Uni/CGII
1
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Implement task 1 matrices

Browse source
This commit is contained in:
hodasemi 2018-05-29 18:09:34 +02:00
parent 0afc5f5280
commit 52db577e51
6 changed files with 148 additions and 44 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

50
.vscode/settings.json vendored
View file

@ -7,6 +7,52 @@
"array": "cpp",
"initializer_list": "cpp",
"string_view": "cpp",
"valarray": "cpp"
}
"valarray": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"csignal": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"atomic": "cpp",
"hash_map": "cpp",
"*.tcc": "cpp",
"chrono": "cpp",
"cinttypes": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"exception": "cpp",
"fstream": "cpp",
"functional": "cpp",
"future": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"memory": "cpp",
"mutex": "cpp",
"numeric": "cpp",
"optional": "cpp",
"ostream": "cpp",
"ratio": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"system_error": "cpp",
"thread": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"typeinfo": "cpp",
"utility": "cpp",
"variant": "cpp",
"algorithm": "cpp"
},
"editor.formatOnSave": true
}

BIN
2-intro.pdf Normal file
View file

Binary file not shown.

92
CGII/src/Bone.cpp
View file

@ -9,11 +9,19 @@
#include "math_helper.h"
float calc_angle(Vec3 dir_vec, Vec3 axis)
{
float dot_result = dot(dir_vec, axis);
float length_v1 = length(dir_vec);
float length_v2 = length(axis);
return acos(dot_result / (length_v1 * length_v2));
}
Bone::Bone()
: parent(nullptr), length(0.0f), direction_in_world_space(0.0, 0.0, 0.0), translationTransforms(0)
{
start_point = Vec3(0.0f, 0.0f, 0.0f);
end_point = Vec3(0.0f, 0.0f, 0.0f);
}
Bone::~Bone()
@ -33,24 +41,63 @@ void Bone::calculate_matrices()
{
orientationTransformGlobalToLocal.identity();
std::for_each(orientation.begin(), orientation.end(), [&](AtomicTransform *t) {
std::cout << "atomic transform " << t->get_name() << ": " << t->get_value() << std::endl;
orientationTransformGlobalToLocal = orientationTransformGlobalToLocal * t->calculate_matrix();
});
orientationTransformLocalToGlobal = cgv::math::inv(orientationTransformGlobalToLocal);
if (parent != nullptr)
start_point = parent->end_point;
end_point = start_point + length * direction_in_world_space;
std::cout << name << " start at ("
<< start_point.x() << ", "
<< start_point.y() << ", "
<< start_point.z() << "), end at ("
<< end_point.x() << ", "
<< end_point.y() << ", "
<< end_point.z() << ")" << std::endl;
/*Task 2.1: Implement matrix calculation */
Mat4 matrix;
matrix.identity();
Vec3 vector = direction_in_world_space * length;
translationTransformCurrentJointToNext = translate(vector);
orientationTransformPrevJointToCurrent = matrix;
/*
translationTransformCurrentJointToNext = translate(0.0f, 0.0f, length);
if (parent == NULL)
{
if (direction_in_world_space.x() == 0.0f &&
direction_in_world_space.y() == 0.0f &&
direction_in_world_space.z() == 0.0f) {
orientationTransformPrevJointToCurrent = rotate(Vec3(0.0f, 0.0f, 1.0f), 0.0f);
} else {
std::cout << direction_in_world_space.x() << ", "
<< direction_in_world_space.y() << ", "
<< direction_in_world_space.z() << std::endl;
float z_angle = calc_angle(direction_in_world_space, Vec3(0.0f, 0.0f, 1.0f));
float y_angle = calc_angle(direction_in_world_space, Vec3(0.0f, 1.0f, 0.0f));
float x_angle = calc_angle(direction_in_world_space, Vec3(1.0f, 0.0f, 0.0f));
std::cout << "z_angle " << z_angle << std::endl;
std::cout << "y_angle " << y_angle << std::endl;
std::cout << "x_angle " << x_angle << std::endl;
Mat4 z_mat = rotate(Vec3(0.0f, 0.0f, 1.0f), z_angle);
Mat4 y_mat = rotate(Vec3(0.0f, 1.0f, 0.0f), y_angle);
Mat4 x_mat = rotate(Vec3(1.0f, 0.0f, 0.0f), x_angle);
Mat4 result = z_mat * y_mat * x_mat;
orientationTransformPrevJointToCurrent = result;
}
}
else
{
Mat4 parent_orientation = parent->get_orientation_transform_prev_joint_to_current();
float angle = calc_angle(direction_in_world_space, parent->get_direction_in_world_space());
Mat4 rot = rotate(Vec3(1.0f, 1.0f, 1.0f), angle);
orientationTransformPrevJointToCurrent = rot;
}
*/
/*Task 4.6: Implement matrix calculation */
}
@ -58,16 +105,21 @@ void Bone::calculate_matrices()
Mat4 Bone::calculate_transform_prev_to_current_with_dofs()
{
//Task 2.1: Implement matrix calculation
Mat4 t;
t.identity();
Mat4 dofs;
dofs.identity();
std::for_each(orientation.begin(), orientation.end(), [&](AtomicTransform *t) {
dofs = dofs * t->calculate_matrix();
});
Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent * dofs;
return t;
}
Mat4 Bone::calculate_transform_prev_to_current_without_dofs()
{
//Task 2.1: Implement matrix calculation
Mat4 t;
t.identity();
Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent;
return t;
}
@ -119,4 +171,4 @@ const Mat4 &Bone::get_translation_transform_current_joint_to_next() const { retu
const Mat4 &Bone::get_orientation_transform_prev_joint_to_current() const { return orientationTransformPrevJointToCurrent; }
Vec4 Bone::get_bone_local_root_position() const { return Vec4(0, 0, 0, 1); }
Vec4 Bone::get_bone_local_tip_position() const { return translationTransformCurrentJointToNext * Vec4(0, 0, 0, 1); }
Vec4 Bone::get_bone_local_tip_position() const { return translationTransformCurrentJointToNext * Vec4(0, 0, 0, 1); }

