The Ecere SDK - sdk/blob - ecere/src/gfx/3D/Object.ec

   1 namespace gfx3D;
   2
   3 import "Display"
   4
   5 public enum FrustumPlacement { outside, inside, intersecting };
   6
   7 public class ObjectFormat
   8 {
   9    class_data const char * extension;
  10    class_property const char * extension
  11    {
  12       set { class_data(extension) = value; }
  13       get { return class_data(extension); }
  14    }
  15
  16    virtual bool ::Load(Object object, const char * fileName, DisplaySystem displaySystem);
  17 };
  18
  19 // TODO: Review these:
  20 public class ObjectFlags
  21 {
  22 public:
  23    bool root:1, viewSpace:1, ownMesh:1, translucent:1, flipWindings:1, keysLoaded:1, transform:1, mesh:1, light:1, camera:1;
  24    int hierarchy:16:16;
  25 };
  26
  27 public struct Transform
  28 {
  29    Vector3D position;
  30    Quaternion orientation;
  31    Vector3Df scaling;
  32 };
  33
  34 /*static float ease(float t, float a, float b)
  35 {
  36    float k;
  37    float s = a + b;
  38
  39    if (s == 0.0f) return t;
  40    if (s > 1.0f)
  41    {
  42       a /= s;
  43       b /= s;
  44    }
  45    k = 1.0f/(2.0f-a-b);
  46    if (t < a) return (k/a)*t*t;
  47    if (t < 1.0f - b) return k*(2.0f * t - a);
  48    t = 1.0f - t;
  49    return 1.0f - (k/b)*t*t;
  50 }*/
  51
  52 public enum FrameTrackType : uint16 { position = 1, rotation, scaling, fov, roll, colorChange, morph, hotSpot, fallOff, hide };
  53
  54 public class FrameTrackBits
  55 {
  56    FrameTrackType type;
  57    bool loop:1;
  58 };
  59
  60 public struct FrameKey
  61 {
  62    unsigned int frame;
  63    float tension, continuity, bias;
  64    float easeFrom, easeTo;
  65    union
  66    {
  67       Vector3Df position;
  68       Quaternion orientation;
  69       Vector3Df scaling;
  70       float roll;
  71       float fov;
  72       ColorRGB color;
  73       float hotSpot;
  74       float fallOff;
  75    };
  76 };
  77
  78 enum SplinePart { splinePoint, splineA, splineB };
  79
  80 public class FrameTrack : struct
  81 {
  82    FrameTrack prev, next;
  83    FrameTrackBits type;
  84    unsigned int numKeys;
  85    FrameKey * keys;
  86
  87    void Free(void)
  88    {
  89       delete keys;
  90    }
  91
  92    ~FrameTrack()
  93    {
  94       Free();
  95    }
  96
  97    float GetFloat(SplinePart what, unsigned int n)
  98    {
  99       float value;
 100       FrameKey *kn_1, *kn, *kn1;
 101       float pn_1, pn, pn1;
 102       int d1, d2;
 103
 104       kn = &keys[n];
 105       pn = kn->roll;
 106
 107       if(what == splinePoint)
 108          value = pn;
 109       else
 110       {
 111          if(n == 0)
 112          {
 113             kn1 = &keys[1];
 114             pn1 = kn1->roll;
 115
 116             if(numKeys == 2)
 117             {
 118                value = pn1 - pn;
 119                value *= 1.0f - kn->tension;
 120                return value;
 121             }
 122             if(type.loop)
 123             {
 124                kn_1 = &keys[numKeys-2];
 125                d1 = keys[numKeys-1].frame - kn_1->frame;
 126                d2 = kn1->frame - kn->frame;
 127             }
 128             else
 129             {
 130                float a1;
 131                value = pn1 - pn;
 132                value *= 1.5f;
 133
 134                a1 = GetFloat(splineA, 1);
 135                a1 *= 0.5f;
 136
 137                value -= a1;
 138                value *= 1.0f - kn->tension;
 139                return value;
 140             }
 141          }
 142          else if(n == numKeys-1)
 143          {
 144             kn_1 = &keys[n-1];
 145             pn_1 = kn_1->roll;
 146
 147             if(numKeys == 2)
 148             {
 149                value = pn - pn_1;
 150                value *= 1.0f - kn->tension;
 151                return value;
 152             }
 153             if(type.loop)
 154             {
 155                kn1 = &keys[1];
 156                d1 = kn->frame - kn_1->frame;
 157                d2 = kn1->frame - keys[0].frame;
 158             }
 159             else
 160             {
 161                float bn_1;
 162                value = pn - pn_1;
 163                value *= 1.5f;
 164
 165                bn_1 = GetFloat(splineB, n-1);
 166                bn_1 *= 0.5f;
 167
 168                value -= bn_1;
 169                value *= 1.0f - kn->tension;
 170                return value;
 171             }
 172          }
 173          else
 174          {
 175             kn_1 = &keys[n-1];
 176             kn1 = &keys[n+1];
 177             d1 = kn->frame - kn_1->frame;
 178             d2 = kn1->frame - kn->frame;
 179          }
 180          {
 181             float C, adjust;
 182             float part1, part2;
 183
 184             pn_1 = kn_1->roll;
 185             pn1 = kn1->roll;
 186
 187             if(what == splineA)
 188             {
 189                C = kn->continuity;
 190                adjust = (float)d1;
 191             }
 192             else
 193             {
 194                C = -kn->continuity;
 195                adjust = (float)d2;
 196             }
 197             adjust /= d1 + d2;
 198             adjust = 0.5f + (1.0f - Abs(C))*(adjust - 0.5f);
 199
 200             part1 = pn - pn_1;
 201             part1 *= (1.0f + kn->bias)*(1.0f - C);
 202
 203             part2 = pn1 - pn;
 204             part2 *= (1.0f - kn->bias)*(1.0f + C);
 205
 206             value = part1 + part2;
 207             value *= (1.0f - kn->tension)*adjust;
 208          }
 209       }
 210       return value;
 211    }
 212
 213    void GetVector(Vector3Df vector, SplinePart what, unsigned int n)
 214    {
 215       FrameKey *kn_1, *kn, *kn1;
 216       Vector3Df *pn_1, *pn, *pn1;
 217       int d1, d2;
 218
 219       kn = &keys[n];
 220       pn = &kn->position;
 221
 222       if(what == splinePoint)
 223          vector = *pn;
 224       else
 225       {
 226          if(n == 0)
 227          {
 228             kn1 = &keys[1];
 229             pn1 = &kn1->position;
 230
 231             if(numKeys == 2)
 232             {
 233                vector.Subtract(pn1, pn);
 234                vector.Scale(vector, 1.0f - kn->tension);
 235                return;
 236             }
 237             if(type.loop)
 238             {
 239                kn_1 = &keys[numKeys-2];
