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Diffstat (limited to 'intern/iksolver/test/ik_glut_test/intern/main.cpp')
| -rw-r--r-- | intern/iksolver/test/ik_glut_test/intern/main.cpp | 361 |
1 files changed, 361 insertions, 0 deletions
diff --git a/intern/iksolver/test/ik_glut_test/intern/main.cpp b/intern/iksolver/test/ik_glut_test/intern/main.cpp new file mode 100644 index 00000000000..137c9bd4470 --- /dev/null +++ b/intern/iksolver/test/ik_glut_test/intern/main.cpp @@ -0,0 +1,361 @@ +/** + * $Id$ + * ***** 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 ***** + */ + +/** + * $Id$ + * ***** 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 ***** + */ + + +#include "MEM_SmartPtr.h" + +#ifdef USE_QUATERNIONS +#include "IK_Qsolver.h" +#else +#include "IK_solver.h" +#endif + +#include <GL/glut.h> +#include "MT_Vector3.h" +#include "MT_Quaternion.h" +#include "MT_Matrix3x3.h" +#include "MyGlutMouseHandler.h" +#include "MyGlutKeyHandler.h" +#include "ChainDrawer.h" + +void +init(MT_Vector3 min,MT_Vector3 max) +{ + + GLfloat light_diffuse0[] = {1.0, 0.0, 0.0, 1.0}; /* Red diffuse light. */ + GLfloat light_position0[] = {1.0, 1.0, 1.0, 0.0}; /* Infinite light location. */ + + GLfloat light_diffuse1[] = {1.0, 1.0, 1.0, 1.0}; /* Red diffuse light. */ + GLfloat light_position1[] = {1.0, 0, 0, 0.0}; /* Infinite light location. */ + + /* Enable a single OpenGL light. */ + glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse0); + glLightfv(GL_LIGHT0, GL_POSITION, light_position0); + + glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse1); + glLightfv(GL_LIGHT1, GL_POSITION, light_position1); + + glEnable(GL_LIGHT0); + glEnable(GL_LIGHT1); + glEnable(GL_LIGHTING); + + /* Use depth buffering for hidden surface elimination. */ + glEnable(GL_DEPTH_TEST); + + /* Setup the view of the cube. */ + glMatrixMode(GL_PROJECTION); + + // centre of the box + 3* depth of box + + MT_Vector3 centre = (min + max) * 0.5; + MT_Vector3 diag = max - min; + + float depth = diag.length(); + float distance = 2; + + gluPerspective( + /* field of view in degree */ 40.0, + /* aspect ratio */ 1.0, + /* Z near */ 1.0, + /* Z far */ distance * depth * 2 + ); + glMatrixMode(GL_MODELVIEW); + + + gluLookAt( + centre.x(), centre.y(), centre.z() + distance*depth, /* eye is at (0,0,5) */ + centre.x(), centre.y(), centre.z(), /* center is at (0,0,0) */ + 0.0, 1.0, 0.); /* up is in positive Y direction */ + + glPushMatrix(); + + +} +int +main(int argc, char **argv) +{ + + + const int seg_num = 5; + const MT_Scalar seg_length = 15; + + const float seg_startA[3] = {0,0,0}; + const float seg_startB[3] = {0,-20,0}; + + // create some segments to solve with + + // First chain + ////////////// + + + IK_Segment_ExternPtr const segmentsA = new IK_Segment_Extern[seg_num]; + IK_Segment_ExternPtr const segmentsB = new IK_Segment_Extern[seg_num]; + + IK_Segment_ExternPtr seg_it = segmentsA; + IK_Segment_ExternPtr seg_itB = segmentsB; + + + { + +// MT_Quaternion qmat(MT_Vector3(0,0,1),-3.141/2); + MT_Quaternion qmat(MT_Vector3(0,0,1),0); + MT_Matrix3x3 mat(qmat); + + seg_it->seg_start[0] = seg_startA[0]; + seg_it->seg_start[1] = seg_startA[1]; + seg_it->seg_start[2] = seg_startA[2]; + + float temp[12]; + mat.getValue(temp); + + seg_it->basis[0] = temp[0]; + seg_it->basis[1] = temp[1]; + seg_it->basis[2] = temp[2]; + + seg_it->basis[3] = temp[4]; + seg_it->basis[4] = temp[5]; + seg_it->basis[5] = temp[6]; + + seg_it->basis[6] = temp[8]; + seg_it->basis[7] = temp[9]; + seg_it->basis[8] = temp[10]; + + seg_it->length = seg_length; + + MT_Quaternion q; + q.setEuler(0,0,0); + + + MT_Matrix3x3 qrot(q); + + seg_it->basis_change[0] = 1; + seg_it->basis_change[1] = 0; + seg_it->basis_change[2] = 0; + seg_it->basis_change[3] = 0; + seg_it->basis_change[4] = 1; + seg_it->basis_change[5] = 0; + seg_it->basis_change[6] = 0; + seg_it->basis_change[7] = 