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Create raw bone hierarchy

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This commit is contained in:
hodasemi 2018-06-09 10:16:18 +02:00
parent 3b55561ce2
commit 6d2fbf0421
4 changed files with 100 additions and 46 deletions
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9
.vscode/settings.json vendored
View file

@ -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
}

84
CGII/src/IKViewer.cpp
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@ -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) {
cgv::gui::mouse_event me = (cgv::gui::mouse_event&) e;
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;
@ -119,23 +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);

23
CGII/src/IKViewer.h
View file

@ -25,15 +25,15 @@ using namespace cgv::utils;
class IKViewer : public node, public drawable, public provider, public event_handler
{
private:
DataStore* data;
private:
DataStore *data;
void set_target_position_2d(int x, int y);
void endeffector_changed(Bone*);
void base_changed(Bone*);
void endeffector_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
@ -41,24 +41,21 @@ 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;
void optimize();
public:
public:
// The constructor of this class
IKViewer(DataStore*);
IKViewer(DataStore *);
bool handle(cgv::gui::event& e);
void stream_help(std::ostream& os);
bool handle(cgv::gui::event &e);
void stream_help(std::ostream &os);
// Create the gui elements
void create_gui();
// Draw the scene
void draw(context& c);
void draw(context &c);
};

6
CGII/src/main.cpp
View file

@ -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)), "");*/
}