Started adding heirarchical transformations

src/camera.c

@@ -56,7 +56,8 @@ int camera_create(int node, int width, int height)
 	new_camera->farz = 1000.f;
 	new_camera->nearz = 0.1f;
 	new_camera->fov = TO_RADIANS(60.f);
-	new_camera->aspect_ratio = ((float)width / (float)height) <= 0.f ? (4.f / 3.f) : ((float)width / (float)height);
+	float aspect_ratio = (float)width / (float)height;
+	new_camera->aspect_ratio = aspect_ratio <= 0.f ? (4.f / 3.f) : aspect_ratio;
 	new_camera->ortho = 0;
 	mat4_identity(new_camera->view_mat);
 	mat4_identity(new_camera->proj_mat);
@@ -76,10 +77,11 @@ void camera_update_view(struct Camera* camera)
 {
 	struct Entity* entity = entity_get(camera->node);
 	struct Transform* transform = entity_component_get(entity, C_TRANSFORM);
-	vec3 lookat = {0.f}, up = {0.f};
-	transform_get_lookat(transform, lookat);
+	vec3 lookat = {0.f}, up = {0.f}, position = {0.f};
+	transform_get_absolute_lookat(transform, lookat);
 	transform_get_up(transform, up);
-	mat4_look_at(camera->view_mat, transform->position, lookat, up);
+	transform_get_absolute_pos(transform, position);
+	mat4_look_at(camera->view_mat, position, lookat, up);
 	camera_update_view_proj(camera);
 }
 

src/entity.c

@@ -46,6 +46,8 @@ void entity_remove(int index)
 		}
 	}
 	entity->node = -1;
+	entity->parent = -1;
+	array_free(entity->children);
 	free(entity->name);
 	free(entity->tag);
 	entity->name = entity->tag = NULL;
@@ -76,6 +78,8 @@ struct Entity* entity_create(const char* name, const char* tag)
 	new_entity->name = name ? str_new(name) : str_new("DEFAULT_NAME");
 	new_entity->tag = tag ? str_new(tag) : str_new("DEFAULT_TAG");
 	new_entity->node = index;
+	new_entity->parent = -1;
+	new_entity->children = array_new(int);
 	for(int i = 0; i < MAX_COMPONENTS; i++)
 		new_entity->components[i] = -1;
 	new_entity->components[C_TRANSFORM] = transform_create(new_entity->node);
@@ -88,8 +92,8 @@ struct Entity* entity_get(int index)
 	struct Entity* entity = NULL;
 	if(index >= 0 && index < array_len(entity_list))
 		entity = &entity_list[index];
-	else
-		log_error("entity:get", "Invalid index '%d'", index);
+	/* else */
+	/* 	log_error("entity:get", "Invalid index '%d'", index); */
 	return entity;
 }
 
@@ -224,3 +228,8 @@ void entity_sync_components(struct Entity* entity)
 		camera_update_view(camera);
 	}
 }
+
+struct Entity* entity_get_all(void)
+{
+	return entity_list;
+}

src/entity.h

@@ -2,7 +2,6 @@
 #define entity_H
 
 #include "components.h"
-#include "num_types.h"
 
 struct Entity
 {
@@ -10,6 +9,8 @@ struct Entity
 	char* name;
 	char* tag;
 	int   components[MAX_COMPONENTS];
+	int   parent;
+	int*  children;
 };
 
 void           entity_init(void);
@@ -18,6 +19,7 @@ void           entity_remove(int index);
 struct Entity* entity_create(const char* name, const char* tag);
 struct Entity* entity_get(int index);
 struct Entity* entity_find(const char* name);
+struct Entity* entity_get_all(void);
 int            entity_component_remove(struct Entity* entity, enum Component component);
 void*          entity_component_get(struct Entity* entity, enum Component component);
 void*          entity_component_add(struct Entity* entity, enum Component component, ...);

src/game.c

@@ -16,14 +16,15 @@
 #include "transform.h"
 #include "camera.h"
 #include "model.h"
+#include "scene.h"
 
 void run(void);
 void update(float dt);
 void render(void);
 void debug(float dt);
 