4
CGII/src/Bone.h
View file

@ -97,10 +97,6 @@ class Bone
//Available after implementing task 4.6.
const Mat4 &get_binding_pose_matrix() const;
// Testing area
Vec3 start_point; // same as parent end point
Vec3 end_point; // start_point + (length * direction_in_world_space)
private:
//The following attributes are read from the ASF file
std::deque<std::shared_ptr<AtomicTransform>> dofs; //Degrees of freedom for the bone

16
CGII/src/SkeletonViewer.cpp
View file

@ -31,13 +31,19 @@ SkeletonViewer::SkeletonViewer(DataStore *data)
void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c)
{
//Task: Draw skeleton
c.tesselate_arrow(node->start_point, node->end_point);
Mat4 local_transform = node->calculate_transform_prev_to_current_with_dofs()
* global_to_parent_local;
Mat4 transform;
Vec4 zero = Vec4(0.0f, 0.0f, 0.0f, 1.0f);
Vec4 p1 = global_to_parent_local * zero;
Vec4 p2 = local_transform * zero;
c.tesselate_arrow(Vec3(p1.x(), p1.y(), p1.z()), Vec3(p2.x(), p2.y(), p2.z()));
for (int i = 0; i < node->childCount(); i++)
{
draw_skeleton_subtree(node->child_at(i), transform, c);
draw_skeleton_subtree(node->child_at(i), local_transform, c);
}
}
@ -58,6 +64,8 @@ void SkeletonViewer::stop_animation()
void SkeletonViewer::skeleton_changed(std::shared_ptr<Skeleton> s)
{
std::cout << "skeleton changed" << std::endl;
// This function is called whenever the according signal of the
// data store has been called.
@ -96,6 +104,8 @@ void SkeletonViewer::recursive_connect_signals(Bone *b)
void SkeletonViewer::dof_changed(double)
{
std::cout << "dof changed" << std::endl;
if (!data->dof_changed_by_ik)
data->set_endeffector(nullptr);

