void PerspectiveCamera::SetPositionLookAt(const Vector3d& vPos, const Vector3d& vLookAt)
{
   Vector3d vDir = vLookAt - vPos;
   if (vDir.Length() < 1e-6)
      vDir = Vector3d(0.0, 0.0, 1.0);

   double dAngleDirection = Rad2Deg(atan2(vDir.X(), -vDir.Z()));
   double dAngleUp = Rad2Deg(atan2(vDir.Y(), -vDir.Z()));

   SetPosition(vPos, dAngleDirection, dAngleUp);
}
Ejemplo n.º 2
0
	bool Animation::LoadFoot(const QString &pathdir)
	{
		// load node coord
		tifstream ifStr;
		ifStr.open((pathdir+ "Model/footCoord.txt").utf16());	

		Vector3d tmpCoord;
		while (ifStr >> tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
		{
			footCoord.push_back(tmpCoord);
			std::cout << "body coord: " << footCoord.size() << " " << footCoord[footCoord.size()-1].X() << " " <<  footCoord[footCoord.size()-1].Y() 
				<< " " <<  footCoord[footCoord.size()-1].Z() << " " <<  std::endl;
		}
		ifStr.close();

		// load node coord
		ifStr.open((pathdir+ "Model/footNode.txt").utf16());	

		int tmpNode;
		while (ifStr >> tmpNode)
		{
			footNode.push_back(tmpNode);
			std::cout << "body node: " << footNode.size() << " " << footNode[footNode.size()-1] << " ";
		}
		std::cout << std::endl;
		ifStr.close();

		// load node mode
		ifStr.open((pathdir+ "Model/mode_3.txt").utf16());	

		while (ifStr >> tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
		{
			footMode.push_back(tmpCoord);
			//std::cout << "body coord: " << footMode.size() << " " << footMode[footMode.size()-1].X() << " " <<  footMode[footMode.size()-1].Y() 
			//	<< " " <<  footMode[footMode.size()-1].Z() << " " <<  std::endl;
		}
		ifStr.close();

		// load ref shape
		ifStr.open((pathdir+ "Model/rot_curve_cushion.vert").utf16());	
		int idex;
		while (ifStr >> idex >>  tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
		{
			refShape.push_back(tmpCoord);
			//std::cout << "body coord: " << footMode.size() << " " << footMode[footMode.size()-1].X() << " " <<  footMode[footMode.size()-1].Y() 
			//	<< " " <<  footMode[footMode.size()-1].Z() << " " <<  std::endl;
		}
		ifStr.close();

		return true;
	}
Ejemplo n.º 3
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Vector3d CSkeleton::fitToLocation(Joint_handle hJoint, Vector3d target_loc)
{
	Joint_handle hRoot = rootOf(hJoint);
	updateGlobalPostures(hRoot);

	if(hRoot == parents[hJoint])
	{
		joints[hJoint].setOffset(target_loc);
		updateGlobalPostures(hRoot);
		return globals[hJoint].getOffset();
	}

	//updateGlobalPostures(0);
	Joint_handle hParent = parents[hJoint];

	Vector3d dJoint, dTarget;
	Vector3d pJoint, pParent;
	pJoint = getGlobalPosition(hJoint);
	pParent = getGlobalPosition(hParent);
	dJoint = (pJoint - pParent).Normalize();
	dTarget = (target_loc - pParent).Normalize();

	Quaterniond qParent = getGlobalRotation(hParent);
	//	dJoint = cast_to_vector(!qParent*dJoint*qParent);
	//	dTarget = cast_to_vector(!qParent*dTarget*qParent);

	Vector3d axis = Vector3d::Cross(dJoint, dTarget);
	double dot = Vector3d::Dot(dJoint, dTarget);
	double angle = acos(Vector3d::Dot(dJoint, dTarget));

	Quaterniond qtemp = !qParent*Quaterniond(0, axis.X(), axis.Y(), axis.Z())*qParent;
	axis = Vector3d(qtemp.X(), qtemp.Y(), qtemp.Z());

	Quaterniond rot;
	rot.FromAxisAngle(angle, axis.X(), axis.Y(), axis.Z());
	qtemp = rot*Quaterniond(0, dJoint.X(), dJoint.Y(), dJoint.Z())*!rot;
	Vector3d pos(qtemp.X(), qtemp.Y(), qtemp.Z());
	Vector3d err = pos - dTarget;

	if( angle == 0.f ||
		(axis.X() == 0 && axis.Y() == 0 && axis.Z() ==0) ||
		dJoint == dTarget)
		return globals[hJoint].getOffset();
	joints[hParent].Rotate(rot);
	//rotateJoint(hParent, rot);
	updateGlobalPostures(hParent);
	//updateGlobalPostures(0);

	return globals[hJoint].getOffset();
}
Ejemplo n.º 4
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	bool Animation::LoadBody(const QString &pathdir)
	{
		// load node coord
		tifstream ifStr;
		ifStr.open((pathdir+ "Model/bodyCoord.txt").utf16());	