-struct Entity* entity = NULL;
-struct Camera* active_camera = NULL;
+int player_node = -1;
+int player_pitch_node = -1;
 
 void game_init(void)
 {
@@ -35,21 +36,26 @@ void game_init(void)
 	shader_init();
 	transform_init();
 	camera_init();
-	entity_init();
 	geom_init();
 	model_init();
+	entity_init();
+	scene_init();
 	
 	
-	int up_keys[2] = {'W', GLFW_KEY_UP};
-	int down_keys[2] = {'S', GLFW_KEY_DOWN};
+	int forward_keys[2] = {'W', GLFW_KEY_UP};
+	int backward_keys[2] = {'S', GLFW_KEY_DOWN};
+	int up_keys[2] = {'Q'};
+	int down_keys[2] = {'E'};
 	int left_keys[2] = {'A', GLFW_KEY_LEFT};
 	int right_keys[2] = {'D', GLFW_KEY_RIGHT};
 	int turn_right_keys[1] = {'L'};
 	int turn_left_keys[1] = {'J'};
 	int turn_up_keys[1] = {'I'};
 	int turn_down_keys[1] = {'K'};
-	input_map_create("Move_Up", up_keys, 2);
-	input_map_create("Move_Down", down_keys, 2);
+	input_map_create("Move_Forward", forward_keys, 2);
+	input_map_create("Move_Backward", backward_keys, 2);
+	input_map_create("Move_Up", up_keys, 1);
+	input_map_create("Move_Down", down_keys, 1);
 	input_map_create("Move_Left", left_keys, 2);
 	input_map_create("Move_Right", right_keys, 2);
 	input_map_create("Turn_Right", turn_right_keys, 1);
@@ -58,24 +64,27 @@ void game_init(void)
 	input_map_create("Turn_Down", turn_down_keys, 1);
 
 	int shader = shader_create("unshaded.vert", "unshaded.frag");
-	entity = entity_create("Test", "None");
-	active_camera = entity_component_add(entity, C_CAMERA, 800, 600);
+	struct Entity* player = scene_add_new("player", "None");
+	player_node = player->node;
 	vec3 viewer_pos = {0, 0, 10};
-	struct Transform* viewer_tran = entity_component_get(entity, C_TRANSFORM);
+	struct Transform* viewer_tran = entity_component_get(player, C_TRANSFORM);
 	transform_set_position(viewer_tran, viewer_pos);
+	struct Entity* player_pitch = scene_add_as_child("player_pitch", NULL, player);
+	player_pitch_node = player_pitch->node;
+	entity_component_add(player_pitch, C_CAMERA, 800, 600);
 	
-	struct Entity* new_ent = entity_create("Model_Entity", NULL);
+	struct Entity* new_ent = scene_add_new("Model_Entity", NULL);
 	struct Transform* tran = entity_component_get(new_ent, C_TRANSFORM);
 	vec3 position = {0, 0, -5};
 	transform_translate(tran, position, TS_WORLD);
 	struct Model* model = entity_component_add(new_ent, C_MODEL, "default.pamesh");
 	struct Transform* model_tran = entity_component_get(new_ent, C_TRANSFORM);
-	vec3 axis = {0.f, 1.f, 0.f};
+	//vec3 axis = {0.f, 1.f, 0.f};
 	//transform_rotate(model_tran, axis, (45.f), TS_WORLD);
 	vec3 scale = {1, 1, 5};
 	transform_scale(model_tran, scale);
 
-	struct Entity* suz = entity_create("Suzanne", NULL);
+	struct Entity* suz = scene_add_as_child("Suzanne", NULL, new_ent);
 	entity_component_add(suz, C_MODEL, "suzanne.pamesh");
 	struct Transform* s_tran = entity_component_get(suz, C_TRANSFORM);
 	vec3 s_pos = {3, 0, 0};
@@ -91,14 +100,17 @@ void game_init(void)
 
 void debug(float dt)
 {
+	struct Entity* entity = entity_get(player_node);
+	struct Entity* entity_pitch = entity_get(player_pitch_node);
 	struct Transform* transform = entity_component_get(entity, C_TRANSFORM);
+	struct Transform* pitch_transform = entity_component_get(entity_pitch, C_TRANSFORM);
 	float move_speed = 5.f, turn_speed = 50.f;
 	vec3 offset = {0, 0, 0};
 	float turn_up_down = 0.f;
 	float turn_left_right = 0.f;
 	float max_up_down = 60.f;
 	static float total_up_down_rot = 0.f;
-	vec3 rot_axis_up_down = {-1, 0, 0};
+	vec3 rot_axis_up_down = {1, 0, 0};
 	vec3 rot_axis_left_right = {0, 1, 0};
 
