core::active.shader->setParam(uModel, m);
+        Basis basis(Core::basis);
+        basis.translate(pos);
+        Core::active.shader->setParam(uBasis, basis);
         mesh->renderSprite(-(getEntity().modelIndex + 1), frame);
     }
 };
diff --git a/src/utils.h b/src/utils.h
index 7c2f6552..85ca2a5c 100644
--- a/src/utils.h
+++ b/src/utils.h
@@ -126,7 +126,8 @@ struct vec3 {
     vec3 operator + (const vec3 &v) const { return vec3(x+v.x, y+v.y, z+v.z); }
     vec3 operator - (const vec3 &v) const { return vec3(x-v.x, y-v.y, z-v.z); }
     vec3 operator * (const vec3 &v) const { return vec3(x*v.x, y*v.y, z*v.z); }
-    vec3 operator * (float s) const { return vec3(x*s, y*s, z*s); }
+    vec3 operator * (float s)       const { return vec3(x*s, y*s, z*s); }
+    vec3 operator - ()              const { return vec3(-x, -y, -z); }
 
     float dot(const vec3 &v) const { return x*v.x + y*v.y + z*v.z; }
     vec3  cross(const vec3 &v) const { return vec3(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x); }
@@ -509,6 +510,43 @@ struct mat4 {
     }
 };
 
+struct Basis {
+	quat    rot;
+    vec3    pos;
+    float   w;
+
+    Basis() {}
+    Basis(const quat &rot, const vec3 &pos) : rot(rot), pos(pos), w(1.0f) {}
+    Basis(const mat4 &matrix) : rot(matrix.getRot()), pos(matrix.getPos()), w(1.0f) {}
+
+    void identity() {
+        rot = quat(0, 0, 0, 1);
+        pos = vec3(0, 0, 0);
+        w   = 1.0f;
+    }
+
+	Basis operator * (const Basis &basis) const {
+        return Basis(rot * basis.rot, pos + rot * basis.pos);
+    }
+
+	vec3 operator * (const vec3 &v) const {
+        return rot * v + pos;
+    }
+
+	Basis inverse() const {
+        quat q = rot.conjugate();
+        return Basis(q, -(q * pos));
+    }
+
+    void translate(const vec3 &v) {
+        pos += rot * v;
+    }
+
+    void rotate(const quat &q) {
+        rot = rot * q;
+    }
+};
+
 struct ubyte2 {
     uint8 x, y;
 };