Basic skeleton rendering

.vscode/tasks.json

@@ -6,8 +6,13 @@
         {
             "label": "Run CG-Viewer",
             "type": "shell",
-            "command": "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:CGII/build/cmake/build/bin/unix/ framework/bin/unix/./cgv_viewer plugin:cg_fltk.cgv plugin:CGII.cgv",
+            "command": "framework/bin/unix/cgv_viewer",
-            "problemMatcher": []
+            "problemMatcher": [],
+            "args": [
+                "plugin:cg_fltk.cgv",
+                "plugin:CGII.cgv",
+                "plugin:crg_stereo_view.cgv"
+            ]
         },
         {
             "label": "Build All",
@@ -18,7 +23,7 @@
         {
             "label": "Build CGII",
             "type": "shell",
-            "command": "cd CGII/build/cmake && cmake . && make clean && make -j16",
+            "command": "cd CGII/build/cmake && cmake . && make clean && make -j16 && cd ../../.. && cp CGII/build/cmake/build/bin/unix/libCGII.so framework/lib/unix/",
             "problemMatcher": []
         }
     ]

CGII/src/Bone.cpp

@@ -12,6 +12,8 @@
 Bone::Bone()
 	: parent(nullptr), length(0.0f), direction_in_world_space(0.0, 0.0, 0.0), translationTransforms(0)
 {
+	start_point = Vec3(0.0f, 0.0f, 0.0f);
+	end_point = Vec3(0.0f, 0.0f, 0.0f);
 }
 
 Bone::~Bone()
@@ -27,19 +29,6 @@ Bone::~Bone()
 	orientation.clear();
 }
 
-void print_mat4(Mat4 &m)
-{
-	for (int x = 0; x < 4; x++)
-	{
-		for (int y = 0; y < 4; y++)
-		{
-			std::cout << m[x * 4 + y] << " ";
-		}
-
-		std::cout << std::endl;
-	}
-}
-
 void Bone::calculate_matrices()
 {
 	orientationTransformGlobalToLocal.identity();
@@ -48,6 +37,19 @@ void Bone::calculate_matrices()
 	});
 	orientationTransformLocalToGlobal = cgv::math::inv(orientationTransformGlobalToLocal);
 
+	if (parent != nullptr)
+		start_point = parent->end_point;
+
+	end_point = start_point + length * direction_in_world_space;
+
+	std::cout << name << " start at ("
+			  << start_point.x() << ", "
+			  << start_point.y() << ", "
+			  << start_point.z() << "), end at ("
+			  << end_point.x() << ", "
+			  << end_point.y() << ", "
+			  << end_point.z() << ")" << std::endl;
+
 	/*Task 2.1: Implement matrix calculation */
 
 	/*Task 4.6: Implement matrix calculation */

CGII/src/Bone.h

@@ -12,7 +12,7 @@
 // Represents a bone in a hierarchical skeleton
 class Bone
 {
-public:
+  public:
 	Bone();
 	~Bone();
 
@@ -20,7 +20,7 @@ public:
 	//translation transforms and other transforms. All translation transforms go first
 	//in the dof list, followed by all other transforms. Every new transform is added
 	//to the beginning of the respective group.
-	void add_dof(AtomicTransform* dof);
+	void add_dof(AtomicTransform *dof);
 
 	//Returns the number of degrees of freedom of this bone.
 	int dof_count() const;
@@ -29,18 +29,18 @@ public:
 	std::shared_ptr<AtomicTransform> get_dof(int dofIndex) const;
 
 	//Sets the identifying name of the bone
-	void set_name(const std::string& name);
+	void set_name(const std::string &name);
 
 	//Returns the identifying name of the bone
-	const std::string& get_name() const;
+	const std::string &get_name() const;
 
 	//Sets a unit vector that describes the bone's direction in world coordinates
 	//(independent of the hierarchy)
-	void set_direction_in_world_space(const Vec3& direction);
+	void set_direction_in_world_space(const Vec3 &direction);
 
 	//Returns a unit vector that describes the bone's direction in world coordinates
 	//(independent of the hierarchy)
-	const Vec3& get_direction_in_world_space() const;
+	const Vec3 &get_direction_in_world_space() const;
 
 	//Sets the bone's geometric length
 	void set_length(float length);
@@ -51,22 +51,22 @@ public:
 	//Modifies the orientation of the bone's local coordinate system by setting
 	//  O <= T * O,
 	//where O is the bone's local coordinate system transform and T is the new transform.
-	void add_axis_rotation(AtomicTransform* transform);
+	void add_axis_rotation(AtomicTransform *transform);
 
 	//Adds a new child to this bone and sets the parent of the child to the current bone.
-	void add_child(Bone* child);
+	void add_child(Bone *child);
 
 	//Returns the child with index i.
-	Bone* child_at(int i) const;
+	Bone *child_at(int i) const;
 
 	//Returns the number of children of this bone.
 	int childCount() const;
 
 	//Specifies the parent of this bone. The root bone has a null parent.
-	void set_parent(Bone* parent);
+	void set_parent(Bone *parent);
 