 	/* Look around */
@@ -107,49 +119,73 @@ void debug(float dt)
 	if(input_map_state_get("Turn_Right", GLFW_PRESS)) turn_left_right += turn_speed;
 	if(input_map_state_get("Turn_Left", GLFW_PRESS)) turn_left_right -= turn_speed;
 
-	if(turn_up_down != 0.f)
+	turn_up_down *= dt;
+	turn_left_right *= dt;
+	total_up_down_rot += turn_up_down;
+	if(total_up_down_rot >= max_up_down)
 	{
-		total_up_down_rot += turn_up_down;
-		if(total_up_down_rot >= max_up_down)
-		{
-			total_up_down_rot = max_up_down;
-			turn_left_right = 0.f;
-		}
-		else if(total_up_down_rot <= -max_up_down)
-		{
-			total_up_down_rot = -max_up_down;
-			turn_left_right = 0.f;
-		}
-		
-		if(turn_up_down != 0.f)
-			transform_rotate(transform, rot_axis_up_down, turn_up_down * dt, TS_LOCAL);
+		total_up_down_rot = max_up_down;
+		turn_up_down = 0.f;
 	}
-
+	else if(total_up_down_rot <= -max_up_down)
+	{
+		total_up_down_rot = -max_up_down;
+		turn_up_down = 0.f;
+	}
+	
 	if(turn_left_right != 0.f)
-		transform_rotate(transform, rot_axis_left_right, turn_left_right * dt, TS_WORLD);
+	{
+		transform_rotate(transform, rot_axis_left_right, -turn_left_right, TS_WORLD);
+		vec3 up = {0.f};
+		vec3 forward = {0.f};
+		transform_get_up(transform, up);
+		transform_get_forward(transform, forward);
+		//log_message("Up : %.3f, %.3f, %.3f", up[0], up[1], up[2]);
+		log_message("Forward : %.3f, %.3f, %.3f", forward[0], forward[1], forward[2]);
+	}
+	if(turn_up_down != 0.f)
+	{
+		transform_rotate(pitch_transform, rot_axis_up_down, -turn_up_down, TS_LOCAL);
+		vec3 up = {0.f};
+		vec3 forward = {0.f};
+		transform_get_up(transform, up);
+		transform_get_forward(transform, forward);
+		//log_message("Up : %.3f, %.3f, %.3f", up[0], up[1], up[2]);
+		log_message("Forward : %.3f, %.3f, %.3f", forward[0], forward[1], forward[2]);
+	}
 	
 	/* Movement */
-	if(input_map_state_get("Move_Up", GLFW_PRESS)) offset[2] -= move_speed;
-	if(input_map_state_get("Move_Down", GLFW_PRESS)) offset[2] += move_speed;
+	if(input_map_state_get("Move_Forward", GLFW_PRESS)) offset[2] -= move_speed;
+	if(input_map_state_get("Move_Backward", GLFW_PRESS)) offset[2] += move_speed;
 	if(input_map_state_get("Move_Left", GLFW_PRESS)) offset[0] -= move_speed;
 	if(input_map_state_get("Move_Right", GLFW_PRESS)) offset[0] += move_speed;
+	if(input_map_state_get("Move_Up", GLFW_PRESS)) offset[1] += move_speed;
+	if(input_map_state_get("Move_Down", GLFW_PRESS)) offset[1] -= move_speed;
 	
 	vec3_scale(offset, offset, dt);
-	if(offset[0] != 0 || offset[2] != 0)
+	if(offset[0] != 0 || offset[2] != 0 || offset[1] != 0)
 	{
 		transform_translate(transform, offset, TS_LOCAL);
-		log_message("Position : %.3f, %.3f, %.3f",
-					transform->position[0],
-					transform->position[1],
-					transform->position[2]);
+ 		/* log_message("Position : %.3f, %.3f, %.3f", */
+		/* 			transform->position[0], */
+		/* 			transform->position[1], */
+		/* 			transform->position[2]); */
 	}
 
