feat: scene graph - node tree + transform inheritance
- SceneNode: position/rotation(scale) + parent/child hierarchy - World matrix: local = translate * rotate * scale, world = parent.world * local - Euler/Quaternion rotation support - Dirty flag propagation for efficient updates - Scene init/find/create/destroy operations
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@@ -24,6 +24,7 @@ set(ENGINE_SOURCES
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Engine/Rendering/mesh.c
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Engine/Rendering/texture.c
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Engine/Rendering/camera.c
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Engine/Scene/scene_graph.c
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Engine/ECS/world.c
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Engine/Input/input.c
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Engine/Physics/physics.c
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@@ -0,0 +1,226 @@
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// ============================================================================
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// scene_graph.c - 场景图实现
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// ============================================================================
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#include "scene_graph.h"
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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void scene_init(Scene* scene) {
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memset(scene, 0, sizeof(Scene));
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scene->next_id = 1;
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// 创建根节点
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scene->root = &scene->nodes[0];
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memset(scene->root, 0, sizeof(SceneNode));
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scene->root->id = scene->next_id++;
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strcpy(scene->root->name, "Root");
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scene->root->scale = (Vec3){1, 1, 1};
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scene->root->visible = 1;
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scene->root->dirty = 1;
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scene->node_count = 1;
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}
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void scene_destroy(Scene* scene) {
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// 清空子节点引用 (不释放静态数组)
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for (int i = 0; i < scene->node_count; i++) {
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scene->nodes[i].parent = NULL;
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scene->nodes[i].child_count = 0;
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}
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scene->node_count = 0;
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}
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SceneNode* scene_create_node(Scene* scene, const char* name) {
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if (scene->node_count >= MAX_NODES) return NULL;
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SceneNode* node = &scene->nodes[scene->node_count++];
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memset(node, 0, sizeof(SceneNode));
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node->id = scene->next_id++;
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strncpy(node->name, name, 63);
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node->scale = (Vec3){1, 1, 1};
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node->visible = 1;
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node->dirty = 1;
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return node;
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}
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void scene_destroy_node(Scene* scene, SceneNode* node) {
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if (!node || node == scene->root) return;
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// 移除子引用
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if (node->parent) {
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scene_remove_child(node->parent, node);
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}
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// 递归销毁子节点
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while (node->child_count > 0) {
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scene_destroy_node(scene, node->children[0]);
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}
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node->id = 0; // 标记为空
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}
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SceneNode* scene_find_node(Scene* scene, int id) {
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for (int i = 0; i < scene->node_count; i++) {
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if (scene->nodes[i].id == id) return &scene->nodes[i];
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}
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return NULL;
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}
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SceneNode* scene_find_by_name(Scene* scene, const char* name) {
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for (int i = 0; i < scene->node_count; i++) {
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if (strcmp(scene->nodes[i].name, name) == 0) return &scene->nodes[i];
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}
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return NULL;
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}
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void scene_set_parent(SceneNode* child, SceneNode* parent) {
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if (!child || !parent || child == parent) return;
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if (child->parent) scene_remove_child(child->parent, child);
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child->parent = parent;
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if (parent->child_count < MAX_CHILDREN) {
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parent->children[parent->child_count++] = child;
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}
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child->dirty = 1;
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}
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void scene_add_child(SceneNode* parent, SceneNode* child) {
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scene_set_parent(child, parent);
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}
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void scene_remove_child(SceneNode* parent, SceneNode* child) {
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if (!parent || !child) return;
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for (int i = 0; i < parent->child_count; i++) {
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if (parent->children[i] == child) {
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parent->children[i] = parent->children[parent->child_count - 1];
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parent->child_count--;
