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This commit is contained in:
Hans Lambermont
2002-10-12 11:37:38 +00:00
commit 12315f4d0e
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67
intern/iksolver/test/Makefile Normal file
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#
# $Id$
#
# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version. The Blender
# Foundation also sells licenses for use in proprietary software under
# the Blender License. See http://www.blender.org/BL/ for information
# about this.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
# All rights reserved.
#
# The Original Code is: all of this file.
#
# Contributor(s): none yet.
#
# ***** END GPL/BL DUAL LICENSE BLOCK *****
# iksolver test makefile.
#
LIBNAME = iksolver
SOURCEDIR = intern/$(LIBNAME)/test
DIR = $(OCGDIR)/$(SOURCEDIR)
include nan_compile.mk
DIRS = ik_glut_test
include nan_subdirs.mk
include nan_link.mk
LIBS = $(OCGDIR)/intern/$(LIBNAME)/test/ik_glut_test/intern/$(DEBUG_DIR)libintern.a
LIBS += $(OCGDIR)/intern/$(LIBNAME)/test/ik_glut_test/common/$(DEBUG_DIR)libcommon.a
LIBS += $(OCGDIR)/intern/$(LIBNAME)/$(DEBUG_DIR)libiksolver.a
SLIBS += $(NAN_MOTO)/lib/$(DEBUG_DIR)libmoto.a
ifeq ($(OS),$(findstring $(OS), "beos darwin linux freebsd openbsd"))
LLIBS = -L/usr/X11R6/lib -lglut -pthread
endif
all debug:: $(LIBS) $(DIR)/$(DEBUG_DIR)iksolvertest
$(DIR)/$(DEBUG_DIR)iksolvertest:
@echo "****> linking $@ in $(DIR)"
$(CCC) $(LDFLAGS) -o $(DIR)/$(DEBUG_DIR)iksolvertest $(LIBS) $(SLIBS) $(LLIBS) $(DADD)
clean::
$(RM) $(DIR)/iksolvertest $(DIR)/debug/iksolvertest
test:: all
$(DIR)/iksolvertest

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intern/iksolver/test/ik_glut_test/Makefile Normal file
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#
# $Id$
#
# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version. The Blender
# Foundation also sells licenses for use in proprietary software under
# the Blender License. See http://www.blender.org/BL/ for information
# about this.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
# All rights reserved.
#
# The Original Code is: all of this file.
#
# Contributor(s): none yet.
#
# ***** END GPL/BL DUAL LICENSE BLOCK *****
# iksolver subdir bouncer. Pure waste.
#
include nan_definitions.mk
LIBNAME = ik_glut_test
SOURCEDIR = intern/iksolver/test/$(LIBNAME)
DIR = $(OCGDIR)/$(SOURCEDIR)
DIRS = common intern
include nan_subdirs.mk

95
intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp Normal file
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "GlutDrawer.h"
#include "MT_assert.h"
MEM_SmartPtr<GlutDrawManager> GlutDrawManager::m_s_instance = MEM_SmartPtr<GlutDrawManager>();
GlutDrawManager *
GlutDrawManager::
Instance(
){
if (m_s_instance == NULL) {
m_s_instance = new GlutDrawManager();
}
return m_s_instance;
}
// this is the function you should pass to glut
void
GlutDrawManager::
Draw(
){
GlutDrawManager *manager = GlutDrawManager::Instance();
if (manager->m_drawer != NULL) {
manager->m_drawer->Draw();
}
}
void
GlutDrawManager::
InstallDrawer(
GlutDrawer * drawer
){
MT_assert(m_drawer == NULL);
m_drawer = drawer;
}
void
GlutDrawManager::
ReleaseDrawer(
){
m_drawer = NULL;
}
GlutDrawManager::
~GlutDrawManager(
){
delete(m_drawer);
}

100
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#ifndef NAN_INCLUDED_GlutDrawer
#define NAN_INCLUDED_GlutDrawer
#include "MEM_NonCopyable.h"
#include "MEM_SmartPtr.h"
// So pissed off with Glut callback stuff
// that is impossible to call objects unless they are global
// inherit from GlutDrawer and installl the drawer in the singleton
// class GlutDrawManager.
