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Add ccd frame

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This commit is contained in:
hodasemi 2018-06-09 13:45:38 +02:00
parent 3eb0849032
commit 3a1e42dbbd
4 changed files with 41 additions and 10 deletions
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6
CGII/src/AtomicTransform.cpp
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@ -92,6 +92,12 @@ void AtomicRotationTransform::optimize_value(const Vec3& local_vector, const Vec
// use only degrees defined by dofs
// if inverse == true use -angle with set_value()
double result = 0.0;
if (inverse)
result = -result;
set_value(result);
}
AtomicTranslationTransform::AtomicTranslationTransform(int dim)

30
CGII/src/IKViewer.cpp
View file

@ -64,6 +64,9 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
/*Task 3.1: Calculate kinematic chain*/
this->base = base;
this->endeffector = endeffector;
// get list of bones in order of endeffector to base
std::vector<Bone *> bones;
Bone *current_bone = endeffector;
@ -84,8 +87,12 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
for (Bone *bone : bones)
{
// TODO: calculate and add transforms to queue
Transform *tmp = new StaticTransform(bone->calculate_transform_prev_to_current_with_dofs());
for (int i = bone->dof_count() - 1; i >= 0; i--)
{
kinematic_chain.emplace_front(bone->get_dof(i));
}
Transform *tmp = new StaticTransform(bone->calculate_transform_prev_to_current_without_dofs());
std::shared_ptr<Transform> transform = std::shared_ptr<Transform>(tmp);
kinematic_chain.emplace_front(transform);
}
@ -114,6 +121,25 @@ void IKViewer::optimize()
// before_dof -> dof -> after_dof
/*Task 3.3: Implement CCD */
for (int i = 0; i < max_iterations; i++)
{
for (auto it = kinematic_chain.rbegin(); it != kinematic_chain.rend(); i++)
{
//it->optimize_value(TODO: local_vector, target, inverse);
}
current_endeffector_matrix.identity();
for (auto &transform : kinematic_chain)
{
current_endeffector_matrix = current_endeffector_matrix * transform->calculate_matrix();
}
Vec4 current_endeffector_position = current_endeffector_matrix * endeffector->get_bone_local_tip_position();
if (distance_threshold >= length(current_endeffector_position - target_position))
break;
}
//used for correct GUI behavior
data->dof_changed_by_ik = false;

3
CGII/src/IKViewer.h
View file

@ -41,6 +41,9 @@ class IKViewer : public node, public drawable, public provider, public event_han
Mat4 current_endeffector_matrix; //transform from base to endeffector
Mat4 current_base_matrix; //transform from global origin to base
Bone *base;
Bone *endeffector;
unsigned int max_iterations;
std::list<std::shared_ptr<Transform>> kinematic_chain;

4
CGII/src/SkeletonViewer.cpp
View file

@ -34,10 +34,6 @@ void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_par
auto my_root_position = global_to_current_local * node->get_bone_local_root_position();
auto my_tip_position = global_to_current_local * node->get_bone_local_tip_position();
std::cout << "bone: " << node->get_name() << std::endl;
print_vec3(my_root_position);
print_vec3(my_tip_position);
if (arrows)
{
const GLubyte colors[][3] =