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child->parent = NULL;
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child->dirty = 1;
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return;
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}
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}
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}
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void scene_set_position(SceneNode* node, float x, float y, float z) {
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node->position = (Vec3){x, y, z};
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node->dirty = 1;
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}
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void scene_set_rotation_euler(SceneNode* node, float rx, float ry, float rz) {
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// 欧拉角转四元数 (YXZ 顺序)
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float cr = cosf(rx * 0.5f), sr = sinf(rx * 0.5f);
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float cp = cosf(ry * 0.5f), sp = sinf(ry * 0.5f);
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float cy = cosf(rz * 0.5f), sy = sinf(rz * 0.5f);
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node->rotation = (Quat){
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sr * cp * cy - cr * sp * sy,
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cr * sp * cy + sr * cp * sy,
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cr * cp * sy - sr * sp * cy,
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cr * cp * cy + sr * sp * sy
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};
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node->dirty = 1;
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}
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void scene_set_scale(SceneNode* node, float sx, float sy, float sz) {
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node->scale = (Vec3){sx, sy, sz};
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node->dirty = 1;
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}
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void scene_set_rotation_quat(SceneNode* node, const Quat* q) {
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node->rotation = *q;
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node->dirty = 1;
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}
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void scene_mark_dirty(SceneNode* node) {
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node->dirty = 1;
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for (int i = 0; i < node->child_count; i++) {
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scene_mark_dirty(node->children[i]);
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}
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}
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static void update_local_matrix(SceneNode* node) {
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// 旋转矩阵
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Mat4 rot;
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quat_to_matrix(&node->rotation, &rot);
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// 缩放矩阵
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Mat4 scl;
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mat4_identity(&scl);
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scl.m[0][0] = node->scale.x;
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scl.m[1][1] = node->scale.y;
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scl.m[2][2] = node->scale.z;
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// 平移矩阵
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Mat4 trl;
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mat4_translate(node->position.x, node->position.y, node->position.z, &trl);
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// local = trl * rot * scl
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Mat4 tmp;
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mat4_multiply(&rot, &scl, &tmp);
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mat4_multiply(&trl, &tmp, &node->local_matrix);
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}
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static void update_world_matrices(SceneNode* node) {
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if (node->dirty) {
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update_local_matrix(node);
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if (node->parent) {
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mat4_multiply(&node->parent->world_matrix, &node->local_matrix, &node->world_matrix);
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} else {
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node->world_matrix = node->local_matrix;
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}
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node->dirty = 0;
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}
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for (int i = 0; i < node->child_count; i++) {
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update_world_matrices(node->children[i]);
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}
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}
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void scene_update(Scene* scene) {
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if (scene->root) {
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update_world_matrices(scene->root);
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}
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}
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void scene_get_world_position(SceneNode* node, Vec3* out) {
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out->x = node->world_matrix.m[3][0];
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out->y = node->world_matrix.m[3][1];
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out->z = node->world_matrix.m[3][2];
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}
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void scene_get_world_rotation(SceneNode* node, Quat* out) {
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// 从世界矩阵提取四元数
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Mat4 m = node->world_matrix;
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float tr = m.m[0][0] + m.m[1][1] + m.m[2][2];
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if (tr > 0) {
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float s = 0.5f / sqrtf(tr + 1.0f);
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out->w = 0.25f / s;
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out->x = (m.m[2][1] - m.m[1][2]) * s;
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out->y = (m.m[0][2] - m.m[2][0]) * s;
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out->z = (m.m[1][0] - m.m[0][1]) * s;
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} else if (m.m[0][0] > m.m[1][1] && m.m[0][0] > m.m[2][2]) {
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float s = 2.0f * sqrtf(1.0f + m.m[0][0] - m.m[1][1] - m.m[2][2]);
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out->w = (m.m[2][1] - m.m[1][2]) / s;
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out->x = 0.25f * s;
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out->y = (m.m[0][1] + m.m[1][0]) / s;
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out->z = (m.m[0][2] + m.m[2][0]) / s;