 240                d1 = keys[numKeys-1].frame - kn_1->frame;
 241                d2 = kn1->frame - kn->frame;
 242             }
 243             else
 244             {
 245                Vector3Df a1;
 246                vector.Subtract(pn1, pn);
 247                vector.Scale(vector, 1.5f);
 248
 249                GetVector(a1, splineA, 1);
 250                a1.Scale(a1, 0.5f);
 251
 252                vector.Subtract(vector, a1);
 253                vector.Scale(vector, 1.0f - kn->tension);
 254                return;
 255             }
 256          }
 257          else if(n == numKeys-1)
 258          {
 259             kn_1 = &keys[n-1];
 260             pn_1 = &kn_1->position;
 261
 262             if(numKeys == 2)
 263             {
 264                vector.Subtract(pn, pn_1);
 265                vector.Scale(vector, 1.0f - kn->tension);
 266                return;
 267             }
 268             if(type.loop)
 269             {
 270                kn1 = &keys[1];
 271                d1 = kn->frame - kn_1->frame;
 272                d2 = kn1->frame - keys[0].frame;
 273             }
 274             else
 275             {
 276                Vector3Df bn_1;
 277                vector.Subtract(pn, pn_1);
 278                vector.Scale(vector, 1.5f);
 279
 280                GetVector(&bn_1, splineB, n-1);
 281                bn_1.Scale(bn_1, 0.5f);
 282
 283                vector.Subtract(vector, bn_1);
 284                vector.Scale(vector, 1.0f - kn->tension);
 285                return;
 286             }
 287          }
 288          else
 289          {
 290             kn_1 = &keys[n-1];
 291             kn1 = &keys[n+1];
 292             d1 = kn->frame - kn_1->frame;
 293             d2 = kn1->frame - kn->frame;
 294          }
 295          {
 296             float C, adjust;
 297             Vector3Df part1, part2;
 298
 299             pn_1 = &kn_1->position;
 300             pn1 = &kn1->position;
 301
 302             if(what == splineA)
 303             {
 304                C = kn->continuity;
 305                adjust = (float)d1;
 306             }
 307             else
 308             {
 309                C = -kn->continuity;
 310                adjust = (float)d2;
 311             }
 312             adjust /= d1 + d2;
 313             adjust = 0.5f + (1.0f - Abs(C))*(adjust - 0.5f);
 314
 315             part1.Subtract(pn, pn_1);
 316             part1.Scale(part1, (1.0f + kn->bias)*(1.0f - C));
 317
 318             part2.Subtract(pn1, pn);
 319             part2.Scale(part2, (1.0f - kn->bias)*(1.0f + C));
 320
 321             vector.Add(part1, part2);
 322             vector.Scale(vector, (1.0f - kn->tension)*adjust);
 323          }
 324       }
 325    }
 326
 327    void GetQuaternion(Quaternion quat, SplinePart what, unsigned int n)
 328    {
 329       FrameKey *kn_1, *kn, *kn1;
 330       Quaternion *qn_1, *qn, *qn1;
 331       int d1, d2;
 332
 333       kn = &keys[n];
 334       qn = &kn->orientation;
 335
 336       if (what == splinePoint)
 337          quat = *qn;
 338       else
 339       {
 340          if(n == 0)
 341          {
 342             kn1 = &keys[1];
 343
 344             if (!(type.loop) || numKeys <= 2)
 345             {
 346                qn1 = &kn1->orientation;
 347                quat.Slerp(qn, qn1, (1.0f - kn->tension)*(1.0f + kn->continuity*kn->bias)/3.0f);
 348                return;
 349             }
 350             else
 351             {
 352                kn_1= &keys[numKeys-2];
 353                d1 = keys[numKeys-1].frame - kn_1->frame;
 354                d2 = kn1->frame - kn->frame;
 355             }
 356          }
 357          else if (n == numKeys-1)
 358          {
 359             kn_1 = &keys[n-1];
 360
 361             if (!(type.loop) || numKeys <= 2)
 362             {
 363                qn_1 = &kn_1->orientation;
 364                quat.Slerp(qn, qn_1, (1.0f - kn->tension)*(1.0f - kn->continuity*kn->bias)/3.0f);
 365                return;
 366             }
 367             else
 368             {
 369                kn1 = &keys[1];
 370                d1 = kn->frame - kn_1->frame;
 371                d2 = kn1->frame - keys[0].frame;
 372             }
 373          }
 374          else
 375          {
 376             kn_1 = &keys[n-1];
 377             kn1 = &keys[n+1];
 378             d1 = kn->frame - kn_1->frame;
 379             d2 = kn1->frame - kn->frame;
 380          }
 381          {
 382             float f, adjust;
 383             Quaternion g1, g2, tmp;
 384
 385             qn_1 = &kn_1->orientation;
 386             qn1 = &kn1->orientation;
 387
 388             if (what == splineA)
 389             {
 390                f = 1.0f;
 391                adjust = (float)d1;
 392             }
 393             else
 394             {
 395                f = -1.0f;
 396                adjust = (float)d2;
 397             }
 398             adjust /= d1 + d2;
 399             adjust = 0.5f + (1.0f - Abs(kn->continuity))*(adjust - 0.5f);
 400
 401             g1.Slerp(qn, qn_1,-(1.0f + kn->bias)/3.0f);
 402             g2.Slerp(qn, qn1 , (1.0f - kn->bias)/3.0f);
 403             tmp.Slerp(g1, g2, 0.5f + f*0.5f*kn->continuity);
 404             quat.Slerp(qn, &tmp, f*(kn->tension - 1.0f)*adjust*2.0f);
 405          }
 406       }
 407    }
 408
 409    void Interpolate(Vector3Df vector, Vector3Df prevVector, Vector3Df nextVector, int prev, int next, float t)
 410    {
 411       if(!t)
 412          vector = prevVector;
 413       else
 414       {
 415          Vector3Df p1 = prevVector, p2 = nextVector;
 416          Vector3Df r1, r2;
 417
 418          GetVector(r1, splineB, prev);
 419          GetVector(r2, splineA, next);
 420
 421          p1.Scale(p1, 2*t*t*t - 3*t*t + 1);
 422          p2.Scale(p2,-2*t*t*t + 3*t*t);
 423
 424          r1.Scale(r1, t*t*t - 2*t*t + t);
 425          r2.Scale(r2, t*t*t -   t*t);
 426
 427          vector = p1;
 428          vector.Add(vector, r1);
 429          vector.Add(vector, p2);
 430          vector.Add(vector, r2);
 431       }
 432    }
 433
 434    void InterpolateQuat(Quaternion quat, Quaternion prevQuat, Quaternion nextQuat, int prev, int next, float t)
 435    {
 436       if(!t)
 437          quat = prevQuat;
 438       else
 439       {
 440          Quaternion a, b;
 441          Quaternion q0, q1, q2;
 442
