Try to inv multiply parent orientation

This commit is contained in:
hodasemi 2018-05-30 08:45:25 +02:00
parent fd53e8e1e3
commit 53869bd64a
4 changed files with 58 additions and 55 deletions

View file

@ -9,6 +9,15 @@
#include "math_helper.h"
std::string from_Vec3(Vec3 &v)
{
std::stringstream is;
is << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")";
return is.str();
}
float calc_angle(Vec3 dir_vec, Vec3 axis)
{
float dot_result = dot(dir_vec, axis);
@ -48,62 +57,31 @@ void Bone::calculate_matrices()
orientationTransformLocalToGlobal = cgv::math::inv(orientationTransformGlobalToLocal);
std::for_each(dofs.begin(), dofs.end(), [&](std::shared_ptr<AtomicTransform> &t) {
//std::cout << "dofs " << t->get_name() << ": " << t->get_value() << std::endl;
});
std::cout << name << " direction " << from_Vec3(direction_in_world_space) << std::endl;
std::cout << name << " length " << length << std::endl;
/*Task 2.1: Implement matrix calculation */
Mat4 matrix;
matrix.identity();
Vec3 vector = direction_in_world_space * length;
/*
Mat4 matrix;
matrix.identity();
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;
}
*/
Mat4 parent_orientation;
if (parent != NULL)
parent_orientation = parent->get_total_orientation();
else
parent_orientation.identity();
translationTransformCurrentJointToNext = translate(vector);
orientationTransformPrevJointToCurrent = orientationTransformGlobalToLocal * cgv::math::inv(parent_orientation);
/*Task 4.6: Implement matrix calculation */
}
@ -124,10 +102,22 @@ Mat4 Bone::calculate_transform_prev_to_current_with_dofs()
Mat4 Bone::calculate_transform_prev_to_current_without_dofs()
{
//Task 2.1: Implement matrix calculation
Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent * orientationTransformLocalToGlobal * orientationTransformGlobalToLocal;
Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent;
return t;
}
Mat4 Bone::get_total_orientation()
{
Mat4 parent_orientation;
if (parent != NULL)
parent_orientation = parent->get_total_orientation();
else
parent_orientation.identity();
return orientationTransformPrevJointToCurrent * parent_orientation;
}
void Bone::add_dof(AtomicTransform *dof)
{
dof->set_index_in_amc(dofs.size());

View file

@ -9,6 +9,8 @@
#include <deque>
#include <memory>
std::string from_Vec3(Vec3 &v);
// Represents a bone in a hierarchical skeleton
class Bone
{
@ -97,6 +99,8 @@ class Bone
//Available after implementing task 4.6.
const Mat4 &get_binding_pose_matrix() const;
Mat4 get_total_orientation();
private:
//The following attributes are read from the ASF file
std::deque<std::shared_ptr<AtomicTransform>> dofs; //Degrees of freedom for the bone

View file

@ -28,22 +28,31 @@ 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)
void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c, int depth)
{
if (depth > 4)
return;
//Task: Draw skeleton
Mat4 local_transform = node->calculate_transform_prev_to_current_with_dofs()
* global_to_parent_local;
Mat4 local_transform = node->calculate_transform_prev_to_current_with_dofs() * global_to_parent_local;
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()));
Vec3 p1_v3 = Vec3(p1.x(), p1.y(), p1.z());
Vec3 p2_v3 = Vec3(p2.x(), p2.y(), p2.z());
std::cout << node->get_name() << " start: " << from_Vec3(p1_v3) << ", end: " << from_Vec3(p2_v3) << std::endl;
c.tesselate_arrow(p1_v3, p2_v3);
depth++;
for (int i = 0; i < node->childCount(); i++)
{
draw_skeleton_subtree(node->child_at(i), local_transform, c);
draw_skeleton_subtree(node->child_at(i), local_transform, c, depth);
}
}
@ -297,5 +306,5 @@ 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);
draw_skeleton_subtree(data->get_skeleton()->get_root(), data->get_skeleton()->get_origin(), c, 0);
}

View file

@ -50,7 +50,7 @@ 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);
void draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c, int depth);
void dof_changed(double new_value);
void recursive_connect_signals(Bone *b);