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Diffstat (limited to 'intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h')
-rw-r--r--intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h375
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diff --git a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
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--- a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
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-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#ifndef __CHAINDRAWER_H__
-#define __CHAINDRAWER_H__
-
-#include "../common/GlutDrawer.h"
-#include "MyGlutMouseHandler.h"
-#include "MyGlutKeyHandler.h"
-#include "MT_Transform.h"
-# include "IK_Qsolver.h"
-# include "../intern/IK_QChain.h"
-# include "../intern/IK_QSolver_Class.h"
-#include <GL/glut.h>
-
-class ChainDrawer : public GlutDrawer
-{
-public :
- static
- ChainDrawer *
- New(
- ) {
- return new ChainDrawer();
- }
-
- void
- SetMouseHandler(
- MyGlutMouseHandler *mouse_handler
- ) {
- m_mouse_handler = mouse_handler;
- }
-
- void
- SetKeyHandler (
- MyGlutKeyHandler *key_handler
- ) {
- m_key_handler = key_handler;
- }
-
- void
- SetChain(
- IK_Chain_ExternPtr *chains,int chain_num
- ) {
- m_chain_num = chain_num;
- m_chains = chains;
- }
-
-
- // inherited from GlutDrawer
- void
- Draw(
- ) {
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- glPopMatrix();
- glPushMatrix();
- glRotatef(m_mouse_handler->AngleX(), 0.0, 1.0, 0.0);
- glRotatef(m_mouse_handler->AngleY(), 1.0, 0.0, 0.0);
-
- DrawScene();
- glutSwapBuffers();
-
- }
-
- ~ChainDrawer(
- ){
- // nothing to do
- };
-
-private :
-
- void
- DrawScene(
- ){
-
- // draw a little cross at the position of the key handler
- // coordinates
-
- MT_Vector3 line_x(4,0,0);
- MT_Vector3 line_y(0.0,4,0);
- MT_Vector3 line_z(0.0,0.0,4);
-
- MT_Vector3 cross_origin = m_mouse_handler->Position();
- MT_Vector3 temp;
-
- glDisable(GL_LIGHTING);
-
-
- glBegin(GL_LINES);
-
- glColor3f (1.0f,1.0f,1.0f);
-
- temp = cross_origin - line_x;
- glVertex3f(temp[0],temp[1],temp[2]);
- temp = cross_origin + line_x;
- glVertex3f(temp[0],temp[1],temp[2]);
-
- temp = cross_origin - line_y;
- glVertex3f(temp[0],temp[1],temp[2]);
- temp = cross_origin + line_y;
- glVertex3f(temp[0],temp[1],temp[2]);
-
- temp = cross_origin - line_z;
- glVertex3f(temp[0],temp[1],temp[2]);
- temp = cross_origin + line_z;
- glVertex3f(temp[0],temp[1],temp[2]);
-
- glEnd();
- glEnable(GL_LIGHTING);
-
-
- IK_Chain_ExternPtr chain;
-
- int chain_num;
- for (chain_num = 0; chain_num < m_chain_num; chain_num++) {
- chain = m_chains[chain_num];
-
-
- IK_Segment_ExternPtr segs = chain->segments;
- IK_Segment_ExternPtr seg_start = segs;
- const IK_Segment_ExternPtr seg_end = segs + chain->num_segments;
- float ogl_matrix[16];
-
- glColor3f (0.0f,1.0f,0.0f);
-
- MT_Vector3 previous_origin(0,0,0);
-
- MT_Transform global_transform;
- global_transform.setIdentity();
-
- for (; seg_start != seg_end; ++seg_start) {
-
- glPushMatrix();
-
- // fill ogl_matrix with zeros
-
- std::fill(ogl_matrix,ogl_matrix + 16,float(0));
-
- // we have to do a bit of work here to compute the chain's
- // bone values
-
- // first compute all the matrices we need
-
- MT_Transform translation;
- translation.setIdentity();
- translation.translate(MT_Vector3(0,seg_start->length,0));
-
- MT_Matrix3x3 seg_rot(
- seg_start->basis_change[0],seg_start->basis_change[1],seg_start->basis_change[2],
- seg_start->basis_change[3],seg_start->basis_change[4],seg_start->basis_change[5],
- seg_start->basis_change[6],seg_start->basis_change[7],seg_start->basis_change[8]
- );
-
- seg_rot.transpose();
-
- MT_Matrix3x3 seg_pre_rot(
- seg_start->basis[0],seg_start->basis[1],seg_start->basis[2],
- seg_start->basis[3],seg_start->basis[4],seg_start->basis[5],
- seg_start->basis[6],seg_start->basis[7],seg_start->basis[8]
- );
-
-
- MT_Transform seg_t_pre_rot(
- MT_Point3(
- seg_start->seg_start[0],
- seg_start->seg_start[1],
