Merge solution and next task
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b5748c2902
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10 changed files with 225 additions and 364 deletions
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03_IK.pdf
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03_IK.pdf
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3-intro.pdf
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3-intro.pdf
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@ -79,3 +79,13 @@ bool Animation::read_amc_file(std::string filename, Skeleton* s)
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int Animation::frame_count() const { return frames.size(); }
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void Animation::apply_frame(int frame) const
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{
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for (auto& bone : frames.at(frame))
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{
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for (int i = 0; i < bone.bone->dof_count(); ++i)
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{
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bone.bone->get_dof(i)->set_value(bone.dof_values[i]);
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}
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}
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}
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@ -16,7 +16,7 @@ public:
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bool read_amc_file(std::string filename, Skeleton*);
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int frame_count() const;
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void apply_frame(int frame) const;
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private:
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//Contains a std::vector<AnimationFrameBone> for each frame, which contains animation data for a set of bones.
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@ -40,7 +40,45 @@ Mat4 AtomicRotationTransform::calculate_matrix()
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return rotate(axis, (float)value);
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}
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void AtomicRotationTransform::drawIndicator(float size)
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{
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if (lower_limit == upper_limit)
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return;
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//Calculate rotation matrix from x-axis to current axis
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Vec3 rot_axis = cgv::math::cross(Vec3(1, 0, 0), axis);
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float angle = acosf(axis.x() / axis.length());
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Mat4 t;
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if (angle == 0)
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t.identity();
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else
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t = rotate(rot_axis, angle * 180.0f / 3.1415926f);
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glBegin(GL_TRIANGLE_FAN);
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glVertex3f(0, 0, 0);
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for (float v = (float)lower_limit; v <= upper_limit; v += 5)
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{
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auto p = t * size * Vec4(0, -cosf(v * PI / 180.0f), -sinf(v * PI / 180.0f), 0);
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glVertex3f(p.x(), p.y(), p.z());
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}
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auto end = t * size * Vec4(0, -cosf((float)upper_limit * PI / 180.0f), -sinf((float)upper_limit * PI / 180.0f), 0);
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glVertex3f(end.x(), end.y(), end.z());
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glEnd();
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}
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void AtomicRotationTransform::drawActualIndicator(float size)
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{
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//Calculate rotation matrix from x-axis to current axis
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Vec3 rot_axis = cgv::math::cross(Vec3(1, 0, 0), axis);
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float angle = acosf(axis.x() / axis.length());
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Mat4 t;
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if (angle == 0)
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t.identity();
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else
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t = rotate(rot_axis, angle * 180.0f / 3.1415926f);
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glBegin(GL_LINES);
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glVertex3f(0, 0, 0);
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auto p = t * size * Vec4(0, -cosf((float)value * PI / 180.0f), -sinf((float)value * PI / 180.0f), 0);
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glVertex3f(p.x(), p.y(), p.z());
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glEnd();
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}
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void AtomicRotationTransform::optimize_value(const Vec3& local_vector, const Vec3& target, bool inverse)
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{
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@ -57,7 +57,10 @@ public:
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virtual void optimize_value(const Vec3& local_vector, const Vec3& target, bool inverse = false) = 0;
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virtual void optimize_value(const Vec3& local_vector, const Vec3& target) { optimize_value(local_vector, target, false); }
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//Draws an indicator that visualizes the transform, including its limits.
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virtual void drawIndicator(float size) = 0;
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//Draws an indicator that visualizes the current scalar parameter.
