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Fix base_matrix update

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This commit is contained in:
hodasemi 2018-06-12 11:50:08 +02:00
parent 593dd3509f
commit 9be7af9e33
1 changed files with 26 additions and 45 deletions
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71
CGII/src/IKViewer.cpp
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@ -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