mirror of
https://github.com/devZoGok/vb01.git
synced 2026-08-27 03:53:24 +00:00
90 lines
2.4 KiB
C++
90 lines
2.4 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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using namespace std;
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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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const int chainLength = ikBone->getIkChainLength();
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Bone *rootBone = getRootBone();
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Bone *ikTarget = ikBone->getIkTarget();
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Bone *boneChain[chainLength];
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Bone *ikBoneAncestor = ikBone;
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Vector3 boneIkPos[chainLength];
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Vector3 targetPos = rootBone->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
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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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boneIkPos[i] = rootBone->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
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boneIkPos[i] = boneChain[i]->getModelSpacePos();
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}
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IkSolver::calculateFabrik(chainLength, boneChain, boneIkPos, targetPos);
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transformIkChain(chainLength, boneChain, boneIkPos, targetPos);
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}
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void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos){
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Node *rootBone = getRootBone()->getParent();
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float boneAngles[chainLength];
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Vector3 axis[chainLength];
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for(int i = chainLength - 1; i >= 0; i--){
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boneChain[i]->setOrientation(boneChain[i]->getRestRot());
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Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneIkPos[i]).norm();
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Vector3 boneAxis =
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(rootBone->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_J)) -
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rootBone->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO)))
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.norm();
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Vector3 rotAxis = boneAxis.cross(dir).norm();
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float angle = boneAxis.getAngleBetween(dir);
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if(rotAxis == Vector3::VEC_ZERO){
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angle = 0;
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rotAxis = Vector3::VEC_I;
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}
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boneAngles[i] = angle;
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axis[i] = rotAxis;
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boneChain[i]->setPoseRot(Quaternion(angle, rotAxis));
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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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