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virtual void drawActualIndicator(float size) = 0;
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std::string get_name() const;
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@ -84,7 +87,8 @@ public:
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virtual Mat4 calculate_matrix();
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virtual void optimize_value(const Vec3& local_vector, const Vec3& target, bool inverse = false);
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virtual void drawIndicator(float size);
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virtual void drawActualIndicator(float size);
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protected:
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Vec3 axis;
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@ -115,7 +119,8 @@ public:
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virtual Mat4 calculate_matrix();
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virtual void optimize_value(const Vec3& local_vector, const Vec3& target, bool inverse = false);
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virtual void drawIndicator(float size) { };
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virtual void drawActualIndicator(float size) { };
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private:
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int dim;
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@ -9,29 +9,9 @@
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#include "math_helper.h"
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std::string from_Vec3(Vec3 &v)
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{
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std::stringstream is;
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is << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")";
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return is.str();
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}
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float calc_angle(Vec3 dir_vec, Vec3 axis)
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{
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float dot_result = dot(dir_vec, axis);
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float length_v1 = length(dir_vec);
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float length_v2 = length(axis);
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return acos(dot_result / (length_v1 * length_v2));
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}
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Bone::Bone()
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: parent(nullptr), length(0.0f), direction_in_world_space(0.0, 0.0, 0.0), translationTransforms(0)
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{
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}
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{}
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Bone::~Bone()
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{
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@ -50,45 +30,22 @@ void Bone::calculate_matrices()
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{
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orientationTransformGlobalToLocal.identity();
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std::for_each(orientation.begin(), orientation.end(), [&](AtomicTransform* t) {
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//std::cout << name << " orientation " << t->get_name() << ": " << t->get_value() << std::endl;
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orientationTransformGlobalToLocal = orientationTransformGlobalToLocal * t->calculate_matrix();
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});
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orientationTransformLocalToGlobal = cgv::math::inv(orientationTransformGlobalToLocal);
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//std::cout << name << " direction " << from_Vec3(direction_in_world_space) << std::endl;
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//std::cout << name << " length " << length << std::endl;
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/*Task 2.1: Implement matrix calculation */
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Vec3 vector = direction_in_world_space * length;
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//translationTransformCurrentJointToNext = orientationTransformLocalToGlobal * translate(vector) * orientationTransformGlobalToLocal;
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translationTransformCurrentJointToNext = translate(vector);
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if (parent == nullptr)
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Vec4 globalDirection = Vec4(direction_in_world_space.x() * length, direction_in_world_space.y() * length, direction_in_world_space.z() * length, 0);
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Vec4 localDirection = orientationTransformLocalToGlobal * globalDirection;
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translationTransformCurrentJointToNext = translate(localDirection.x(), localDirection.y(), localDirection.z());
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if (parent != nullptr)
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{
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orientationTransformPrevJointToCurrent.identity();
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orientationTransformPrevJointToCurrent = parent->orientationTransformLocalToGlobal * orientationTransformGlobalToLocal;
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translationTransformGlobalToLocal = parent->translationTransformGlobalToLocal * translate(parent->direction_in_world_space * parent->length);
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}
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else
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{
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Vec3 prev_dir = parent->get_direction_in_world_space();
