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livetrax/libs/panners/vbap/vbap_speakers.cc

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/*
This software is being provided to you, the licensee, by Ville Pulkki,
under the following license. By obtaining, using and/or copying this
software, you agree that you have read, understood, and will comply
with these terms and conditions: Permission to use, copy, modify and
distribute, including the right to grant others rights to distribute
at any tier, this software and its documentation for any purpose and
without fee or royalty is hereby granted, provided that you agree to
comply with the following copyright notice and statements, including
the disclaimer, and that the same appear on ALL copies of the software
and documentation, including modifications that you make for internal
use or for distribution:
Copyright 1998 by Ville Pulkki, Helsinki University of Technology. All
rights reserved.
The software may be used, distributed, and included to commercial
products without any charges. When included to a commercial product,
the method "Vector Base Amplitude Panning" and its developer Ville
Pulkki must be referred to in documentation.
This software is provided "as is", and Ville Pulkki or Helsinki
University of Technology make no representations or warranties,
expressed or implied. By way of example, but not limitation, Helsinki
University of Technology or Ville Pulkki make no representations or
warranties of merchantability or fitness for any particular purpose or
that the use of the licensed software or documentation will not
infringe any third party patents, copyrights, trademarks or other
rights. The name of Ville Pulkki or Helsinki University of Technology
may not be used in advertising or publicity pertaining to distribution
of the software.
*/
#include <cmath>
#include <algorithm>
#include <stdlib.h>
#include "pbd/cartesian.h"
#include "vbap_speakers.h"
using namespace ARDOUR;
using namespace PBD;
using namespace std;
const double VBAPSpeakers::MIN_VOL_P_SIDE_LGTH = 0.01;
VBAPSpeakers::VBAPSpeakers (boost::shared_ptr<Speakers> s)
: _dimension (2)
, _parent (s)
{
_parent->Changed.connect_same_thread (speaker_connection, boost::bind (&VBAPSpeakers::update, this));
update ();
}
VBAPSpeakers::~VBAPSpeakers ()
{
}
void
VBAPSpeakers::update ()
{
int dim = 2;
_speakers = _parent->speakers();
for (vector<Speaker>::const_iterator i = _speakers.begin(); i != _speakers.end(); ++i) {
if ((*i).angles().ele != 0.0) {
dim = 3;
break;
}
}
_dimension = dim;
if (_speakers.size() < 2) {
/* nothing to be done with less than two speakers */
return;
}
if (_dimension == 3) {
ls_triplet_chain *ls_triplets = 0;
choose_speaker_triplets (&ls_triplets);
if (ls_triplets) {
calculate_3x3_matrixes (ls_triplets);
free (ls_triplets);
}
} else {
choose_speaker_pairs ();
}
}
void
VBAPSpeakers::choose_speaker_triplets(struct ls_triplet_chain **ls_triplets)
{
/* Selects the loudspeaker triplets, and
calculates the inversion matrices for each selected triplet.
A line (connection) is drawn between each loudspeaker. The lines
denote the sides of the triangles. The triangles should not be
intersecting. All crossing connections are searched and the
longer connection is erased. This yields non-intesecting triangles,