		Vector3d tmpCoord;
		while (ifStr >> tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
		{
			bodyCoord.push_back(tmpCoord);
			std::cout << "body coord: " << bodyCoord.size() << " " << bodyCoord[bodyCoord.size()-1].X() << " " <<  bodyCoord[bodyCoord.size()-1].Y() 
				<< " " <<  bodyCoord[bodyCoord.size()-1].Z() << " " <<  std::endl;
		}
		ifStr.close();

		// load node coord
		ifStr.open((pathdir+ "Model/bodyNode.txt").utf16());	

		int tmpNode;
		while (ifStr >> tmpNode)
		{
			bodyNode.push_back(tmpNode);
			std::cout << "body node: " << bodyNode.size() << " " << bodyNode[bodyNode.size()-1] << " ";
		}
		std::cout << std::endl;
		ifStr.close();

		// load frame coord
		ifStr.open((pathdir+ "Model/bodyFrame.txt").utf16());	
		ifStr >> bodyFrame.X() >> bodyFrame.Y() >> bodyFrame.Z();
		std::cout << "body frame: " << bodyFrame.X() << " " <<  bodyFrame.Y()  << " " <<  bodyFrame.Z() << " " <<  std::endl;
		ifStr.close();

		return true;
	}
void ModelRenderInstance::Render(RenderOptions& renderOptions)
{
   m_spDisplayState->Tick();

   OpenGL::PushedAttributes attrib(GL_POLYGON_BIT | GL_ENABLE_BIT | GL_CURRENT_BIT);

   if (renderOptions.Get(RenderOptions::optionModelFilled))
      glPolygonMode(GL_FRONT, GL_FILL);
   else
      glPolygonMode(GL_FRONT, GL_LINE);

   glPushMatrix();

   // position model
   Vector3d vPos = CalculatedPos();
   glTranslated(vPos.X(), vPos.Y(), vPos.Z());

   glRotated(m_dViewAngle, 0.0, 1.0, 0.0);

   double dTransparency = CalcPlayerTransparency();

   // blend model
   if (dTransparency < 1.0)
   {
      glEnable(GL_BLEND);
      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
   }

   double dLuminance = m_bSelected ? 1.2 : 1.0;
   glColor4d(dLuminance, dLuminance, dLuminance, dTransparency);

   m_spDisplayState->Render(renderOptions);

   glPopMatrix();
}
   /// ctor
   VertexBufferEntry(const Vector3d& vVertex, const Vector3d& vNormal, const TexCoord2f& texCoord, const Color& c)
   {
      vertex[0] = static_cast<GLfloat>(vVertex.X());
      vertex[1] = static_cast<GLfloat>(vVertex.Y());
      vertex[2] = static_cast<GLfloat>(vVertex.Z());

      normal[0] = static_cast<GLfloat>(vNormal.X());
      normal[1] = static_cast<GLfloat>(vNormal.Y());
      normal[2] = static_cast<GLfloat>(vNormal.Z());

      texcoords[0] = static_cast<GLfloat>(texCoord.U());
      texcoords[1] = static_cast<GLfloat>(texCoord.V());

      color[0] = c.m_color[0];
      color[1] = c.m_color[1];
      color[2] = c.m_color[2];
      color[3] = c.m_color[3];
   }
Ejemplo n.º 7
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	bool HangerAnimation::LoadAnimData(const QString &pathdir)
	{
		// load node coord
		tifstream ifStr;
		ifStr.open((pathdir+ "Model/traj.txt").utf16());	
		Vector3d tmpCoord;
		while (ifStr >> tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
		{
			motionData.push_back(tmpCoord);
		}

		ifStr.close();

		ifStr.open((pathdir+ "Model/trajOrientation.txt").utf16());	
		while (ifStr >> tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
			orientData.push_back(tmpCoord);

		ifStr.close();
		return true;
	}
Ejemplo n.º 8
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	bool HangerAnimation::LoadCtrlPoint(const QString &pathdir)
	{
		// load node coord
		tifstream ifStr;
		ifStr.open((pathdir+ "Model/ctrlNode.txt").utf16());	
		Vector3d tmpCoord;
		while (ifStr >> tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
			ctrlPoint.push_back(tmpCoord);
			
		ifStr.close();
		return true;
	}
void ModelDisplayState::PrepareTriangle(const AnimatedModel3d& model, const Data& data, const Triangle& t,
                                        VertexBufferEntry* pEntries, bool bOnlyUpdate)
{
   for (unsigned int uiVertex = 0; uiVertex < 3; uiVertex++)
   {
      size_t uiVertexIndex = t.auiVertexIndices[uiVertex];
      ATLASSERT(uiVertexIndex < data.m_vecVertices.size());

      const Vertex& v = data.m_vecVertices[uiVertexIndex];

