Example #1
0
void CalCoreBone::calculateState()
{
  if(m_parentId == -1)
  {
    // no parent, this means absolute state == relative state
    m_translationAbsolute = m_translation;
    m_rotationAbsolute = m_rotation;
  }
  else
  {
    // get the parent bone
    CalCoreBone *pParent;
    pParent = m_pCoreSkeleton->getCoreBone(m_parentId);

    // transform relative state with the absolute state of the parent
    m_translationAbsolute = m_translation;
    m_translationAbsolute *= pParent->getRotationAbsolute();
    m_translationAbsolute += pParent->getTranslationAbsolute();

	m_rotationAbsolute = m_rotation;
	m_rotationAbsolute *= pParent->getRotationAbsolute();
  }

  // calculate all child bones
  std::list<int>::iterator iteratorChildId;
  for(iteratorChildId = m_listChildId.begin(); iteratorChildId != m_listChildId.end(); ++iteratorChildId)
  {
    m_pCoreSkeleton->getCoreBone(*iteratorChildId)->calculateState();
  }
}
Example #2
0
void IKCharacter::setup( CalSkeleton* cal_skel, bool _auto_root_follow )
{
	skeleton = cal_skel;
	auto_root_follow = _auto_root_follow;
	
	
	// find leaf bones
	deque<int> current;
	vector<int> roots = cal_skel->getCoreSkeleton()->getVectorRootCoreBoneId();
	current.insert( current.begin(), roots.begin(), roots.end() );
	while( !current.empty() )
	{
		CalCoreBone* check = skeleton->getCoreSkeleton()->getCoreBone( current.front() );
		list<int> children = check->getListChildId();
		if ( children.size()==0 )
		{
			// this is a leaf
			leaf_bones.push_back( current.front() );
			printf("found leaf: %s\n", skeleton->getCoreSkeleton()->getCoreBone( leaf_bones.back() )->getName().c_str() );
		}
		else
		{
			// not a leaf
			current.insert( current.end(), children.begin(), children.end() );
		}
		
		// store length
		// default non-zero
		bone_lengths[current.front()] = 0.0001f;
		if ( check->getParentId()!= -1 )
		{
			CalCoreBone* parent = skeleton->getCoreSkeleton()->getCoreBone( check->getParentId() );
			CalVector delta = check->getTranslationAbsolute() - parent->getTranslationAbsolute();
			bone_lengths[check->getParentId()] = delta.length();
		}
	
		// cached rotations
		debug_cached_rotations[current.front()] = CalQuaternion();
		
		current.pop_front();
	}

	// set all weights to default
	vector<CalCoreBone*> all_bones = skeleton->getCoreSkeleton()->getVectorCoreBone();
	for( int i=0; i<all_bones.size() ;i++ )
	{
		weight_centres[all_bones[i]->getId()] = 0.5f;
	}	
	
	// release all leaves
	for ( int i=0; i<leaf_bones.size() ;i++ )
	{
		weight_centres[leaf_bones[i]] = 0;
	}
	// pin all roots
	for ( int i=0; i<roots.size(); i++ )
	{
		weight_centres[roots[i]] = 1;
	}
	
	// fetch world positions from Cal3D model
	pullWorldPositions();
	
	// set targets
	/*
	for ( int i=0; i<leaf_bones.size(); i++ )
	{
		CalVector p = world_positions[leaf_bones[i]];
		setTarget( leaf_bones[i], ofxVec3f(p.x,p.y,p.z) );
	}*/
	
	// 
	setupMagicIgnoringRotationOffsets();
	
}