 443          GetQuaternion(b, splineB, prev);
 444          GetQuaternion(a, splineA, next);
 445
 446          q0.Slerp(prevQuat, b, t);
 447          q1.Slerp(b, a, t);
 448          q2.Slerp(a, nextQuat, t);
 449
 450          q0.Slerp(q0, q1, t);
 451          q1.Slerp(q1, q2, t);
 452
 453          quat.Slerp(q0, q1, t);
 454       }
 455    }
 456
 457    float InterpolateFloat(float prevValue, float nextValue, int prev, int next, float t)
 458    {
 459       float value;
 460       if(!t)
 461          value = prevValue;
 462       else
 463       {
 464          float p1 = prevValue, p2 = nextValue;
 465
 466          float r1 = GetFloat(splineB, prev);
 467          float r2 = GetFloat(splineA, next);
 468
 469          p1 *= 2*t*t*t - 3*t*t + 1;
 470          p2 *= -2*t*t*t + 3*t*t;
 471
 472          r1 *= t*t*t - 2*t*t + t;
 473          r2 *= t*t*t -   t*t;
 474
 475          value = p1 + r1 + p2 + r2;
 476       }
 477       return value;
 478    }
 479 };
 480
 481 static bool FindMaterialAndType(Mesh mesh, Material material, PrimitiveGroupType type)
 482 {
 483    PrimitiveGroup group;
 484    for(group = mesh.groups.first; group; group = group.next)
 485       if(group.material == material && group.type == type)
 486          return true;
 487    return false;
 488 }
 489
 490 public class Object
 491 {
 492 public:
 493    void SetMinMaxRadius(bool processMesh)
 494    {
 495       Object child;
 496
 497       if(flags.mesh && mesh)
 498       {
 499          if(processMesh)
 500             mesh.SetMinMaxRadius();
 501          min = mesh.min;
 502          max = mesh.max;
 503          volume = (max.x >= min.x && max.y >= min.y && max.z >= min.z);
 504       }
 505       else
 506       {
 507          min = { MAXFLOAT, MAXFLOAT, MAXFLOAT };
 508          max = { -MAXFLOAT, -MAXFLOAT, -MAXFLOAT };
 509          volume = false;
 510       }
 511       for(child = children.first; child; child = child.next)
 512       {
 513          child.SetMinMaxRadius(processMesh);
 514
 515          if(child.volume)
 516          {
 517             // Child Local + Child Object Transform
 518             Vector3Df points[8] =
 519             {
 520                { child.min.x, child.min.y, child.min.z },
 521                { child.min.x, child.min.y, child.max.z },
 522                { child.min.x, child.max.y, child.min.z },
 523                { child.min.x, child.max.y, child.max.z },
 524                { child.max.x, child.min.y, child.min.z },
 525                { child.max.x, child.min.y, child.max.z },
 526                { child.max.x, child.max.y, child.min.z },
 527                { child.max.x, child.max.y, child.max.z }
 528             };
 529             int c;
 530             for(c = 0; c<8; c++)
 531             {
 532                Vector3Df point;
 533                point.MultMatrix(points[c], child.localMatrix);
 534
 535                if(point.x < min.x) min.x = point.x;
 536                if(point.y < min.y) min.y = point.y;
 537                if(point.z < min.z) min.z = point.z;
 538
 539                if(point.x > max.x) max.x = point.x;
 540                if(point.y > max.y) max.y = point.y;
 541                if(point.z > max.z) max.z = point.z;
 542             }
 543             volume = true;
 544          }
 545       }
 546
 547       if(volume)
 548       {
 549          Vector3Df points[8] =
 550          {
 551             { min.x, min.y, min.z },
 552             { min.x, min.y, max.z },
 553             { min.x, max.y, min.z },
 554             { min.x, max.y, max.z },
 555             { max.x, min.y, min.z },
 556             { max.x, min.y, max.z },
 557             { max.x, max.y, min.z },
 558             { max.x, max.y, max.z }
 559          };
 560          Vector3Df halfExtent;
 561          Vector3D halfExtentd;
 562
 563          // Local
 564          center.Add(min, max);
 565          center.Scale(center, 0.5f);
 566          halfExtent.Subtract(max, min);
 567          halfExtent.Scale(halfExtent, 0.5f);
 568          radius = halfExtent.length;
 569
 570          // World
 571          {
 572             Vector3D min { MAXFLOAT, MAXFLOAT, MAXFLOAT };
 573             Vector3D max { -MAXFLOAT, -MAXFLOAT, -MAXFLOAT };
 574             int c;
 575             for(c = 0; c<8; c++)
 576             {
 577                Vector3D point;
 578                point.MultMatrixf(points[c], matrix);
 579
 580                if(point.x < min.x) min.x = point.x;
 581                if(point.y < min.y) min.y = point.y;
 582                if(point.z < min.z) min.z = point.z;
 583
 584                if(point.x > max.x) max.x = point.x;
 585                if(point.y > max.y) max.y = point.y;
 586                if(point.z > max.z) max.z = point.z;
 587             }
 588             wmin = min;
 589             wmax = max;
 590          }
 591          wcenter.Add(wmin, wmax);
 592          wcenter.Scale(wcenter, 0.5f);
 593
 594          halfExtentd.Subtract(wmax, wmin);
 595          halfExtentd.Scale(halfExtentd, 0.5);
 596          wradius = halfExtentd.length;
 597       }
 598    }
 599
 600    void Duplicate(Object model)
 601    {
 602       if(model)
 603       {
 604          Object modelChild;
 605
 606          name = CopyString(model.name);
 607          flags = model.flags;
 608          flags.ownMesh = false;
 609          mesh = model.mesh;
 610          /*
 611          min = model.min;
 612          max = model.max;
 613          radius = model.radius;
 614          */
 615          transform = model.transform;
 616
 617          for(modelChild = model.children.first; modelChild; modelChild = modelChild.next)
 618          {
 619             Object child { parent = this };
 620             child.Duplicate(modelChild);
 621             children.AddName(child);
 622          }
 623       }
 624    }
 625
 626    void Free(DisplaySystem displaySystem)
 627    {
 628       if(this)
 629       {
 630          Object child;
 631
 632          while((child = children.first))
 633          {
 634             children.Remove(child);
 635             child.Free(displaySystem);
 636
 637             // We did not do this before so as to keep transform on reloading for new DisplaySystem
 638             // However since children are removed, it seems that purpose has been gone, we'd need
 639             // a new mechanism to handle lost resources reloading...
