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();
}
}
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();
}
