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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.0 (2010/01/01)
#include "Wm5GraphicsPCH.h"
#include "Wm5IKController.h"
using namespace Wm5;
WM5_IMPLEMENT_RTTI(Wm5, Controller, IKController);
WM5_IMPLEMENT_STREAM(IKController);
WM5_IMPLEMENT_FACTORY(IKController);
//----------------------------------------------------------------------------
IKController::IKController (int numJoints, IKJointPtr* joints, int numGoals,
IKGoalPtr* goals)
:
Iterations(128),
OrderEndToRoot(true),
mNumJoints(numJoints),
mJoints(joints),
mNumGoals(numGoals),
mGoals(goals)
{
}
//----------------------------------------------------------------------------
IKController::~IKController ()
{
delete1(mJoints);
delete1(mGoals);
}
//----------------------------------------------------------------------------
bool IKController::Update (double applicationTime)
{
if (!Controller::Update(applicationTime))
{
return false;
}
// Make sure effectors are all current in world space. It is assumed
// that the joints form a chain, so the world transforms of joint I
// are the parent transforms for the joint I+1.
int k;
for (k = 0; k < mNumJoints; ++k)
{
mJoints[k]->UpdateWorldSRT();
}
// Update joints one-at-a-time to meet goals. As each joint is updated,
// the nodes occurring in the chain after that joint must be made current
// in world space.
int iter, i, j;
IKJoint* joint;
if (OrderEndToRoot)
{
for (iter = 0; iter < Iterations; ++iter)
{
for (k = 0; k < mNumJoints; ++k)
{
int r = mNumJoints - 1 - k;
joint = mJoints[r];
for (i = 0; i < 3; ++i)
{
if (joint->AllowTranslation[i])
{
if (joint->UpdateLocalT(i))
{
for (j = r; j < mNumJoints; ++j)
{
mJoints[j]->UpdateWorldRT();
}
}
}
}
for (i = 0; i < 3; ++i)
{
if (joint->AllowRotation[i])
{
if (joint->UpdateLocalR(i))
{
for (j = r; j < mNumJoints; ++j)
{
mJoints[j]->UpdateWorldRT();
}
}
}
}
}
}
}
else // order root to end
{
for (iter = 0; iter < Iterations; ++iter)
{
for (k = 0; k < mNumJoints; ++k)
{
joint = mJoints[k];
for (i = 0; i < 3; ++i)
{
if (joint->AllowTranslation[i])
{
if (joint->UpdateLocalT(i))
{
for (j = k; j < mNumJoints; ++j)
{
mJoints[j]->UpdateWorldRT();
}
}
}
}
for (i = 0; i < 3; ++i)
{
if (joint->AllowRotation[i])
{
if (joint->UpdateLocalR(i))
{
for (j = k; j < mNumJoints; ++j)
{
mJoints[j]->UpdateWorldRT();
}
}
}
}
}
}
}
return true;
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Name support.
//----------------------------------------------------------------------------
Object* IKController::GetObjectByName (const std::string& name)
{
Object* found = Controller::GetObjectByName(name);
if (found)
{
return found;
}
int i;
for (i = 0; i < mNumJoints; ++i)
{
WM5_GET_OBJECT_BY_NAME(mJoints[i], name, found);
}
for (i = 0; i < mNumGoals; ++i)
{
WM5_GET_OBJECT_BY_NAME(mGoals[i], name, found);
}
return 0;
}
//----------------------------------------------------------------------------
void IKController::GetAllObjectsByName (const std::string& name,
std::vector<Object*>& objects)
{
Controller::GetAllObjectsByName(name,objects);
int i;
for (i = 0; i < mNumJoints; ++i)
{
WM5_GET_ALL_OBJECTS_BY_NAME(mJoints[i], name, objects);
}
for (i = 0; i < mNumGoals; ++i)
{
WM5_GET_ALL_OBJECTS_BY_NAME(mGoals[i], name, objects);
}
}
//----------------------------------------------------------------------------
//----------------------------------------------------------------------------
// Streaming support.
//----------------------------------------------------------------------------
IKController::IKController (LoadConstructor value)
:
Controller(value),
Iterations(0),
OrderEndToRoot(false),
mNumJoints(0),
mNumGoals(0),
mGoals(0)
{
}
//----------------------------------------------------------------------------
void IKController::Load (InStream& source)
{
WM5_BEGIN_DEBUG_STREAM_LOAD(source);
Controller::Load(source);
source.Read(Iterations);
source.ReadBool(OrderEndToRoot);
source.ReadPointerRR(mNumJoints, mJoints);
source.ReadPointerRR(mNumGoals, mGoals);
WM5_END_DEBUG_STREAM_LOAD(IKController, source);
}
//----------------------------------------------------------------------------
void IKController::Link (InStream& source)
{
Controller::Link(source);
source.ResolveLink(mNumJoints, mJoints);
source.ResolveLink(mNumGoals, mGoals);
}
//----------------------------------------------------------------------------
void IKController::PostLink ()
{
Controller::PostLink();
}
//----------------------------------------------------------------------------
bool IKController::Register (OutStream& target) const
{
if (Controller::Register(target))
{
target.Register(mNumJoints, mJoints);
target.Register(mNumGoals, mGoals);
return true;
}
return false;
}
//----------------------------------------------------------------------------
void IKController::Save (OutStream& target) const
{
WM5_BEGIN_DEBUG_STREAM_SAVE(target);
Controller::Save(target);
target.Write(Iterations);
target.WriteBool(OrderEndToRoot);
target.WritePointerW(mNumJoints, mJoints);
target.WritePointerW(mNumGoals, mGoals);
WM5_END_DEBUG_STREAM_SAVE(IKController, target);
}
//----------------------------------------------------------------------------
int IKController::GetStreamingSize () const
{
int size = Controller::GetStreamingSize();
size += sizeof(Iterations);
size += WM5_BOOLSIZE(OrderEndToRoot);
size += sizeof(mNumJoints);
size += mNumJoints*WM5_POINTERSIZE(mJoints[0]);
size += sizeof(mNumGoals);
size += mNumGoals*WM5_POINTERSIZE(mGoals[0]);
return size;
}
//----------------------------------------------------------------------------
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