 640             delete child;
 641          }
 642          if(flags.ownMesh && mesh)
 643          {
 644             DisplaySystem meshDisplaySystem = mesh.displaySystem;
 645             mesh.Free(0);
 646             if(meshDisplaySystem)
 647                meshDisplaySystem.RemoveMesh(mesh);
 648             delete mesh;
 649          }
 650
 651          tracks.Free(FrameTrack::Free);
 652
 653          delete name;
 654       }
 655    }
 656
 657    bool Load(const char * fileName, const char * type, DisplaySystem displaySystem)
 658    {
 659       char ext[MAX_EXTENSION];
 660       subclass(ObjectFormat) format;
 661       OldLink link;
 662       bool result = false;
 663
 664       if(!type && fileName)
 665          type = strlwr(GetExtension(fileName, ext));
 666
 667       for(link = class(ObjectFormat).derivatives.first; link; link = link.next)
 668       {
 669          format = link.data;
 670          if(format.extension && !strcmp(format.extension, type))
 671             break;
 672       }
 673       if(!link) format = null;
 674
 675       if(format)
 676       {
 677          if((format.Load(this, fileName, displaySystem)))
 678             result = true;
 679       }
 680       /*if(!result)
 681           ErrorLogCode(GERR_LOAD_OBJECT_FAILED, fileName);*/
 682       return result;
 683    }
 684
 685    void FreeMesh(DisplaySystem displaySystem)
 686    {
 687       if(this)
 688       {
 689          Object child;
 690          mesh.Free(0);
 691          for(child = children.first; child; child = child.next)
 692             child.FreeMesh(displaySystem);
 693       }
 694    }
 695
 696    Object Find(const char * name)
 697    {
 698       if(this && name)
 699       {
 700          Object child;
 701
 702          if(this.name && !strcmp(this.name, name))
 703             return this;
 704          else
 705          {
 706             for(child = children.first; child; child = child.next)
 707             {
 708                Object result = child.Find(name);
 709                if(result)
 710                   return result;
 711             }
 712          }
 713       }
 714       return null;
 715    }
 716
 717    void Initialize(void)
 718    {
 719       if(this)
 720       {
 721          transform.scaling = { 1, 1, 1 };
 722          transform.orientation = { 1,0,0,0 };
 723          flags.root = true;
 724          flags.transform = true;
 725          matrix.Identity();
 726       }
 727    }
 728
 729    Mesh InitializeMesh(DisplaySystem displaySystem)
 730    {
 731       if(this)
 732       {
 733          flags.mesh = true;
 734          if(!mesh)
 735          {
 736             mesh = Mesh { };
 737             flags.ownMesh = true;
 738          }
 739          if(mesh)
 740          {
 741             FillBytes(mesh, 0, sizeof(class Mesh));
 742             displaySystem.AddMesh(mesh);
 743          }
 744          matrix.Identity();
 745          return mesh;
 746       }
 747       return null;
 748    }
 749
 750    bool AddName(Object object, const char * name)
 751    {
 752       bool result = false;
 753       if(this)
 754       {
 755          char * newName = CopyString(name);
 756          object.name = newName;
 757          result = children.AddName(object);
 758          if(result)
 759             object.parent = this;
 760          object.flags.transform = true;
 761       }
 762       return result;
 763    }
 764
 765    // TODO: Add support to Merge Vertex Colors mesh feature
 766    bool Merge(DisplaySystem displaySystem)
 767    {
 768       bool result = false;
 769
 770       if(!children.first && (!this.flags.mesh || this.flags.ownMesh))
 771          result = true;
 772       else
 773       {
 774          Object child, nextChild;
 775          int nVertices = 0;
 776          MeshFeatures flags = 0;
 777          Mesh objectMesh = this.flags.mesh ? mesh : null;
 778          bool freeMesh = this.flags.ownMesh;
 779
 780          // Count total number of vertices
 781          if(objectMesh)
 782          {
 783             flags |= objectMesh.flags;
 784             nVertices += objectMesh.nVertices;
 785          }
 786
 787          for(child = children.first; child; child = child.next)
 788          {
 789             child.Merge(displaySystem);
 790             if(child.mesh)
 791             {
 792                nVertices += child.mesh.nVertices;
 793                flags |= child.mesh.flags;
 794             }
 795          }
 796
 797          if(!nVertices)
 798             return true;
 799
 800          if(this.flags.camera)
 801             delete camera;
 802
 803          mesh = Mesh { };
 804          this.flags.ownMesh = true;
 805          this.flags.mesh = true;
 806          displaySystem.AddMesh(mesh);
 807
 808          if(mesh.Allocate(flags, nVertices, displaySystem))
 809          {
 810             int c;
 811             int nTriangles = 0;
 812             int vertexOffset = 0;
 813             PrimitiveGroup group = null;
 814
 815             // Merge vertices
 816
 817             nVertices = 0;
 818             if(objectMesh)
 819             {
 820                for(c = 0; c<objectMesh.nVertices; c++)
 821                {
 822                   mesh.vertices[nVertices] = objectMesh.vertices[c];
 823
 824                   if(objectMesh.normals)
 825                      mesh.normals[nVertices] = objectMesh.normals[c];
 826                   if(objectMesh.texCoords)
 827                      mesh.texCoords[nVertices] = objectMesh.texCoords[c];
 828
 829                   nVertices++;
 830                }
 831             }
 832
 833             for(child = children.first; child; child = child.next)
 834             {
 835                Matrix matrix, normalMatrix;
 836
 837                matrix.Identity();
 838                matrix.Scale(child.transform.scaling.x, child.transform.scaling.y, child.transform.scaling.z);
 839
 840                matrix.Rotate(child.transform.orientation);
 841
 842                normalMatrix = matrix;
 843
 844                matrix.Translate(child.transform.position.x, child.transform.position.y, child.transform.position.z);
 845                if(child.flags.mesh && child.mesh)
 846                {
 847                   for(c = 0; c<child.mesh.nVertices; c++)
 848                   {
 849                      mesh.vertices[nVertices].MultMatrix(child.mesh.vertices[c], matrix);
 850                      if(child.mesh.normals)
 851                         mesh.normals[nVertices].MultMatrix(child.mesh.normals[c], normalMatrix);
 852                      if(child.mesh.texCoords)
 853                         mesh.texCoords[nVertices] = child.mesh.texCoords[c];