class GlutDrawer {
public :
virtual
void
Draw(
)= 0;
virtual
~GlutDrawer(
){};
};
class GlutDrawManager : public MEM_NonCopyable{
public :
static
GlutDrawManager *
Instance(
);
// this is the function you should pass to glut
static
void
Draw(
);
void
InstallDrawer(
GlutDrawer *
);
void
ReleaseDrawer(
);
~GlutDrawManager(
);
private :
GlutDrawManager (
) :
m_drawer (0)
{
};
GlutDrawer * m_drawer;
static MEM_SmartPtr<GlutDrawManager> m_s_instance;
};
#endif

89
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "GlutKeyboardManager.h"
#include "MT_assert.h"
MEM_SmartPtr<GlutKeyboardManager> GlutKeyboardManager::m_s_instance = MEM_SmartPtr<GlutKeyboardManager>();
GlutKeyboardManager *
GlutKeyboardManager::
Instance(
){
if (m_s_instance == NULL) {
m_s_instance = new GlutKeyboardManager();
}
return m_s_instance;
}
// this is the function you should pass to glut
void
GlutKeyboardManager::
HandleKeyboard(
unsigned char key,
int x,
int y
){
GlutKeyboardManager *manager = GlutKeyboardManager::Instance();
if (manager->m_handler != NULL) {
manager->m_handler->HandleKeyboard(key,x,y);
}
}
void
GlutKeyboardManager::
InstallHandler(
GlutKeyboardHandler * handler
){
MT_assert(m_handler == NULL);
m_handler = handler;
}
void
GlutKeyboardManager::
ReleaseHandler(
){
m_handler = NULL;
}
GlutKeyboardManager::
~GlutKeyboardManager(
){
delete(m_handler);
}

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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#ifndef NAN_INCLUDED_GlutKeyboardManager
#define NAN_INCLUDED_GlutKeyboardManager
#include "MEM_NonCopyable.h"
#include "MEM_SmartPtr.h"
// So pissed off with Glut callback stuff
// that is impossible to call objects unless they are global
// inherit from GlutKeyboardHandler and installl the drawer in the singleton
// class GlutKeyboardManager.
class GlutKeyboardHandler : public MEM_NonCopyable {
public :
virtual
void
HandleKeyboard(
unsigned char key,
int x,
int y
)= 0;
virtual
~GlutKeyboardHandler(
){};
};
class GlutKeyboardManager : public MEM_NonCopyable{
public :
static
GlutKeyboardManager *
Instance(
);
// this is the function you should pass to glut
static
void
HandleKeyboard(
unsigned char key,
int x,
int y
);
void
InstallHandler(
GlutKeyboardHandler *
);
void
ReleaseHandler(
);
~GlutKeyboardManager(
);
private :
GlutKeyboardManager (
) :
m_handler (0)
{
};
GlutKeyboardHandler * m_handler;
static MEM_SmartPtr<GlutKeyboardManager> m_s_instance;
};
#endif

104
intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp Normal file
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "GlutMouseManager.h"
#include "MT_assert.h"
MEM_SmartPtr<GlutMouseManager> GlutMouseManager::m_s_instance = MEM_SmartPtr<GlutMouseManager>();
GlutMouseManager *
GlutMouseManager::
Instance(
){
if (m_s_instance == NULL) {
m_s_instance = new GlutMouseManager();
}
return m_s_instance;
}
// these are the functions you should pass to GLUT
void
GlutMouseManager::
Mouse(
int button,
int state,
int x,
int y
){
GlutMouseManager *manager = GlutMouseManager::Instance();
if (manager->m_handler != NULL) {
manager->m_handler->Mouse(button,state,x,y);
}
}
void
GlutMouseManager::
Motion(
int x,
int y
){
GlutMouseManager *manager = GlutMouseManager::Instance();
if (manager->m_handler != NULL) {
manager->m_handler->Motion(x,y);
}
}
void
GlutMouseManager::
InstallHandler(
GlutMouseHandler *handler
){
MT_assert(m_handler == NULL);
m_handler = handler;
}
void
GlutMouseManager::
ReleaseHandler(
){
m_handler = NULL;
}
GlutMouseManager::
~GlutMouseManager(
){
delete(m_handler);
}

116
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#ifndef NAN_INCLUDED_GlutMouseManager_h
#define NAN_INCLUDED_GlutMouseManager_h
#include "MEM_NonCopyable.h"
#include "MEM_SmartPtr.h"
class GlutMouseHandler {
public :
virtual
void
Mouse(
int button,
int state,
int x,
int y
) = 0;
virtual
void
Motion(
int x,
int y
) = 0;
virtual
~GlutMouseHandler(
){};
};
class GlutMouseManager : public MEM_NonCopyable{
public :
static
GlutMouseManager *
Instance(
);
// these are the functions you should pass to GLUT
static
void
Mouse(
int button,
int state,
int x,
int y
);
static
void
Motion(
int x,
int y
);
void
InstallHandler(
GlutMouseHandler *
);
void
ReleaseHandler(
);
~GlutMouseManager(
);
private :
GlutMouseManager (
) :
m_handler (0)
{
};
GlutMouseHandler * m_handler;
static MEM_SmartPtr<GlutMouseManager> m_s_instance;
};
#endif

