magnum/src/SceneGraph/Object.hpp

#ifndef Magnum_SceneGraph_Object_hpp
#define Magnum_SceneGraph_Object_hpp
/*
    Copyright © 2010, 2011, 2012 Vladimír Vondruš <mosra@centrum.cz>

    This file is part of Magnum.

    Magnum is free software: you can redistribute it and/or modify
    it under the terms of the GNU Lesser General Public License version 3
    only, as published by the Free Software Foundation.

    Magnum is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    GNU Lesser General Public License version 3 for more details.
*/

/** @file
 * @brief @ref compilation-speedup-hpp "Template implementation" for Object.h
 */

#include "Object.h"

#include <stack>

#include "Scene.h"

namespace Magnum { namespace SceneGraph {

template<class Transformation> Scene<Transformation>* Object<Transformation>::scene() {
    return static_cast<Scene<Transformation>*>(sceneObject());
}

template<class Transformation> const Scene<Transformation>* Object<Transformation>::scene() const {
    return static_cast<const Scene<Transformation>*>(sceneObject());
}

template<class Transformation> Object<Transformation>* Object<Transformation>::sceneObject() {
    Object<Transformation>* p(this);
    while(p && !p->isScene()) p = p->parent();
    return p;
}

template<class Transformation> const Object<Transformation>* Object<Transformation>::sceneObject() const {
    const Object<Transformation>* p(this);
    while(p && !p->isScene()) p = p->parent();
    return p;
}

template<class Transformation> Object<Transformation>* Object<Transformation>::setParent(Object<Transformation>* parent) {
    /* Skip if parent is already parent or this is scene (which cannot have parent) */
    /** @todo Assert for setting parent to scene */
    if(this->parent() == parent || isScene()) return this;

    /* Object cannot be parented to its child */
    Object<Transformation>* p = parent;
    while(p) {
        /** @todo Assert for this */
        if(p == this) return this;
        p = p->parent();
    }

    /* Remove the object from old parent children list */
    if(this->parent()) this->parent()->Corrade::Containers::LinkedList<Object<Transformation>>::cut(this);

    /* Add the object to list of new parent */
    if(parent) parent->Corrade::Containers::LinkedList<Object<Transformation>>::insert(this);

    setDirty();
    return this;
}

template<class Transformation> typename Transformation::DataType Object<Transformation>::absoluteTransformation() const {
    if(!parent()) return Transformation::transformation();
    return Transformation::compose(parent()->absoluteTransformation(), Transformation::transformation());
}

template<class Transformation> void Object<Transformation>::setDirty() {
    /* The transformation of this object (and all children) is already dirty,
       nothing to do */
    if(flags & Flag::Dirty) return;

    Object<Transformation>* self = static_cast<Object<Transformation>*>(this);

    /* Make all features dirty */
    for(AbstractFeature<Transformation::Dimensions, typename Transformation::Type>* i = self->firstFeature(); i; i = i->nextFeature())
        i->markDirty();

    /* Make all children dirty */
    for(Object<Transformation>* i = self->firstChild(); i; i = i->nextSibling())
        i->setDirty();

    /* Mark object as dirty */
    flags |= Flag::Dirty;
}

template<class Transformation> void Object<Transformation>::setClean() {
    /* The object (and all its parents) are already clean, nothing to do */
    if(!(flags & Flag::Dirty)) return;

    /* Collect all parents, compute base transformation */
    std::stack<Object<Transformation>*> objects;
    typename Transformation::DataType absoluteTransformation;
    Object<Transformation>* p = static_cast<Object<Transformation>*>(this);
    for(;;) {
        objects.push(p);

        p = p->parent();

        /* On root object, base transformation is identity */
        if(!p) break;

        /* Parent object is clean, base transformation is its absolute
           transformation */
        if(!p->isDirty()) {
            absoluteTransformation = p->absoluteTransformation();
            break;
        }
    }

