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);
}
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;
}
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();
}
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];
}
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;
}
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;
}
}
}
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;
}
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();
}
}
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);
}
}
/// writes vector
void WriteVector(const Vector3d& vec)
{
WriteDouble(vec.X());
WriteDouble(vec.Y());
WriteDouble(vec.Z());
}