which can be used in panning.
*/
int i,j,k,l,table_size;
int n_speakers = _speakers.size ();
int connections[n_speakers][n_speakers];
float distance_table[((n_speakers * (n_speakers - 1)) / 2)];
int distance_table_i[((n_speakers * (n_speakers - 1)) / 2)];
int distance_table_j[((n_speakers * (n_speakers - 1)) / 2)];
float distance;
struct ls_triplet_chain *trip_ptr, *prev, *tmp_ptr;
if (n_speakers == 0) {
return;
}
for (i = 0; i < n_speakers; i++) {
for (j = i+1; j < n_speakers; j++) {
for(k=j+1;k<n_speakers;k++) {
if (vol_p_side_lgth(i,j, k, _speakers) > MIN_VOL_P_SIDE_LGTH){
connections[i][j]=1;
connections[j][i]=1;
connections[i][k]=1;
connections[k][i]=1;
connections[j][k]=1;
connections[k][j]=1;
add_ldsp_triplet(i,j,k,ls_triplets);
}
}
}
}
/*calculate distancies between all speakers and sorting them*/
table_size =(((n_speakers - 1) * (n_speakers)) / 2);
for (i = 0; i < table_size; i++) {
distance_table[i] = 100000.0;
}
for (i = 0;i < n_speakers; i++) {
for (j = i+1; j < n_speakers; j++) {
if (connections[i][j] == 1) {
distance = fabs(vec_angle(_speakers[i].coords(),_speakers[j].coords()));
k=0;
while(distance_table[k] < distance) {
k++;
}
for (l = table_size - 1; l > k ; l--) {
distance_table[l] = distance_table[l-1];
distance_table_i[l] = distance_table_i[l-1];
distance_table_j[l] = distance_table_j[l-1];
}
distance_table[k] = distance;
distance_table_i[k] = i;
distance_table_j[k] = j;
} else
table_size--;
}
}
/* disconnecting connections which are crossing shorter ones,
starting from shortest one and removing all that cross it,
and proceeding to next shortest */
for (i = 0; i < table_size; i++) {
int fst_ls = distance_table_i[i];
int sec_ls = distance_table_j[i];
if (connections[fst_ls][sec_ls] == 1) {
for (j = 0; j < n_speakers; j++) {
for (k = j+1; k < n_speakers; k++) {
if ((j!=fst_ls) && (k != sec_ls) && (k!=fst_ls) && (j != sec_ls)){
if (lines_intersect(fst_ls, sec_ls, j,k) == 1){
connections[j][k] = 0;
connections[k][j] = 0;
}
}
}
}
}
}
/* remove triangles which had crossing sides
with smaller triangles or include loudspeakers*/
trip_ptr = *ls_triplets;
prev = 0;
while (trip_ptr != 0){
i = trip_ptr->ls_nos[0];
j = trip_ptr->ls_nos[1];
k = trip_ptr->ls_nos[2];
if (connections[i][j] == 0 ||
connections[i][k] == 0 ||
connections[j][k] == 0 ||
any_ls_inside_triplet(i,j,k) == 1 ){
if (prev != 0) {
prev->next = trip_ptr->next;
tmp_ptr = trip_ptr;
trip_ptr = trip_ptr->next;
free(tmp_ptr);
} else {
*ls_triplets = trip_ptr->next;
tmp_ptr = trip_ptr;
trip_ptr = trip_ptr->next;
free(tmp_ptr);
}
} else {
prev = trip_ptr;
trip_ptr = trip_ptr->next;
}
}
}
int
VBAPSpeakers::any_ls_inside_triplet(int a, int b, int c)
{
/* returns 1 if there is loudspeaker(s) inside given ls triplet */
float invdet;
const CartesianVector* lp1;
const CartesianVector* lp2;
const CartesianVector* lp3;
float invmx[9];
int i,j;
float tmp;
bool any_ls_inside;
bool this_inside;
int n_speakers = _speakers.size();
lp1 = &(_speakers[a].coords());
lp2 = &(_speakers[b].coords());
lp3 = &(_speakers[c].coords());
/* matrix inversion */
invdet = 1.0 / ( lp1->x * ((lp2->y * lp3->z) - (lp2->z * lp3->y))
- lp1->y * ((lp2->x * lp3->z) - (lp2->z * lp3->x))
+ lp1->z * ((lp2->x * lp3->y) - (lp2->y * lp3->x)));
invmx[0] = ((lp2->y * lp3->z) - (lp2->z * lp3->y)) * invdet;
invmx[3] = ((lp1->y * lp3->z) - (lp1->z * lp3->y)) * -invdet;
