mirror of
https://github.com/ApfelTeeSaft/vb01.git
synced 2026-08-26 19:33:45 +00:00
73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
#include "ikSolverTest.h"
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#include "ikSolver.h"
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#include "skeleton.h"
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#include "animationController.h"
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namespace vb01{
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void IkSolverTest::setUp(){
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rootNode = Root::getSingleton()->getRootNode();
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skeleton = new Skeleton();
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Bone *boneA = new Bone("A", 1, Vector3::VEC_ZERO, Quaternion::QUAT_W, Vector3::VEC_IJK);
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Bone *boneB = new Bone("B", 1, Vector3::VEC_J, Quaternion::QUAT_W, Vector3::VEC_IJK);
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Bone *boneC = new Bone("C", 1, Vector3::VEC_J, Quaternion::QUAT_W, Vector3::VEC_IJK);
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Bone *boneD = new Bone("D", 1, Vector3::VEC_J, Quaternion::QUAT_W, Vector3::VEC_IJK);
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ikBone = new Bone("ik", 1, Vector3(0, 4, 0), Quaternion::QUAT_W, Vector3::VEC_IJK);
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skeleton->addBone(boneA, (Bone*)rootNode);
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skeleton->addBone(boneB, boneA);
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skeleton->addBone(boneC, boneB);
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skeleton->addBone(boneD, boneC);
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skeleton->addBone(ikBone, boneA);
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boneA->lookAt(Vector3::VEC_K, Vector3::VEC_J);
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boneB->lookAt(Vector3::VEC_K, Vector3::VEC_J);
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boneC->lookAt(Vector3::VEC_K, Vector3::VEC_J);
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boneD->lookAt(Vector3::VEC_K, Vector3::VEC_J);
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boneD->setIkChainLength(chainLength);
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boneD->setIkTarget(ikBone->getName());
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ikPos = new Vector3[chainLength];
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boneChain = new Bone*[chainLength];
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resetIkData();
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}
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void IkSolverTest::tearDown(){
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}
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void IkSolverTest::testSolveIk(){
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Vector3 ikBonePos = Vector3(1, 1, 1) * 5 + Vector3(0, 1, 0);
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resetIkData();
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IkSolver::calculateFabrik(chainLength, boneChain, ikPos, ikBonePos);
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float eps = .01;
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for(int i = chainLength - 1; i >= 0; i--)
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CPPUNIT_ASSERT(ikPos[i].getDistanceFrom(Vector3(0, 1, 0) + Vector3(1, 1, 1).norm() * (chainLength - 1 - i)) <= eps);
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ikBonePos = Vector3(0, 1, 0) * 2 + Vector3(2, 0, 0);
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resetIkData();
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IkSolver::calculateFabrik(chainLength, boneChain, ikPos, ikBonePos);
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/*
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CPPUNIT_ASSERT(ikPos[1].getDistanceFrom(Vector3(0.171451, 1.98516, 0)) <= eps);
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CPPUNIT_ASSERT(ikPos[0].getDistanceFrom(Vector3(1.08232, 2.39756, 0)) <= eps);
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*/
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}
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void IkSolverTest::resetIkData(){
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Bone *rootBone = skeleton->getRootBone();
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Bone *ikBoneAncestor = skeleton->getBone("D");
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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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ikPos[i] = boneChain[i]->getModelSpacePos();
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}
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}
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}
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