Humanilation

CGII/src/Bone.cpp

@@ -50,23 +50,47 @@ void Bone::calculate_matrices()
 {
 	orientationTransformGlobalToLocal.identity();
 	std::for_each(orientation.begin(), orientation.end(), [&](AtomicTransform *t) {
-		std::cout << name << " orientation " << t->get_name() << ": " << t->get_value() << std::endl;
+		//std::cout << name << " orientation " << t->get_name() << ": " << t->get_value() << std::endl;
 
 		orientationTransformGlobalToLocal = orientationTransformGlobalToLocal * t->calculate_matrix();
 	});
 
 	orientationTransformLocalToGlobal = cgv::math::inv(orientationTransformGlobalToLocal);
 
-	std::cout << name << " direction " << from_Vec3(direction_in_world_space) << std::endl;
-	std::cout << name << " length " << length << std::endl;
+	//std::cout << name << " direction " << from_Vec3(direction_in_world_space) << std::endl;
+	//std::cout << name << " length " << length << std::endl;
 
 	/*Task 2.1: Implement matrix calculation */
 	Vec3 vector = direction_in_world_space * length;
-	Mat4 matrix;
-	matrix.identity();
-
+	//translationTransformCurrentJointToNext = orientationTransformLocalToGlobal * translate(vector) * orientationTransformGlobalToLocal;
 	translationTransformCurrentJointToNext = translate(vector);
-	orientationTransformPrevJointToCurrent = matrix;
+
+	if (parent == nullptr)
+	{
+		orientationTransformPrevJointToCurrent.identity();
+	}
+	else
+	{
+		Vec3 prev_dir = parent->get_direction_in_world_space();
+		Vec3 &curr_dir = direction_in_world_space;
+
+		if (prev_dir.x() == 0.0f && prev_dir.y() == 0.0f && prev_dir.z() == 0.0f)
+		{
+			orientationTransformPrevJointToCurrent.identity();
+		}
+		else if (prev_dir == curr_dir)
+		{
+			orientationTransformPrevJointToCurrent.identity();
+		}
+		else
+		{
+
+			float angle = calc_angle(curr_dir, prev_dir);
+			Vec3 axis = cross(curr_dir, prev_dir);
+
+			orientationTransformPrevJointToCurrent = rotate(axis, angle);
+		}
+	}
 
 	/*Task 4.6: Implement matrix calculation */
 }
@@ -74,6 +98,13 @@ void Bone::calculate_matrices()
 Mat4 Bone::calculate_transform_prev_to_current_with_dofs()
 {
 	//Task 2.1: Implement matrix calculation
+	if (parent == NULL)
+	{
+		Mat4 t;
+		t.identity();
+		return t;
+	}
+
 	Mat4 dofs_matrix;
 	dofs_matrix.identity();
 
@@ -81,15 +112,13 @@ Mat4 Bone::calculate_transform_prev_to_current_with_dofs()
 		dofs_matrix = dofs_matrix * t->calculate_matrix();
 	});
 
-	Mat4 t = translationTransformCurrentJointToNext * orientationTransformGlobalToLocal * dofs_matrix * orientationTransformPrevJointToCurrent * orientationTransformLocalToGlobal;
-	return t;
+	return parent->get_translation_transform_current_joint_to_next() * orientationTransformPrevJointToCurrent * dofs_matrix;
 }
 
 Mat4 Bone::calculate_transform_prev_to_current_without_dofs()
 {
 	//Task 2.1: Implement matrix calculation
-	Mat4 t = translationTransformCurrentJointToNext * orientationTransformLocalToGlobal * orientationTransformPrevJointToCurrent * orientationTransformGlobalToLocal;
-	return t;
+	return parent->get_translation_transform_current_joint_to_next() * orientationTransformPrevJointToCurrent;
 }
 
 Mat4 Bone::get_total_orientation()

CGII/src/SkeletonViewer.cpp

@@ -35,6 +35,7 @@ SkeletonViewer::SkeletonViewer(DataStore *data)
 	}
 
 	frame = 0;
+	inc_frame = false;
 }
 
 void draw_dof(Bone *node, Vec4 start_point)
@@ -135,7 +136,7 @@ void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_par
 		}
 	}
 
-	Mat4 local_transform = node->calculate_transform_prev_to_current_with_dofs() * global_to_parent_local;
+	Mat4 local_transform = global_to_parent_local * node->calculate_transform_prev_to_current_with_dofs();
 
 	Vec4 zero = Vec4(0.0f, 0.0f, 0.0f, 1.0f);
 
@@ -165,11 +166,14 @@ void SkeletonViewer::timer_event(double, double dt)
 
 void SkeletonViewer::start_animation()
 {
-	//Task: Implement animation
+	frame = 0;
+	inc_frame = true;
+	post_redraw();
 }
 
 void SkeletonViewer::stop_animation()
 {
+	inc_frame = false;
 	//Task: Implement animation
 }
 
@@ -458,7 +462,9 @@ void SkeletonViewer::draw(context &c)
 	if (data->get_skeleton() != nullptr)
 		draw_skeleton_subtree(data->get_skeleton()->get_root(), data->get_skeleton()->get_origin(), c, 0);
 
-	frame++;
+	if (inc_frame)
+		frame++;
+
 	if (frame >= animations.size())
 		frame = 0;
 }

CGII/src/SkeletonViewer.h

@@ -39,6 +39,7 @@ class SkeletonViewer : public node, public drawable, public provider
 	// Maps gui elements in the tree view to a specific bone
 	std::map<base_ptr, Bone *> gui_to_bone;
 
+	bool inc_frame;
 	int frame;
 
 	// slot for the signal