invmx[6] = ((lp1->y * lp2->z) - (lp1->z * lp2->y)) * invdet;
invmx[1] = ((lp2->x * lp3->z) - (lp2->z * lp3->x)) * -invdet;
invmx[4] = ((lp1->x * lp3->z) - (lp1->z * lp3->x)) * invdet;
invmx[7] = ((lp1->x * lp2->z) - (lp1->z * lp2->x)) * -invdet;
invmx[2] = ((lp2->x * lp3->y) - (lp2->y * lp3->x)) * invdet;
invmx[5] = ((lp1->x * lp3->y) - (lp1->y * lp3->x)) * -invdet;
invmx[8] = ((lp1->x * lp2->y) - (lp1->y * lp2->x)) * invdet;
any_ls_inside = false;
for (i = 0; i < n_speakers; i++) {
if (i != a && i!=b && i != c) {
this_inside = true;
for (j = 0; j < 3; j++) {
tmp = _speakers[i].coords().x * invmx[0 + j*3];
tmp += _speakers[i].coords().y * invmx[1 + j*3];
tmp += _speakers[i].coords().z * invmx[2 + j*3];
if (tmp < -0.001) {
this_inside = false;
}
}
if (this_inside) {
any_ls_inside = true;
}
}
}
return any_ls_inside;
}
void
VBAPSpeakers::add_ldsp_triplet(int i, int j, int k, struct ls_triplet_chain **ls_triplets)
{
/* adds i,j,k triplet to triplet chain*/
struct ls_triplet_chain *trip_ptr, *prev;
trip_ptr = *ls_triplets;
prev = 0;
while (trip_ptr != 0){
prev = trip_ptr;
trip_ptr = trip_ptr->next;
}
trip_ptr = (struct ls_triplet_chain*) malloc (sizeof (struct ls_triplet_chain));
if (prev == 0) {
*ls_triplets = trip_ptr;
} else {
prev->next = trip_ptr;
}
trip_ptr->next = 0;
trip_ptr->ls_nos[0] = i;
trip_ptr->ls_nos[1] = j;
trip_ptr->ls_nos[2] = k;
}
float
VBAPSpeakers::vec_angle(CartesianVector v1, CartesianVector v2)
{
float inner= ((v1.x*v2.x + v1.y*v2.y + v1.z*v2.z)/
(vec_length(v1) * vec_length(v2)));
if (inner > 1.0) {
inner= 1.0;
}
if (inner < -1.0) {
inner = -1.0;
}
return fabsf((float) acos((double) inner));
}
float
VBAPSpeakers::vec_length(CartesianVector v1)
{
return (sqrt(v1.x*v1.x + v1.y*v1.y + v1.z*v1.z));
}
float
VBAPSpeakers::vec_prod(CartesianVector v1, CartesianVector v2)
{
return (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
}
float
VBAPSpeakers::vol_p_side_lgth(int i, int j,int k, const vector<Speaker>& speakers)
{
/* calculate volume of the parallelepiped defined by the loudspeaker
direction vectors and divide it with total length of the triangle sides.
This is used when removing too narrow triangles. */
float volper, lgth;
CartesianVector xprod;
cross_prod (speakers[i].coords(), speakers[j].coords(), &xprod);
volper = fabsf (vec_prod(xprod, speakers[k].coords()));
lgth = (fabsf (vec_angle(speakers[i].coords(), speakers[j].coords()))
+ fabsf (vec_angle(speakers[i].coords(), speakers[k].coords()))
+ fabsf (vec_angle(speakers[j].coords(), speakers[k].coords())));
if (lgth > 0.00001) {
return volper / lgth;
} else {
return 0.0;
}
}
void
VBAPSpeakers::cross_prod(CartesianVector v1,CartesianVector v2, CartesianVector *res)
{
float length;
res->x = (v1.y * v2.z ) - (v1.z * v2.y);
res->y = (v1.z * v2.x ) - (v1.x * v2.z);
res->z = (v1.x * v2.y ) - (v1.y * v2.x);
length = vec_length(*res);
res->x /= length;
res->y /= length;
res->z /= length;
}
int
VBAPSpeakers::lines_intersect (int i, int j, int k, int l)
{
/* checks if two lines intersect on 3D sphere
see theory in paper Pulkki, V. Lokki, T. "Creating Auditory Displays
with Multiple Loudspeakers Using VBAP: A Case Study with
DIVA Project" in International Conference on
Auditory Displays -98. E-mail Ville.Pulkki@hut.fi
if you want to have that paper.
