rotator.c

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/*
 * Copyright 2017-2018 Leo McCormack
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
 * REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
 * INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
 * LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
 * OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
 * PERFORMANCE OF THIS SOFTWARE.
 */

 
#include "rotator.h"
#include "rotator_internal.h"
 
void rotator_create
(
    void ** const phRot
)
{
    rotator_data* pData = (rotator_data*)malloc1d(sizeof(rotator_data));
    *phRot = (void*)pData;
    
    pData->M_rot_status = M_ROT_RECOMPUTE_QUATERNION;
    pData->fs = 48000.0f;
  
    /* Default user parameters */
    pData->Q.w = 1.0f;
    pData->Q.x = 0.0f;
    pData->Q.y = 0.0f;
    pData->Q.z = 0.0f;
    pData->bFlipQuaternion = 0;
    pData->yaw = 0.0f;
    pData->pitch = 0.0f;
    pData->roll = 0.0f;
    pData->bFlipYaw = 0;
    pData->bFlipPitch = 0;
    pData->bFlipRoll = 0;
    pData->chOrdering = CH_ACN;
    pData->norm = NORM_SN3D;
    pData->useRollPitchYawFlag = 0;
    rotator_setOrder(*phRot, SH_ORDER_FIRST);
}
 
void rotator_destroy
(
    void ** const phRot
)
{
    rotator_data *pData = (rotator_data*)(*phRot);
 
    if (pData != NULL) {
        free(pData);
        pData = NULL;
    }
}
 
void rotator_init
(
    void * const hRot,
    int          sampleRate
)
{
    rotator_data *pData = (rotator_data*)(hRot);
    int i;
 
    pData->fs = sampleRate;
    
    /* starting values */
    for(i=1; i<=ROTATOR_FRAME_SIZE; i++){
        pData->interpolator_fadeIn[i-1] = (float)i*1.0f/(float)ROTATOR_FRAME_SIZE;
        pData->interpolator_fadeOut[i-1] = 1.0f-pData->interpolator_fadeIn[i-1];
    }
    memset(pData->M_rot, 0, MAX_NUM_SH_SIGNALS*MAX_NUM_SH_SIGNALS*sizeof(float));
    memset(pData->prev_M_rot, 0, MAX_NUM_SH_SIGNALS*MAX_NUM_SH_SIGNALS*sizeof(float));
    pData->M_rot_status = M_ROT_RECOMPUTE_EULER;//M_ROT_RECOMPUTE_QUATERNION;
}
 
void rotator_process
(
    void        *  const hRot,
    const float *const * inputs,
    float* const*  const outputs,
    int                  nInputs,
    int                  nOutputs,
    int                  nSamples
)
{
    rotator_data *pData = (rotator_data*)(hRot);
    int i, j, order, nSH, mixWithPreviousFLAG;
    float Rxyz[3][3], yaw_temp, pitch_temp, roll_temp;
    float M_rot_tmp[MAX_NUM_SH_SIGNALS*MAX_NUM_SH_SIGNALS];
    CH_ORDER chOrdering;
 
    /* locals */
    chOrdering = pData->chOrdering;
    order = (int)pData->inputOrder;
    nSH = ORDER2NSH(order);
 
    if (nSamples == ROTATOR_FRAME_SIZE) {
 
        /* Load time-domain data */
        for(i=0; i < SAF_MIN(nSH, nInputs); i++)
            utility_svvcopy(inputs[i], ROTATOR_FRAME_SIZE, pData->inputFrameTD[i]);
        for(; i<MAX_NUM_SH_SIGNALS; i++)
            memset(pData->inputFrameTD[i], 0, ROTATOR_FRAME_SIZE * sizeof(float)); /* fill remaining channels with zeros */
 