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#
# $Id$
#
# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version. The Blender
# Foundation also sells licenses for use in proprietary software under
# the Blender License. See http://www.blender.org/BL/ for information
# about this.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
# All rights reserved.
#
# The Original Code is: all of this file.
#
# Contributor(s): none yet.
#
# ***** END GPL/BL DUAL LICENSE BLOCK *****
# iksolver test intern Makefile
#
LIBNAME = common
SOURCEDIR = intern/iksolver/test/ik_glut_test/$(LIBNAME)
DIR = $(OCGDIR)/$(SOURCEDIR)
include nan_compile.mk
CCFLAGS += $(LEVEL_2_CPP_WARNINGS)
CPPFLAGS += -I$(NAN_MOTO)/include
CPPFLAGS += -I$(NAN_MEMUTIL)/include

387
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#ifndef NAN_INCLUDED_ChainDrawer_h
#define NAN_INCLUDED_ChainDrawer_h
#include "../common/GlutDrawer.h"
#include "MyGlutMouseHandler.h"
#include "MyGlutKeyHandler.h"
#include "MT_Transform.h"
#ifdef USE_QUATERNIONS
# include "IK_Qsolver.h"
# include "../intern/IK_QChain.h"
# include "../intern/IK_QSolver_Class.h"
#else
# include "IK_solver.h"
# include "../intern/IK_Chain.h"
# include "../intern/IK_Solver_Class.h"
#endif
#include <GL/glut.h>
class ChainDrawer : public GlutDrawer
{
public :
static
ChainDrawer *
New(
) {
return new ChainDrawer();
}
void
SetMouseHandler(
MyGlutMouseHandler *mouse_handler
) {
m_mouse_handler = mouse_handler;
}
void
SetKeyHandler (
MyGlutKeyHandler *key_handler
) {
m_key_handler = key_handler;
}
void
SetChain(
IK_Chain_ExternPtr *chains,int chain_num
) {
m_chain_num = chain_num;
m_chains = chains;
}
// inherited from GlutDrawer
void
Draw(
) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPopMatrix();
glPushMatrix();
glRotatef(m_mouse_handler->AngleX(), 0.0, 1.0, 0.0);
glRotatef(m_mouse_handler->AngleY(), 1.0, 0.0, 0.0);
DrawScene();
glutSwapBuffers();
}
~ChainDrawer(
){
// nothing to do
};
private :
void
DrawScene(
){
// draw a little cross at the position of the key handler
// coordinates
MT_Vector3 line_x(4,0,0);
MT_Vector3 line_y(0.0,4,0);
MT_Vector3 line_z(0.0,0.0,4);
MT_Vector3 cross_origin = m_mouse_handler->Position();
MT_Vector3 temp;
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
glColor3f (1.0f,1.0f,1.0f);
temp = cross_origin - line_x;
glVertex3f(temp[0],temp[1],temp[2]);
temp = cross_origin + line_x;
glVertex3f(temp[0],temp[1],temp[2]);
temp = cross_origin - line_y;
glVertex3f(temp[0],temp[1],temp[2]);
temp = cross_origin + line_y;
glVertex3f(temp[0],temp[1],temp[2]);
temp = cross_origin - line_z;
glVertex3f(temp[0],temp[1],temp[2]);
temp = cross_origin + line_z;
glVertex3f(temp[0],temp[1],temp[2]);
glEnd();
glEnable(GL_LIGHTING);
IK_Chain_ExternPtr chain;
int chain_num;
for (chain_num = 0; chain_num < m_chain_num; chain_num++) {
chain = m_chains[chain_num];
IK_Segment_ExternPtr segs = chain->segments;
IK_Segment_ExternPtr seg_start = segs;
const IK_Segment_ExternPtr seg_end = segs + chain->num_segments;
float ogl_matrix[16];
glColor3f (0.0f,1.0f,0.0f);
MT_Vector3 previous_origin(0,0,0);
MT_Transform global_transform;
global_transform.setIdentity();
for (; seg_start != seg_end; ++seg_start) {
glPushMatrix();