*/
CartesianVector v1;
CartesianVector v2;
CartesianVector v3, neg_v3;
float dist_ij,dist_kl,dist_iv3,dist_jv3,dist_inv3,dist_jnv3;
float dist_kv3,dist_lv3,dist_knv3,dist_lnv3;
cross_prod(_speakers[i].coords(),_speakers[j].coords(),&v1);
cross_prod(_speakers[k].coords(),_speakers[l].coords(),&v2);
cross_prod(v1,v2,&v3);
neg_v3.x= 0.0 - v3.x;
neg_v3.y= 0.0 - v3.y;
neg_v3.z= 0.0 - v3.z;
dist_ij = (vec_angle(_speakers[i].coords(),_speakers[j].coords()));
dist_kl = (vec_angle(_speakers[k].coords(),_speakers[l].coords()));
dist_iv3 = (vec_angle(_speakers[i].coords(),v3));
dist_jv3 = (vec_angle(v3,_speakers[j].coords()));
dist_inv3 = (vec_angle(_speakers[i].coords(),neg_v3));
dist_jnv3 = (vec_angle(neg_v3,_speakers[j].coords()));
dist_kv3 = (vec_angle(_speakers[k].coords(),v3));
dist_lv3 = (vec_angle(v3,_speakers[l].coords()));
dist_knv3 = (vec_angle(_speakers[k].coords(),neg_v3));
dist_lnv3 = (vec_angle(neg_v3,_speakers[l].coords()));
/* if one of loudspeakers is close to crossing point, don't do anything*/
if(fabsf(dist_iv3) <= 0.01 || fabsf(dist_jv3) <= 0.01 ||
fabsf(dist_kv3) <= 0.01 || fabsf(dist_lv3) <= 0.01 ||
fabsf(dist_inv3) <= 0.01 || fabsf(dist_jnv3) <= 0.01 ||
fabsf(dist_knv3) <= 0.01 || fabsf(dist_lnv3) <= 0.01 ) {
return(0);
}
if (((fabsf(dist_ij - (dist_iv3 + dist_jv3)) <= 0.01 ) &&
(fabsf(dist_kl - (dist_kv3 + dist_lv3)) <= 0.01)) ||
((fabsf(dist_ij - (dist_inv3 + dist_jnv3)) <= 0.01) &&
(fabsf(dist_kl - (dist_knv3 + dist_lnv3)) <= 0.01 ))) {
return (1);
} else {
return (0);
}
}
void
VBAPSpeakers::calculate_3x3_matrixes(struct ls_triplet_chain *ls_triplets)
{
/* Calculates the inverse matrices for 3D */
float invdet;
const CartesianVector* lp1;
const CartesianVector* lp2;
const CartesianVector* lp3;
float *invmx;
struct ls_triplet_chain *tr_ptr = ls_triplets;
int triplet_count = 0;
int triplet;
assert (tr_ptr);
/* counting triplet amount */
while (tr_ptr != 0) {
triplet_count++;
tr_ptr = tr_ptr->next;
}
cerr << "@@@ triplets generate " << triplet_count << " of speaker tuples\n";
triplet = 0;
_matrices.clear ();
_speaker_tuples.clear ();
for (int n = 0; n < triplet_count; ++n) {
_matrices.push_back (threeDmatrix());
_speaker_tuples.push_back (tmatrix());
}
while (tr_ptr != 0) {
lp1 = &(_speakers[tr_ptr->ls_nos[0]].coords());
lp2 = &(_speakers[tr_ptr->ls_nos[1]].coords());
lp3 = &(_speakers[tr_ptr->ls_nos[2]].coords());
/* matrix inversion */
invmx = tr_ptr->inv_mx;
invdet = 1.0 / ( lp1->x * ((lp2->y * lp3->z) - (lp2->z * lp3->y))
- lp1->y * ((lp2->x * lp3->z) - (lp2->z * lp3->x))
+ lp1->z * ((lp2->x * lp3->y) - (lp2->y * lp3->x)));
invmx[0] = ((lp2->y * lp3->z) - (lp2->z * lp3->y)) * invdet;
invmx[3] = ((lp1->y * lp3->z) - (lp1->z * lp3->y)) * -invdet;
invmx[6] = ((lp1->y * lp2->z) - (lp1->z * lp2->y)) * invdet;
invmx[1] = ((lp2->x * lp3->z) - (lp2->z * lp3->x)) * -invdet;
invmx[4] = ((lp1->x * lp3->z) - (lp1->z * lp3->x)) * invdet;
invmx[7] = ((lp1->x * lp2->z) - (lp1->z * lp2->x)) * -invdet;
invmx[2] = ((lp2->x * lp3->y) - (lp2->y * lp3->x)) * invdet;
invmx[5] = ((lp1->x * lp3->y) - (lp1->y * lp3->x)) * -invdet;
invmx[8] = ((lp1->x * lp2->y) - (lp1->y * lp2->x)) * invdet;
/* copy the matrix */
_matrices[triplet][0] = invmx[0];
_matrices[triplet][1] = invmx[1];
_matrices[triplet][2] = invmx[2];
_matrices[triplet][3] = invmx[3];
_matrices[triplet][4] = invmx[4];
_matrices[triplet][5] = invmx[5];
_matrices[triplet][6] = invmx[6];
_matrices[triplet][7] = invmx[7];
_matrices[triplet][8] = invmx[8];
_speaker_tuples[triplet][0] = tr_ptr->ls_nos[0];