        /* account for channel order */
        switch(chOrdering){
            case CH_ACN:  /* already ACN */ break; /* Otherwise, convert to ACN... */
            case CH_FUMA: convertHOAChannelConvention((float*)pData->inputFrameTD, order, ROTATOR_FRAME_SIZE, HOA_CH_ORDER_FUMA, HOA_CH_ORDER_ACN); break;
        }
 
        if (order>0){
            /* calculate rotation matrix */
            mixWithPreviousFLAG = 0;
            if(pData->M_rot_status != M_ROT_READY){
                memset(pData->M_rot, 0, MAX_NUM_SH_SIGNALS*MAX_NUM_SH_SIGNALS*sizeof(float));
                if(pData->M_rot_status == M_ROT_RECOMPUTE_EULER){
                    yawPitchRoll2Rzyx (pData->yaw, pData->pitch, pData->roll, pData->useRollPitchYawFlag, Rxyz);
                    euler2Quaternion(pData->yaw, pData->pitch, pData->roll, 0,
                                     pData->useRollPitchYawFlag ? EULER_ROTATION_ROLL_PITCH_YAW : EULER_ROTATION_YAW_PITCH_ROLL, &(pData->Q));
                }
                else {/* M_ROT_RECOMPUTE_QUATERNION */
                    quaternion2rotationMatrix(&(pData->Q), Rxyz);
                    quaternion2euler(&(pData->Q), 0, pData->useRollPitchYawFlag ? EULER_ROTATION_ROLL_PITCH_YAW : EULER_ROTATION_YAW_PITCH_ROLL,
                                     &yaw_temp, &pitch_temp, &roll_temp);
                    pData->yaw = yaw_temp;
                    pData->pitch = pitch_temp;
                    pData->roll = roll_temp;
                }
                getSHrotMtxReal(Rxyz, (float*)M_rot_tmp, order);
                for(i=0; i<nSH; i++)
                    for(j=0; j<nSH; j++)
                        pData->M_rot[i][j] = M_rot_tmp[i*nSH+j];
                mixWithPreviousFLAG = 1;
                pData->M_rot_status = M_ROT_READY;
            }
 
            /* apply rotation */
            cblas_sgemm(CblasRowMajor, CblasNoTrans, CblasNoTrans, nSH, ROTATOR_FRAME_SIZE, nSH, 1.0f,
                        (float*)(pData->M_rot), MAX_NUM_SH_SIGNALS,
                        (float*)pData->inputFrameTD, ROTATOR_FRAME_SIZE, 0.0f,
                        (float*)pData->outputFrameTD, ROTATOR_FRAME_SIZE);
 
            /* Fade between (linearly inerpolate) the new rotation matrix and the previous rotation matrix (only if the new rotation matrix is different) */
            if(mixWithPreviousFLAG){
                cblas_sgemm(CblasRowMajor, CblasNoTrans, CblasNoTrans, nSH, ROTATOR_FRAME_SIZE, nSH, 1.0f,
                            (float*)pData->prev_M_rot, MAX_NUM_SH_SIGNALS,
                            (float*)pData->inputFrameTD, ROTATOR_FRAME_SIZE, 0.0f,
                            (float*)pData->tempFrame, ROTATOR_FRAME_SIZE);
 
                /* Apply the linear interpolation */
                for (i=0; i < nSH; i++){
                    utility_svvmul((float*)pData->interpolator_fadeIn, (float*)pData->outputFrameTD[i], ROTATOR_FRAME_SIZE, (float*)pData->outputFrameTD_fadeIn[i]);
                    utility_svvmul((float*)pData->interpolator_fadeOut, (float*)pData->tempFrame[i], ROTATOR_FRAME_SIZE, (float*)pData->tempFrame_fadeOut[i]);
                }
                cblas_scopy(nSH*ROTATOR_FRAME_SIZE, (float*)pData->outputFrameTD_fadeIn, 1, (float*)pData->outputFrameTD, 1);
                cblas_saxpy(nSH*ROTATOR_FRAME_SIZE, 1.0f, (float*)pData->tempFrame_fadeOut, 1, (float*)pData->outputFrameTD, 1);
 
