float m[12];
const blendweights_t * RESTRICT weights;
- if (!model->surfmesh.num_vertices)
- return;
-
- if (!model->num_bones)
- {
- if (vertex3f) memcpy(vertex3f, model->surfmesh.data_vertex3f, model->surfmesh.num_vertices*sizeof(float[3]));
- if (normal3f) memcpy(normal3f, model->surfmesh.data_normal3f, model->surfmesh.num_vertices*sizeof(float[3]));
- if (svector3f) memcpy(svector3f, model->surfmesh.data_svector3f, model->surfmesh.num_vertices*sizeof(float[3]));
- if (tvector3f) memcpy(tvector3f, model->surfmesh.data_tvector3f, model->surfmesh.num_vertices*sizeof(float[3]));
- return;
- }
-
//unsigned long long ts = rdtsc();
bonepose = (float12_t *) Mod_Skeletal_AnimateVertices_AllocBuffers(sizeof(float12_t) * (model->num_bones*2 + model->surfmesh.num_blends));
boneposerelative = bonepose + model->num_bones;
}
else
{
- float originscale = model->num_posescale;
- float x,y,z,w,lerp;
- const short * RESTRICT pose6s;
-
for (i = 0;i < model->num_bones;i++)
{
- memset(m, 0, sizeof(m));
- for (blends = 0;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++)
+ const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[0].subframe * model->num_bones + i);
+ float lerp = frameblend[0].lerp,
+ tx = pose7s[0], ty = pose7s[1], tz = pose7s[2],
+ rx = pose7s[3] * lerp,
+ ry = pose7s[4] * lerp,
+ rz = pose7s[5] * lerp,
+ rw = pose7s[6] * lerp,
+ dx = tx*rw + ty*rz - tz*ry,
+ dy = -tx*rz + ty*rw + tz*rx,
+ dz = tx*ry - ty*rx + tz*rw,
+ dw = -tx*rx - ty*ry - tz*rz,
+ scale, sx, sy, sz, sw;
+ for (blends = 1;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++)
{
- pose6s = model->data_poses6s + 6 * (frameblend[blends].subframe * model->num_bones + i);
- lerp = frameblend[blends].lerp;
- x = pose6s[3] * (1.0f / 32767.0f);
- y = pose6s[4] * (1.0f / 32767.0f);
- z = pose6s[5] * (1.0f / 32767.0f);
- w = 1.0f - (x*x+y*y+z*z);
- w = w > 0.0f ? -sqrt(w) : 0.0f;
- m[ 0] += (1-2*(y*y+z*z)) * lerp;
- m[ 1] += ( 2*(x*y-z*w)) * lerp;
- m[ 2] += ( 2*(x*z+y*w)) * lerp;
- m[ 3] += (pose6s[0] * originscale) * lerp;
- m[ 4] += ( 2*(x*y+z*w)) * lerp;
- m[ 5] += (1-2*(x*x+z*z)) * lerp;
- m[ 6] += ( 2*(y*z-x*w)) * lerp;
- m[ 7] += (pose6s[1] * originscale) * lerp;
- m[ 8] += ( 2*(x*z-y*w)) * lerp;
- m[ 9] += ( 2*(y*z+x*w)) * lerp;
- m[10] += (1-2*(x*x+y*y)) * lerp;
- m[11] += (pose6s[2] * originscale) * lerp;
+ const short * RESTRICT pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i);
+ float lerp = frameblend[blends].lerp,
+ tx = pose7s[0], ty = pose7s[1], tz = pose7s[2],
+ qx = pose7s[3], qy = pose7s[4], qz = pose7s[5], qw = pose7s[6];
+ if(rx*qx + ry*qy + rz*qz + rw*qw < 0) lerp = -lerp;
+ qx *= lerp;
+ qy *= lerp;
+ qz *= lerp;
+ qw *= lerp;
+ rx += qx;
+ ry += qy;
+ rz += qz;
+ rw += qw;
+ dx += tx*qw + ty*qz - tz*qy;
+ dy += -tx*qz + ty*qw + tz*qx;
+ dz += tx*qy - ty*qx + tz*qw;
+ dw += -tx*qx - ty*qy - tz*qz;
}
- VectorNormalize(m );
- VectorNormalize(m + 4);
- VectorNormalize(m + 8);
+ scale = 1.0f / (rx*rx + ry*ry + rz*rz + rw*rw);
+ sx = rx * scale;
+ sy = ry * scale;
+ sz = rz * scale;
+ sw = rw * scale;
+ m[0] = sw*rw + sx*rx - sy*ry - sz*rz;
+ m[1] = 2*(sx*ry - sw*rz);
+ m[2] = 2*(sx*rz + sw*ry);
+ m[3] = model->num_posescale*(dx*sw - dy*sz + dz*sy - dw*sx);
+ m[4] = 2*(sx*ry + sw*rz);
+ m[5] = sw*rw + sy*ry - sx*rx - sz*rz;
+ m[6] = 2*(sy*rz - sw*rx);
+ m[7] = model->num_posescale*(dx*sz + dy*sw - dz*sx - dw*sy);
+ m[8] = 2*(sx*rz - sw*ry);
+ m[9] = 2*(sy*rz + sw*rx);
+ m[10] = sw*rw + sz*rz - sx*rx - sy*ry;
+ m[11] = model->num_posescale*(dy*sx + dz*sw - dx*sy - dw*sz);
if (i == r_skeletal_debugbone.integer)
m[r_skeletal_debugbonecomponent.integer % 12] += r_skeletal_debugbonevalue.value;
m[3] *= r_skeletal_debugtranslatex.value;