mirror of
https://github.com/ApfelTeeSaft/vb01.git
synced 2026-08-26 19:33:45 +00:00
97 lines
3.1 KiB
C++
97 lines
3.1 KiB
C++
#include "skeleton.h"
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#include "animation.h"
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#include "animationController.h"
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#include "box.h"
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#include "ikSolver.h"
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#include <glm.hpp>
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#include <glm/gtc/matrix_inverse.hpp>
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using namespace std;
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using namespace glm;
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namespace vb01{
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Skeleton::Skeleton(string name){
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this->name = name;
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controller = new AnimationController(this);
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}
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void Skeleton::update(){
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for(Bone *b : bones){
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//b->update();
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if(b->getIkTarget())
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solveIk(b);
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}
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controller->update();
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}
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void Skeleton::solveIk(Bone *ikBone){
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Bone *ikTarget = ikBone->getIkTarget();
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Bone *subBase = (Bone*)ikTarget->getParent();
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const int chainLength = ikBone->getIkChainLength();
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Vector3 boneIkPos[chainLength];
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Bone *boneChain[chainLength];
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Bone *ikBoneAncestor = ikBone;
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for(int i = 0; i < chainLength; i++){
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boneChain[i] = ikBoneAncestor;
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ikBoneAncestor = (Bone*)ikBoneAncestor->getParent();
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boneChain[i]->setPosePos(Vector3::VEC_ZERO);
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boneChain[i]->setPoseRot(Quaternion::QUAT_W);
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boneChain[i]->setPoseScale(Vector3::VEC_IJK);
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}
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for(int i = 0; i < chainLength; i++)
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boneIkPos[i] = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
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Vector3 targetPos = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
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IkSolver::calculateFabrik(chainLength, boneChain, boneIkPos, targetPos);
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transformIkChain(chainLength, boneChain, boneIkPos, ikTarget);
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}
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void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Bone* ikTarget){
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Bone *subBase = (Bone*)ikTarget->getParent();
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for(int i = chainLength - 1; i >= 0; i--){
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Vector3 tailPosBoneSpace, tailRestPosBoneSpace;
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if(i == 0){
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tailPosBoneSpace = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
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tailRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3(0, boneChain[i]->getLength(), 0)));
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}
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else{
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tailPosBoneSpace = boneIkPos[i - 1];
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tailRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i - 1]->localToGlobalPosition(Vector3::VEC_ZERO));
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}
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Vector3 headRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
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Vector3 headDir = (tailPosBoneSpace - headRestPosBoneSpace).norm();
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Vector3 boneDir = (tailRestPosBoneSpace - headRestPosBoneSpace).norm();
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Vector3 axis = boneDir.cross(headDir).norm();
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axis =
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boneChain[i]->globalToLocalPosition(subBase->localToGlobalPosition(axis)) -
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boneChain[i]->globalToLocalPosition(subBase->localToGlobalPosition(Vector3::VEC_ZERO));
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if(axis == Vector3::VEC_ZERO)
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axis = Vector3::VEC_I;
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float angle = boneDir.getAngleBetween(headDir);
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boneChain[i]->setPoseRot(Quaternion(angle, axis));
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}
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}
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void Skeleton::addBone(Bone *bone, Bone *parent){
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if(parent)
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parent->attachChild(bone);
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bone->setSkeleton(this);
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bones.push_back(bone);
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}
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Bone* Skeleton::getBone(string name){
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Bone *bone = nullptr;
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for(Bone *b : bones)
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if(b->getName() == name){
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bone = b;
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break;
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}
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return bone;
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}
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}
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