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

@@ -21,6 +21,8 @@ IKViewer::IKViewer(DataStore* data)
 
 void IKViewer::endeffector_changed(Bone *b)
 {
+	std::cout << "endeffector changed!" << std::endl;
+
 	calculate_kinematic_chain(data->get_base(), data->get_endeffector());
 
 	post_redraw();
@@ -28,6 +30,8 @@ void IKViewer::endeffector_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();
@@ -35,7 +39,52 @@ void IKViewer::base_changed(Bone* b)
 
 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()
@@ -95,15 +144,17 @@ void IKViewer::set_target_position_2d(int x, int y)
 	post_redraw();
 }
 
-
 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;
 
-		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;
@@ -119,7 +170,8 @@ bool IKViewer::handle(event& e)
 				return true;
 			}
 			break;
-		default: break;
+		default:
+			break;
 		}
 	}
 	return false;

CGII/src/IKViewer.h

@@ -41,8 +41,6 @@ private:
 	Mat4 current_endeffector_matrix; //transform from base to endeffector
 	Mat4 current_base_matrix;		 //transform from global origin to base
 
-	
-
 	unsigned int max_iterations;
 
 	std::list<std::shared_ptr<Transform>> kinematic_chain;
@@ -61,4 +59,3 @@ public:
 	// Draw the scene
 	void draw(context &c);
 };
-

CGII/src/main.cpp

@@ -20,13 +20,11 @@ struct Initializer
 
 	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)), "");*/
 	}