 	if(input_key_state_get(GLFW_KEY_SPACE, GLFW_PRESS))
 	{
-		struct Entity* model = entity_get(1);
+		struct Entity* model = entity_get(3);
+		struct Transform* mod_tran = entity_component_get(model, C_TRANSFORM);
+		vec3 x_axis = {1, 0, 0};
+		transform_rotate(mod_tran, x_axis, 25.f * dt, TS_WORLD);
+	}
+
+	if(input_key_state_get(GLFW_KEY_M, GLFW_PRESS))
+	{
+		struct Entity* model = entity_get(3);
 		struct Transform* mod_tran = entity_component_get(model, C_TRANSFORM);
 		vec3 y_axis = {0, 1, 0};
-		transform_rotate(mod_tran, y_axis, 25.f * dt, TS_WORLD);
+		transform_rotate(mod_tran, y_axis, 25.f * dt, TS_LOCAL);
 	}
 }
 
@@ -185,6 +221,7 @@ void render(void)
 
 void game_cleanup(void)
 {
+	scene_cleanup();
 	entity_cleanup();
 	model_cleanup();
 	geom_cleanup();

src/linmath.h

@@ -396,7 +396,7 @@ static inline void mat4_perspective(mat4 m, float y_fov, float aspect, float n,
 	m[3][2] = -((2.f * f * n) / (f - n));
 	m[3][3] = 0.f;
 }
-static inline void mat4_look_at(mat4 m, vec3 eye, vec3 center, vec3 up)
+static inline void mat4_look_at(mat4 m, vec3 eye, vec3 lookat, vec3 up)
 {
 	/* Adapted from Android's OpenGL Matrix.java.                        */
 	/* See the OpenGL GLUT documentation for gluLookAt for a description */
@@ -405,7 +405,7 @@ static inline void mat4_look_at(mat4 m, vec3 eye, vec3 center, vec3 up)
 	/* TODO: The negation of of can be spared by swapping the order of
 	 *       operands in the following cross products in the right way. */
 	vec3 f;
-	vec3_sub(f, center, eye);	
+	vec3_sub(f, lookat, eye);
 	vec3_norm(f, f);	
 	
 	vec3 s;

src/model.c

@@ -99,7 +99,7 @@ void model_render_all(struct Camera* camera)
 		shader_bind(model->shader);
 		mat4_mul(mvp, camera->view_proj_mat, transform->trans_mat);
 		shader_set_uniform_mat4(model->shader, "mvp", mvp);
-		vec4 color = {1, 0, 0, 1};
+		vec4 color = {0.7f, 0.7f, 0.5f, 1};
 		shader_set_uniform_vec4(model->shader, "color", color);
 		geom_render(model->geometry_index);
 		shader_unbind();