// fill ogl_matrix with zeros
std::fill(ogl_matrix,ogl_matrix + 16,float(0));
// we have to do a bit of work here to compute the chain's
// bone values
// first compute all the matrices we need
MT_Transform translation;
translation.setIdentity();
translation.translate(MT_Vector3(0,seg_start->length,0));
MT_Matrix3x3 seg_rot(
seg_start->basis_change[0],seg_start->basis_change[1],seg_start->basis_change[2],
seg_start->basis_change[3],seg_start->basis_change[4],seg_start->basis_change[5],
seg_start->basis_change[6],seg_start->basis_change[7],seg_start->basis_change[8]
);
seg_rot.transpose();
MT_Matrix3x3 seg_pre_rot(
seg_start->basis[0],seg_start->basis[1],seg_start->basis[2],
seg_start->basis[3],seg_start->basis[4],seg_start->basis[5],
seg_start->basis[6],seg_start->basis[7],seg_start->basis[8]
);
MT_Transform seg_t_pre_rot(
MT_Point3(
seg_start->seg_start[0],
seg_start->seg_start[1],
seg_start->seg_start[2]
),
seg_pre_rot
);
// start of the bone is just the current global transform
// multiplied by the seg_start vector
MT_Transform seg_t_rot(MT_Point3(0,0,0),seg_rot);
MT_Transform seg_local = seg_t_pre_rot * seg_t_rot * translation;
MT_Vector3 bone_start = global_transform *
MT_Point3(
seg_start->seg_start[0],
seg_start->seg_start[1],
seg_start->seg_start[2]
);
global_transform = global_transform * seg_local;
global_transform.getValue(ogl_matrix);
MT_Vector3 bone_end = global_transform.getOrigin();
glMultMatrixf(ogl_matrix);
// glutSolidSphere(0.5,5,5);
glPopMatrix();
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
// draw lines of the principle axis of the local transform
MT_Vector3 x_axis(1,0,0);
MT_Vector3 y_axis(0,1,0);
MT_Vector3 z_axis(0,0,1);
x_axis = global_transform.getBasis() * x_axis * 5;
y_axis = global_transform.getBasis() * y_axis * 5;
z_axis = global_transform.getBasis() * z_axis * 5;
x_axis = x_axis + bone_start;
y_axis = y_axis + bone_start;
z_axis = z_axis + bone_start;
glColor3f(1,0,0);
glVertex3f(x_axis.x(),x_axis.y(),x_axis.z());
glVertex3f(
bone_start.x(),
bone_start.y(),
bone_start.z()
);
glColor3f(0,1,0);
glVertex3f(y_axis.x(),y_axis.y(),y_axis.z());
glVertex3f(
bone_start.x(),
bone_start.y(),
bone_start.z()
);
glColor3f(0,1,1);
glVertex3f(z_axis.x(),z_axis.y(),z_axis.z());
glVertex3f(
bone_start.x(),
bone_start.y(),
bone_start.z()
);
glColor3f(0,0,1);
glVertex3f(
bone_start.x(),
bone_start.y(),
bone_start.z()
);
glVertex3f(bone_end[0],bone_end[1],bone_end[2]);
glEnd();
glEnable(GL_LIGHTING);
}
#if 0
// draw jacobian column vectors
// hack access to internals
IK_Solver_Class * internals = static_cast<IK_Solver_Class *>(chain->intern);
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
const TNT::Matrix<MT_Scalar> & jac = internals->Chain().TransposedJacobian();
int i = 0;
for (i=0; i < jac.num_rows(); i++) {
glColor3f(1,1,1);
previous_origin = internals->Chain().Segments()[i/3].GlobalSegmentStart();
glVertex3f(previous_origin[0],previous_origin[1],previous_origin[2]);
glVertex3f(jac[i][0] + previous_origin[0],jac[i][1] + previous_origin[1],jac[i][2] + previous_origin[2]);
}
glEnd();
glEnable(GL_LIGHTING);
#endif
}
glColor3f(1.0,1.0,1.0);
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
MT_Scalar cube_size = 50;
