void MovimentadorMembro::setarAnguloPerna(IAnimatedMeshSceneNode * node,std::string nome_bone,float angulo)
{
std::string pe_esquerdo_bone = "Foot_L";
std::string coxa_direita_bone = "UpLeg_R";
std::string coxa_esquerda_bone = "UpLeg_L";
std::string perna_esquerda_bone = "LoLeg_L";
IBoneSceneNode * coxaDir = node->getJointNode(coxa_direita_bone.c_str());
if(coxaDir)
{
irr::core::vector3df rot = coxaDir->getRotation();
rot.Z = 0;
coxaDir->setRotation(rot);
}
IBoneSceneNode * coxaEsq = node->getJointNode(coxa_esquerda_bone.c_str());
if(coxaEsq)
{
irr::core::vector3df rot = coxaEsq->getRotation();
rot.Z = 0;
coxaEsq->setRotation(rot);
}
IBoneSceneNode * bone = node->getJointNode(nome_bone.c_str());
if(bone)
{
vector3df rot = bone->getRotation();
rot.Y = angulo;
bone->setRotation(rot);
}
}
int main()
{
IrrlichtDevice *device =
createDevice( video::EDT_OPENGL, dimension2d<u32>(800, 600));
IVideoDriver* driver = device->getVideoDriver();
ISceneManager* smgr = device->getSceneManager();
smgr->addCameraSceneNode(0, vector3df(0,10,-10), vector3df(0,5,0));
IAnimatedMesh* mesh = smgr->getMesh("ninja.b3d");
IAnimatedMeshSceneNode* node = smgr->addAnimatedMeshSceneNode(mesh);
node->setMaterialFlag(EMF_LIGHTING, false);
node->setMaterialTexture( 0, driver->getTexture("nskinrd.jpg") );
node->setRotation(vector3df(0,180,0)); // let ninja be in front to us
node->setJointMode(EJUOR_CONTROL); // tell irrlicht that you want to control joint positions
IBoneSceneNode* bone = node->getJointNode("Joint10"); // create IBoneSceneNode and select the desired bone
while(device->run()) {
bone->setRotation(bone->getRotation() + vector3df(1,0,0)); // rotate bone
driver->beginScene();
smgr->drawAll();
driver->endScene();
}
device->drop();
return 0;
}
void MovimentadorPernaDireita::mover(irr::scene::IAnimatedMeshSceneNode * node,tipos::Esqueleto esqueleto)
{
std::string coxa_esquerda_bone = "UpLeg_L";
std::string perna_esquerda_bone = "LoLeg_L";
std::string pe_esquerdo_bone_1 = "Foot_L";
std::string pe_esquerdo_bone_2 = "Toe_L";
tipos::Vetor v3_ = Vetor(esqueleto.joelho_esquerdo.x,esqueleto.abdomen.y);
Vetor p1_ = esqueleto.abdomen;
Vetor p2_ = esqueleto.joelho_esquerdo;
Vetor p3_ = v3_;
float a1_ = CalculosUteis::anguloEntrePontos(p1_,p2_,p3_);
if(!_isnan(a1_))
setarAnguloBone(node,coxa_esquerda_bone,-90 + a1_);
//setarAnguloPerna(node,coxa_direita_bone,90-a1_);
float angulo_joelho = CalculosUteis::anguloEntrePontos(esqueleto.joelho_esquerdo,esqueleto.abdomen,esqueleto.pe_esquerdo);
if(!_isnan(angulo_joelho))
{
setarAnguloPerna(node,perna_esquerda_bone, angulo_joelho);
IBoneSceneNode * joelho = node->getJointNode(perna_esquerda_bone.c_str());
core::vector3df rot= joelho->getRotation();
//rot.Y = angulo_joelho;
rot.Z = 180;
joelho->setRotation(rot);
}
//
IBoneSceneNode * pe_1 = node->getJointNode(pe_esquerdo_bone_1.c_str());
IBoneSceneNode * pe_2 = node->getJointNode(pe_esquerdo_bone_2.c_str());
pos_1 = Vetor(pe_1->getAbsolutePosition().X,pe_1->getAbsolutePosition().Y,pe_1->getAbsolutePosition().Z);
pos_2 = Vetor(pe_2->getAbsolutePosition().X,pe_2->getAbsolutePosition().Y,pe_2->getAbsolutePosition().Z);
/*
bool tem = false;
for(int i=0;i<marcadores.size();i++)
{
if( ( (marcadores[i]->pontoDentroMarcador(pos_1)) || (marcadores[i]->pontoDentroMarcador(pos_2)) ) && i!=indiceAnterior)
{
if(!cronometro.iniciado())
{
cronometro.iniciarContagem();
}
tem = true;
indiceAtual = i;
}
}
if(!tem)
{
cronometro.pararContagem();
}
*/
}
void MovimentadorMembro::setarAnguloBone(IAnimatedMeshSceneNode * node, std::string nome_bone,float angulo)
{
IBoneSceneNode * bone = node->getJointNode(nome_bone.c_str());
if(bone)
{
core::vector3df rot = bone->getRotation();
rot.Y = angulo;
bone->setRotation(rot);
}
}
void TransformadorAtualizarPosicaoBracoDireito::transformar(irr::scene::IAnimatedMeshSceneNode * node, tipos::Esqueleto esqueleto)
{
IBoneSceneNode * ombro = node->getJointNode("UpArm_R");
IBoneSceneNode * cotovelo = node->getJointNode("UpArm_R");
float menorDistancia = 999;
float anguloOmbro = 0;
float anguloCotovelo = 0;
//int anguloMinimo = -60;
//int anguloMaximo = 60;
int anguloMinimoOmbro = ombro->getRotation().Y - 20;
int anguloMaximoOmbro = ombro->getRotation().Y + 20;
int anguloMinimoCotovelo = cotovelo->getRotation().Y - 20;
