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This commit is contained in:
hodasemi 2018-06-09 11:27:50 +02:00
parent 6d2fbf0421
commit 4772b41472
6 changed files with 106 additions and 50 deletions
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3
CGII/build/cmake/CMakeLists.txt
View file

@ -33,7 +33,8 @@ cgv_add_module(CGII
../../src/Skeleton.cpp
../../src/SkeletonViewer.cpp
../../src/SkinnedMeshViewer.cpp
../../src/main.cpp)
../../src/main.cpp
../../src/debughelpers.cpp)
# Set include directories
include_directories(

17
CGII/src/IKViewer.cpp
View file

@ -5,6 +5,7 @@
#include "IKViewer.h"
#include "math_helper.h"
#include "debughelpers.h"
#include <unordered_set>
@ -79,12 +80,26 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
current_bone = current_bone->get_parent();
}
kinematic_chain.clear();
for (Bone *bone : bones)
{
// TODO: calculate and add transforms to queue
std::shared_ptr<Transform> transform;
Transform *tmp = new StaticTransform(bone->calculate_transform_prev_to_current_with_dofs());
std::shared_ptr<Transform> transform = std::shared_ptr<Transform>(tmp);
kinematic_chain.emplace_front(transform);
}
current_endeffector_matrix.identity();
for (auto &transform : kinematic_chain)
{
current_endeffector_matrix = current_endeffector_matrix * transform->calculate_matrix();
}
target_position = current_endeffector_matrix * endeffector->get_bone_local_tip_position();
print_vec3(target_position);
}
void IKViewer::optimize()

44
CGII/src/SkeletonViewer.cpp
View file

@ -12,15 +12,15 @@
#include <cgv/base/find_action.h>
#include "math_helper.h"
#include "debughelpers.h"
using namespace cgv::utils;
cgv::render::shader_program Mesh::prog;
// The constructor of this class
SkeletonViewer::SkeletonViewer(DataStore* data)
: node("Skeleton Viewer"), data(data)
, animation(nullptr), animationTime(0)
SkeletonViewer::SkeletonViewer(DataStore *data)
: node("Skeleton Viewer"), data(data), animation(nullptr), animationTime(0)
{
connect(data->skeleton_changed, this, &SkeletonViewer::skeleton_changed);
@ -28,22 +28,27 @@ SkeletonViewer::SkeletonViewer(DataStore* data)
}
//draws a part of a skeleton, represented by the given root node
void SkeletonViewer::draw_skeleton_subtree(Bone* node, const Mat4& global_to_parent_local, context& c, int level, bool arrows, bool indicators)
void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c, int level, bool arrows, bool indicators)
{
auto global_to_current_local = global_to_parent_local * node->calculate_transform_prev_to_current_with_dofs();
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] =
{
{ 27,158,119 },
{ 217,95,2 },
{ 117,112,179 },
{ 231,41,138 },
{ 102,166,30 },
{ 230,171,2 },
{ 166,118,29 },
{27, 158, 119},
{217, 95, 2},
{117, 112, 179},
{231, 41, 138},
{102, 166, 30},
{230, 171, 2},
{166, 118, 29},
};
glColor3ubv(colors[level % 7]);
c.tesselate_arrow(cgv::math::fvec<double, 3u>(my_root_position.x(), my_root_position.y(), my_root_position.z()),
@ -100,9 +105,10 @@ void SkeletonViewer::skeleton_changed(std::shared_ptr<Skeleton> s)
generate_tree_view_nodes();
//Fit view to skeleton
std::vector<cgv::render::view*> view_ptrs;
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!!");
}
@ -120,7 +126,7 @@ void SkeletonViewer::skeleton_changed(std::shared_ptr<Skeleton> s)
post_redraw();
}
void SkeletonViewer::recursive_connect_signals(Bone* b)
void SkeletonViewer::recursive_connect_signals(Bone *b)
{
for (int i = 0; i < b->dof_count(); ++i)
connect(b->get_dof(i)->changed_signal, this, &SkeletonViewer::dof_changed);
@ -146,7 +152,7 @@ void SkeletonViewer::generate_tree_view_nodes()
generate_tree_view_nodes(tree_view, data->get_skeleton()->get_root());
}
void SkeletonViewer::generate_tree_view_nodes(gui_group_ptr parent, Bone* bone)
void SkeletonViewer::generate_tree_view_nodes(gui_group_ptr parent, Bone *bone)
{
if (bone->childCount() == 0)
{
@ -166,7 +172,7 @@ void SkeletonViewer::generate_tree_view_nodes(gui_group_ptr parent, Bone* bone)
void SkeletonViewer::start_choose_base()
{
Bone* b = data->get_endeffector();
Bone *b = data->get_endeffector();
data->set_endeffector(nullptr);
data->set_base(b);
}
@ -177,7 +183,7 @@ void SkeletonViewer::tree_selection_changed(base_ptr p, bool select)
if (select)
{
Bone* bone = gui_to_bone.at(p);
Bone *bone = gui_to_bone.at(p);
generate_bone_gui(bone);
data->set_endeffector(bone);
}
@ -313,7 +319,7 @@ void SkeletonViewer::create_gui()
rebind(this, &SkeletonViewer::load_pinocchio));
}
void SkeletonViewer::generate_bone_gui(Bone* bone)
void SkeletonViewer::generate_bone_gui(Bone *bone)
{
// Add bone-specific gui elements to bone_group.
// Use the layout "\n" to specify vertical alignment
@ -329,7 +335,7 @@ void SkeletonViewer::generate_bone_gui(Bone* bone)
}
}
void SkeletonViewer::draw(context& c)
void SkeletonViewer::draw(context &c)
{
glDisable(GL_LIGHTING);
glDisable(GL_CULL_FACE);

23
CGII/src/debughelpers.cpp Normal file
View file

@ -0,0 +1,23 @@
#include "debughelpers.h"
#include <iostream>
void print_vec3(const Vec3 &v)
{
std::cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")" << std::endl;
}
void print_vec3(const Vec4 &v)
{
print_vec3(into_vec3(v));
}
Vec3 into_vec3(const Vec4 &v)
{
return Vec3(v.x(), v.y(), v.z());
}
Vec4 into_vec4(const Vec3 &v)
{
return Vec4(v.x(), v.y(), v.z(), 1.0f);
}

11
CGII/src/debughelpers.h Normal file
View file

@ -0,0 +1,11 @@
#pragma once
#include "math_helper.h"
void print_vec3(const Vec3 &v);
void print_vec3(const Vec4 &v);
Vec3 into_vec3(const Vec4 &v);
Vec4 into_vec4(const Vec3 &v);

2
CGII/src/math_helper.h
View file

@ -21,7 +21,7 @@ const cgv::math::fmat<T, 4, 4> rotate(const cgv::math::fvec<T, 3> axis, T angle_
///creates a 4x4 translation matrix
template <typename T>
const cgv::math::fmat<T, 4, 4> translate(const T&x, const T &y, const T&z)
const cgv::math::fmat<T, 4, 4> translate(const T &x, const T &y, const T &z)
{
cgv::math::fmat<T, 4, 4> m;
m.identity();