 854                      nVertices++;
 855                   }
 856                }
 857             }
 858
 859             // Merge Indexed Primitive Groups
 860             while(true)
 861             {
 862                int nIndices = 0;
 863                PrimitiveGroupType type = (PrimitiveGroupType)-1;
 864                Material material = null;
 865                bool foundGroup = false;
 866
 867                // Find first group type/material to process and determine how many indices are required
 868                if(objectMesh)
 869                {
 870                   for(group = objectMesh.groups.first; group; group = group.next)
 871                   {
 872                      if(!foundGroup && !(group.type.vertexRange))
 873                      {
 874                         if(!FindMaterialAndType(mesh, group.material, group.type))
 875                         {
 876                            material = group.material;
 877                            type = group.type;
 878                            nIndices += group.nIndices;
 879                            foundGroup = true;
 880                         }
 881                      }
 882                      else if(material == group.material && type == group.type)
 883                         nIndices += group.nIndices;
 884                   }
 885                }
 886
 887                for(child = children.first; child; child = child.next)
 888                {
 889                   if(child.flags.mesh && child.mesh)
 890                   {
 891                      for(group = child.mesh.groups.first; group; group = group.next)
 892                      {
 893                         if(!foundGroup && !(group.type.vertexRange))
 894                         {
 895                            if(!FindMaterialAndType(mesh, group.material ? group.material : child.material, group.type))
 896                            {
 897                               material = group.material ? group.material : child.material;
 898                               type = group.type;
 899                               nIndices += group.nIndices;
 900                               foundGroup = true;
 901                            }
 902                         }
 903                         else if(material == (group.material ? group.material : child.material) && type == group.type)
 904                            nIndices += group.nIndices;
 905                      }
 906                   }
 907                }
 908
 909                // Merge with all similar groups
 910                if(foundGroup)
 911                {
 912                   PrimitiveGroup newGroup = mesh.AddPrimitiveGroup(type, nIndices);
 913                   if(newGroup)
 914                   {
 915                      newGroup.material = material;
 916                      nIndices = 0;
 917
 918                      vertexOffset = 0;
 919
 920                      if(objectMesh)
 921                      {
 922                         for(group = objectMesh.groups.first; group; group = group.next)
 923                         {
 924                            if(newGroup.material == group.material && newGroup.type == group.type)
 925                            {
 926                               int c;
 927                               if(group.type.indices32bit)
 928                                  for(c = 0; c<group.nIndices; c++)
 929                                     newGroup.indices32[nIndices++] = group.indices32[c] + vertexOffset;
 930                               else
 931                                  for(c = 0; c<group.nIndices; c++)
 932                                     newGroup.indices[nIndices++] = (uint16)(group.indices[c] + vertexOffset);
 933                            }
 934                         }
 935                         vertexOffset += objectMesh.nVertices;
 936                      }
 937
 938                      for(child = children.first; child; child = child.next)
 939                      {
 940                         if(child.flags.mesh && child.mesh)
 941                         {
 942                            for(group = child.mesh.groups.first; group; group = group.next)
 943                            {
 944                               if(newGroup.material == (group.material ? group.material : child.material) &&
 945                                  newGroup.type == group.type)
 946                               {
 947                                  int c;
 948                                  if(group.type.indices32bit)
 949                                     for(c = 0; c<group.nIndices; c++)
 950                                        newGroup.indices32[nIndices++] = group.indices32[c] + vertexOffset;
 951                                  else
 952                                     for(c = 0; c<group.nIndices; c++)
 953                                        newGroup.indices[nIndices++] = (uint16)(group.indices[c] + vertexOffset);
 954                               }
 955                            }
 956                            vertexOffset += child.mesh.nVertices;
 957                         }
 958                      }
 959                      mesh.UnlockPrimitiveGroup(newGroup);
 960                   }
 961                }
 962                else
 963                   break;
 964             }
 965
 966             // Merge Non-Indexed Primitive Groups
 967             vertexOffset = 0;
 968
 969             if(objectMesh)
 970             {
 971                for(group = objectMesh.groups.first; group; group = group.next)
 972                {
 973                   if(group.type.vertexRange)
 974                   {
 975                      PrimitiveGroup newGroup = mesh.AddPrimitiveGroup(group.type, 0);
 976                      if(newGroup)
 977                      {
 978                         newGroup.material = group.material;
 979                         newGroup.nVertices = group.nVertices;
 980                         newGroup.first = group.first + vertexOffset;
 981                      }
 982                   }
 983                }
 984                vertexOffset += objectMesh.nVertices;
 985             }
 986
 987             for(child = children.first; child; child = child.next)
 988             {
 989                if(child.flags.mesh && child.mesh)
 990                {
 991                   for(group = child.mesh.groups.first; group; group = group.next)
 992                   {
 993                      if(group.type.vertexRange)
 994                      {
 995                         PrimitiveGroup newGroup = mesh.AddPrimitiveGroup(group.type, 0);
