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// Copyright 2025-2026 肖其顿 (XIAO QI DUN)
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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package ofdgo
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import (
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"context"
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"fmt"
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"math"
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)
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// U3DTrackState 指定动作资源、轨道和采样时间，Time与关键帧使用相同单位
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// Loop将时间循环到首末帧之间，未启用时停留在端点，不自动解释动画修饰器的时间参数
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type U3DTrackState struct {
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Motion, Track string
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Time float64
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Loop bool
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}
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// Sample 按时间采样轨道，不修改原始帧或按帧数量分配临时数组
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// 位移和缩放采用线性插值，旋转归一化后采用最短弧球面插值
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// 允许帧乱序，同一时刻取文件中最后一帧；循环区间不包含末端，单帧轨道始终返回该帧
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// 入参: ctx 取消上下文, time 与关键帧同单位的时间, loop 是否循环
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// 返回: U3DKeyFrame 采样姿态, error 空轨道、数值或取消错误
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func (track U3DMotionTrack) Sample(ctx context.Context, time float64, loop bool) (U3DKeyFrame, error) {
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if ctx == nil || !finite(time) || len(track.Frames) == 0 {
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return U3DKeyFrame{}, fmt.Errorf("invalid U3D motion sample")
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}
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first, last := 0, 0
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for index, frame := range track.Frames {
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if index%256 == 0 {
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if err := ctx.Err(); err != nil {
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return U3DKeyFrame{}, err
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}
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}
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if !finite(float64(frame.Time)) {
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return U3DKeyFrame{}, fmt.Errorf("invalid U3D key frame time")
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}
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if frame.Time <= track.Frames[first].Time {
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first = index
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}
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if frame.Time >= track.Frames[last].Time {
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last = index
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}
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}
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minimum, maximum := float64(track.Frames[first].Time), float64(track.Frames[last].Time)
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if loop && maximum > minimum {
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time = math.Mod(time-minimum, maximum-minimum)
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if time < 0 {
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time += maximum - minimum
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}
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time += minimum
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} else {
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time = max(minimum, min(time, maximum))
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}
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lower, upper := first, last
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for index, frame := range track.Frames {
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if index%256 == 0 {
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if err := ctx.Err(); err != nil {
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return U3DKeyFrame{}, err
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}
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}
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value := float64(frame.Time)
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if value <= time && frame.Time >= track.Frames[lower].Time {
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lower = index
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}
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if value > time && frame.Time <= track.Frames[upper].Time {
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upper = index
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}
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}
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a, b := track.Frames[lower], track.Frames[upper]
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if float64(a.Time) == time {
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b = a
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}
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qa, err := a.quaternion()
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if err != nil {
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return U3DKeyFrame{}, err
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}
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qb, err := b.quaternion()
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if err != nil {
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return U3DKeyFrame{}, err
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}
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fraction := float64(0)
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if b.Time != a.Time {
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fraction = (time - float64(a.Time)) / (float64(b.Time) - float64(a.Time))
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}
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result := U3DKeyFrame{Time: float32(time)}
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for i := range result.Displacement {
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result.Displacement[i] = float32(float64(a.Displacement[i])*(1-fraction) + float64(b.Displacement[i])*fraction)
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result.Scale[i] = float32(float64(a.Scale[i])*(1-fraction) + float64(b.Scale[i])*fraction)
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}
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var dot float64
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for i := range qa {
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dot += qa[i] * qb[i]
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}
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if dot < 0 {
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dot = -dot
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for i := range qb {
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qb[i] = -qb[i]
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}
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}
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left, right := 1-fraction, fraction
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if dot < .9995 {
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angle := math.Acos(min(1, dot))
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divisor := math.Sin(angle)
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left, right = math.Sin(left*angle)/divisor, math.Sin(right*angle)/divisor
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}
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var rotation [4]float64
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var length float64
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for i := range rotation {
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rotation[i] = left*qa[i] + right*qb[i]
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length += rotation[i] * rotation[i]
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}
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length = math.Sqrt(length)
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for i := range result.Rotation {
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result.Rotation[i] = float32(rotation[i] / length)
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}
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if err := ctx.Err(); err != nil {
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return U3DKeyFrame{}, err
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}
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return result, nil
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}
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// quaternion 校验姿态分量并归一化W、X、Y、Z旋转四元数
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// 返回: [4]float64 单位四元数, error 非有限或零旋转错误
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func (frame U3DKeyFrame) quaternion() ([4]float64, error) {
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var rotation [4]float64
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for _, values := range [][3]float32{frame.Displacement, frame.Scale} {
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for _, value := range values {
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if !finite(float64(value)) {
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return rotation, fmt.Errorf("invalid U3D key frame transform")
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}
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}
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}
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var length float64
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for i, value := range frame.Rotation {
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rotation[i] = float64(value)
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length += rotation[i] * rotation[i]
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}
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if !finite(length) || length == 0 {
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return rotation, fmt.Errorf("invalid U3D key frame rotation")
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}
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length = math.Sqrt(length)
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for i := range rotation {
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rotation[i] /= length
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}
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return rotation, nil
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}
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// Matrix 将关键帧位移、旋转和缩放组合成相对父项的列式仿射矩阵，不使用Time
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// 返回: [16]float64 先缩放、再旋转、后平移的变换, error 姿态数值错误
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func (frame U3DKeyFrame) Matrix() ([16]float64, error) {
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q, err := frame.quaternion()
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if err != nil {
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return [16]float64{}, err
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}
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w, x, y, z := q[0], q[1], q[2], q[3]
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matrix := [16]float64{
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1 - 2*(y*y+z*z), 2 * (x*y + w*z), 2 * (x*z - w*y), 0,
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2 * (x*y - w*z), 1 - 2*(x*x+z*z), 2 * (y*z + w*x), 0,
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2 * (x*z + w*y), 2 * (y*z - w*x), 1 - 2*(x*x+y*y), 0,
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float64(frame.Displacement[0]), float64(frame.Displacement[1]), float64(frame.Displacement[2]), 1,
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}
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for axis, scale := range frame.Scale {
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for component := range 3 {
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matrix[axis*4+component] *= float64(scale)
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}
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}
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return matrix, nil
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}
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// trackMatrix 按资源和轨道名称采样节点变换，不推测未命名轨道的绑定关系
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// 入参: state 动作轨道状态
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// 返回: [16]float64 节点变换, error 引用、数值或取消错误
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func (r *u3dRender) trackMatrix(state U3DTrackState) ([16]float64, error) {
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var track *U3DMotionTrack
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if err := r.ctx.Err(); err != nil {
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return [16]float64{}, err
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}
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if index, exists := r.motionIndex[state.Motion]; exists {
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motion := &r.model.Motions[index]
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for i := range motion.Tracks {
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if i%256 == 0 {
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if err := r.ctx.Err(); err != nil {
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return [16]float64{}, err
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}
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}
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if motion.Tracks[i].Name == state.Track {
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if track != nil {
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return [16]float64{}, fmt.Errorf("ambiguous U3D motion track %q", state.Track)
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}
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track = &motion.Tracks[i]
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}
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}
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}
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if track == nil {
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return [16]float64{}, fmt.Errorf("missing U3D motion track %q in %q", state.Track, state.Motion)
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}
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frame, err := track.Sample(r.ctx, state.Time, state.Loop)
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if err != nil {
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return [16]float64{}, err
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}
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return frame.Matrix()
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}
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