Exemplo n.º 1
0
void IK_SetTransform(IK_Segment *seg, float start[3], float rest[][3], float basis[][3], float length)
{
	IK_QSegment *qseg = (IK_QSegment*)seg;

	MT_Vector3 mstart(start);
	// convert from blender column major to moto row major
	MT_Matrix3x3 mbasis(basis[0][0], basis[1][0], basis[2][0],
	                    basis[0][1], basis[1][1], basis[2][1],
	                    basis[0][2], basis[1][2], basis[2][2]);
	MT_Matrix3x3 mrest(rest[0][0], rest[1][0], rest[2][0],
	                   rest[0][1], rest[1][1], rest[2][1],
	                   rest[0][2], rest[1][2], rest[2][2]);
	MT_Scalar mlength(length);

	if (qseg->Composite()) {
		MT_Vector3 cstart(0, 0, 0);
		MT_Matrix3x3 cbasis;
		cbasis.setIdentity();
		
		qseg->SetTransform(mstart, mrest, mbasis, 0.0);
		qseg->Composite()->SetTransform(cstart, cbasis, cbasis, mlength);
	}
	else
		qseg->SetTransform(mstart, mrest, mbasis, mlength);
}
Exemplo n.º 2
0
/* vectomat function obtained from constrain.c and modified to work with MOTO library */
static MT_Matrix3x3 vectomat(MT_Vector3 vec, short axis, short upflag, short threedimup)
{
	MT_Matrix3x3 mat;
	MT_Vector3 y(MT_Scalar(0.0f), MT_Scalar(1.0f), MT_Scalar(0.0f));
	MT_Vector3 z(MT_Scalar(0.0f), MT_Scalar(0.0f), MT_Scalar(1.0f)); /* world Z axis is the global up axis */
	MT_Vector3 proj;
	MT_Vector3 right;
	MT_Scalar mul;
	int right_index;

	/* Normalized Vec vector*/
	vec = vec.safe_normalized_vec(z);

	/* if 2D doesn't move the up vector */
	if (!threedimup) {
		vec.setValue(MT_Scalar(vec[0]), MT_Scalar(vec[1]), MT_Scalar(0.0f));
		vec = (vec - z.dot(vec)*z).safe_normalized_vec(z);
	}

	if (axis > 2)
		axis -= 3;
	else
		vec = -vec;

	/* project the up vector onto the plane specified by vec */
	/* first z onto vec... */
	mul = z.dot(vec) / vec.dot(vec);
	proj = vec * mul;
	/* then onto the plane */
	proj = z - proj;
	/* proj specifies the transformation of the up axis */
	proj = proj.safe_normalized_vec(y);

	/* Normalized cross product of vec and proj specifies transformation of the right axis */
	right = proj.cross(vec);
	right.normalize();

	if (axis != upflag) {
		right_index = 3 - axis - upflag;

		/* account for up direction, track direction */
		right = right * basis_cross(axis, upflag);
		mat.setRow(right_index, right);
		mat.setRow(upflag, proj);
		mat.setRow(axis, vec);
		mat = mat.inverse();
	}
	/* identity matrix - don't do anything if the two axes are the same */
	else {
		mat.setIdentity();
	}

	return mat;
}
void RAS_OpenGLRasterizer::FlushDebugShapes()
{
	if (m_debugShapes.empty())
		return;

	// DrawDebugLines
	GLboolean light, tex;

	light= glIsEnabled(GL_LIGHTING);
	tex= glIsEnabled(GL_TEXTURE_2D);

	if (light) glDisable(GL_LIGHTING);
	if (tex) glDisable(GL_TEXTURE_2D);

	//draw lines
	glBegin(GL_LINES);
	for (unsigned int i=0;i<m_debugShapes.size();i++)
	{
		if (m_debugShapes[i].m_type != OglDebugShape::LINE)
			continue;
		glColor4f(m_debugShapes[i].m_color[0],m_debugShapes[i].m_color[1],m_debugShapes[i].m_color[2],1.f);
		const MT_Scalar* fromPtr = &m_debugShapes[i].m_pos.x();
		const MT_Scalar* toPtr= &m_debugShapes[i].m_param.x();
		glVertex3dv(fromPtr);
		glVertex3dv(toPtr);
	}
	glEnd();

	//draw circles
	for (unsigned int i=0;i<m_debugShapes.size();i++)
	{
		if (m_debugShapes[i].m_type != OglDebugShape::CIRCLE)
			continue;
		glBegin(GL_LINE_LOOP);
		glColor4f(m_debugShapes[i].m_color[0],m_debugShapes[i].m_color[1],m_debugShapes[i].m_color[2],1.f);

		static const MT_Vector3 worldUp(0.0, 0.0, 1.0);
		MT_Vector3 norm = m_debugShapes[i].m_param;
		MT_Matrix3x3 tr;
		if (norm.fuzzyZero() || norm == worldUp)
		{
			tr.setIdentity();
		}
		else
		{
			MT_Vector3 xaxis, yaxis;
			xaxis = MT_cross(norm, worldUp);
			yaxis = MT_cross(xaxis, norm);
			tr.setValue(xaxis.x(), xaxis.y(), xaxis.z(),
				yaxis.x(), yaxis.y(), yaxis.z(),
				norm.x(), norm.y(), norm.z());
		}
		MT_Scalar rad = m_debugShapes[i].m_param2.x();
		int n = (int) m_debugShapes[i].m_param2.y();
		for (int j = 0; j<n; j++)
		{
			MT_Scalar theta = j*M_PI*2/n;
			MT_Vector3 pos(cos(theta) * rad, sin(theta) * rad, 0.0);
			pos = pos*tr;
			pos += m_debugShapes[i].m_pos;
			const MT_Scalar* posPtr = &pos.x();
			glVertex3dv(posPtr);
		}
		glEnd();
	}

	if (light) glEnable(GL_LIGHTING);
	if (tex) glEnable(GL_TEXTURE_2D);

	m_debugShapes.clear();
}