diff options
Diffstat (limited to 'intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h')
| -rw-r--r-- | intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h | 387 |
1 files changed, 387 insertions, 0 deletions
diff --git a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h new file mode 100644 index 00000000000..a164e686e37 --- /dev/null +++ b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h @@ -0,0 +1,387 @@ +/** + * $Id$ + * ***** BEGIN GPL/BL DUAL 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. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK ***** + */ + +#ifndef NAN_INCLUDED_ChainDrawer_h + +#define NAN_INCLUDED_ChainDrawer_h + +#include "../common/GlutDrawer.h" +#include "MyGlutMouseHandler.h" +#include "MyGlutKeyHandler.h" +#include "MT_Transform.h" +#ifdef USE_QUATERNIONS +# include "IK_Qsolver.h" +# include "../intern/IK_QChain.h" +# include "../intern/IK_QSolver_Class.h" +#else +# include "IK_solver.h" +# include "../intern/IK_Chain.h" +# include "../intern/IK_Solver_Class.h" +#endif +#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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