Create raw bone hierarchy

.vscode/settings.json

@@ -53,7 +53,14 @@
         "utility": "cpp",
         "variant": "cpp",
         "algorithm": "cpp",
-        "new": "cpp"
+        "new": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "__config": "cpp",
+        "__nullptr": "cpp"
     },
     "editor.formatOnSave": true
 }

CGII/src/IKViewer.cpp

@@ -12,30 +12,79 @@
 #include <cgv/math/inv.h>
 #include <cgv/math/mat.h>
 
-IKViewer::IKViewer(DataStore* data)
+IKViewer::IKViewer(DataStore *data)
 	: node("IK Viewer"), data(data), modifying(false), target_position(0, 0, 0, 1), max_iterations(20)
 {
 	connect(data->endeffector_changed, this, &IKViewer::endeffector_changed);
 	connect(data->base_changed, this, &IKViewer::base_changed);
 }
 
-void IKViewer::endeffector_changed(Bone* b)
+void IKViewer::endeffector_changed(Bone *b)
 {
+	std::cout << "endeffector changed!" << std::endl;
+
 	calculate_kinematic_chain(data->get_base(), data->get_endeffector());
 
 	post_redraw();
 }
 
-void IKViewer::base_changed(Bone* b)
+void IKViewer::base_changed(Bone *b)
 {
+	std::cout << "base changed!" << std::endl;
+
 	calculate_kinematic_chain(data->get_base(), data->get_endeffector());
 
 	post_redraw();
 }
 
-void IKViewer::calculate_kinematic_chain(Bone* base, Bone* endeffector)
+void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
 {
+	std::cout << "calculate_kinematic_chain" << std::endl;
+
+	if (base)
+		std::cout << "Base bone: " << base->get_name() << std::endl;
+	else
+	{
+		std::cout << "no base set" << std::endl;
+		std::cout << std::endl;
+		return;
+	}
+
+	if (endeffector)
+		std::cout << "End bone: " << endeffector->get_name() << std::endl;
+	else
+	{
+		std::cout << "no endeffector set" << std::endl;
+		std::cout << std::endl;
+		return;
+	}
+
+	std::cout << std::endl;
+
 	/*Task 3.1: Calculate kinematic chain*/
+
+	// get list of bones in order of endeffector to base
+	std::vector<Bone *> bones;
+	Bone *current_bone = endeffector;
+
+	while (1)
+	{
+		bones.emplace_back(current_bone);
+
+		// break if we reached base bone
+		if (current_bone == base)
+			break;
+
+		// set next bone in hierarchy
+		current_bone = current_bone->get_parent();
+	}
+
+	for (Bone *bone : bones)
+	{
+		// TODO: calculate and add transforms to queue
+		std::shared_ptr<Transform> transform;
+		kinematic_chain.emplace_front(transform);
+	}
 }
 
 void IKViewer::optimize()
@@ -44,7 +93,7 @@ void IKViewer::optimize()
 	data->dof_changed_by_ik = true;
 
 	auto skeleton_size = (data->get_skeleton()->getMax() - data->get_skeleton()->getMin());
-	float distance_threshold = 0.0001f * std::max({ skeleton_size.x(), skeleton_size.y(), skeleton_size.z() });
+	float distance_threshold = 0.0001f * std::max({skeleton_size.x(), skeleton_size.y(), skeleton_size.z()});
 
 	//split the current matrix in:
 	//  before_dof -> dof -> after_dof
@@ -81,7 +130,7 @@ void IKViewer::set_target_position_2d(int x, int y)
 	int width = ctx->get_width();
 	int height = ctx->get_height();
 
-	float proj_position[4] = { (2.0f * x) / width - 1.0f, (-2.0f * y) / height + 1.0f, z, 1.0f };
+	float proj_position[4] = {(2.0f * x) / width - 1.0f, (-2.0f * y) / height + 1.0f, z, 1.0f};
 	auto unprojected = inv_mvp * cgv::math::vec<float>(4, proj_position);
 	unprojected *= 1.0f / unprojected.w();
 
