Fix orientation rendering

CGII/src/Bone.cpp

@@ -61,26 +61,12 @@ void Bone::calculate_matrices()
 	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 = translate(vector);
 	orientationTransformPrevJointToCurrent = matrix;
-	*/
-
-	Mat4 parent_orientation;
-
-	if (parent != NULL)
-		parent_orientation = parent->get_total_orientation();
-	else
-		parent_orientation.identity();
-
-	translationTransformCurrentJointToNext = translate(vector);
-	orientationTransformPrevJointToCurrent = orientationTransformGlobalToLocal * cgv::math::inv(parent_orientation);
 
 	/*Task 4.6: Implement matrix calculation */
 }
@@ -88,21 +74,21 @@ void Bone::calculate_matrices()
 Mat4 Bone::calculate_transform_prev_to_current_with_dofs()
 {
 	//Task 2.1: Implement matrix calculation
-	Mat4 dofs;
+	Mat4 dofs_matrix;
-	dofs.identity();
+	dofs_matrix.identity();
 
-	std::for_each(orientation.begin(), orientation.end(), [&](AtomicTransform *t) {
+	std::for_each(dofs.begin(), dofs.end(), [&](std::shared_ptr<AtomicTransform> &t) {
-		//dofs = dofs * t->calculate_matrix();
+		dofs_matrix = dofs_matrix * t->calculate_matrix();
 	});
 
-	Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent * dofs; // * orientationTransformGlobalToLocal;
+	Mat4 t = translationTransformCurrentJointToNext * orientationTransformGlobalToLocal * dofs_matrix * orientationTransformPrevJointToCurrent * orientationTransformLocalToGlobal;
 	return t;
 }
 
 Mat4 Bone::calculate_transform_prev_to_current_without_dofs()
 {
 	//Task 2.1: Implement matrix calculation
-	Mat4 t = translationTransformCurrentJointToNext * orientationTransformPrevJointToCurrent;
+	Mat4 t = translationTransformCurrentJointToNext * orientationTransformLocalToGlobal * orientationTransformPrevJointToCurrent * orientationTransformGlobalToLocal;
 	return t;
 }
 

CGII/src/Bone.h

@@ -112,6 +112,8 @@ class Bone
 	std::vector<Bone *> children; //child bones
 	Bone *parent;				  //parent bone
 
+	Vec3 direction_in_local_space;
+
 	//Calculated attributes
 	//Transform directions are specified for model transforms (system transforms are in the opposite direction)
 	Mat4 orientationTransformPrevJointToCurrent; //Rotation matrix that transforms from the previous bone to the current bone (in the previous bone's coordinate system); Task 2.1

CGII/src/SkeletonViewer.cpp

@@ -25,14 +25,19 @@ SkeletonViewer::SkeletonViewer(DataStore *data)
 	connect(data->skeleton_changed, this, &SkeletonViewer::skeleton_changed);
 
 	connect(get_animation_trigger().shoot, this, &SkeletonViewer::timer_event);
+
+	for (int i = 0; i < SKELETON_DEPTH; i++)
+	{
+		for (int j = 0; j < 3; j++)
+		{
+			colors[i][j] = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
+		}
+	}
 }
 
 //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, context &c, int depth)
 {
-	if (depth > 4)
-		return;
-
 	//Task: Draw skeleton
 	Mat4 local_transform = node->calculate_transform_prev_to_current_with_dofs() * global_to_parent_local;
 
@@ -46,6 +51,8 @@ void SkeletonViewer::draw_skeleton_subtree(Bone *node, const Mat4 &global_to_par
 
 	std::cout << node->get_name() << " start: " << from_Vec3(p1_v3) << ", end: " << from_Vec3(p2_v3) << std::endl;
 
+	glColor3f(colors[depth][0], colors[depth][1], colors[depth][2]);
+
 	c.tesselate_arrow(p1_v3, p2_v3);
 
 	depth++;

CGII/src/SkeletonViewer.h

@@ -24,6 +24,8 @@ using namespace cgv::math;
 using namespace cgv::render;
 using namespace cgv::utils;
 
+#define SKELETON_DEPTH 10
+
 class SkeletonViewer : public node, public drawable, public provider
 {
   private:
@@ -68,4 +70,6 @@ class SkeletonViewer : public node, public drawable, public provider
 	void draw(context &c);
 
 	std::string get_parent_type() const;
+
+	float colors[SKELETON_DEPTH][3];
 };