0; + seg_it->basis_change[8] = 1; + + + seg_it ++; + + seg_itB->seg_start[0] = seg_startA[0]; + seg_itB->seg_start[1] = seg_startA[1]; + seg_itB->seg_start[2] = seg_startA[2]; + + seg_itB->basis[0] = temp[0]; + seg_itB->basis[1] = temp[1]; + seg_itB->basis[2] = temp[2]; + + seg_itB->basis[3] = temp[4]; + seg_itB->basis[4] = temp[5]; + seg_itB->basis[5] = temp[6]; + + seg_itB->basis[6] = temp[8]; + seg_itB->basis[7] = temp[9]; + seg_itB->basis[8] = temp[10]; + + seg_itB->length = seg_length; + + seg_itB->basis_change[0] = 1; + seg_itB->basis_change[1] = 0; + seg_itB->basis_change[2] = 0; + seg_itB->basis_change[3] = 0; + seg_itB->basis_change[4] = 1; + seg_itB->basis_change[5] = 0; + seg_itB->basis_change[6] = 0; + seg_itB->basis_change[7] = 0; + seg_itB->basis_change[8] = 1; + + + seg_itB ++; + + + } + + + int i; + for (i=1; i < seg_num; ++i, ++seg_it,++seg_itB) { + + MT_Quaternion qmat(MT_Vector3(0,0,1),0.3); + MT_Matrix3x3 mat(qmat); + + seg_it->seg_start[0] = 0; + seg_it->seg_start[1] = 0; + seg_it->seg_start[2] = 0; + + float temp[12]; + mat.getValue(temp); + + seg_it->basis[0] = temp[0]; + seg_it->basis[1] = temp[1]; + seg_it->basis[2] = temp[2]; + + seg_it->basis[3] = temp[4]; + seg_it->basis[4] = temp[5]; + seg_it->basis[5] = temp[6]; + + seg_it->basis[6] = temp[8]; + seg_it->basis[7] = temp[9]; + seg_it->basis[8] = temp[10]; + + seg_it->length = seg_length; + + MT_Quaternion q; + q.setEuler(0,0,0); + + + MT_Matrix3x3 qrot(q); + + seg_it->basis_change[0] = 1; + seg_it->basis_change[1] = 0; + seg_it->basis_change[2] = 0; + seg_it->basis_change[3] = 0; + seg_it->basis_change[4] = 1; + seg_it->basis_change[5] = 0; + seg_it->basis_change[6] = 0; + seg_it->basis_change[7] = 0; + seg_it->basis_change[8] = 1; + + + /////////////////////////////// + + seg_itB->seg_start[0] = 0; + seg_itB->seg_start[1] = 0; + seg_itB->seg_start[2] = 0; + + seg_itB->basis[0] = temp[0]; + seg_itB->basis[1] = temp[1]; + seg_itB->basis[2] = temp[2]; + + seg_itB->basis[3] = temp[4]; + seg_itB->basis[4] = temp[5]; + seg_itB->basis[5] = temp[6]; + + seg_itB->basis[6] = temp[8]; + seg_itB->basis[7] = temp[9]; + seg_itB->basis[8] = temp[10]; + + seg_itB->length = seg_length; + + seg_itB->basis_change[0] = 1; + seg_itB->basis_change[1] = 0; + seg_itB->basis_change[2] = 0; + seg_itB->basis_change[3] = 0; + seg_itB->basis_change[4] = 1; + seg_itB->basis_change[5] = 0; + seg_itB->basis_change[6] = 0; + seg_itB->basis_change[7] = 0; + seg_itB->basis_change[8] = 1; + + + + } + + // create the chains + + const int num_chains = 2; + + IK_Chain_ExternPtr chains[num_chains]; + + chains[0] = IK_CreateChain(); + chains[1] = IK_CreateChain(); + + // load segments into chain + + IK_LoadChain(chains[0],segmentsA,seg_num); + IK_LoadChain(chains[1],segmentsB,seg_num); + + // make and install a mouse handler + + MEM_SmartPtr<MyGlutMouseHandler> mouse_handler (MyGlutMouseHandler::New()); + GlutMouseManager::Instance()->InstallHandler(mouse_handler); + + mouse_handler->SetChain(chains,num_chains); + + // make and install a keyhandler + MEM_SmartPtr<MyGlutKeyHandler> key_handler (MyGlutKeyHandler::New()); + GlutKeyboardManager::Instance()->InstallHandler(key_handler); + + // instantiate the drawing class + + MEM_SmartPtr<ChainDrawer> drawer (ChainDrawer::New()); + GlutDrawManager::Instance()->InstallDrawer(drawer); + + drawer->SetMouseHandler(mouse_handler); + drawer->SetChain(chains,num_chains); + drawer->SetKeyHandler(key_handler); + + glutInit(&argc, argv); + glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); + glutCreateWindow("ik"); + glutDisplayFunc(GlutDrawManager::Draw); + glutMouseFunc(GlutMouseManager::Mouse); + glutMotionFunc(GlutMouseManager::Motion); + glutKeyboardFunc(GlutKeyboardManager::HandleKeyboard); + + init(MT_Vector3(-50,-50,-50),MT_Vector3(50,50,50)); + glutMainLoop(); + return 0; /* ANSI C requires main to return int. */ +} |