src/scene.c

@@ -0,0 +1,119 @@
+#include "scene.h"
+#include "array.h"
+#include "entity.h"
+#include "log.h"
+#include "transform.h"
+
+#include <assert.h>
+#include <string.h>
+
+static int root_node = -1;
+
+void scene_init(void)
+{
+	/* Add root node to scene */
+	struct Entity* root = entity_create("ROOT", NULL);
+	root_node = root->node;
+}
+
+struct Entity* scene_add_new(const char* name, const char* tag)
+{
+	return scene_add_as_child(name, tag, scene_get_root());
+}
+
+struct Entity* scene_add_as_child(const char* name, const char* tag, struct Entity* parent)
+{
+	assert(parent);
+	struct Entity* new_entity = NULL;
+	new_entity = entity_create(name, tag);
+	new_entity->parent = parent->node;
+	array_push(parent->children, new_entity->node, int);
+	struct Transform* new_ent_tran = entity_component_get(new_entity, C_TRANSFORM);
+	transform_update_transmat(new_ent_tran);
+	return new_entity;
+}
+
+void scene_remove(struct Entity* entity)
+{
+	assert(entity);
+	for(int i = 0; i < array_len(entity->children); i++)
+	{
+		struct Entity* child = entity_get(entity->children[i]);
+		scene_remove(child);
+	}
+	entity_remove(entity->node);
+}
+
+void scene_reset_parent(struct Entity* entity, struct Entity* new_parent)
+{
+	assert(entity && new_parent);
+	struct Entity* curr_parent = entity_get(entity->parent);
+	if(curr_parent)
+	{
+		/* find the index that the entity is at in the cuurent parent's
+		   children array and remove it from there. Then set the new_parent
+		   as the entity's parent */
+		int index = -1;
+		for(int i = 0; i < array_len(curr_parent->children); i++)
+		{
+			if(curr_parent->children[i] == entity->node)
+			{
+				index = i;
+				break;
+			}
+		}
+
+		if(index > -1)
+		{
+			array_remove_at(curr_parent->children, index);
+			entity->parent = new_parent->node;
+			array_push(new_parent, entity->node, int);
+			struct Transform* entity_tran = entity_component_get(entity, C_TRANSFORM);
+			transform_update_transmat(entity_tran);
+		}
+		else
+		{
+			log_error("scene:reset_parent", "Entity %s not found in it's parent '%s''s children array");
+		}
+	}
+	else
+	{
+		log_error("scene:reset_parent", "Cannot change parent of ROOT entity");
+	}
+}
+
+void scene_cleanup(void)
+{
+	struct Entity* entity_list = entity_get_all();
+	for(int i = 0; i < array_len(entity_list); i++)
+	{
+		if(entity_list[i].node != -1)
+			entity_remove(i);
+	}
+}
+
+struct Entity* scene_find(const char* name)
+{
+	return entity_find(name);
+}
+
+struct Entity* scene_get_root(void)
+{
+	return entity_get(root_node);
+}
+
+struct Entity* scene_get_child_by_name(struct Entity* parent, const char* name)
+{
+	assert(parent);
+	struct Entity* child = NULL;
+	for(int i = 0; i < array_len(parent->children); i++)
+	{
+		struct Entity* curr_child = entity_get(parent->children[i]);
+		if(strcmp(curr_child->name, name) == 0)
+		{
+			child = curr_child;
+			break;
+		}
+	}
+	return child;
+}

src/scene.h

@@ -0,0 +1,16 @@
+#ifndef scene_H
+#define scene_H
+
+struct Entity;
+
+void           scene_init(void);
+void           scene_remove(struct Entity* entity);
+void           scene_reset_parent(struct Entity* entity, struct Entity* new_parent);
+void           scene_cleanup(void);
+struct Entity* scene_add_new(const char* name, const char* tag); /* Add as child of Root */
+struct Entity* scene_add_as_child(const char* name, const char* tag, struct Entity* parent);
+struct Entity* scene_find(const char* name);
+struct Entity* scene_get_root(void);
+struct Entity* scene_get_child_by_name(struct Entity* parent, const char* name);
+
+#endif

src/transform.c

@@ -59,13 +59,24 @@ void transform_rotate(struct Transform* transform,
 {
 	mat4 new_rot;
 	mat4_identity(new_rot);
-	mat4_rotate(new_rot, new_rot, axis[0], axis[1], axis[2], TO_RADIANS(angle));
+	//mat4_rotate(new_rot, new_rot, axis[0], axis[1], axis[2], TO_RADIANS(angle));
+	
+	if(axis[0] == 1)
+		mat4_rotate_X(new_rot, new_rot, TO_RADIANS(angle));
+	if(axis[1] == 1)
+		mat4_rotate_Y(new_rot, new_rot, TO_RADIANS(angle));
+	if(axis[2] == 1)
+		mat4_rotate_Z(new_rot, new_rot, TO_RADIANS(angle));
+	//mat4_orthonormalize(new_rot, new_rot);
+	//mat4_orthonormalize(new_rot, temp);
 	if(space == TS_LOCAL)
 		mat4_mul(transform->rotation, transform->rotation, new_rot);
 	else if(space == TS_WORLD)
 		mat4_mul(transform->rotation, new_rot, transform->rotation);
+	//mat4_orthonormalize(transform->rotation, transform->rotation);
 	transform_update_transmat(transform);
 }
+
 void transform_scale(struct Transform* transform, vec3 scale)
 {
 	transform->scale[0] = scale[0];
@@ -77,7 +88,7 @@ void transform_scale(struct Transform* transform, vec3 scale)
 void transform_get_forward(struct Transform* transform, vec3 res)
 {
 	res[0] = 0; res[1] = 0; res[2] = -1;
-	mat4_mul_vec3(res, transform->rotation, res);
+	mat4_mul_vec3(res, transform->trans_mat, res);
 }
 