@@ -95,15 +144,17 @@ void IKViewer::set_target_position_2d(int x, int y)
 	post_redraw();
 }
 
-
+bool IKViewer::handle(event &e)
-bool IKViewer::handle(event& e)
 {
-	if (e.get_kind() == EID_MOUSE) {			
+	if (e.get_kind() == EID_MOUSE)
-		cgv::gui::mouse_event me = (cgv::gui::mouse_event&) e;
+	{
+		cgv::gui::mouse_event me = (cgv::gui::mouse_event &)e;
 
-		switch (me.get_action()) {
+		switch (me.get_action())
+		{
 		case MA_PRESS:
-			if (me.get_button() == MB_LEFT_BUTTON && me.get_modifiers() == EM_CTRL) {
+			if (me.get_button() == MB_LEFT_BUTTON && me.get_modifiers() == EM_CTRL)
+			{
 				modifying = true;
 				set_target_position_2d(me.get_x(), me.get_y());
 				return true;
@@ -119,23 +170,24 @@ bool IKViewer::handle(event& e)
 				return true;
 			}
 			break;
-		default: break;
+		default:
+			break;
 		}
 	}
 	return false;
 }
 
-void IKViewer::stream_help(std::ostream& os)
+void IKViewer::stream_help(std::ostream &os)
 {
 }
 
-void IKViewer::draw(cgv::render::context& ctx)
+void IKViewer::draw(cgv::render::context &ctx)
 {
 	if (!data->get_skeleton())
 		return;
 
 	auto skeleton_size = (data->get_skeleton()->getMax() - data->get_skeleton()->getMin());
-	float scale = 0.2f * std::max({ skeleton_size.x(), skeleton_size.y(), skeleton_size.z() });
+	float scale = 0.2f * std::max({skeleton_size.x(), skeleton_size.y(), skeleton_size.z()});
 
 	glBegin(GL_LINES);
 

CGII/src/IKViewer.h

@@ -25,23 +25,21 @@ using namespace cgv::utils;
 
 class IKViewer : public node, public drawable, public provider, public event_handler
 {
-private:
+  private:
-	DataStore* data;
+	DataStore *data;
 
 	void set_target_position_2d(int x, int y);
 
-	void endeffector_changed(Bone*);
+	void endeffector_changed(Bone *);
-	void base_changed(Bone*);
+	void base_changed(Bone *);
 
-	void calculate_kinematic_chain(Bone* base, Bone* endeffector);
+	void calculate_kinematic_chain(Bone *base, Bone *endeffector);
 
 	bool modifying; //Specifies if the user is currently modifying the IK target position
 
 	Vec4 target_position;
 	Mat4 current_endeffector_matrix; //transform from base to endeffector
-	Mat4 current_base_matrix; //transform from global origin to base
+	Mat4 current_base_matrix;		 //transform from global origin to base
-
-	
 
 	unsigned int max_iterations;
 
@@ -49,16 +47,15 @@ private:
 
 	void optimize();
 
-public:
+  public:
 	// The constructor of this class
-	IKViewer(DataStore*);
+	IKViewer(DataStore *);
 
-	bool handle(cgv::gui::event& e);
+	bool handle(cgv::gui::event &e);
-	void stream_help(std::ostream& os);
+	void stream_help(std::ostream &os);
 
 	// Create the gui elements
 	void create_gui();
 	// Draw the scene
-	void draw(context& c);	
+	void draw(context &c);
 };
-

CGII/src/main.cpp

@@ -16,17 +16,15 @@ using namespace cgv::base;
 
 struct Initializer
 {
-	DataStore* data;
+	DataStore *data;
 
 	Initializer()
 	{
-		
-
 		data = new DataStore();
 
 		register_object(base_ptr(new SkeletonViewer(data)), "");
 
-		/*register_object(base_ptr(new IKViewer(data)), "");*/
+		register_object(base_ptr(new IKViewer(data)), "");
 
 		/*register_object(base_ptr(new SkinnedMeshViewer(data)), "");*/
 	}