                /* for next frame */
                utility_svvcopy((const float*)pData->M_rot, MAX_NUM_SH_SIGNALS*MAX_NUM_SH_SIGNALS, (float*)pData->prev_M_rot);
            }
        }
        else /* Pass-through the omni (cannot be rotated...) */
            utility_svvcopy((const float*)pData->inputFrameTD[0], ROTATOR_FRAME_SIZE, (float*)pData->outputFrameTD[0]);
  
        /* account for channel order */
        switch(chOrdering){
            case CH_ACN:  /* do nothing */ break;
            case CH_FUMA: convertHOAChannelConvention((float*)pData->outputFrameTD, order, ROTATOR_FRAME_SIZE, HOA_CH_ORDER_ACN, HOA_CH_ORDER_FUMA); break;
        }
 
        /* Copy to output */
        for (i = 0; i < SAF_MIN(nSH, nOutputs); i++)
            utility_svvcopy(pData->outputFrameTD[i], ROTATOR_FRAME_SIZE, outputs[i]);
        for (; i < nOutputs; i++)
            memset(outputs[i], 0, ROTATOR_FRAME_SIZE*sizeof(float));
    }
    else{
        for (i = 0; i < nOutputs; i++)
            memset(outputs[i], 0, ROTATOR_FRAME_SIZE*sizeof(float));
    }
}
 
 
/*sets*/
 
void rotator_setYaw(void* const hRot, float newYaw)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->yaw = pData->bFlipYaw == 1 ? -DEG2RAD(newYaw) : DEG2RAD(newYaw);
    pData->M_rot_status = M_ROT_RECOMPUTE_EULER;
}
 
void rotator_setPitch(void* const hRot, float newPitch)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->pitch = pData->bFlipPitch == 1 ? -DEG2RAD(newPitch) : DEG2RAD(newPitch);
    pData->M_rot_status = M_ROT_RECOMPUTE_EULER;
}
 
void rotator_setRoll(void* const hRot, float newRoll)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->roll = pData->bFlipRoll == 1 ? -DEG2RAD(newRoll) : DEG2RAD(newRoll);
    pData->M_rot_status = M_ROT_RECOMPUTE_EULER;
}
 
void rotator_setQuaternionW(void* const hRot, float newValue)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->Q.w = newValue;
    pData->M_rot_status = M_ROT_RECOMPUTE_QUATERNION;
}
 
void rotator_setQuaternionX(void* const hRot, float newValue)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->Q.x = pData->bFlipQuaternion == 1 ? -newValue : newValue;
    pData->M_rot_status = M_ROT_RECOMPUTE_QUATERNION;
}
 
void rotator_setQuaternionY(void* const hRot, float newValue)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->Q.y = pData->bFlipQuaternion == 1 ? -newValue : newValue;
    pData->M_rot_status = M_ROT_RECOMPUTE_QUATERNION;
}
 
void rotator_setQuaternionZ(void* const hRot, float newValue)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->Q.z = pData->bFlipQuaternion == 1 ? -newValue : newValue;
    pData->M_rot_status = M_ROT_RECOMPUTE_QUATERNION;
}
 
void rotator_setFlipYaw(void* const hRot, int newState)
{
    rotator_data *pData = (rotator_data*)(hRot);
    if(newState !=pData->bFlipYaw ){
        pData->bFlipYaw = newState;
        rotator_setYaw(hRot, -rotator_getYaw(hRot));
    }
}
 
void rotator_setFlipPitch(void* const hRot, int newState)
{
    rotator_data *pData = (rotator_data*)(hRot);
    if(newState !=pData->bFlipPitch ){
        pData->bFlipPitch = newState;
        rotator_setPitch(hRot, -rotator_getPitch(hRot));
    }
}
 
void rotator_setFlipRoll(void* const hRot, int newState)
{
    rotator_data *pData = (rotator_data*)(hRot);
    if(newState !=pData->bFlipRoll ){
        pData->bFlipRoll = newState;
        rotator_setRoll(hRot, -rotator_getRoll(hRot));
    }
}
 