 996                         if(newGroup)
 997                         {
 998                            newGroup.material = group.material ? group.material : child.material;
 999                            newGroup.nVertices = group.nVertices;
1000                            newGroup.first = group.first + vertexOffset;
1001                         }
1002                      }
1003                   }
1004                   vertexOffset += child.mesh.nVertices;
1005                }
1006             }
1007
1008             // Merge Triangles
1009             if(objectMesh)
1010                nTriangles = objectMesh.nPrimitives;
1011
1012             for(child = children.first; child; child = child.next)
1013             {
1014                if(child.mesh)
1015                   nTriangles += child.mesh.nPrimitives;
1016             }
1017
1018             mesh.primitives = new PrimitiveSingle[nTriangles];
1019             mesh.nPrimitives = 0;
1020             vertexOffset = 0;
1021             if(objectMesh)
1022             {
1023                for(c = 0; c<objectMesh.nPrimitives; c++)
1024                {
1025                   int i;
1026                   PrimitiveSingle * triangle = &mesh.primitives[mesh.nPrimitives++];
1027                   PrimitiveSingle * src = &objectMesh.primitives[c];
1028
1029                   mesh.AllocatePrimitive(triangle, src->type, src->nIndices);
1030                   triangle->material = src->material;
1031                   triangle->middle = src->middle;
1032                   triangle->plane = src->plane;
1033
1034                   //*triangle = *src;
1035                   //src->indices = null;
1036                   //src->data = null;
1037
1038                   if(triangle->type.indices32bit)
1039                      for(i = 0; i<triangle->nIndices; i++)
1040                         triangle->indices32[i] = src->indices32[i] + vertexOffset;
1041                   else
1042                      for(i = 0; i<triangle->nIndices; i++)
1043                         triangle->indices[i] = (uint16)(src->indices[i] + vertexOffset);
1044                   mesh.UnlockPrimitive(triangle);
1045                }
1046                vertexOffset += objectMesh.nVertices;
1047             }
1048
1049             for(child = children.first; child; child = child.next)
1050             {
1051                if(child.flags.mesh && child.mesh)
1052                {
1053                   for(c = 0; c<child.mesh.nPrimitives; c++)
1054                   {
1055                      int i;
1056                      PrimitiveSingle * triangle = &mesh.primitives[mesh.nPrimitives++];
1057                      PrimitiveSingle * src = &child.mesh.primitives[c];
1058
1059                      mesh.AllocatePrimitive(triangle, src->type, src->nIndices);
1060                      triangle->material = src->material ? src->material : child.material;
1061                      triangle->middle = src->middle;
1062                      triangle->plane = src->plane;
1063
1064                      //*triangle = *src;
1065                      //src->indices = null;
1066                      //src->data = null;
1067
1068                      if(triangle->type.indices32bit)
1069                      {
1070                         for(i = 0; i<triangle->nIndices; i++)
1071                            triangle->indices32[i] = src->indices32[i] + vertexOffset;
1072                      }
1073                      else
1074                      {
1075                         for(i = 0; i<triangle->nIndices; i++)
1076                            triangle->indices[i] = (uint16)(src->indices[i] + vertexOffset);
1077                      }
1078                      mesh.UnlockPrimitive(triangle);
1079                   }
1080                   vertexOffset += child.mesh.nVertices;
1081                }
1082             }
1083
1084             // Free children
1085             for(child = children.first; child; child = nextChild)
1086             {
1087                nextChild = child.next;
1088                children.Remove(child);
1089                child.Free(displaySystem);
1090                delete child;
1091             }
1092
1093             mesh.ApplyTranslucency(this);
1094             // this.flags.translucent = true;
1095
1096             result = true;
1097
1098             mesh.Unlock(flags);
1099          }
1100          if(freeMesh && objectMesh)
1101          {
1102             if(objectMesh.displaySystem)
1103                objectMesh.displaySystem.RemoveMesh(objectMesh);
1104             delete objectMesh;
1105          }
1106          SetMinMaxRadius(true);
1107       }
1108       return result;
1109    }
1110
1111    void RotateEuler(Euler rotation, Euler min, Euler max)
1112    {
1113       // WARNING: 'eulerOrientation' is only updated by this function
1114       Euler euler = eulerOrientation;//transform.orientation;
1115       euler.Add(euler, rotation);
1116
1117       if(min && max)
1118       {
1119          if(min.pitch && max.pitch)
1120             euler.pitch = Min(Max(euler.pitch, min.pitch), max.pitch);
1121          if(min.yaw && max.yaw)
1122             euler.yaw = Min(Max(euler.yaw, min.yaw), max.yaw);
1123          if(min.roll && max.roll)
1124             euler.roll = Min(Max(euler.roll, min.roll), max.roll);
1125       }
1126
1127       eulerOrientation = euler;
1128       transform.orientation = euler;
1129       UpdateTransform();
1130    }
1131
1132    void Move(Vector3D direction)
1133    {
1134       Matrix matrix;
1135       Vector3D offset;
1136
1137       matrix.RotationQuaternion(transform.orientation);
1138       offset.MultMatrix(direction, matrix);
1139       transform.position.Add(transform.position, offset);
1140       UpdateTransform();
1141    }
1142
1143    void UpdateTransform(void)
1144    {
1145       SetTransformDirty();
1146       _UpdateTransform();
1147       SetMinMaxRadius(false);
1148    }
1149
1150    void Animate(unsigned int frame)
1151    {
1152       if(this && startFrame != endFrame)
1153       {
1154          while(frame < startFrame) frame += (endFrame - startFrame + 1);
1155          while(frame > endFrame)   frame -= (endFrame - startFrame + 1);
1156
1157          this.frame = frame;
1158          _Animate(frame);
1159          _UpdateTransform();
1160          SetMinMaxRadius(false);
1161       }
1162    }
1163
1164    void DoubleSided(bool flag)
1165    {
1166       if(this)
1167       {
1168          Object child;
1169          mesh.DoubleSided(flag);
1170          for(child = children.first; child; child = child.next)
1171             child.DoubleSided(flag);
1172       }
1173    }
1174
1175    bool IntersectsGroundPolygon(int count, Pointf * pointfs)