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Vec3 &curr_dir = direction_in_world_space;
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if (prev_dir.x() == 0.0f && prev_dir.y() == 0.0f && prev_dir.z() == 0.0f)
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{
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orientationTransformPrevJointToCurrent.identity();
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}
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else if (prev_dir == curr_dir)
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{
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orientationTransformPrevJointToCurrent.identity();
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}
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else
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{
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float angle = calc_angle(curr_dir, prev_dir);
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Vec3 axis = cross(curr_dir, prev_dir);
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orientationTransformPrevJointToCurrent = rotate(axis, angle);
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}
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orientationTransformPrevJointToCurrent = orientationTransformGlobalToLocal;
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translationTransformGlobalToLocal.identity();
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}
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/*Task 4.6: Implement matrix calculation */
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@ -96,40 +53,18 @@ void Bone::calculate_matrices()
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Mat4 Bone::calculate_transform_prev_to_current_with_dofs()
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{
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//Task 2.1: Implement matrix calculation
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if (parent == NULL)
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{
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Mat4 t;
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t.identity();
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Mat4 t = calculate_transform_prev_to_current_without_dofs();
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for (unsigned int i = 0; i < dofs.size(); ++i)
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t = t * dofs[i]->calculate_matrix();
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return t;
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}
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Mat4 dofs_matrix;
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dofs_matrix.identity();
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std::for_each(dofs.begin(), dofs.end(), [&](std::shared_ptr<AtomicTransform> &t) {
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dofs_matrix = dofs_matrix * t->calculate_matrix();
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});
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return parent->get_translation_transform_current_joint_to_next() * orientationTransformPrevJointToCurrent * dofs_matrix;
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}
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Mat4 Bone::calculate_transform_prev_to_current_without_dofs()
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{
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//Task 2.1: Implement matrix calculation
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return parent->get_translation_transform_current_joint_to_next() * orientationTransformPrevJointToCurrent;
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}
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Mat4 Bone::get_total_orientation()
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{
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Mat4 parent_orientation;
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if (parent != NULL)
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parent_orientation = parent->get_total_orientation();
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else
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parent_orientation.identity();
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return orientationTransformPrevJointToCurrent * parent_orientation;
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Mat4 t = orientationTransformPrevJointToCurrent;
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if (parent != nullptr)
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t = parent->translationTransformCurrentJointToNext * t;
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return t;
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}
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void Bone::add_dof(AtomicTransform* dof)
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@ -12,7 +12,6 @@
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#include <cgv/base/find_action.h>
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#include "math_helper.h"
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#include <fstream>
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using namespace cgv::utils;
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@ -21,167 +20,76 @@ cgv::render::shader_program Mesh::prog;
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// The constructor of this class
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SkeletonViewer::SkeletonViewer(DataStore* data)
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: node("Skeleton Viewer"), data(data)
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, animation(nullptr), animationTime(0)
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{
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connect(data->skeleton_changed, this, &SkeletonViewer::skeleton_changed);
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connect(get_animation_trigger().shoot, this, &SkeletonViewer::timer_event);
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for (int i = 0; i < SKELETON_DEPTH; i++)
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{