glVertex3f(cube_size,cube_size,cube_size);
glVertex3f(-cube_size,cube_size,cube_size);
glVertex3f(cube_size,-cube_size,cube_size);
glVertex3f(-cube_size,-cube_size,cube_size);
glVertex3f(cube_size,cube_size,-cube_size);
glVertex3f(-cube_size,cube_size,-cube_size);
glVertex3f(cube_size,-cube_size,-cube_size);
glVertex3f(-cube_size,-cube_size,-cube_size);
glVertex3f(-cube_size,cube_size,cube_size);
glVertex3f(-cube_size,-cube_size,cube_size);
glVertex3f(cube_size,cube_size,-cube_size);
glVertex3f(cube_size,-cube_size,-cube_size);
glVertex3f(cube_size,cube_size,cube_size);
glVertex3f(cube_size,-cube_size,cube_size);
glVertex3f(-cube_size,cube_size,-cube_size);
glVertex3f(-cube_size,-cube_size,-cube_size);
glVertex3f(cube_size,cube_size,cube_size);
glVertex3f(cube_size,cube_size,-cube_size);
glVertex3f(cube_size,-cube_size,cube_size);
glVertex3f(cube_size,-cube_size,-cube_size);
glVertex3f(-cube_size,cube_size,cube_size);
glVertex3f(-cube_size,cube_size,-cube_size);
glVertex3f(-cube_size,-cube_size,cube_size);
glVertex3f(-cube_size,-cube_size,-cube_size);
glEnd();
glEnable(GL_LIGHTING);
};
private :
MyGlutMouseHandler * m_mouse_handler;
MyGlutKeyHandler *m_key_handler;
IK_Chain_ExternPtr *m_chains;
int m_chain_num;
ChainDrawer (
) : m_chains (NULL),
m_mouse_handler (NULL),
m_chain_num (0)
{
};
};
#endif

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#
# $Id$
#
# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version. The Blender
# Foundation also sells licenses for use in proprietary software under
# the Blender License. See http://www.blender.org/BL/ for information
# about this.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
# All rights reserved.
#
# The Original Code is: all of this file.
#
# Contributor(s): none yet.
#
# ***** END GPL/BL DUAL LICENSE BLOCK *****
# iksolver test intern Makefile
#
LIBNAME = intern
SOURCEDIR = intern/iksolver/test/ik_glut_test/$(LIBNAME)
DIR = $(OCGDIR)/$(SOURCEDIR)
include nan_compile.mk
CCFLAGS += $(LEVEL_2_CPP_WARNINGS)
CPPFLAGS += -I$(OPENGL_HEADERS)
CPPFLAGS += -I../../../extern
CPPFLAGS += -I../common
CPPFLAGS += -I$(NAN_MOTO)/include
CPPFLAGS += -I$(NAN_MEMUTIL)/include
ifeq ($(OS),windows)
CPPFLAGS += -I$(NAN_LIBDIR)/windows/glut-3.7/include
endif

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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#ifndef NAN_INCLUDED_MyGlutKeyHandler_h
#define NAN_INCLUDED_MyGlutKeyHandler_h
#include "../common/GlutKeyboardManager.h"
class MyGlutKeyHandler : public GlutKeyboardHandler
{
public :
static
MyGlutKeyHandler *
New(
) {
MEM_SmartPtr<MyGlutKeyHandler> output = new MyGlutKeyHandler();
if (output == NULL
) {
return NULL;
}
return output.Release();
}
void
HandleKeyboard(
unsigned char key,
int x,
int y
){
switch (key) {
case 27 :
exit(0);
}
}
~MyGlutKeyHandler(
)
{
};
private :
MyGlutKeyHandler(
)
{
}
};
#endif

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intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h Normal file
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#ifndef NAN_INCLUDED_MyGlutMouseHandler_h
#define NAN_INCLUDED_MyGlutMouseHandler_h
#include "../common/GlutMouseManager.h"
#include <GL/glut.h>
#include "IK_solver.h"
