// ----------------------------------------------------------------------------
void IKSolver::HandleComponentRemoved(StringHash eventType, VariantMap& eventData)
{
using namespace ComponentRemoved;
if (solver_->tree == NULL)
return;
Node* node = static_cast<Node*>(eventData[P_NODE].GetPtr());
Component* component = static_cast<Component*>(eventData[P_COMPONENT].GetPtr());
/*
* When a solver gets added into the scene, any parent solver's tree will
* be invalidated. We need to find all parent solvers (by iterating up the
* tree) and mark them as such.
*/
if (component->GetType() == IKSolver::GetTypeStatic())
{
for (Node* iterNode = node; iterNode != NULL; iterNode = iterNode->GetParent())
{
IKSolver* parentSolver = iterNode->GetComponent<IKSolver>();
if (parentSolver != NULL)
parentSolver->MarkTreeNeedsRebuild();
}
return; // No need to continue processing effectors or constraints
}
// If an effector was removed, the tree will have to be rebuilt.
if (component->GetType() == IKEffector::GetTypeStatic())
{
if (ComponentIsInOurSubtree(component) == false)
return;
ik_node_t* ikNode = ik_node_find_child(solver_->tree, node->GetID());
assert(ikNode != NULL);
ik_node_destroy_effector(ikNode);
static_cast<IKEffector*>(component)->SetIKEffectorNode(NULL);
effectorList_.RemoveSwap(static_cast<IKEffector*>(component));
ApplyOriginalPoseToScene();
MarkTreeNeedsRebuild();
return;
}
// Remove the ikNode* reference the IKConstraint was holding
if (component->GetType() == IKConstraint::GetTypeStatic())
{
if (ComponentIsInOurSubtree(component) == false)
return;
ik_node_t* ikNode = ik_node_find_child(solver_->tree, node->GetID());
assert(ikNode != NULL);
static_cast<IKConstraint*>(component)->SetIKConstraintNode(NULL);
constraintList_.RemoveSwap(static_cast<IKConstraint*>(component));
}
}
int main(int argc, char *argv[])
{
ResourceFinder rf;
rf.configure(argc,argv);
IKSolver solver;
return solver.runModule(rf);
}
// ----------------------------------------------------------------------------
void IKSolver::HandleComponentRemoved(Scene *,Node *node,Component *component)
{
if (solver_->tree == nullptr)
return;
/*
* When a solver gets added into the scene, any parent solver's tree will
* be invalidated. We need to find all parent solvers (by iterating up the
* tree) and mark them as such.
*/
if (component->GetType() == IKSolver::GetTypeStatic())
{
for (Node* iterNode = node; iterNode != nullptr; iterNode = iterNode->GetParent())
{
IKSolver* parentSolver = iterNode->GetComponent<IKSolver>();
if (parentSolver != nullptr)
parentSolver->MarkTreeNeedsRebuild();
}
return; // No need to continue processing effectors or constraints
}
// If an effector was removed, the tree will have to be rebuilt.
if (component->GetType() == IKEffector::GetTypeStatic())
{
if (ComponentIsInOurSubtree(component) == false)
return;
ik_node_t* ikNode = ik_node_find_child(solver_->tree, node->GetID());
assert(ikNode != nullptr);
ik_node_destroy_effector(ikNode);
static_cast<IKEffector*>(component)->SetIKEffectorNode(nullptr);
RemovePopBack(effectorList_,static_cast<IKEffector*>(component));
ApplyOriginalPoseToScene();
MarkTreeNeedsRebuild();
return;
}
// Remove the ikNode* reference the IKConstraint was holding
if (component->GetType() == IKConstraint::GetTypeStatic())
{
if (ComponentIsInOurSubtree(component) == false)
return;
ik_node_t* ikNode = ik_node_find_child(solver_->tree, node->GetID());
assert(ikNode != nullptr);
static_cast<IKConstraint*>(component)->SetIKConstraintNode(nullptr);
RemovePopBack(constraintList_,static_cast<IKConstraint*>(component));
}
}
// ----------------------------------------------------------------------------
void IKSolver::HandleComponentAdded(StringHash eventType, VariantMap& eventData)
{
using namespace ComponentAdded;
(void)eventType;
Node* node = static_cast<Node*>(eventData[P_NODE].GetPtr());
Component* component = static_cast<Component*>(eventData[P_COMPONENT].GetPtr());
/*
* When a solver gets added into the scene, any parent solver's tree will
* be invalidated. We need to find all parent solvers (by iterating up the
* tree) and mark them as such.
*/
if (component->GetType() == IKSolver::GetTypeStatic())
{
for (Node* iterNode = node; iterNode != NULL; iterNode = iterNode->GetParent())
{
IKSolver* parentSolver = iterNode->GetComponent<IKSolver>();
if (parentSolver != NULL)
parentSolver->MarkTreeNeedsRebuild();
}
return; // No need to continue processing effectors or constraints
}
if (solver_->tree == NULL)
return;
/*
* Update tree if component is an effector and is part of our subtree.
*/
if (component->GetType() == IKEffector::GetTypeStatic())
{
// Not interested in components that won't be part of our
if (ComponentIsInOurSubtree(component) == false)
return;
BuildTreeToEffector(static_cast<IKEffector*>(component));
effectorList_.Push(static_cast<IKEffector*>(component));
return;
}
if (component->GetType() == IKConstraint::GetTypeStatic())
{
if (ComponentIsInOurSubtree(component) == false)
return;
constraintList_.Push(static_cast<IKConstraint*>(component));
}
}
void GLWidget::animate()
{
if(_animationEnabled) {
_character->update(*this);
}
if(!_endEffectorsTarget.empty()) {
IKSolver solver = IKSolver(_character->root(), 20);
for(int i = 0; i < 10; ++i) {
solver.solve(_endEffectorsTarget, _currentIKMethod);
}
}
updateGL();
}
// ----------------------------------------------------------------------------
void IKSolver::HandleComponentAdded(Scene *,Node *node,Component *component)
{
/*
* When a solver gets added into the scene, any parent solver's tree will
* be invalidated. We need to find all parent solvers (by iterating up the
* tree) and mark them as such.
*/
if (component->GetType() == IKSolver::GetTypeStatic())
{
for (Node* iterNode = node; iterNode != nullptr; iterNode = iterNode->GetParent())
{
IKSolver* parentSolver = iterNode->GetComponent<IKSolver>();
if (parentSolver != nullptr)
parentSolver->MarkTreeNeedsRebuild();
}
return; // No need to continue processing effectors or constraints
}
if (solver_->tree == nullptr)
return;
/*
* Update tree if component is an effector and is part of our subtree.
*/
if (component->GetType() == IKEffector::GetTypeStatic())
{
// Not interested in components that won't be part of our
if (ComponentIsInOurSubtree(component) == false)
return;
BuildTreeToEffector(static_cast<IKEffector*>(component));
effectorList_.push_back(static_cast<IKEffector*>(component));
return;
}
if (component->GetType() == IKConstraint::GetTypeStatic())
{
if (ComponentIsInOurSubtree(component) == false)
return;
constraintList_.push_back(static_cast<IKConstraint*>(component));
}
}
IKFAST_API bool ComputeIk2(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase<IkReal>& solutions, void* pOpenRAVEManip) {
IKSolver solver;
return solver.ComputeIk(eetrans,eerot,pfree,solutions);
}