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for (int j = 0; j < 3; j++)
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{
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colors[i][j] = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
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}
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}
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frame = 0;
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inc_frame = false;
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}
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double winkel_to_bogenmass(float v)
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{
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return (v * 2 * PI) / 360;
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}
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void draw_dof(Bone *node, Vec4 start_point)
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{
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for (int i = 0; i < node->dof_count(); i++)
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{
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Vec3 point_joint = Vec3(start_point.x(), start_point.y(), start_point.z());
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auto bonelength = node->get_length();
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double lower_limit = node->get_dof(i)->get_lower_limit();
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double upper_limit = node->get_dof(i)->get_upper_limit();
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// lowerlimit
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auto bog_lower_limit = winkel_to_bogenmass(lower_limit);
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auto tan_lower_limit = std::tan(bog_lower_limit);
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auto cos_lower_limit = std::cos(bog_lower_limit);
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// upperlimit
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auto bog_upper_limit = winkel_to_bogenmass(upper_limit);
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auto tan_upper_limit = std::tan(bog_upper_limit);
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auto cos_upper_limit = std::cos(bog_upper_limit);
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auto pt_min = bonelength * cos_lower_limit;
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auto pt_max = bonelength * cos_upper_limit;
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glBegin(GL_TRIANGLE_STRIP);
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if (node->get_dof(i)->get_name() == "X-Rotation")
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{
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// drawing x movement (local)
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glColor4f(0, 128, 0, 128);
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glVertex3f(point_joint.x(), point_joint.y(), point_joint.z());
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glVertex3f(point_joint.x(), point_joint.y() - 5, point_joint.z() + pt_max);
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glVertex3f(point_joint.x(), point_joint.y() - 5, point_joint.z() - pt_min);
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}
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/*
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if(node->get_dof(i)->get_name() == "Y-Rotation") {
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// drawing y movement (local)
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glColor4f(0, 128, 0, 128);
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glVertex3f(point_joint.x(), point_joint.y(), point_joint.z());
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glVertex3f(point_joint.x(), point_joint.y()+pt_max, point_joint.z());
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glVertex3f(point_joint.x(), point_joint.y()-pt_min, point_joint.z());
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std::cout « "X:" « point_joint.x() « " Y:" « point_joint.y()+pt_max « " Z:" « point_joint.z() « std::endl;
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std::cout « pt_max « std::endl;
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}
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if(node->get_dof(i)->get_name() == "Z-Rotation") {
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// drawing z movement (local)
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glColor4f(0, 128, 0, 128);
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glVertex3f(point_joint.x(), point_joint.y(), point_joint.z());
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glVertex3f(point_joint.x(), point_joint.y(), point_joint.z()+pt_max);
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glVertex3f(point_joint.x(), point_joint.y(), point_joint.z()-pt_min);
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}
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/*
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// drawing y movement (local)
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glColor4f(128, 0, 0, 128);
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glVertex3f(start_point.x(), start_point.y(), start_point.z());
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glVertex3f(end_point.x(), end_point.y() - 5, end_point.z());
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glVertex3f(end_point.x(), end_point.y() + 5, end_point.z());
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// drawing z movement (local)
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glColor4f(0, 0, 128, 128);
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glVertex3f(start_point.x(), start_point.y(), start_point.z());
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glVertex3f(end_point.x(), end_point.y(), end_point.z() - 5);
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glVertex3f(end_point.x() + 5, end_point.y(), end_point.z() + 5);
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*/
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glEnd();
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}