_speaker_tuples[triplet][1] = tr_ptr->ls_nos[1];
_speaker_tuples[triplet][2] = tr_ptr->ls_nos[2];
cerr << "Triplet[" << triplet << "] = "
<< tr_ptr->ls_nos[0] << " + "
<< tr_ptr->ls_nos[1] << " + "
<< tr_ptr->ls_nos[2] << endl;
triplet++;
tr_ptr = tr_ptr->next;
}
}
void
VBAPSpeakers::choose_speaker_pairs (){
/* selects the loudspeaker pairs, calculates the inversion
matrices and stores the data to a global array
*/
const int n_speakers = _speakers.size();
const double AZIMUTH_DELTA_THRESHOLD_DEGREES = (180.0/M_PI) * (M_PI - 0.175);
int sorted_speakers[n_speakers];
bool exists[n_speakers];
double inverse_matrix[n_speakers][4];
int expected_pairs = 0;
int pair;
int speaker;
if (n_speakers == 0) {
return;
}
for (speaker = 0; speaker < n_speakers; ++speaker) {
exists[speaker] = false;
}
/* sort loudspeakers according their aximuth angle */
sort_2D_lss (sorted_speakers);
/* adjacent loudspeakers are the loudspeaker pairs to be used.*/
for (speaker = 0; speaker < n_speakers-1; speaker++) {
if ((_speakers[sorted_speakers[speaker+1]].angles().azi -
_speakers[sorted_speakers[speaker]].angles().azi) <= AZIMUTH_DELTA_THRESHOLD_DEGREES) {
if (calc_2D_inv_tmatrix( _speakers[sorted_speakers[speaker]].angles().azi,
_speakers[sorted_speakers[speaker+1]].angles().azi,
inverse_matrix[speaker]) != 0){
exists[speaker] = true;
expected_pairs++;
}
}
}
if (((6.283 - _speakers[sorted_speakers[n_speakers-1]].angles().azi)
+_speakers[sorted_speakers[0]].angles().azi) <= AZIMUTH_DELTA_THRESHOLD_DEGREES) {
if (calc_2D_inv_tmatrix(_speakers[sorted_speakers[n_speakers-1]].angles().azi,
_speakers[sorted_speakers[0]].angles().azi,
inverse_matrix[n_speakers-1]) != 0) {
exists[n_speakers-1] = true;
expected_pairs++;
}
}
pair = 0;
_matrices.clear ();
_speaker_tuples.clear ();
for (int n = 0; n < expected_pairs; ++n) {
_matrices.push_back (twoDmatrix());
_speaker_tuples.push_back (tmatrix());
}
for (speaker = 0; speaker < n_speakers - 1; speaker++) {
if (exists[speaker]) {
_matrices[pair][0] = inverse_matrix[speaker][0];
_matrices[pair][1] = inverse_matrix[speaker][1];
_matrices[pair][2] = inverse_matrix[speaker][2];
_matrices[pair][3] = inverse_matrix[speaker][3];
_speaker_tuples[pair][0] = sorted_speakers[speaker];
_speaker_tuples[pair][1] = sorted_speakers[speaker+1];
pair++;
}
}
if (exists[n_speakers-1]) {
_matrices[pair][0] = inverse_matrix[speaker][0];
_matrices[pair][1] = inverse_matrix[speaker][1];
_matrices[pair][2] = inverse_matrix[speaker][2];
_matrices[pair][3] = inverse_matrix[speaker][3];
_speaker_tuples[pair][0] = sorted_speakers[n_speakers-1];
_speaker_tuples[pair][1] = sorted_speakers[0];
}
}
void
VBAPSpeakers::sort_2D_lss (int* sorted_speakers)
{
vector<Speaker> tmp = _speakers;
vector<Speaker>::iterator s;
azimuth_sorter sorter;
int n;
sort (tmp.begin(), tmp.end(), sorter);
for (n = 0, s = tmp.begin(); s != tmp.end(); ++s, ++n) {
sorted_speakers[n] = (*s).id;
}
}
int
VBAPSpeakers::calc_2D_inv_tmatrix (double azi1, double azi2, double* inverse_matrix)
{
double x1,x2,x3,x4;
double det;
x1 = cos (azi1 * (M_PI/180.0));
x2 = sin (azi1 * (M_PI/180.0));
x3 = cos (azi2 * (M_PI/180.0));
x4 = sin (azi2 * (M_PI/180.0));
det = (x1 * x4) - ( x3 * x2 );
if (fabs(det) <= 0.001) {
inverse_matrix[0] = 0.0;
inverse_matrix[1] = 0.0;
inverse_matrix[2] = 0.0;
inverse_matrix[3] = 0.0;
return 0;
} else {
inverse_matrix[0] = x4 / det;
inverse_matrix[1] = -x3 / det;
inverse_matrix[2] = -x2 / det;
inverse_matrix[3] = x1 / det;
return 1;
}
}
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