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} else if (m.m[1][1] > m.m[2][2]) {
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float s = 2.0f * sqrtf(1.0f + m.m[1][1] - m.m[0][0] - m.m[2][2]);
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out->w = (m.m[0][2] - m.m[2][0]) / s;
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out->x = (m.m[0][1] + m.m[1][0]) / s;
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out->y = 0.25f * s;
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out->z = (m.m[1][2] + m.m[2][1]) / s;
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} else {
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float s = 2.0f * sqrtf(1.0f + m.m[2][2] - m.m[0][0] - m.m[1][1]);
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out->w = (m.m[1][0] - m.m[0][1]) / s;
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out->x = (m.m[0][2] + m.m[2][0]) / s;
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out->y = (m.m[1][2] + m.m[2][1]) / s;
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out->z = 0.25f * s;
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}
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}
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void scene_get_world_scale(SceneNode* node, Vec3* out) {
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// 从世界矩阵提取缩放 (各列向量的长度)
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out->x = sqrtf(node->world_matrix.m[0][0] * node->world_matrix.m[0][0] +
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node->world_matrix.m[0][1] * node->world_matrix.m[0][1] +
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node->world_matrix.m[0][2] * node->world_matrix.m[0][2]);
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out->y = sqrtf(node->world_matrix.m[1][0] * node->world_matrix.m[1][0] +
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node->world_matrix.m[1][1] * node->world_matrix.m[1][1] +
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node->world_matrix.m[1][2] * node->world_matrix.m[1][2]);
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out->z = sqrtf(node->world_matrix.m[2][0] * node->world_matrix.m[2][0] +
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node->world_matrix.m[2][1] * node->world_matrix.m[2][1] +
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node->world_matrix.m[2][2] * node->world_matrix.m[2][2]);
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}
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@@ -0,0 +1,77 @@
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#pragma once
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// ============================================================================
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// scene_graph.h - 场景图: 节点树 + 变换继承
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// ============================================================================
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#include "../ASM/math_c_fallback.h"
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#include <stdint.h>
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#define MAX_CHILDREN 64
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#define MAX_NODES 1024
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// 场景节点
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typedef struct SceneNode {
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int id;
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char name[64];
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// 本地变换
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Vec3 position;
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Quat rotation;
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Vec3 scale;
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// 世界矩阵 (每帧由 scene_update 计算)
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Mat4 world_matrix;
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Mat4 local_matrix;
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// 层级
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struct SceneNode* parent;
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struct SceneNode* children[MAX_CHILDREN];
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int child_count;
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// 标志
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int visible;
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int dirty; // 需要重新计算矩阵
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// 用户数据
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void* user_data;
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int user_type;
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} SceneNode;
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// 场景
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typedef struct Scene {
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SceneNode nodes[MAX_NODES];
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int node_count;
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SceneNode* root;
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int next_id;
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} Scene;
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// 初始化/销毁
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void scene_init(Scene* scene);
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void scene_destroy(Scene* scene);
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// 节点管理
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SceneNode* scene_create_node(Scene* scene, const char* name);
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void scene_destroy_node(Scene* scene, SceneNode* node);
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SceneNode* scene_find_node(Scene* scene, int id);
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SceneNode* scene_find_by_name(Scene* scene, const char* name);
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// 层级
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void scene_set_parent(SceneNode* child, SceneNode* parent);
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void scene_add_child(SceneNode* parent, SceneNode* child);
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void scene_remove_child(SceneNode* parent, SceneNode* child);
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// 变换
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void scene_set_position(SceneNode* node, float x, float y, float z);
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void scene_set_rotation_euler(SceneNode* node, float rx, float ry, float rz);
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void scene_set_scale(SceneNode* node, float sx, float sy, float sz);
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void scene_set_rotation_quat(SceneNode* node, const Quat* q);
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void scene_mark_dirty(SceneNode* node);
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// 每帧更新
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void scene_update(Scene* scene);
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// 获取世界变换
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void scene_get_world_position(SceneNode* node, Vec3* out);
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void scene_get_world_rotation(SceneNode* node, Quat* out);
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void scene_get_world_scale(SceneNode* node, Vec3* out);
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