From 9be7af9e33c4e99e1a842ad32e5da23c4df89aa9 Mon Sep 17 00:00:00 2001
From: hodasemi <michaelh.95@t-online.de>
Date: Tue, 12 Jun 2018 11:50:08 +0200
Subject: [PATCH] Fix base_matrix update

---
 CGII/src/IKViewer.cpp | 71 ++++++++++++++++---------------------------
 1 file changed, 26 insertions(+), 45 deletions(-)

diff --git a/CGII/src/IKViewer.cpp b/CGII/src/IKViewer.cpp
index 5b5aa84..18633bd 100644
--- a/CGII/src/IKViewer.cpp
+++ b/CGII/src/IKViewer.cpp
@@ -22,8 +22,6 @@ 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();
@@ -31,8 +29,6 @@ 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();
@@ -53,55 +49,19 @@ int IKViewer::find_element(std::vector<Bone *> &v, Bone *element)
 
 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*/
 	kinematic_chain.clear();
 
 	this->base = base;
 	this->endeffector = endeffector;
 
-	// get list of bones in order of endeffector to base
-	std::vector<Bone *> endeffector_tree;
-	std::vector<Bone *> base_tree;
-
-	// gather all bones from endeffector to root
-	Bone *current_bone = endeffector;
-
-	while (1)
-	{
-		endeffector_tree.emplace_back(current_bone);
-
-		// break if we reached base bone
-		if (current_bone->get_parent() == nullptr)
-			break;
-
-		// set next bone in hierarchy
-		current_bone = current_bone->get_parent();
-	}
+	if (!base)
+		return;
 
 	// gather all bones from base to root
-	current_bone = base;
+	std::vector<Bone *> base_tree;
+
+	Bone *current_bone = base;
 
 	while (1)
 	{
@@ -137,6 +97,27 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
 		current_base_matrix = current_base_matrix * transform->calculate_matrix();
 	}
 
+	if (!endeffector)
+		return;
+
+	// get list of bones in order of endeffector to base
+	std::vector<Bone *> endeffector_tree;
+
+	// gather all bones from endeffector to root
+	current_bone = endeffector;
+
+	while (1)
+	{
+		endeffector_tree.emplace_back(current_bone);
+
+		// break if we reached base bone
+		if (current_bone->get_parent() == nullptr)
+			break;
+
+		// set next bone in hierarchy
+		current_bone = current_bone->get_parent();
+	}
+
 	// add all transform from endeffector to common ancestor and to reverse base
 
 	// state == 0 means, iterating through endeffector_tree