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beginning of IK test

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devZoGok
2021-10-19 19:06:41 +03:00
parent 66f3adfb4e
commit 640bd6906a
10 changed files with 201 additions and 73 deletions
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skeleton.cpp
+7 -61
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@@ -1,13 +1,14 @@
#include"skeleton.h"
#include"animation.h"
#include"animationController.h"
#include"box.h"
#include "skeleton.h"
#include "animation.h"
#include "animationController.h"
#include "box.h"
#include "ikSolver.h"
using namespace std;
namespace vb01{
Skeleton::Skeleton(string name){
this->name=name;
this->name = name;
controller = new AnimationController(this);
}
@@ -36,66 +37,11 @@ namespace vb01{
boneIkPos[i] = boneChain[i]->getModelSpacePos();
}
calculateFabrik(chainLength, boneChain, boneIkPos, targetPos);
IkSolver::calculateFabrik(chainLength, boneChain, boneIkPos, targetPos);
transformIkChain(chainLength, boneChain, boneIkPos, targetPos);
}
void Skeleton::calculateFabrik(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos){
float sumLengths = 0;
for(int i = 0; i < chainLength; i++)
sumLengths += boneChain[i]->getLength();
Vector3 startPos = boneChain[chainLength - 1]->getModelSpacePos();
if(startPos.getDistanceFrom(targetPos) < sumLengths){
int numIterations = 500;
for(int i = 0 ; i < numIterations; i++){
bool backward = (i % 2 == 0);
for(int j = 0; j < chainLength; j++){
int boneId;
float length;
Vector3 ikPos, bonePos, fromBoneToIkPos;
if(backward){
boneId = j;
length = boneChain[boneId]->getLength();
ikPos = (j == 0 ? targetPos : boneIkPos[boneId - 1]);
}
else{
boneId = chainLength - 1 - j;
if(j == 0){
ikPos = startPos;
length = 0;
}
else{
ikPos = boneIkPos[boneId + 1];
length = boneChain[boneId + 0]->getLength();
}
}
bonePos = boneIkPos[boneId];
fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * length;
}
}
}
else{
Vector3 startToEndVec = (targetPos - startPos).norm();
for(int i = chainLength - 1; i >= 0; i--){
float length;
Vector3 bonePos;
if(i == chainLength - 1){
length = 0;
bonePos = boneIkPos[i];
}
else{
length = boneChain[i]->getLength();
bonePos = boneIkPos[i + 1];
}
boneIkPos[i] = bonePos + startToEndVec * length;
}
}
}
void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos){
Node *rootBone = getRootBone()->getParent();
float boneAngles[chainLength];