class MyGlutMouseHandler : public GlutMouseHandler
{
public :
static
MyGlutMouseHandler *
New(
) {
MEM_SmartPtr<MyGlutMouseHandler> output = new MyGlutMouseHandler();
if (output == NULL
) {
return NULL;
}
return output.Release();
}
void
SetChain(
IK_Chain_ExternPtr *chains, int num_chains
){
m_chains = chains;
m_num_chains = num_chains;
}
void
Mouse(
int button,
int state,
int x,
int y
){
if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) {
m_moving = true;
m_begin_x = x;
m_begin_y = y;
}
if (button == GLUT_LEFT_BUTTON && state == GLUT_UP) {
m_moving = false;
}
if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) {
m_tracking = true;
}
if (button == GLUT_RIGHT_BUTTON && state == GLUT_UP) {
m_tracking = false;
}
if (button == GLUT_MIDDLE_BUTTON && state == GLUT_DOWN) {
m_cg_on = true;
}
if (button == GLUT_MIDDLE_BUTTON && state == GLUT_UP) {
m_cg_on = false;
}
}
void
Motion(
int x,
int y
){
if (m_moving) {
m_angle_x = m_angle_x + (x - m_begin_x);
m_begin_x = x;
m_angle_y = m_angle_y + (y - m_begin_y);
m_begin_y = y;
glutPostRedisplay();
}
if (m_tracking) {
int w_h = glutGet((GLenum)GLUT_WINDOW_HEIGHT);
y = w_h - y;
double mvmatrix[16];
double projmatrix[16];
GLint viewport[4];
double px, py, pz,sz;
/* Get the matrices needed for gluUnProject */
glGetIntegerv(GL_VIEWPORT, viewport);
glGetDoublev(GL_MODELVIEW_MATRIX, mvmatrix);
glGetDoublev(GL_PROJECTION_MATRIX, projmatrix);
// work out the position of the end effector in screen space
GLdouble ex,ey,ez;
ex = m_pos.x();
ey = m_pos.y();
ez = m_pos.z();
gluProject(ex, ey, ez, mvmatrix, projmatrix, viewport, &px, &py, &sz);
gluUnProject((GLdouble) x, (GLdouble) y, sz, mvmatrix, projmatrix, viewport, &px, &py, &pz);
m_pos = MT_Vector3(px,py,pz);
}
if (m_tracking || m_cg_on) {
float temp[3];
m_pos.getValue(temp);
IK_SolveChain(m_chains[0],temp,0.01,200,0.1,m_chains[1]->segments);
IK_LoadChain(m_chains[0],m_chains[0]->segments,m_chains[0]->num_segments);
glutPostRedisplay();
}
}
const
float
AngleX(
) const {
return m_angle_x;
}
const
float
AngleY(
) const {
return m_angle_y;
}
const
MT_Vector3
Position(
) const {
return m_pos;
}
private :
MyGlutMouseHandler (
) :
m_angle_x(0),
m_angle_y(0),
m_begin_x(0),
m_begin_y(0),
m_moving (false),
m_tracking (false),
m_pos(0,0,0),
m_cg_on (false),
m_chains(NULL),
m_num_chains(0)
{
};
float m_angle_x;
float m_angle_y;
float m_begin_x;
float m_begin_y;
bool m_moving;
bool m_tracking;
bool m_cg_on;
MT_Vector3 m_pos;
IK_Chain_ExternPtr *m_chains;
int m_num_chains;
};
#endif

361
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/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* $Id$
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "MEM_SmartPtr.h"
#ifdef USE_QUATERNIONS
#include "IK_Qsolver.h"
#else
#include "IK_solver.h"
#endif
#include <GL/glut.h>
#include "MT_Vector3.h"
#include "MT_Quaternion.h"
#include "MT_Matrix3x3.h"
#include "MyGlutMouseHandler.h"
#include "MyGlutKeyHandler.h"
#include "ChainDrawer.h"
void
init(MT_Vector3 min,MT_Vector3 max)
{
GLfloat light_diffuse0[] = {1.0, 0.0, 0.0, 1.0}; /* Red diffuse light. */
GLfloat light_position0[] = {1.0, 1.0, 1.0, 0.0}; /* Infinite light location. */
GLfloat light_diffuse1[] = {1.0, 1.0, 1.0, 1.0}; /* Red diffuse light. */
