ApfelTeeSaft/vb01
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attached objects follow their bones

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model space positions are retrieved from bones
supported more than 4 bones
improved global and local orientation methods
improved vector angle method
This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent 73f49e91bc
commit 4f4bc88956
14 changed files with 230 additions and 210 deletions
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node.cpp
+104 -102
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@@ -18,9 +18,9 @@ namespace vb01{
this->scale=scale;
this->orientation=orientation;
this->name=name;
axis[0]=Vector3::VEC_I;
axis[1]=Vector3::VEC_J;
axis[2]=Vector3::VEC_K;
globalAxis[0]=Vector3::VEC_I;
globalAxis[1]=Vector3::VEC_J;
globalAxis[2]=Vector3::VEC_K;
}
Node::~Node(){
@@ -56,15 +56,17 @@ namespace vb01{
void Node::attachChild(Node *child){
child->setParent(this);
children.push_back(child);
child->updateLocalAxis();
child->updateAxis();
}
void Node::dettachChild(Node *child){
child->setParent(nullptr);
int id=-1;
for(int i=0;i<children.size()&&id==-1;i++)
if(children[i]==child)
for(int i=0;i<children.size();i++)
if(children[i]==child){
id=i;
break;
}
if(id!=-1)
children.erase(children.begin()+id);
}
@@ -101,38 +103,41 @@ namespace vb01{
void Node::lookAt(Vector3 newDir,Vector3 newUp,Node *node){
Vector3 parAxis[]{
node->getLocalAxis(0),
node->getLocalAxis(1),
node->getLocalAxis(2)
node->getGlobalAxis(0),
node->getGlobalAxis(1),
node->getGlobalAxis(2)
};
newDir=parAxis[0]*newDir.x+parAxis[1]*newDir.y+parAxis[2]*newDir.z;
newUp=parAxis[0]*newUp.x+parAxis[1]*newUp.y+parAxis[2]*newUp.z;
/*
*/
float angle=axis[2].getAngleBetween(newDir);
Vector3 rotAxis=axis[2].cross(newDir).norm();
newDir=(parAxis[0]*newDir.x+parAxis[1]*newDir.y+parAxis[2]*newDir.z).norm();
newUp=(parAxis[0]*newUp.x+parAxis[1]*newUp.y+parAxis[2]*newUp.z).norm();
float angle=globalAxis[2].getAngleBetween(newDir);
Vector3 rotAxis=globalAxis[2].cross(newDir).norm();
if(rotAxis==Vector3::VEC_ZERO)
rotAxis=axis[1];
//setOrientation((Quaternion(angle,rotAxis)*(orientation)));
setOrientation(node->globalToLocalOrientation(Quaternion(angle,rotAxis)*node->localToGlobalOrientation(orientation)));
rotAxis=globalAxis[1];
Quaternion oldRot = node->localToGlobalOrientation(orientation);
Quaternion newRot = node->globalToLocalOrientation(Quaternion(angle,rotAxis));
setOrientation(newRot*oldRot);
mat3 mat;
mat[0][0]=axis[0].x;
mat[1][0]=axis[0].y;
mat[2][0]=axis[0].z;
mat[0][1]=axis[1].x;
mat[1][1]=axis[1].y;
mat[2][1]=axis[1].z;
mat[0][2]=axis[2].x;
mat[1][2]=axis[2].y;
mat[2][2]=axis[2].z;
mat[0][0]=globalAxis[0].x;
mat[1][0]=globalAxis[0].y;
mat[2][0]=globalAxis[0].z;
mat[0][1]=globalAxis[1].x;
mat[1][1]=globalAxis[1].y;
mat[2][1]=globalAxis[1].z;
mat[0][2]=globalAxis[2].x;
mat[1][2]=globalAxis[2].y;
mat[2][2]=globalAxis[2].z;
mat=inverse(mat);
vec3 nu=vec3(newUp.x,newUp.y,newUp.z)*mat;
newUp=(axis[0]*nu.x+axis[1]*nu.y).norm();
angle=axis[1].getAngleBetween(newUp);
//setOrientation((Quaternion(angle*(nu.x<0?1:-1),axis[2])*(orientation)));
setOrientation(node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),axis[2])*node->localToGlobalOrientation(orientation)));
//setOrientation(node->globalToLocalOrientation(Quaternion(angle,axis[2])*node->localToGlobalOrientation(orientation)));
newUp=(globalAxis[0]*nu.x+globalAxis[1]*nu.y).norm();
angle=globalAxis[1].getAngleBetween(newUp);
oldRot = node->localToGlobalOrientation(orientation);
newRot = node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),globalAxis[2]));
setOrientation(newRot*oldRot);
}
void Node::getDescendants(Node *node, vector<Node*> &descendants){
@@ -144,92 +149,89 @@ namespace vb01{
}
}
void Node::updateLocalAxis(){
Node *rootNode=Root::getSingleton()->getRootNode(),*ancestor=this;
while(ancestor->getParent())
ancestor=ancestor->getParent();
if(ancestor!=rootNode)
return;
Vector3 parAxis[3]={
parent->getLocalAxis(0),
parent->getLocalAxis(1),
parent->getLocalAxis(2)
};
for(int i=0;i<3;i++)
axis[i]=(orientation*parAxis[i]).norm();
for(Node *ch : children)
ch->updateLocalAxis();
}
Vector3 Node::localToGlobalPosition(Vector3 localPos){
