Fix build

CGII/build/cmake/CMakeLists.txt

@@ -33,8 +33,7 @@ cgv_add_module(CGII
 	../../src/Skeleton.cpp
 	../../src/SkeletonViewer.cpp
 	../../src/SkinnedMeshViewer.cpp
-	../../src/main.cpp
-	../../src/debughelpers.cpp)
+	../../src/main.cpp)
 
 # Set include directories
 include_directories(

CGII/src/AtomicTransform.cpp

@@ -96,13 +96,7 @@ void AtomicRotationTransform::optimize_value(const Vec3 &local_vector, const Vec
 {
 	/*Task: Implement parameter optimization*/
 
-	// target into local_target
-	// get dofs
-	// project target into plane decided by which dofs exist
-	// scal mult local_target and local_vector
-
-	// use only degrees defined by dofs
-	// if inverse == true use -angle with set_value()
+	// optimize this that: target = this->calculate_matrix() * local_vector;
 
 	double result = 0.0;
 

CGII/src/IKViewer.cpp

@@ -5,7 +5,6 @@
 #include "IKViewer.h"
 
 #include "math_helper.h"
-#include "debughelpers.h"
 
 #include <unordered_set>
 
@@ -13,6 +12,11 @@
 #include <cgv/math/inv.h>
 #include <cgv/math/mat.h>
 
+Vec3 into_vec3(const Vec4 &v)
+{
+	return Vec3(v.x(), v.y(), v.z());
+}
+
 IKViewer::IKViewer(DataStore *data)
 	: node("IK Viewer"), data(data), modifying(false), target_position(0, 0, 0, 1), max_iterations(20)
 {
@@ -192,9 +196,11 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
 	kinematic_chain.emplace_front(inverse_static);
 
 	current_endeffector_matrix.identity();
+	kinematic_vector.clear();
 
 	for (auto &transform : kinematic_chain)
 	{
+		kinematic_vector.emplace_back(transform);
 		current_endeffector_matrix = current_endeffector_matrix * transform->calculate_matrix();
 	}
 
@@ -212,37 +218,37 @@ void IKViewer::optimize()
 	/*Task 3.3: Implement CCD	*/
 	for (int i = 0; i < max_iterations; i++)
 	{
-		int kc_size = kinematic_chain.size();
+		int kc_size = kinematic_vector.size();
 
 		// reverse iterate through kinematic chain
 		for (int j = kc_size - 1; j >= 0; j--)
 		{
-			auto before_dof = current_base_matrix;
+			Mat4 before_dof = current_base_matrix;
 
 			for (int k = 0; k < j; k++)
 			{
-				before_dof = before_dof * kinematic_chain[k];
+				before_dof = before_dof * kinematic_vector[k]->calculate_matrix();
 			}
 
-			auto after_dof;
+			Mat4 after_dof;
 			after_dof.identity();
 
 			int after_dof_index = j + 1;
 
 			for (int k = j + 1; k < kc_size; k++)
 			{
-				after_dof = after_dof * kinematic_chain[k];
+				after_dof = after_dof * kinematic_vector[k]->calculate_matrix();
 			}
 
 			// now we got 3 matrices
-			// (1) before dof: base_matrix * kinematic_chain[0...j-1]
-			// (2) dof: kinematic_chain[j]
-			// (3) after_dof: kinematic_chain[j+1...kc_size-1]
+			// (1) before dof: base_matrix * kinematic_vector[0...j-1]
+			// (2) dof: kinematic_vector[j]
+			// (3) after_dof: kinematic_vector[j+1...kc_size-1]
 
 			auto v_local = after_dof * Vec4(0.0f, 0.0f, 0.0f, 1.0f);
 			auto v_target = inv(before_dof) * target_position;
 
-			it->optimize_value(v_local, v_target);
+			kinematic_vector[j]->optimize_value(into_vec3(v_local), into_vec3(v_target));
 		}
 
 		current_endeffector_matrix.identity();

CGII/src/IKViewer.h

@@ -48,6 +48,7 @@ class IKViewer : public node, public drawable, public provider, public event_han
 	unsigned int max_iterations;
 
 	std::list<std::shared_ptr<Transform>> kinematic_chain;
+	std::vector<std::shared_ptr<Transform>> kinematic_vector;
 
 	void optimize();
 

CGII/src/SkeletonViewer.cpp

@@ -12,7 +12,6 @@
 #include <cgv/base/find_action.h>
 
 #include "math_helper.h"
-#include "debughelpers.h"
 
 using namespace cgv::utils;
 

CGII/src/debughelpers.cpp

@@ -1,23 +0,0 @@
-#include "debughelpers.h"
-
-#include <iostream>
-
-void print_vec3(const Vec3 &v)
-{
-    std::cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")" << std::endl;
-}
-
-void print_vec3(const Vec4 &v)
-{
-    print_vec3(into_vec3(v));
-}
-
-Vec3 into_vec3(const Vec4 &v)
-{
-    return Vec3(v.x(), v.y(), v.z());
-}
-
-Vec4 into_vec4(const Vec3 &v)
-{
-    return Vec4(v.x(), v.y(), v.z(), 1.0f);
-}

CGII/src/debughelpers.h

@@ -1,11 +0,0 @@
-#pragma once
-
-#include "math_helper.h"
-
-void print_vec3(const Vec3 &v);
-
-void print_vec3(const Vec4 &v);
-
-Vec3 into_vec3(const Vec4 &v);
-
-Vec4 into_vec4(const Vec3 &v);