GLfloat light_position1[] = {1.0, 0, 0, 0.0}; /* Infinite light location. */
/* Enable a single OpenGL light. */
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse0);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse1);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glEnable(GL_LIGHTING);
/* Use depth buffering for hidden surface elimination. */
glEnable(GL_DEPTH_TEST);
/* Setup the view of the cube. */
glMatrixMode(GL_PROJECTION);
// centre of the box + 3* depth of box
MT_Vector3 centre = (min + max) * 0.5;
MT_Vector3 diag = max - min;
float depth = diag.length();
float distance = 2;
gluPerspective(
/* field of view in degree */ 40.0,
/* aspect ratio */ 1.0,
/* Z near */ 1.0,
/* Z far */ distance * depth * 2
);
glMatrixMode(GL_MODELVIEW);
gluLookAt(
centre.x(), centre.y(), centre.z() + distance*depth, /* eye is at (0,0,5) */
centre.x(), centre.y(), centre.z(), /* center is at (0,0,0) */
0.0, 1.0, 0.); /* up is in positive Y direction */
glPushMatrix();
}
int
main(int argc, char **argv)
{
const int seg_num = 5;
const MT_Scalar seg_length = 15;
const float seg_startA[3] = {0,0,0};
const float seg_startB[3] = {0,-20,0};
// create some segments to solve with
// First chain
//////////////
IK_Segment_ExternPtr const segmentsA = new IK_Segment_Extern[seg_num];
IK_Segment_ExternPtr const segmentsB = new IK_Segment_Extern[seg_num];
IK_Segment_ExternPtr seg_it = segmentsA;
IK_Segment_ExternPtr seg_itB = segmentsB;
{
// MT_Quaternion qmat(MT_Vector3(0,0,1),-3.141/2);
MT_Quaternion qmat(MT_Vector3(0,0,1),0);
MT_Matrix3x3 mat(qmat);
seg_it->seg_start[0] = seg_startA[0];
seg_it->seg_start[1] = seg_startA[1];
seg_it->seg_start[2] = seg_startA[2];
float temp[12];
mat.getValue(temp);
seg_it->basis[0] = temp[0];
seg_it->basis[1] = temp[1];
seg_it->basis[2] = temp[2];
seg_it->basis[3] = temp[4];
seg_it->basis[4] = temp[5];
seg_it->basis[5] = temp[6];
seg_it->basis[6] = temp[8];
seg_it->basis[7] = temp[9];
seg_it->basis[8] = temp[10];
seg_it->length = seg_length;
MT_Quaternion q;
q.setEuler(0,0,0);
MT_Matrix3x3 qrot(q);
seg_it->basis_change[0] = 1;
seg_it->basis_change[1] = 0;
seg_it->basis_change[2] = 0;
seg_it->basis_change[3] = 0;
seg_it->basis_change[4] = 1;
seg_it->basis_change[5] = 0;
seg_it->basis_change[6] = 0;
seg_it->basis_change[7] = 0;
seg_it->basis_change[8] = 1;
seg_it ++;
seg_itB->seg_start[0] = seg_startA[0];
seg_itB->seg_start[1] = seg_startA[1];
seg_itB->seg_start[2] = seg_startA[2];
seg_itB->basis[0] = temp[0];
seg_itB->basis[1] = temp[1];
seg_itB->basis[2] = temp[2];
seg_itB->basis[3] = temp[4];
seg_itB->basis[4] = temp[5];
seg_itB->basis[5] = temp[6];
seg_itB->basis[6] = temp[8];
seg_itB->basis[7] = temp[9];
seg_itB->basis[8] = temp[10];
seg_itB->length = seg_length;
seg_itB->basis_change[0] = 1;
seg_itB->basis_change[1] = 0;
seg_itB->basis_change[2] = 0;
seg_itB->basis_change[3] = 0;
seg_itB->basis_change[4] = 1;
seg_itB->basis_change[5] = 0;
seg_itB->basis_change[6] = 0;
seg_itB->basis_change[7] = 0;
seg_itB->basis_change[8] = 1;
seg_itB ++;
}
int i;
for (i=1; i < seg_num; ++i, ++seg_it,++seg_itB) {
MT_Quaternion qmat(MT_Vector3(0,0,1),0.3);
MT_Matrix3x3 mat(qmat);
seg_it->seg_start[0] = 0;
seg_it->seg_start[1] = 0;