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}
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//draws a part of a skeleton, represented by the given root node
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void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c, int depth)
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void SkeletonViewer::draw_skeleton_subtree(Bone* node, const Mat4& global_to_parent_local, context& c, int level, bool arrows, bool indicators)
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{
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//Task: Draw skeleton
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if (frame < animations.size())
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auto global_to_current_local = global_to_parent_local * node->calculate_transform_prev_to_current_with_dofs();
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auto my_root_position = global_to_current_local * node->get_bone_local_root_position();
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auto my_tip_position = global_to_current_local * node->get_bone_local_tip_position();
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if (arrows)
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{
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auto ¤t_step = animations[frame];
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auto it = current_step.find(node->get_name());
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if (it != current_step.end())
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const GLubyte colors[][3] =
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{
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std::vector<float> &values = it->second;
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if (values.size() == node->dof_count())
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{
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for (int i = 0; i < values.size(); i++)
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{
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node->get_dof(i)->set_value(values[i]);
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{ 27,158,119 },
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{ 217,95,2 },
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{ 117,112,179 },
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{ 231,41,138 },
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{ 102,166,30 },
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{ 230,171,2 },
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{ 166,118,29 },
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};
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glColor3ubv(colors[level % 7]);
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c.tesselate_arrow(cgv::math::fvec<double, 3u>(my_root_position.x(), my_root_position.y(), my_root_position.z()),
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cgv::math::fvec<double, 3u>(my_tip_position.x(), my_tip_position.y(), my_tip_position.z()), 0.1, 2.0, 0.5);
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}
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}
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}
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}
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Mat4 local_transform = global_to_parent_local * node->calculate_transform_prev_to_current_with_dofs();
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Vec4 zero = Vec4(0.0f, 0.0f, 0.0f, 1.0f);
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Vec4 p1 = global_to_parent_local * zero;
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Vec4 p2 = local_transform * zero;
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Vec3 p1_v3 = Vec3(p1.x(), p1.y(), p1.z());
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Vec3 p2_v3 = Vec3(p2.x(), p2.y(), p2.z());
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glColor3f(colors[depth][0], colors[depth][1], colors[depth][2]);
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c.tesselate_arrow(p1_v3, p2_v3);
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draw_dof(node, p1);
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depth++;
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for (int i = 0; i < node->childCount(); i++)
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Mat4 dof_matrix = global_to_parent_local * node->calculate_transform_prev_to_current_without_dofs();
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float indicatorSize = (data->get_skeleton()->getMax() - data->get_skeleton()->getMin()).length() * 0.05f;
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//draw indicators for dofs
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if (indicators)
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{
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draw_skeleton_subtree(node->child_at(i), local_transform, c, depth);
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glDepthMask(false);
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int i = 0;
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for (int i = 0; i < node->dof_count(); ++i)
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{
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auto t = node->get_dof(i);
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glPushMatrix();
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glMultMatrixf(dof_matrix);
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glColor4f(0, 1, 0, 0.2f);
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t->drawIndicator(indicatorSize);
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glColor4f(0.5f, 1, 0.5f, 1);
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t->drawActualIndicator(indicatorSize);
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glPopMatrix();
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dof_matrix = dof_matrix * node->get_dof(i)->calculate_matrix();
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}
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glDepthMask(true);
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}