    /* Clean features on every collected object, going down from root object */
    while(!objects.empty()) {
        Object<Transformation>* o = objects.top();
        objects.pop();

        /* Compose transformation and clean object */
        absoluteTransformation = Transformation::compose(absoluteTransformation, o->transformation());
        o->setClean(absoluteTransformation);
    }
}

template<class Transformation> std::vector<typename DimensionTraits<Transformation::Dimensions, typename Transformation::Type>::MatrixType> Object<Transformation>::transformationMatrices(const std::vector<AbstractObject<Transformation::Dimensions, typename Transformation::Type>*>& objects, const typename DimensionTraits<Transformation::Dimensions, typename Transformation::Type>::MatrixType& initialTransformationMatrix) const {
    std::vector<Object<Transformation>*> castObjects(objects.size());
    for(std::size_t i = 0; i != objects.size(); ++i)
        /** @todo Ensure this doesn't crash, somehow */
        castObjects[i] = static_cast<Object<Transformation>*>(objects[i]);

    std::vector<typename Transformation::DataType> transformations = this->transformations(std::move(castObjects), Transformation::fromMatrix(initialTransformationMatrix));
    std::vector<typename DimensionTraits<Transformation::Dimensions, typename Transformation::Type>::MatrixType> transformationMatrices(transformations.size());
    for(std::size_t i = 0; i != objects.size(); ++i)
        transformationMatrices[i] = Transformation::toMatrix(transformations[i]);

    return transformationMatrices;
}

template<class Transformation> std::vector<typename Transformation::DataType> Object<Transformation>::transformations(std::vector<Object<Transformation>*> objects, const typename Transformation::DataType& initialTransformation) const {
    /* Remember object count for later */
    std::size_t objectCount = objects.size();

    /* Create initial list of joints from original objects */
    std::vector<Object<Transformation>*> jointObjects(objects.size());
    for(std::size_t i = 0; i != jointObjects.size(); ++i) {
        jointObjects[i] = static_cast<Object<Transformation>*>(objects[i]);
        CORRADE_INTERNAL_ASSERT(jointObjects[i]->counter == 0xFFFFu);
        jointObjects[i]->counter = i;
        jointObjects[i]->flags |= Flag::Joint;
    }

    /* Scene object */
    const Scene<Transformation>* scene = this->scene();

    /* Nearest common ancestor not yet implemented - assert this is done on scene */
    CORRADE_ASSERT(scene == this, "SceneGraph::Object::transformationMatrices(): currently implemented only for Scene", {});

    /* Mark all objects up the hierarchy as visited */
    auto it = objects.begin();
    while(!objects.empty()) {
        /* Mark the object as visited */
        CORRADE_INTERNAL_ASSERT(!((*it)->flags & Flag::Visited));
        (*it)->flags |= Flag::Visited;

        Object<Transformation>* parent = (*it)->parent();

        /* If this is root object, remove from list */
        if(!parent) {
            CORRADE_ASSERT(*it == scene, "SceneGraph::Object::transformations(): the objects are not part of the same tree", {});
            it = objects.erase(it);

        /* Parent is an joint or already visited - remove current from list */
        } else if(parent->flags & (Flag::Visited|Flag::Joint)) {
            it = objects.erase(it);

            /* If not already marked as joint, mark it as such and add it to
               list of joint objects */
            if(!(parent->flags & Flag::Joint)) {
                CORRADE_INTERNAL_ASSERT(parent->counter == 0xFFFFu);
                parent->counter = jointObjects.size();
                parent->flags |= Flag::Joint;
                jointObjects.push_back(parent);
            }

        /* Else go up the hierarchy */
        } else *it = parent;

        /* Cycle if reached end */
        if(it == objects.end()) it = objects.begin();
    }

    CORRADE_ASSERT(objects.size() < 0xFFFFu, "SceneGraph::Object::transformations(): too large scene", {});