1176    {
1177       bool result = false;
1178
1179       Pointf * p1;
1180       Pointf * p2;
1181       double minX = wmin.x, maxX = wmax.x;
1182       double minY = wmin.z, maxY = wmax.z;
1183       double delta = (maxX - minX)/2;
1184       double x = (maxX + minX)/2, y = (maxY + minY)/2;
1185       int c;
1186       for(c = 0; c<count; c++)
1187       {
1188          double d;
1189          p1 = &pointfs[c];
1190          p2 = &pointfs[(c == count-1) ? 0 : (c+1)];
1191
1192          if( (p1->x < minX) &&  (p2->x < minX) )
1193          {
1194             if((p1->y <= y) && (p2->y >  y) )
1195                result ^= true;
1196             else if( (p1->y >  y) && (p2->y <= y) )
1197                result ^= true;
1198          }
1199          else if(!((p1->x > maxX && p2->x > maxX) || (p1->y < minY && p2->y < minY) || (p1->y > maxY && p2->y > maxY)))
1200          {
1201             if(p1->y == p2->y)
1202             {
1203                d = y - p1->y;
1204                if (d < 0) d = -d;
1205                if (d < delta) return true;
1206             }
1207             else if(p1->x == p2->x)
1208             {
1209                d = x - p1->x;
1210                if(d < 0) d = -d;
1211                if(d < delta) return true;
1212                else if(p1->x > x) ;
1213                else if( (p1->y <= y) && (p2->y >  y) )
1214                   result ^= true;
1215                else if( (p1->y >  y) && (p2->y <= y) )
1216                   result ^= true;
1217             }
1218             else
1219             {
1220                float a, b, dy, dx;
1221
1222                a = p2->y - p1->y;
1223                b = p1->x - p2->x;
1224                dy =  a;
1225                dx = -b;
1226                d = a * x + b * y + (p2->x * p1->y) - (p2->y * p1->x);
1227                if (a < 0) a = -a;
1228                if (b < 0) b = -b;
1229                if (d < 0) d = -d;
1230
1231                if(d < a * delta)
1232                   return true;
1233                else if (d < b * delta)
1234                   return true;
1235                else if( ( (p1->y <= y) && (p2->y >  y) ) || ( (p1->y >  y) && (p2->y <= y) ) )
1236                {
1237                   double xdy;
1238
1239                   xdy = (dx * (y - p1->y)) + (dy * p1->x);
1240                   if(dy < 0)
1241                   {
1242                      if(xdy > x * dy)
1243                         result ^= true;
1244                   }
1245                   else if(xdy < x * dy)
1246                      result ^= true;
1247                }
1248             }
1249          }
1250       }
1251       return result;
1252    }
1253
1254    property Transform transform { set { transform = value; eulerOrientation = transform.orientation; } get { value = transform; } };
1255    property Material material { set { material = value; } get { return material; } };
1256    property Vector3Df max { get { value = max; } };
1257    property Vector3Df min { get { value = min; } };
1258    property Vector3Df center { get { value = center; } };
1259    property float radius { get { return radius; } };
1260
1261    property Vector3D wmax { get { value = wmax; } };
1262    property Vector3D wmin { get { value = wmin; } };
1263    property Vector3D wcenter { get { value = wcenter; } };
1264    property double wradius { get { return wradius; } };
1265
1266    property void * tag { set { tag = value; } get { return tag; } };
1267    property int frame { set { Animate(value); } get { return frame; } };
1268    property int startFrame { set { startFrame = value; } get { return startFrame; } };
1269    property int endFrame { set { endFrame = value; } get { return endFrame; } };
1270
1271    property Mesh mesh { set { mesh = value; } get { return mesh; } };
1272    property Camera camera { get { return camera; } }; // Fix this with inheritance? camera inherit from Object?
1273    property Object firstChild { get { return children.first; } };
1274    property Object next { get { return next; } };
1275    property const char * name { get { return name; } };
1276    property Matrix matrix { get { value = matrix; } };
1277    property Object cameraTarget { set { cameraTarget = value; } get { return cameraTarget; } };
1278    property OldList * tracks { /* set { tracks = value; } */ get { return &tracks; } };
1279    property ObjectFlags flags { set { flags = value; } get { return flags; } };
1280
1281 private:
1282    Object()
1283    {
1284       children.offset = (uint)(uintptr)&((Object)0).prev;
1285       transform.scaling = { 1, 1, 1 };
1286       transform.orientation = { 1,0,0,0 };
1287       flags.transform = true;
1288    }
1289
1290    ~Object()
1291    {
1292       Free(null);
1293    }
1294
1295    void SetTransformDirty()
1296    {
1297       Object child;
1298       flags.transform = true;
1299       for(child = children.first; child; child = child.next)
1300          child.SetTransformDirty();
1301    }
1302
1303    void _UpdateTransform()
1304    {
1305       if(flags.transform)
1306       {
1307          Object child;
1308          Matrix matrix;
1309
1310          // Cameras / Spot Lights must update their target first
1311          if(flags.camera && cameraTarget && cameraTarget.flags.transform)
1312             cameraTarget.UpdateTransform();
1313          else if(flags.light && light.flags.spot && light.target && light.target.flags.transform)
1314             light.target._UpdateTransform();
1315
1316          if(flags.camera && cameraTarget)
1317          {
1318             // DeterMine angle to look at target
1319             Vector3D position, direction;
1320             if(flags.root || !parent)
1321                position = transform.position;
1322             else
1323                position.MultMatrix(transform.position, parent.matrix);
1324
1325             direction.Subtract((Vector3D *)cameraTarget.matrix.m[3], position);
1326             transform.orientation.RotationDirection(direction);
1327
1328             // Add the roll
1329             transform.orientation.RotateRoll(roll);
1330          }
1331
1332          if(flags.light && light.flags.spot)
1333          {
1334             // Determine angle to look at target
1335             Vector3D position;
1336             if(flags.root || !parent)
1337                position = transform.position;
1338             else
1339                position.MultMatrix(transform.position, parent.matrix);
1340
1341             if(light.target)
1342                light.direction.Subtract((Vector3D *) light.target.matrix.m[3], position);
1343             else
1344                light.direction = position; // TOCHECK: Why does this happen?