void rotator_setFlipQuaternion(void* const hRot, int newState)
{
    rotator_data *pData = (rotator_data*)(hRot);
    if(newState !=pData->bFlipQuaternion ){
        pData->bFlipQuaternion = newState;
        rotator_setQuaternionX(hRot, -rotator_getQuaternionX(hRot));
        rotator_setQuaternionY(hRot, -rotator_getQuaternionY(hRot));
        rotator_setQuaternionZ(hRot, -rotator_getQuaternionZ(hRot));
    }
}
 
void rotator_setRPYflag(void* const hRot, int newState)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->useRollPitchYawFlag = newState;
}
 
void rotator_setChOrder(void* const hRot, int newOrder)
{
    rotator_data *pData = (rotator_data*)(hRot);
    if((CH_ORDER)newOrder != CH_FUMA || pData->inputOrder==SH_ORDER_FIRST)/* FUMA only supports 1st order */
        pData->chOrdering = (CH_ORDER)newOrder;
}
 
void rotator_setNormType(void* const hRot, int newType)
{
    rotator_data *pData = (rotator_data*)(hRot);
    if((NORM_TYPES)newType != NORM_FUMA || pData->inputOrder==SH_ORDER_FIRST)/* FUMA only supports 1st order */
        pData->norm = (NORM_TYPES)newType;
}
 
void rotator_setOrder(void* const hRot, int newOrder)
{
    rotator_data *pData = (rotator_data*)(hRot);
    pData->inputOrder = (SH_ORDERS)newOrder;
    pData->M_rot_status = M_ROT_RECOMPUTE_QUATERNION;
    /* FUMA only supports 1st order */
    if(pData->inputOrder!=SH_ORDER_FIRST && pData->chOrdering == CH_FUMA)
        pData->chOrdering = CH_ACN;
    if(pData->inputOrder!=SH_ORDER_FIRST && pData->norm == NORM_FUMA)
        pData->norm = NORM_SN3D;
}
 
 
/*gets*/
 
int rotator_getFrameSize(void)
{
    return ROTATOR_FRAME_SIZE;
}
 
float rotator_getYaw(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipYaw == 1 ? -RAD2DEG(pData->yaw) : RAD2DEG(pData->yaw);
}
 
float rotator_getPitch(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipPitch == 1 ? -RAD2DEG(pData->pitch) : RAD2DEG(pData->pitch);
}
 
float rotator_getRoll(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipRoll == 1 ? -RAD2DEG(pData->roll) : RAD2DEG(pData->roll);
}
 
float rotator_getQuaternionW(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->Q.w;
}
 
float rotator_getQuaternionX(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipQuaternion == 1 ? -(pData->Q.x) : pData->Q.x;
}
 
float rotator_getQuaternionY(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipQuaternion == 1 ? -(pData->Q.y) : pData->Q.y;
}
 
float rotator_getQuaternionZ(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipQuaternion == 1 ? -(pData->Q.z) : pData->Q.z;
}
 
int rotator_getFlipYaw(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipYaw;
}
 
int rotator_getFlipPitch(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipPitch;
}
 
int rotator_getFlipRoll(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipRoll;
}
 
int rotator_getFlipQuaternion(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->bFlipQuaternion;
}
 
int rotator_getRPYflag(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return pData->useRollPitchYawFlag;
}
 
int rotator_getChOrder(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return (int)pData->chOrdering;
}
 
int rotator_getNormType(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return (int)pData->norm;
}
 
int rotator_getOrder(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return (int)pData->inputOrder;
}
 
int rotator_getNSHrequired(void* const hRot)
{
    rotator_data *pData = (rotator_data*)(hRot);
    return (pData->inputOrder+1)*(pData->inputOrder+1);
}
 
int rotator_getProcessingDelay(void)
{
    return 0;
}