int anguloMaximoCotovelo = cotovelo->getRotation().Y + 20;
for (int i = anguloMinimoOmbro ;i < anguloMaximoOmbro ;i++)
{
core::vector3df rotOmbro = ombro->getRotation();
rotOmbro.Y = i;
ombro->setRotation(rotOmbro);
for(int j =anguloMinimoCotovelo ; j< anguloMaximoCotovelo ;j++)
{
core::vector3df rotCot = cotovelo->getRotation();
rotCot.Y = j;
cotovelo->setRotation(rotCot);
IBoneSceneNode * mao = node->getJointNode("Hand_R");
node->updateAbsolutePosition();
for(int i=0;i<node->getJointCount();i++)
{
node->getJointNode(i)->updateAbsolutePosition();
}
float distancia = CalculosUteis::distanciaEntrePontos(
Vetor(mao->getAbsolutePosition().X,mao->getAbsolutePosition().Y,mao->getAbsolutePosition().Z),
esqueletoRef.mao_direita);
if(distancia<menorDistancia)
{
menorDistancia = distancia;
anguloOmbro = i;
anguloCotovelo = j;
}
}
}
printf("i: %f j: %f distancia : %f\n",anguloOmbro,anguloCotovelo,menorDistancia);
core::vector3df rotOmbro = ombro->getRotation();
rotOmbro.Y = anguloOmbro;
ombro->setRotation(rotOmbro);
core::vector3df rotCot = cotovelo->getRotation();
rotCot.Y = anguloCotovelo;
cotovelo->setRotation(rotCot);
}
void world_avatar::initialize()
{
core::vector3df targetPos(3000, 0, 3000);
ISceneManager *sceneManager = device_->getSceneManager();
IVideoDriver *driver = device_->getVideoDriver();
camera_ = sceneManager->addCameraSceneNode(0);
camera_->setPosition(core::vector3df(2700 * 2, 200, 2600 * 2));
camera_->setTarget(targetPos);
camera_->setFarValue(42000.0f);
mesh_ = device_->getSceneManager()->getMesh("data/assets/Skeleton.Male.x");
meshNode_ = device_->getSceneManager()->addAnimatedMeshSceneNode(mesh_);
meshNode_->setAnimationSpeed(30);
meshNode_->setMaterialFlag(video::EMF_LIGHTING, false);
meshNode_->setMaterialFlag(video::EMF_NORMALIZE_NORMALS, false);
meshNode_->setDebugDataVisible(scene::EDS_OFF);
meshNode_->setScale(core::vector3df(200,200,200));
meshNode_->setPosition(targetPos);
//core::quaternion q;
//q.fromAngleAxis(90 * core::DEGTORAD, core::vector3df(1, 0, 0));
//core::matrix4 m1 = q.getMatrix();
//meshNode_->updateAbsolutePosition();
//core::matrix4 m2 = meshNode_->getAbsoluteTransformation();
//core::matrix4 m = m1*m2;
//meshNode_->setRotation(m.getRotationDegrees());
ITexture* test = driver->getTexture("data/assets/upper-body.png");
meshNode_->getMaterial(0).TextureLayer[0].Texture = test;
ITexture* test2 = driver->getTexture("data/assets/lower-body.png");
meshNode_->getMaterial(1).TextureLayer[0].Texture = test2;
ITexture* test3 = driver->getTexture("data/assets/head.png");
meshNode_->getMaterial(2).TextureLayer[0].Texture = test3;
//meshNode_->setJointMode(EJUOR_CONTROL);
IBoneSceneNode* rightUpperArm = meshNode_->getJointNode((u32)0);
core::vector3df cpos = rightUpperArm->getRotation();
cpos.Z -= 1.5;
rightUpperArm->setRotation(cpos);
}
TransformadorAtualizarPosicaoBracoDireito::TransformadorAtualizarPosicaoBracoDireito(IAnimatedMeshSceneNode * node)
{
TransformadorAtualizarPosicaoBracoDireito::primeiro = true;
TransformadorAtualizarPosicaoBracoDireito::node = node;
esqueletoRef.abdomen = Vetor( node->getJointNode("Root")->getAbsolutePosition().X , node->getJointNode("Root")->getAbsolutePosition().Y, node->getJointNode("Root")->getAbsolutePosition().Z);
esqueletoRef.ombro_direito = Vetor( node->getJointNode("UpArm_R")->getAbsolutePosition().X , node->getJointNode("UpArm_R")->getAbsolutePosition().Y, node->getJointNode("UpArm_R")->getAbsolutePosition().Z);
esqueletoRef.cotovelo_direito = Vetor( node->getJointNode("LoArm_R")->getAbsolutePosition().X , node->getJointNode("LoArm_R")->getAbsolutePosition().Y, node->getJointNode("LoArm_R")->getAbsolutePosition().Z);
esqueletoRef.mao_direita = Vetor( node->getJointNode("Hand_R")->getAbsolutePosition().X , node->getJointNode("Hand_R")->getAbsolutePosition().Y, node->getJointNode("Hand_R")->getAbsolutePosition().Z);
distanciaCotoveloMao = CalculosUteis::distanciaEntrePontos(esqueletoRef.cotovelo_direito,esqueletoRef.mao_direita);
distanciaOmbroCotovelo = CalculosUteis::distanciaEntrePontos(esqueletoRef.ombro_direito,esqueletoRef.cotovelo_direito);
IBoneSceneNode * nodeOmbro = node->getJointNode("UpArm_R");
core::vector3df rotOmbro = nodeOmbro->getRotation();
rotOmbro.Y = 0;
//nodeOmbro->setRotation(rotOmbro);
}