 void transform_get_lookat(struct Transform* transform, vec3 res)
@@ -86,6 +97,14 @@ void transform_get_lookat(struct Transform* transform, vec3 res)
 	vec3_add(res, transform->position, res);
 }
 
+void transform_get_absolute_lookat(struct Transform* transform, vec3 res)
+{
+	vec3 abs_position = {0.f};
+	transform_get_absolute_pos(transform, abs_position);
+	transform_get_forward(transform, res);
+	vec3_add(res, abs_position, res);
+}
+
 void transform_get_up(struct Transform* transform, vec3 res)
 {
 	res[0] = 0; res[1] = 1; res[2] = 0;
@@ -101,18 +120,37 @@ void transform_get_right(struct Transform* transform, vec3 res)
 
 void transform_update_transmat(struct Transform* transform)
 {
-	static mat4 scale, tran;
+	static mat4 scale, translation;
 	mat4_identity(scale);
-	mat4_identity(tran);
+	mat4_identity(translation);
 	mat4_identity(transform->trans_mat);
 	mat4_scale_aniso(scale, scale, transform->scale[0], transform->scale[1], transform->scale[2]);
-	mat4_translate(tran, transform->position[0], transform->position[1], transform->position[2]);
-	
-	mat4_mul(transform->trans_mat, transform->trans_mat, tran);
+	mat4_translate(translation, transform->position[0], transform->position[1], transform->position[2]);
+
+	mat4_mul(transform->trans_mat, transform->trans_mat, translation);
 	mat4_mul(transform->trans_mat, transform->trans_mat, transform->rotation);
 	mat4_mul(transform->trans_mat, transform->trans_mat, scale);
 	
 	struct Entity* entity = entity_get(transform->node);
+	struct Entity* parent = entity_get(entity->parent);
+	if(parent)
+	{
+		struct Transform* parent_tran = entity_component_get(parent, C_TRANSFORM);
+		mat4_mul(transform->trans_mat, transform->trans_mat, parent_tran->trans_mat);
+		//mat4_mul(transform->trans_mat, parent_tran->trans_mat, transform->trans_mat);
+	}
+
+	/* Update all children */
+	if(array_len(entity->children) > 0)
+	{
+		for(int i = 0; i < array_len(entity->children); i++)
+		{
+			struct Entity* child = entity_get(entity->children[i]);
+			struct Transform* child_tran = entity_component_get(child, C_TRANSFORM);
+			transform_update_transmat(child_tran);
+		}
+	}
+	
 	entity_sync_components(entity);
 }
 
@@ -135,3 +173,15 @@ void transform_set_position(struct Transform* transform, vec3 new_position)
 		transform->position[i] = new_position[i];
 	transform_update_transmat(transform);
 }
+
+void transform_get_absolute_pos(struct Transform* transform, vec3 res)
+{
+	struct Entity* entity = entity_get(transform->node);
+	struct Entity* parent = entity_get(entity->parent);
+	if(parent)
+	{
+		struct Transform* parent_tran = entity_component_get(parent, C_TRANSFORM);
+		transform_get_absolute_pos(parent_tran, res);
+	}
+	vec3_add(res, res, transform->position);
+}

src/transform.h

@@ -31,5 +31,7 @@ void transform_get_lookat(struct Transform* transform, vec3 res);
 void transform_get_up(struct Transform* transform, vec3 res);
 void transform_get_right(struct Transform* transform, vec3 res);
 void transform_update_transmat(struct Transform* transform);
+void transform_get_absolute_pos(struct Transform* transform, vec3 res);
+void transform_get_absolute_lookat(struct Transform* transform, vec3 res);
 
 #endif