1345
1346             light.direction.Normalize(light.direction);
1347             transform.orientation.RotationDirection(light.direction);
1348          }
1349
1350          matrix.Identity();
1351          matrix.Scale(transform.scaling.x, transform.scaling.y, transform.scaling.z);
1352          matrix.Rotate(transform.orientation);
1353          matrix.Translate(transform.position.x, transform.position.y, transform.position.z);
1354
1355          localMatrix = matrix;
1356
1357          // Compute transform (with ancestors)
1358          if(flags.root || !parent)
1359             this.matrix = matrix;
1360          else
1361             this.matrix.Multiply(matrix, parent.matrix);
1362
1363          flags.transform = false;
1364
1365          for(child = children.first; child; child = child.next)
1366          {
1367             if(child.flags.transform)
1368                child._UpdateTransform();
1369          }
1370       }
1371    }
1372
1373    void _Animate(unsigned int frame)
1374    {
1375       Object child;
1376       FrameTrack track;
1377
1378       for(track = tracks.first; track; track = track.next)
1379       {
1380          unsigned int c;
1381
1382          if(track.numKeys)
1383          {
1384             unsigned int prev = 0, next = track.numKeys - 1;
1385             FrameKey * prevKey = &track.keys[prev], * nextKey = &track.keys[next];
1386             float t = 0;
1387
1388             for(c = 0; c<track.numKeys; c++)
1389             {
1390                FrameKey * key = track.keys + c;
1391                if(key->frame <= frame) { prevKey = key; prev = c; }
1392                if(key->frame >= frame) { nextKey = key; next = c; break; }
1393             }
1394
1395             if(nextKey->frame != prevKey->frame)
1396                t = ease((float) (frame - prevKey->frame) / (nextKey->frame - prevKey->frame), prevKey->easeFrom, nextKey->easeTo);
1397
1398             switch(track.type.type)
1399             {
1400                case position:
1401                {
1402                   Vector3Df position;
1403                   track.Interpolate(position, prevKey->position, nextKey->position, prev, next, t);
1404                   transform.position = { (double)position.x, (double)position.y, (double)position.z };
1405                   break;
1406                }
1407                case scaling:
1408                   track.Interpolate(transform.scaling, prevKey->scaling, &nextKey->scaling, prev, next, t);
1409                   break;
1410                case rotation:
1411                   track.InterpolateQuat(transform.orientation, prevKey->orientation, nextKey->orientation, prev, next, t);
1412                   break;
1413                // Cameras
1414                case roll:
1415                   roll = track.InterpolateFloat(prevKey->roll, nextKey->roll, prev, next, t);
1416                   break;
1417                case fov:
1418                {
1419                   camera.fov = track.InterpolateFloat(prevKey->fov, nextKey->fov, prev, next, t);
1420                   /*
1421                   double mm = (camera.fov - 5.05659508373109) / 1.13613250717301;
1422                   camera.fov = 1248.58921609766 * pow(mm, -0.895625414990581);
1423                   */
1424                   //camera.Setup(camera.width, camera.height, camera.origin);
1425                   break;
1426                }
1427                // Lights
1428                case colorChange:
1429                {
1430                   track.Interpolate((Vector3Df *)&light.diffuse,
1431                      (Vector3Df *)&prevKey->color, (Vector3Df *)&nextKey->color, prev, next, t);
1432                   light.specular = light.diffuse;
1433                   break;
1434                }
1435                case fallOff:
1436                {
1437                   light.fallOff = track.InterpolateFloat(prevKey->fallOff, nextKey->fallOff, prev, next, t);
1438                   break;
1439                }
1440                case hotSpot:
1441                {
1442                   light.hotSpot = track.InterpolateFloat(prevKey->hotSpot, nextKey->hotSpot, prev, next, t);
1443                   break;
1444                }
1445             }
1446          }
1447       }
1448
1449       for(child = children.first; child; child = child.next)
1450          child._Animate(frame);
1451
1452       flags.transform = true;
1453    }
1454
1455    // Private for now
1456    FrustumPlacement InsideFrustum(Plane * planes)
1457    {
1458       FrustumPlacement result = inside;
1459
1460       int p;
1461       // First test: Sphere
1462       for(p = 0; p<6; p++)
1463       {
1464          Plane * plane = &planes[p];
1465          double dot = plane->normal.DotProduct(wcenter);
1466          double distance = dot + plane->d;
1467          if(distance < -wradius)
1468          {
1469             result = outside;
1470             break;
1471          }
1472          if(Abs(distance) < wradius)
1473             result = intersecting;
1474       }
1475
1476       if(result == intersecting)
1477       {
1478          // Second test: Bounding Box
1479          Vector3D box[8] =
1480          {
1481             { wmin.x, wmin.y, wmin.z },
1482             { wmin.x, wmin.y, wmax.z },
1483             { wmin.x, wmax.y, wmin.z },
1484             { wmin.x, wmax.y, wmax.z },
1485             { wmax.x, wmin.y, wmin.z },
1486             { wmax.x, wmin.y, wmax.z },
1487             { wmax.x, wmax.y, wmin.z },
1488             { wmax.x, wmax.y, wmax.z }
1489          };
1490            int numPlanesAllIn = 0;
1491          for(p = 0; p < 6; p++)
1492          {
1493             Plane * plane = &planes[p];
1494             int i;
1495             int numGoodPoints = 0;
1496             for(i = 0; i < 8; ++i)
1497             {
1498                double dot = plane->normal.DotProduct(box[i]);
1499                double distance = dot + plane->d;
1500                            if(distance > -1)
1501                   numGoodPoints++;
1502                    }
1503                    if(!numGoodPoints)
1504             {
1505                result = outside;
1506                break;
1507             }
1508             if(numGoodPoints == 8)
1509                numPlanesAllIn++;
1510            }
1511            if(numPlanesAllIn == 6)
1512                    result = inside;
1513       }
1514       return result;
1515    }
1516
1517    Object prev, next;
1518    char * name;
1519    Object parent;
1520    OldList children;
1521
1522    ObjectFlags flags;
1523
1524    OldList tracks;
1525    unsigned startFrame, endFrame;
1526    int frame;
1527    Vector3Df pivot;
1528
1529    public Transform transform;
1530    public Matrix matrix;
1531    public Matrix localMatrix;
1532
1533    void * tag;
1534    Vector3Df min, max, center;
1535    Vector3D wmin, wmax, wcenter;
1536
1537    bool volume;
1538    float radius;
1539    double wradius;
1540    ColorRGB ambient;
1541
1542    /*public */union
1543    {
1544       // Mesh
1545       struct
1546       {
1547          Mesh mesh;
1548          Material material;
1549       };
1550
1551       // Light
1552       Light light;
1553
1554       // Camera
1555       struct
1556       {
1557          Camera camera;
1558          Object cameraTarget;
1559          double roll;
1560       };
1561    };
1562
1563    public property Light light
1564    {
1565       set
1566       {
1567          light = value;
1568       }
1569       get
1570       {
1571          value = light;
1572       }
1573    }
1574
1575    Euler eulerOrientation;
1576 };