Vector3 origin=Vector3::VEC_ZERO;
vector<Node*> Node::getAncestors(Node *node, Node *topAncestor){
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
Node *parent=node;
if(!topAncestor)
topAncestor = Root::getSingleton()->getRootNode();
while(parent){
ancestors.push_back(parent);
if(parent == topAncestor)
break;
parent=parent->getParent();
}
return ancestors;
}
void Node::updateAxis(){
Vector3 parGlobalAxis[3]{
parent->getGlobalAxis(0),
parent->getGlobalAxis(1),
parent->getGlobalAxis(2)
};
float rotAngle=orientation.getAngle();
Vector3 rotAxis=orientation.getAxis();
Vector3 newAxis=(parGlobalAxis[0]*rotAxis.x+parGlobalAxis[1]*rotAxis.y+parGlobalAxis[2]*rotAxis.z).norm();
Quaternion rotQuat=Quaternion(rotAngle,newAxis);
for(int i=0;i<3;i++)
globalAxis[i] = (rotQuat * parGlobalAxis[i]).norm();
for(Node *ch : children)
ch->updateAxis();
}
Vector3 Node::localToGlobalPosition(Vector3 localPos){
vector<Node*> ancestors=getAncestors(this);
Vector3 origin=Vector3::VEC_ZERO;
while(!ancestors.empty()){
int id=ancestors.size()-1;
Node *par=ancestors[id]->getParent();
Vector3 parAxis[]={
par?par->getLocalAxis(0):Vector3::VEC_I,
par?par->getLocalAxis(1):Vector3::VEC_J,
par?par->getLocalAxis(2):Vector3::VEC_K
par?par->getGlobalAxis(0):Vector3::VEC_I,
par?par->getGlobalAxis(1):Vector3::VEC_J,
par?par->getGlobalAxis(2):Vector3::VEC_K
};
Vector3 p=ancestors[id]->getPosition();
origin=origin+parAxis[0]*p.x+parAxis[1]*p.y+parAxis[2]*p.z;
ancestors.pop_back();
}
return origin+axis[0]*localPos.x+axis[1]*localPos.y+axis[2]*localPos.z;
return origin+globalAxis[0]*localPos.x+globalAxis[1]*localPos.y+globalAxis[2]*localPos.z;
}
Vector3 Node::globalToLocalPosition(Vector3 globalPos){
Vector3 origin=globalPos;
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
mat3 mat;
mat[0][0]=globalAxis[0].x;
mat[1][0]=globalAxis[0].y;
mat[2][0]=globalAxis[0].z;
mat[0][1]=globalAxis[1].x;
mat[1][1]=globalAxis[1].y;
mat[2][1]=globalAxis[1].z;
mat[0][2]=globalAxis[2].x;
mat[1][2]=globalAxis[2].y;
mat[2][2]=globalAxis[2].z;
mat=inverse(mat);
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
while(!ancestors.empty()){
int id=0;
Node *par=ancestors[id]->getParent();
Vector3 parAxis[]={
par?par->getLocalAxis(0):Vector3::VEC_I,
par?par->getLocalAxis(1):Vector3::VEC_J,
par?par->getLocalAxis(2):Vector3::VEC_K
};
Vector3 p=ancestors[id]->getPosition();
origin=origin-parAxis[0]*p.x-parAxis[1]*p.y-parAxis[2]*p.z;
ancestors.erase(ancestors.begin());
}
//return origin+axis[0]*localPos.x+axis[1]*localPos.y+axis[2]*localPos.z;
return origin;
vec3 local = vec3(globalPos.x, globalPos.y, globalPos.z) * mat;
return Vector3(local.x, local.y, local.z);
}
Quaternion Node::localToGlobalOrientation(Quaternion localRot){
Quaternion origin=Quaternion::QUAT_W;
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
vector<Node*> ancestors=getAncestors(this);
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
Vector3 ancAxis[]{
ancestors[id]->getGlobalAxis(0),
ancestors[id]->getGlobalAxis(1),
ancestors[id]->getGlobalAxis(2)
};
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Quaternion o = Quaternion(angle, (ancAxis[0]*axis.x+ancAxis[1]*axis.y+ancAxis[2]*axis.z).norm());
origin=o*origin;
ancestors.pop_back();
}
@@ -238,19 +240,19 @@ namespace vb01{
Quaternion Node::globalToLocalOrientation(Quaternion globalRot){
Quaternion origin=globalRot;
vector<Node*> ancestors;
ancestors.push_back(this);
Node *parent=this->getParent();
while(parent){
ancestors.push_back(parent);
parent=parent->getParent();
}
vector<Node*> ancestors=getAncestors(this);
while(!ancestors.empty()){
int id=ancestors.size()-1;
Quaternion o=ancestors[id]->getOrientation();
origin=origin*Quaternion(-o.getAngle(),o.getAxis());
Vector3 ancAxis[]{
ancestors[id]->getGlobalAxis(0),
ancestors[id]->getGlobalAxis(1),
ancestors[id]->getGlobalAxis(2)
};
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Quaternion o = Quaternion(-angle, (ancAxis[0]*axis.x+ancAxis[1]*axis.y+ancAxis[2]*axis.z).norm());
origin=origin*o;
ancestors.pop_back();
}
return origin;
@@ -278,6 +280,6 @@ namespace vb01{
void Node::setOrientation(Quaternion q){
this->orientation=q;
updateLocalAxis();
updateAxis();
}
}