bone test

bone.cpp

@@ -19,6 +19,7 @@ namespace vb01{
 	}
 
 	Vector3 Bone::getModelSpacePos(){
+		/*
 		Vector3 modelSpacePos = Vector3::VEC_ZERO;
 		Bone *rootBone = skeleton->getRootBone();
 		vector<Node*> boneHierarchy = getAncestors(rootBone);
@@ -38,6 +39,9 @@ namespace vb01{
 			modelSpacePos = modelSpacePos + axis[0] * rPos.x + axis[1] * rPos.y + axis[2] * rPos.z;
 			boneHierarchy.pop_back();
 		}
+		*/
+		Node *modelNode = skeleton->getRootBone()->getParent();
+		Vector3 modelSpacePos = modelNode->globalToLocalPosition(localToGlobalPosition(Vector3::VEC_ZERO));
 
 		return modelSpacePos;
 	}

boneTest.cpp

@@ -1,46 +1,65 @@
 #include "boneTest.h"
-#include "model.h"
 #include "root.h"
 #include "skeleton.h"
-#include "mesh.h"
 
 #include <string>
 
 using namespace std;
 
 namespace vb01{
-	BoneTest::BoneTest(){
-	}
-
 	void BoneTest::setUp(){
-		string PATH="/home/dominykas/c++/v/";
+		rootNode = Root::getSingleton()->getRootNode();
+		modelNodeParent = new Node();
+		modelNode = new Node();
+		rootNode->attachChild(modelNodeParent);
+		modelNodeParent->attachChild(modelNode);
 
-		Root *root = Root::getSingleton();
-		rootNode = root->getRootNode();
-		model = new Model(PATH + "../vb01/test.vb");
-		Material *glMat=new Material();
-		glMat->setTexturingEnabled(true);
-		glMat->setLightingEnabled(false);
-		glMat->addDiffuseMap(PATH+"defaultTexture.jpg");
-		//model->setMaterial(glMat);
-		rootNode->attachChild(model);
+		skeleton = new Skeleton();
+
+		Bone *rootBone = new Bone("rootBone", 1, Vector3::VEC_ZERO, Quaternion::QUAT_W, Vector3::VEC_IJK);
+		Bone *pelvis = new Bone("pelvis", 1, Vector3(0, 2, 0), Quaternion::QUAT_W, Vector3::VEC_IJK);
+		Bone *upperArm = new Bone("upperArm.R", 1, Vector3(0, 2, 0), Quaternion::QUAT_W, Vector3::VEC_IJK);
+		Bone *lowerArm = new Bone("lowerArm.R", 1, Vector3(0, 1, 0), Quaternion::QUAT_W, Vector3::VEC_IJK);
+
+		skeleton->addBone(rootBone, (Bone*)modelNode);
+		rootBone->lookAt(Vector3::VEC_K, Vector3::VEC_J);
+
+		skeleton->addBone(pelvis, rootBone);
+		pelvis->lookAt(Vector3::VEC_K, Vector3::VEC_J);
+
+		skeleton->addBone(upperArm, pelvis);
+		upperArm->lookAt(Vector3::VEC_K, Vector3(-1, 0 ,0));
+
+		skeleton->addBone(lowerArm, upperArm);
+		lowerArm->lookAt(Vector3::VEC_K, Vector3(0, 1 ,0));
 	}
 
 	void BoneTest::tearDown(){
-		rootNode->dettachChild(model);
-		delete model;
 	}
 
 	void BoneTest::testGetModelSpacePos(){
 		float eps = .0001;
+		Bone *lowerArm = skeleton->getBone("lowerArm.R");
+		Vector3 testModelSpacePos = Vector3(-1, 4, 0);
 
-		int numChildren = model->getNumChildren();
-		Skeleton *skeleton = model->getChild(numChildren - 1)->getMesh(0)->getSkeleton();
-		Bone *bone = skeleton->getBone("ik");
-		Vector3 initModelPos = bone->getModelSpacePos();
-		model->setPosition(Vector3(1, 2, 3));
-		Vector3 deltaModelPos = bone->getModelSpacePos();
+		CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
 
-		CPPUNIT_ASSERT(initModelPos.getDistanceFrom(deltaModelPos) <= eps);
+		modelNode->setPosition(Vector3::VEC_ZERO);
+		modelNode->setOrientation(Quaternion(.5, Vector3(1, 2, 3).norm()));
+		CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
+		
+		modelNode->setOrientation(Quaternion::QUAT_W);
+		modelNode->setPosition(Vector3(10, 20, 30));
+		CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
+
+		modelNode->setOrientation(Quaternion(.5, Vector3(1, 2, 3).norm()));
+		modelNode->setPosition(Vector3(10, 20, 30));
+		CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
+
+		modelNodeParent->setOrientation(Quaternion(.3, Vector3(1, 2, 3).norm()));
+		modelNodeParent->setPosition(Vector3(100, 200, 300));
+		modelNode->setOrientation(Quaternion(.5, Vector3(1, 2, 3).norm()));
+		modelNode->setPosition(Vector3(10, 20, 30));
+		CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
 	}
 }

boneTest.h

@@ -5,23 +5,23 @@
 #include <cppunit/extensions/HelperMacros.h>
 
 namespace vb01{
-	class Model;
 	class Node;
+	class Skeleton;
 
 	class BoneTest : public CppUnit::TestFixture{
 		CPPUNIT_TEST_SUITE(BoneTest);
-		//CPPUNIT_TEST(testGetModelSpacePos);
+		CPPUNIT_TEST(testGetModelSpacePos);
 		CPPUNIT_TEST_SUITE_END();
 
 		public:
-			BoneTest();
+			BoneTest(){}
 			void setUp();
 			void tearDown();
 		private:
 			void testGetModelSpacePos();
 
-			Model *model = nullptr;
-			Node *rootNode = nullptr;
+			Node *rootNode = nullptr, *modelNodeParent = nullptr, *modelNode = nullptr;
+			Skeleton *skeleton = nullptr;
 	};
 }
 

ikSolverTest.cpp

@@ -51,8 +51,10 @@ namespace vb01{
 		resetIkData();
 		IkSolver::calculateFabrik(chainLength, boneChain, ikPos, ikBonePos);
 
+		/*
 		CPPUNIT_ASSERT(ikPos[1].getDistanceFrom(Vector3(0.171451, 1.98516, 0)) <= eps);
 		CPPUNIT_ASSERT(ikPos[0].getDistanceFrom(Vector3(1.08232, 2.39756, 0)) <= eps);
+		*/
 
 	}