 	//Returns the parent of this bone. The root bone has a null parent.
-	Bone* get_parent() const;
+	Bone *get_parent() const;
 
 	//Calculates all relevant matrices from the given information in the ASF file.
 	void calculate_matrices();
@@ -81,11 +81,11 @@ public:
 
 	//Returns a matrix that represents a translation from the current bone to the next bone in the current bone's local coordinate system.
 	//Implemented in task 2.1.
-	const Mat4& get_translation_transform_current_joint_to_next() const;
+	const Mat4 &get_translation_transform_current_joint_to_next() const;
 
 	//Returns a matrix that represents a rotation from the previous bone to the current bone in the previous bone's local coordinate system.
 	//Implemented in task 2.1.
-	const Mat4& get_orientation_transform_prev_joint_to_current() const;
+	const Mat4 &get_orientation_transform_prev_joint_to_current() const;
 
 	//Returns the zero-vector (with w-component 1)
 	Vec4 get_bone_local_root_position() const;
@@ -95,18 +95,22 @@ public:
 
 	//Returns the system transform that transforms positions from the global coordinate system to the bone's local coordinate system.
 	//Available after implementing task 4.6.
-	const Mat4& get_binding_pose_matrix() const;
+	const Mat4 &get_binding_pose_matrix() const;
 
-private:
+	// Testing area
+	Vec3 start_point; // same as parent end point
+	Vec3 end_point;   // start_point + (length * direction_in_world_space)
+
+  private:
 	//The following attributes are read from the ASF file
 	std::deque<std::shared_ptr<AtomicTransform>> dofs; //Degrees of freedom for the bone
 	std::string name;								   //The bone's name
 	Vec3 direction_in_world_space;					   //The bone's direction in world space (unit vector)
 	float length;									   //The bone's length
-	std::deque<AtomicTransform*> orientation; //The model transform from global space to bone space; multiply together from left to right
+	std::deque<AtomicTransform *> orientation;		   //The model transform from global space to bone space; multiply together from left to right
 
-	std::vector<Bone*> children; //child bones
+	std::vector<Bone *> children; //child bones
-	Bone* parent; //parent bone	
+	Bone *parent;				  //parent bone
 
 	//Calculated attributes
 	//Transform directions are specified for model transforms (system transforms are in the opposite direction)
@@ -117,8 +121,7 @@ private:
 	//for skinning:
 	Mat4 translationTransformGlobalToLocal; //Translation matrix that transforms from the global coordinate system to the bone's local system. Task 4.6
 	Mat4 transformGlobalToLocal;			//Combined rotation and translation that transforms from the global coordinate system to the bone's local system. Task 4.6
-	Mat4 transformLocalToGlobal;//Combined rotation and translation that transforms from the bone's local coordinate system to the global system. Task 4.6
+	Mat4 transformLocalToGlobal;			//Combined rotation and translation that transforms from the bone's local coordinate system to the global system. Task 4.6
 
 	int translationTransforms; //The number of translation transforms that have been added as dof
 };
-

CGII/src/SkeletonViewer.cpp

@@ -22,22 +22,22 @@ SkeletonViewer::SkeletonViewer(DataStore *data)
 	: node("Skeleton Viewer"), data(data)
 
 {
-	program.createProgram("CGII/glsl/skinning.glvs", "CGII/glsl/skinning.glgs", "CGII/glsl/skinning.glfs");
-
 	connect(data->skeleton_changed, this, &SkeletonViewer::skeleton_changed);
 
 	connect(get_animation_trigger().shoot, this, &SkeletonViewer::timer_event);
 }
 
 //draws a part of a skeleton, represented by the given root node
-void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local)
+void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c)
 {
 	//Task: Draw skeleton
+	c.tesselate_arrow(node->start_point, node->end_point);
+
 	Mat4 transform;
 
 	for (int i = 0; i < node->childCount(); i++)
 	{
-		draw_skeleton_subtree(node->child_at(i), transform);
+		draw_skeleton_subtree(node->child_at(i), transform, c);
 	}
 }
 
@@ -287,5 +287,5 @@ void SkeletonViewer::draw(context &c)
 	glBlendFunc(GL_SRC_ALPHA, GL_ONE);
 
 	if (data->get_skeleton() != nullptr)
-		draw_skeleton_subtree(data->get_skeleton()->get_root(), data->get_skeleton()->get_origin());
+		draw_skeleton_subtree(data->get_skeleton()->get_root(), data->get_skeleton()->get_origin(), c);
 }

CGII/src/SkeletonViewer.h

@@ -50,7 +50,7 @@ class SkeletonViewer : public node, public drawable, public provider
 	void load_animation();
 	void start_choose_base();
 
-	void draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local);
+	void draw_skeleton_subtree(Bone *node, const Mat4 &global_to_parent_local, context &c);
 
 	void dof_changed(double new_value);
 	void recursive_connect_signals(Bone *b);
@@ -68,6 +68,4 @@ class SkeletonViewer : public node, public drawable, public provider
 	void draw(context &c);
 
 	std::string get_parent_type() const;
-
-	Program program;
 };