seg_it->seg_start[2] = 0;
float temp[12];
mat.getValue(temp);
seg_it->basis[0] = temp[0];
seg_it->basis[1] = temp[1];
seg_it->basis[2] = temp[2];
seg_it->basis[3] = temp[4];
seg_it->basis[4] = temp[5];
seg_it->basis[5] = temp[6];
seg_it->basis[6] = temp[8];
seg_it->basis[7] = temp[9];
seg_it->basis[8] = temp[10];
seg_it->length = seg_length;
MT_Quaternion q;
q.setEuler(0,0,0);
MT_Matrix3x3 qrot(q);
seg_it->basis_change[0] = 1;
seg_it->basis_change[1] = 0;
seg_it->basis_change[2] = 0;
seg_it->basis_change[3] = 0;
seg_it->basis_change[4] = 1;
seg_it->basis_change[5] = 0;
seg_it->basis_change[6] = 0;
seg_it->basis_change[7] = 0;
seg_it->basis_change[8] = 1;
///////////////////////////////
seg_itB->seg_start[0] = 0;
seg_itB->seg_start[1] = 0;
seg_itB->seg_start[2] = 0;
seg_itB->basis[0] = temp[0];
seg_itB->basis[1] = temp[1];
seg_itB->basis[2] = temp[2];
seg_itB->basis[3] = temp[4];
seg_itB->basis[4] = temp[5];
seg_itB->basis[5] = temp[6];
seg_itB->basis[6] = temp[8];
seg_itB->basis[7] = temp[9];
seg_itB->basis[8] = temp[10];
seg_itB->length = seg_length;
seg_itB->basis_change[0] = 1;
seg_itB->basis_change[1] = 0;
seg_itB->basis_change[2] = 0;
seg_itB->basis_change[3] = 0;
seg_itB->basis_change[4] = 1;
seg_itB->basis_change[5] = 0;
seg_itB->basis_change[6] = 0;
seg_itB->basis_change[7] = 0;
seg_itB->basis_change[8] = 1;
}
// create the chains
const int num_chains = 2;
IK_Chain_ExternPtr chains[num_chains];
chains[0] = IK_CreateChain();
chains[1] = IK_CreateChain();
// load segments into chain
IK_LoadChain(chains[0],segmentsA,seg_num);
IK_LoadChain(chains[1],segmentsB,seg_num);
// make and install a mouse handler
MEM_SmartPtr<MyGlutMouseHandler> mouse_handler (MyGlutMouseHandler::New());
GlutMouseManager::Instance()->InstallHandler(mouse_handler);
mouse_handler->SetChain(chains,num_chains);
// make and install a keyhandler
MEM_SmartPtr<MyGlutKeyHandler> key_handler (MyGlutKeyHandler::New());
GlutKeyboardManager::Instance()->InstallHandler(key_handler);
// instantiate the drawing class
MEM_SmartPtr<ChainDrawer> drawer (ChainDrawer::New());
GlutDrawManager::Instance()->InstallDrawer(drawer);
drawer->SetMouseHandler(mouse_handler);
drawer->SetChain(chains,num_chains);
drawer->SetKeyHandler(key_handler);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutCreateWindow("ik");
glutDisplayFunc(GlutDrawManager::Draw);
glutMouseFunc(GlutMouseManager::Mouse);
glutMotionFunc(GlutMouseManager::Motion);
glutKeyboardFunc(GlutKeyboardManager::HandleKeyboard);
init(MT_Vector3(-50,-50,-50),MT_Vector3(50,50,50));
glutMainLoop();
return 0; /* ANSI C requires main to return int. */
}

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# Microsoft Developer Studio Project File - Name="ik_glut_test" - Package Owner=<4>
# Microsoft Developer Studio Generated Build File, Format Version 6.00
# ** DO NOT EDIT **
# TARGTYPE "Win32 (x86) Console Application" 0x0103
CFG=ik_glut_test - Win32 Debug
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
!MESSAGE use the Export Makefile command and run
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49
intern/iksolver/test/ik_glut_test/make/msvc_6_0/ik_glut_test.dsw Normal file
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