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Diffstat (limited to 'intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h')
| -rw-r--r-- | intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h | 211 |
1 files changed, 211 insertions, 0 deletions
diff --git a/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h b/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h new file mode 100644 index 00000000000..e7d210beffb --- /dev/null +++ b/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h @@ -0,0 +1,211 @@ +/** + * $Id$ + * ***** 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_MyGlutMouseHandler_h + +#define NAN_INCLUDED_MyGlutMouseHandler_h + +#include "../common/GlutMouseManager.h" +#include <GL/glut.h> +#include "IK_solver.h" + +class MyGlutMouseHandler : public GlutMouseHandler +{ + +public : + + static + MyGlutMouseHandler * + New( + ) { + MEM_SmartPtr<MyGlutMouseHandler> output = new MyGlutMouseHandler(); + if (output == NULL + ) { + return NULL; + } + return output.Release(); + + } + + void + SetChain( + IK_Chain_ExternPtr *chains, int num_chains + ){ + m_chains = chains; + m_num_chains = num_chains; + } + + void + Mouse( + int button, + int state, + int x, + int y + ){ + if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) { + m_moving = true; + m_begin_x = x; + m_begin_y = y; + } + if (button == GLUT_LEFT_BUTTON && state == GLUT_UP) { + m_moving = false; + } + + if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) { + m_tracking = true; + } + if (button == GLUT_RIGHT_BUTTON && state == GLUT_UP) { + m_tracking = false; + } + + if (button == GLUT_MIDDLE_BUTTON && state == GLUT_DOWN) { + m_cg_on = true; + } + if (button == GLUT_MIDDLE_BUTTON && state == GLUT_UP) { + m_cg_on = false; + } + + } + + + void + Motion( + int x, + int y + ){ + if (m_moving) { + m_angle_x = m_angle_x + (x - m_begin_x); + m_begin_x = x; + + m_angle_y = m_angle_y + (y - m_begin_y); + m_begin_y = y; + + glutPostRedisplay(); + } + if (m_tracking) { + + int w_h = glutGet((GLenum)GLUT_WINDOW_HEIGHT); + + y = w_h - y; + + double mvmatrix[16]; + double projmatrix[16]; + GLint viewport[4]; + + double px, py, pz,sz; + + /* Get the matrices needed for gluUnProject */ + glGetIntegerv(GL_VIEWPORT, viewport); + glGetDoublev(GL_MODELVIEW_MATRIX, mvmatrix); + glGetDoublev(GL_PROJECTION_MATRIX, projmatrix); + + // work out the position of the end effector in screen space + + GLdouble ex,ey,ez; + ex = m_pos.x(); + ey = m_pos.y(); + ez = m_pos.z(); + + gluProject(ex, ey, ez, mvmatrix, projmatrix, viewport, &px, &py, &sz); + gluUnProject((GLdouble) x, (GLdouble) y, sz, mvmatrix, projmatrix, viewport, &px, &py, &pz); + + m_pos = MT_Vector3(px,py,pz); + + } + if (m_tracking || m_cg_on) { + float temp[3]; + m_pos.getValue(temp); + + IK_SolveChain(m_chains[0],temp,0.01,200,0.1,m_chains[1]->segments); + IK_LoadChain(m_chains[0],m_chains[0]->segments,m_chains[0]->num_segments); + + glutPostRedisplay(); + } + + + } + + const + float + AngleX( + ) const { + return m_angle_x; + } + + const + float + AngleY( + ) const { + return m_angle_y; + } + + const + MT_Vector3 + Position( + ) const { + return m_pos; + } + + +private : + + MyGlutMouseHandler ( + ) : + m_angle_x(0), + m_angle_y(0), + m_begin_x(0), + m_begin_y(0), + m_moving (false), + m_tracking (false), + m_pos(0,0,0), + m_cg_on (false), + m_chains(NULL), + m_num_chains(0) + { + }; + + float m_angle_x; + float m_angle_y; + float m_begin_x; + float m_begin_y; + + bool m_moving; + bool m_tracking; + bool m_cg_on; + MT_Vector3 m_pos; + + IK_Chain_ExternPtr *m_chains; + int m_num_chains; + +}; + + +#endif
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