- seg_start->seg_start[2]
- ),
- seg_pre_rot
- );
- // start of the bone is just the current global transform
- // multiplied by the seg_start vector
-
-
-
- MT_Transform seg_t_rot(MT_Point3(0,0,0),seg_rot);
- MT_Transform seg_local = seg_t_pre_rot * seg_t_rot * translation;
-
- MT_Vector3 bone_start = global_transform *
- MT_Point3(
- seg_start->seg_start[0],
- seg_start->seg_start[1],
- seg_start->seg_start[2]
- );
-
-
- global_transform = global_transform * seg_local;
-
- global_transform.getValue(ogl_matrix);
- MT_Vector3 bone_end = global_transform.getOrigin();
-
- glMultMatrixf(ogl_matrix);
-// glutSolidSphere(0.5,5,5);
-
- glPopMatrix();
-
- glDisable(GL_LIGHTING);
-
- glBegin(GL_LINES);
-
- // draw lines of the principle axis of the local transform
-
- MT_Vector3 x_axis(1,0,0);
- MT_Vector3 y_axis(0,1,0);
- MT_Vector3 z_axis(0,0,1);
-
- x_axis = global_transform.getBasis() * x_axis * 5;
- y_axis = global_transform.getBasis() * y_axis * 5;
- z_axis = global_transform.getBasis() * z_axis * 5;
-
-
- x_axis = x_axis + bone_start;
- y_axis = y_axis + bone_start;
- z_axis = z_axis + bone_start;
-
- glColor3f(1,0,0);
-
- glVertex3f(x_axis.x(),x_axis.y(),x_axis.z());
- glVertex3f(
- bone_start.x(),
- bone_start.y(),
- bone_start.z()
- );
-
- glColor3f(0,1,0);
-
- glVertex3f(y_axis.x(),y_axis.y(),y_axis.z());
- glVertex3f(
- bone_start.x(),
- bone_start.y(),
- bone_start.z()
- );
-
- glColor3f(0,1,1);
-
- glVertex3f(z_axis.x(),z_axis.y(),z_axis.z());
- glVertex3f(
- bone_start.x(),
- bone_start.y(),
- bone_start.z()
- );
-
- glColor3f(0,0,1);
-
- glVertex3f(
- bone_start.x(),
- bone_start.y(),
- bone_start.z()
- );
- glVertex3f(bone_end[0],bone_end[1],bone_end[2]);
-
- glEnd();
- glEnable(GL_LIGHTING);
- }
-#if 0
- // draw jacobian column vectors
-
- // hack access to internals
-
- IK_Solver_Class * internals = static_cast<IK_Solver_Class *>(chain->intern);
-
- glDisable(GL_LIGHTING);
-
- glBegin(GL_LINES);
-
- const TNT::Matrix<MT_Scalar> & jac = internals->Chain().TransposedJacobian();
-
- int i = 0;
- for (i=0; i < jac.num_rows(); i++) {
- glColor3f(1,1,1);
-
- previous_origin = internals->Chain().Segments()[i/3].GlobalSegmentStart();
-
- glVertex3f(previous_origin[0],previous_origin[1],previous_origin[2]);
- glVertex3f(jac[i][0] + previous_origin[0],jac[i][1] + previous_origin[1],jac[i][2] + previous_origin[2]);
-
-
- }
- glEnd();
- glEnable(GL_LIGHTING);
-#endif
-
- }
-
- glColor3f(1.0,1.0,1.0);
-
- glDisable(GL_LIGHTING);
- glBegin(GL_LINES);
-
- MT_Scalar cube_size = 50;
- glVertex3f(cube_size,cube_size,cube_size);
- glVertex3f(-cube_size,cube_size,cube_size);
-
- glVertex3f(cube_size,-cube_size,cube_size);
- glVertex3f(-cube_size,-cube_size,cube_size);
-
- glVertex3f(cube_size,cube_size,-cube_size);
- glVertex3f(-cube_size,cube_size,-cube_size);
-
- glVertex3f(cube_size,-cube_size,-cube_size);
- glVertex3f(-cube_size,-cube_size,-cube_size);
-
-
- glVertex3f(-cube_size,cube_size,cube_size);
- glVertex3f(-cube_size,-cube_size,cube_size);
-
- glVertex3f(cube_size,cube_size,-cube_size);
- glVertex3f(cube_size,-cube_size,-cube_size);
-
- glVertex3f(cube_size,cube_size,cube_size);
- glVertex3f(cube_size,-cube_size,cube_size);
-
- glVertex3f(-cube_size,cube_size,-cube_size);
- glVertex3f(-cube_size,-cube_size,-cube_size);
-
-
- glVertex3f(cube_size,cube_size,cube_size);
- glVertex3f(cube_size,cube_size,-cube_size);
-
- glVertex3f(cube_size,-cube_size,cube_size);
- glVertex3f(cube_size,-cube_size,-cube_size);
-
- glVertex3f(-cube_size,cube_size,cube_size);
- glVertex3f(-cube_size,cube_size,-cube_size);
-
- glVertex3f(-cube_size,-cube_size,cube_size);
- glVertex3f(-cube_size,-cube_size,-cube_size);
- glEnd();
- glEnable(GL_LIGHTING);
-
- };
-
-
-
-private :
-
- MyGlutMouseHandler * m_mouse_handler;
- MyGlutKeyHandler *m_key_handler;
- IK_Chain_ExternPtr *m_chains;
-
- int m_chain_num;
- ChainDrawer (
- ) : m_chains (NULL),
- m_mouse_handler (NULL),
- m_chain_num (0)
- {
- };
-
-};
-
-#endif
-
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