      Vector3d vPos = v.m_vPos;
      model.TransformVertex(v, m_vecJointRenderData, vPos);

      Vector3d vNormal = t.aNormals[uiVertex];
      model.TransformNormal(v, m_vecJointRenderData, vNormal);

      VertexBufferEntry& e = pEntries[uiVertex];

      e.vertex[0] = static_cast<float>(vPos.X());
      e.vertex[1] = static_cast<float>(vPos.Y());
      e.vertex[2] = static_cast<float>(vPos.Z());

      e.normal[0] = static_cast<float>(vNormal.X());
      e.normal[1] = static_cast<float>(vNormal.Y());
      e.normal[2] = static_cast<float>(vNormal.Z());

      if (!bOnlyUpdate)
      {
         e.texcoords[0] = t.aTex[uiVertex].U();
         e.texcoords[1] = t.aTex[uiVertex].V();

         e.color[0] = e.color[1] = e.color[2] = 255;
         e.color[3] = 0;
      }
   }
}
Ejemplo n.º 10
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	bool HangerAnimation::LoadRefShape(const QString &pathdir)
	{
		// load ref shape
		tifstream ifStr;
		ifStr.open((pathdir+ "Model/hanger_scale_stand.vert").utf16());	
		Vector3d tmpCoord;
		int idex;
		while (ifStr >> idex >>  tmpCoord.X() >> tmpCoord.Y() >> tmpCoord.Z())
		{
			refShape.push_back(tmpCoord);
			//std::cout << "body coord: " << footMode.size() << " " << footMode[footMode.size()-1].X() << " " <<  footMode[footMode.size()-1].Y() 
			//	<< " " <<  footMode[footMode.size()-1].Z() << " " <<  std::endl;
		}
		ifStr.close();
		return true;
	}
Ejemplo n.º 11
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void CSkeleton::drawSkeleton(void)
{
	for(size_t i = 0; i < joints.size(); i++)
		if(isRoot(i))
			updateGlobalPostures(i);
	size_t n = joints.size();
	Quaterniond rot, a;
	Vector3d pos;
	for(size_t i = 1; i < n; i++)
	{
		rot = getGlobalRotation( i );
		pos = getGlobalPosition( i );
		a = rot.Log();

		glPushMatrix();
		glTranslated(pos.X(), pos.Y(), pos.Z());
		glRotated(a.W()*180/M_PI, a.X(), a.Y(), a.Z());
		glColor3ub(255, 255, 0);
		glBegin(GL_LINES);
		glVertex3f(0, 0, 0);
		glVertex3f(0, 0, joints[i].getScale().Z());
		glEnd();

		glBegin(GL_LINES);
		glColor3ub(255, 0, 0);
		glVertex3f(0, 0, 0);
		glVertex3f(0.1, 0, 0);

		glColor3ub(0, 255, 0);
		glVertex3f(0, 0, 0);
		glVertex3f(0, 0.1, 0);

		glColor3ub(0, 0, 255);
		glVertex3f(0, 0, 0);
		glVertex3f(0, 0, 0.1);
		glEnd();
		glPopMatrix();
	}
}
Ejemplo n.º 12
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void CSkeleton::updateGlobalPostures(Joint_handle hJoint)
{
	if(isRoot(hJoint))
		globals[hJoint] = joints[hJoint];
	else
	{
		size_t parent_idx = parents[hJoint];
		globals[hJoint].setOffset(globals[parent_idx].getOffset());

		Quaterniond q = globals[parent_idx].getRotation();
		Vector3d offset = joints[hJoint].getOffset();
		Quaterniond qtemp = q*Quaterniond(0, offset.X(), offset.Y(), offset.Z())*!q;
		Vector3d pos(qtemp.X(), qtemp.Y(), qtemp.Z());
		globals[hJoint].Translate(pos);
		globals[hJoint].setRotation(q*joints[hJoint].getRotation());
	}
	Joint_handle_iterator jh_it, jh_end = children[hJoint].end();
	for(jh_it = children[hJoint].begin(); jh_it != jh_end; ++jh_it)
	{
		updateGlobalPostures(*jh_it);
	}
}
Ejemplo n.º 13
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 /// writes vector
 void WriteVector(const Vector3d& vec)
 {
    WriteDouble(vec.X());
    WriteDouble(vec.Y());
    WriteDouble(vec.Z());
 }