30
framework/cmake/buildCoreComponents.cmake
View file

@ -59,11 +59,11 @@ macro(_cgv_add_core_library target_name)
# Append this element to the list of targets
set(CGV_LIB_TARGETS ${CGV_LIB_TARGETS} ${target_name} PARENT_SCOPE)
# Set a source folder for VisualStudio
set_target_properties(${target_name} PROPERTIES FOLDER "${FOLDER_NAME_CGV}")
_cgv_set_cxx_standard(${target_name})
_cgv_set_cxx_standard(${target_name})
# Set definitions for shared and static libraries.
string(TOUPPER ${target_name} TARGET_UPPER)
@ -72,7 +72,7 @@ macro(_cgv_add_core_library target_name)
COMMON UNICODE _UNICODE
SHARED "${TARGET_UPPER}_EXPORTS" ${COMPONENT_SHARED_DEFINITIONS}
STATIC "${TARGET_UPPER}_FORCE_STATIC;CGV_FORCE_STATIC" ${COMPONENT_STATIC_DEFINITIONS})
# Add definitions to use unicode
# FIXME: This might be a hack
add_definitions("-DUNICODE -D_UNICODE")
@ -102,21 +102,21 @@ macro(build_core_components_finish)
# HACK: Since CMake has no way to enumerate targets they are written
# in a cmake file which will also be installed
SET(LOCAL_EXPORTS_DIR "${CMAKE_BINARY_DIR}/${BUILD_BASE}/${INSTALL_CMAKE_PATH}")
set(CGV_TARGETS_DEFINITIONS "")
foreach(target ${CGV_LIB_TARGETS})
get_target_property(SHARED_DEF ${target} _SHARED_DEFINITIONS)
get_target_property(STATIC_DEF ${target} _STATIC_DEFINITIONS)
set(CGV_TARGETS_DEFINITIONS "${CGV_TARGETS_DEFINITIONS}\nset(${target}_SHARED_DEFINITIONS \"${SHARED_DEF}\")")
set(CGV_TARGETS_DEFINITIONS "${CGV_TARGETS_DEFINITIONS}\nset(${target}_STATIC_DEFINITIONS \"${STATIC_DEF}\")")
set(CGV_TARGETS_DEFINITIONS "${CGV_TARGETS_DEFINITIONS}\nset(${target}_STATIC_DEFINITIONS \"${STATIC_DEF}\")")
endforeach()
configure_file("${CGV_BASE}/cmake/${CGV_TARGETS_CONFIG_NAME}.in"
"${LOCAL_EXPORTS_DIR}/${CGV_TARGETS_CONFIG_NAME}"
@ONLY)
# file(WRITE "${LOCAL_EXPORTS_DIR}/${CGV_EXPORTS_INDEX_NAME}"
# "SET(CGV_TARGETS ${CGV_LIB_TARGETS})")
# install(FILES "${LOCAL_EXPORTS_DIR}/${CGV_EXPORTS_INDEX_NAME}"
@ -124,7 +124,7 @@ macro(build_core_components_finish)
export(TARGETS ${CGV_LIB_TARGETS} FILE "${LOCAL_EXPORTS_DIR}/${CGV_EXPORTS_NAME}")
# Export all targets
# Export all targets
install(EXPORT ${CGV_EXPORTS_ID} DESTINATION "${INSTALL_BASE}/${INSTALL_CMAKE_PATH}")
install(FILES ${CGV_BASE}/cmake/base.cmake
@ -142,19 +142,19 @@ macro(build_core_components_finish)
${CGV_BASE}/cmake/PkgBinConfig.cmake.in
${CGV_BASE}/cmake/PkgLibConfig.cmake.in
DESTINATION "${INSTALL_BASE}/cmake")
install(FILES ${CGV_BASE}/cmake/launcher.sh.in
DESTINATION "${INSTALL_BASE}/${OS_PREFIX}/cmake")
# TODO: Comment this
set(LOCAL_BUILD_ANNOUNCED TRUE)
set(LOCAL_BUILD_DIR "${CMAKE_BINARY_DIR}/${BUILD_BASE}")
file(WRITE "${CGV_BASE}/cmake/local_build_dir.cmake"
"set(LOCAL_BUILD_DIR \"${LOCAL_BUILD_DIR}\")")
set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES
"${CGV_BASE}/cmake/local_build_dir.cmake")
"${CGV_BASE}/cmake/local_build_dir.cmake")
endmacro()