    /* Array of absolute transformations in joints */
    std::vector<typename Transformation::DataType> jointTransformations(jointObjects.size());

    /* Compute transformations for all joints */
    for(std::size_t i = 0; i != jointTransformations.size(); ++i)
        computeJointTransformation(jointObjects, jointTransformations, i, initialTransformation);

    /* All visited marks are now cleaned, clean joint marks and counters */
    for(auto i: jointObjects) {
        CORRADE_INTERNAL_ASSERT(i->flags & Flag::Joint);
        i->flags &= ~Flag::Joint;
        i->counter = 0xFFFFu;
    }

    /* Shrink the array to contain only transformations of requested objects and return */
    jointTransformations.resize(objectCount);
    return jointTransformations;
}

template<class Transformation> typename Transformation::DataType Object<Transformation>::computeJointTransformation(const std::vector<Object<Transformation>*>& jointObjects, std::vector<typename Transformation::DataType>& jointTransformations, const std::size_t joint, const typename Transformation::DataType& initialTransformation) const {
    Object<Transformation>* o = jointObjects[joint];

    /* Transformation already computed ("unvisited" by this function before), done */
    if(!(o->flags & Flag::Visited)) return jointTransformations[joint];

    /* Initialize transformation */
    jointTransformations[joint] = o->transformation();

    /* Go up until next joint or root */
    for(;;) {
        /* Clean visited mark */
        CORRADE_INTERNAL_ASSERT(o->flags & Flag::Visited);
        o->flags &= ~Flag::Visited;

        Object<Transformation>* parent = o->parent();

        /* Root object, compose transformation with initial, done */
        if(!parent) {
            CORRADE_INTERNAL_ASSERT(o->isScene());
            return (jointTransformations[joint] =
                Transformation::compose(initialTransformation, jointTransformations[joint]));

        /* Joint object, compose transformation with the joint, done */
        } else if(parent->flags & Flag::Joint) {
            return (jointTransformations[joint] =
                Transformation::compose(computeJointTransformation(jointObjects, jointTransformations, parent->counter, initialTransformation), jointTransformations[joint]));

        /* Else compose transformation with parent, go up the hierarchy */
        } else {
            jointTransformations[joint] = Transformation::compose(parent->transformation(), jointTransformations[joint]);
            o = parent;
        }
    }
}

template<class Transformation> void Object<Transformation>::setClean(const typename Transformation::DataType& absoluteTransformation) {
    /* "Lazy storage" for transformation matrix and inverted transformation matrix */
    typedef typename AbstractFeature<Transformation::Dimensions, typename Transformation::Type>::CachedTransformation CachedTransformation;
    typename AbstractFeature<Transformation::Dimensions, typename Transformation::Type>::CachedTransformations cached;
    typename DimensionTraits<Transformation::Dimensions, typename Transformation::Type>::MatrixType
        matrix, invertedMatrix;

    /* Clean all features */
    for(AbstractFeature<Transformation::Dimensions, typename Transformation::Type>* i = this->firstFeature(); i; i = i->nextFeature()) {
        /* Cached absolute transformation, compute it if it wasn't
            computed already */
        if(i->cachedTransformations() & CachedTransformation::Absolute) {
            if(!(cached & CachedTransformation::Absolute)) {
                cached |= CachedTransformation::Absolute;
                matrix = Transformation::toMatrix(absoluteTransformation);
            }

            i->clean(matrix);
        }

        /* Cached inverse absolute transformation, compute it if it wasn't
            computed already */
        if(i->cachedTransformations() & CachedTransformation::InvertedAbsolute) {
            if(!(cached & CachedTransformation::InvertedAbsolute)) {
                cached |= CachedTransformation::InvertedAbsolute;
                invertedMatrix = Transformation::toMatrix(Transformation::inverted(absoluteTransformation));
            }

            i->cleanInverted(invertedMatrix);
        }
    }

    /* Mark object as clean */
    flags &= ~Flag::Dirty;
}

}}

#endif