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int n = node->childCount();
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||||
for (int i = 0; i < n; ++i)
|
||||
{
|
||||
auto child = node->child_at(i);
|
||||
draw_skeleton_subtree(child, global_to_current_local, c, level + 1, arrows, indicators);
|
||||
}
|
||||
}
|
||||
|
||||
void SkeletonViewer::timer_event(double, double dt)
|
||||
{
|
||||
/*Task: Implement animation */
|
||||
if (animation && playing)
|
||||
{
|
||||
animationTime += dt;
|
||||
int frame = (int)std::round(animationTime * 120.0) % animation->frame_count();
|
||||
animation->apply_frame(frame);
|
||||
}
|
||||
}
|
||||
|
||||
void SkeletonViewer::start_animation()
|
||||
{
|
||||
frame = 0;
|
||||
inc_frame = true;
|
||||
post_redraw();
|
||||
}
|
||||
|
||||
void SkeletonViewer::stop_animation()
|
||||
{
|
||||
inc_frame = false;
|
||||
//Task: Implement animation
|
||||
}
|
||||
void SkeletonViewer::start_animation() { playing = true; }
|
||||
void SkeletonViewer::stop_animation() { playing = false; }
|
||||
|
||||
void SkeletonViewer::skeleton_changed(std::shared_ptr<Skeleton> s)
|
||||
{
|
||||
|
|
@ -194,8 +102,7 @@ void SkeletonViewer::skeleton_changed(std::shared_ptr<Skeleton> s)
|
|||
//Fit view to skeleton
|
||||
std::vector<cgv::render::view*> view_ptrs;
|
||||
cgv::base::find_interface<cgv::render::view>(get_node(), view_ptrs);
|
||||
if (view_ptrs.empty())
|
||||
{
|
||||
if (view_ptrs.empty()) {
|
||||
// If there is no view, we cannot update it
|
||||
cgv::gui::message("could not find a view to adjust!!");
|
||||
}
|
||||
|
|
@ -346,58 +253,22 @@ void SkeletonViewer::load_animation()
|
|||
std::string filename = cgv::gui::file_open_dialog("Open", "Animation File (*.amc):*.amc");
|
||||
if (!filename.empty())
|
||||
{
|
||||
animations.clear();
|
||||
|
||||
std::ifstream file(filename);
|
||||
|
||||
std::string line;
|
||||
int current_index = -1;
|
||||
|
||||
while (std::getline(file, line))
|
||||
if (animation)
|
||||
{
|
||||
if (line[0] == '#' || line[0] == ':')
|
||||
{
|
||||
continue;
|
||||
delete animation;
|
||||
animation = nullptr;
|
||||
}
|
||||
|
||||
int number = 0;
|
||||
|
||||
std::istringstream sline(line);
|
||||
sline >> number;
|
||||
|
||||
if (number != 0)
|
||||
auto a = new Animation();
|
||||
if (a->read_amc_file(filename, data->get_skeleton().get()))
|
||||
{
|
||||
current_index = number - 1;
|
||||
|
||||
//std::map<std::string, std::vector<AtomicTransform *>> tmp;
|
||||
std::map<std::string, std::vector<float>> tmp;
|
||||
animations.emplace_back(tmp);
|
||||
animationTime = 0;
|
||||
animation = a;
|
||||
playing = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (current_index < 0)
|
||||
abort();
|
||||
|
||||
std::string bone_name;
|
||||
std::vector<float> values;
|
||||
|
||||
int first_blank = line.find_first_of(" ");
|
||||
bone_name = line.substr(0, first_blank);
|
||||
|
||||
auto ¤t_map = animations[current_index];
|
||||
|
||||
std::string rest = line.substr(first_blank + 1, line.size());
|
||||
std::stringstream sstream(rest);
|
||||
float value;
|
||||
|
||||
while (sstream >> value)
|
||||
{
|
||||
values.push_back(value);
|
||||
}
|
||||
|
||||
// test if values alone are enough
|
||||
current_map[bone_name] = values;
|
||||
}
|
||||
delete a;
|
||||
cgv::gui::message("Could not load specified AMC file.");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -466,11 +337,16 @@ void SkeletonViewer::draw(context &c)
|
|||
glBlendFunc(GL_SRC_ALPHA, GL_ONE);
|
||||
|
||||
if (data->get_skeleton() != nullptr)
|
||||
draw_skeleton_subtree(data->get_skeleton()->get_root(), data->get_skeleton()->get_origin(), c, 0);
|
||||
|
||||
if (inc_frame)
|
||||
frame++;
|
||||
|
||||
if (frame >= animations.size())
|
||||
frame = 0;
|
||||
{
|
||||
glEnable(GL_LIGHTING);
|
||||
glEnable(GL_CULL_FACE);
|
||||
glEnable(GL_BLEND);
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
draw_skeleton_subtree(data->get_skeleton()->get_root(), data->get_skeleton()->get_origin(), c, 0, true, false);
|
||||
glDisable(GL_LIGHTING);
|
||||
glDisable(GL_CULL_FACE);
|
||||
glEnable(GL_BLEND);
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE);
|
||||
draw_skeleton_subtree(data->get_skeleton()->get_root(), data->get_skeleton()->get_origin(), c, 0, false, true);
|
||||
}
|
||||
}
|
||||
|
|
@ -21,8 +21,6 @@ using namespace cgv::math;
|
|||
using namespace cgv::render;
|
||||
using namespace cgv::utils;
|
||||
|
||||
#define SKELETON_DEPTH 10
|
||||
|
||||
class SkeletonViewer : public node, public drawable, public provider
|
||||
{
|
||||
private:
|
||||
|
|
@ -30,15 +28,9 @@ class SkeletonViewer : public node, public drawable, public provider
|
|||
gui_group_ptr tree_view;
|
||||
gui_group_ptr bone_group;
|
||||
|
||||
std::vector<std::map<std::string, std::vector<float>>> animations;
|
||||
float colors[SKELETON_DEPTH][3];
|
||||
|
||||
// Maps gui elements in the tree view to a specific bone
|
||||
std::map<base_ptr, Bone*> gui_to_bone;
|
||||
|
||||
bool inc_frame;
|
||||
int frame;
|
||||
|
||||
// slot for the signal
|
||||
void timer_event(double, double dt);
|
||||
void skeleton_changed(std::shared_ptr<Skeleton>);
|
||||
|
|
@ -55,11 +47,15 @@ class SkeletonViewer : public node, public drawable, public provider
|
|||
void load_animation();
|
||||
void start_choose_base();
|
||||
|
||||
void draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c, int depth);
|
||||
void draw_skeleton_subtree(Bone* node, const Mat4& global_to_parent_local, context& c, int level, bool arrows, bool indicators);
|
||||
|
||||
void dof_changed(double new_value);
|
||||
void recursive_connect_signals(Bone* b);
|
||||
|
||||
Animation* animation;
|
||||
double animationTime;
|
||||
bool playing;
|
||||
|
||||
void start_animation();
|
||||
void stop_animation();
|
||||
|
||||
|
|
@ -74,3 +70,4 @@ class SkeletonViewer : public node, public drawable, public provider
|
|||
|
||||
std::string get_parent_type() const;
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -20,7 +20,7 @@ struct Initializer
|
|||
|
||||
Initializer()
|
||||
{
|
||||
//register_object(base_ptr(new CGVDemo()), "");
|
||||
|
||||
|
||||
data = new DataStore();
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue