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Fix rotate on elbow nodes.

master
Jeremy Hu 2017-01-02 22:38:53 +09:30
parent 2f022b337c
commit 026ef777af
3 changed files with 25 additions and 123 deletions
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145
src/bmesh.c
View File

@ -213,11 +213,11 @@ static void generateYZfromBoneDirection(vec3 *boneDirection,
vec3 *localYaxis, vec3 *localZaxis) {
vec3 worldYaxis = {0, 1, 0};
vec3 worldXaxis = {1, 0, 0};
if (0 == vec3Angle(boneDirection, &worldYaxis)) {
vec3CrossProduct(&worldXaxis, boneDirection, localYaxis);
} else {
//if (0 == vec3Angle(boneDirection, &worldYaxis)) {
// vec3CrossProduct(&worldXaxis, boneDirection, localYaxis);
//} else {
vec3CrossProduct(&worldYaxis, boneDirection, localYaxis);
}
//}
vec3Normalize(localYaxis);
vec3CrossProduct(localYaxis, boneDirection, localZaxis);
vec3Normalize(localZaxis);
@ -246,20 +246,6 @@ static int bmeshGenerateInbetweenBallsBetween(bmesh *bm,
generateYZfromBoneDirection(&boneDirection,
&localYaxis, &localZaxis);
/*
glColor3f(0.0, 0.0, 0.0);
drawDebugPrintf("<%f,%f,%f> <%f,%f,%f> <%f,%f,%f>",
localYaxis.x,
localYaxis.y,
localYaxis.z,
localZaxis.x,
localZaxis.y,
localZaxis.z,
boneDirection.x,
boneDirection.y,
boneDirection.z);
*/
intvalDist = (firstBall->radius + secondBall->radius) / 3;
step = intvalDist;
distance = vec3Length(&boneDirection);
@ -420,73 +406,18 @@ static int bmeshSweepFrom(bmesh *bm, bmeshBall *parent, bmeshBall *ball) {
&rotateAxis);
vec3Normalize(&rotateAxis);
rotateAngle = vec3Angle(&parent->boneDirection, &child->boneDirection);
/*
if (1 || 11 == ball->index || 20 == ball->index) {
glColor3f(0.0, 0.0, 0.0);
drawDebugPrintf("<%f,%f,%f> <%f,%f,%f> <%f,%f,%f> rotateAngle:%f",
parent->boneDirection.x,
parent->boneDirection.y,
parent->boneDirection.z,
child->boneDirection.x,
child->boneDirection.y,
child->boneDirection.z,
rotateAxis.x,
rotateAxis.y,
rotateAxis.z,
rotateAngle);
}*/
rotateAngle *= 0.5;
/*
if (11 == ball->index) {
glPushMatrix();
//glTranslatef(parent->position.x, parent->position.y, parent->position.z);
glColor3f(1.0, 0.0, 1.0);
glBegin(GL_LINES);
glVertex3f(0, 0, 0);
glVertex3f(parent->boneDirection.x, parent->boneDirection.y,
parent->boneDirection.z);
glEnd();
glPopMatrix();
glPushMatrix();
//glTranslatef(child->position.x, child->position.y, child->position.z);
glColor3f(0.0, 1.0, 1.0);
glBegin(GL_LINES);
glVertex3f(0, 0, 0);
glVertex3f(child->boneDirection.x, child->boneDirection.y,
child->boneDirection.z);
glEnd();
glPopMatrix();
glPushMatrix();
//glTranslatef(ball->position.x, ball->position.y, ball->position.z);
glColor3f(1.0, 0.0, 0.0);
glBegin(GL_LINES);
glVertex3f(0, 0, 0);
glVertex3f(rotateAxis.x, rotateAxis.y, rotateAxis.z);
glEnd();
glPopMatrix();
}*/
ball->boneDirection = parent->boneDirection;
rotateAxis.y = 0;
rotateAngle *= 0.5;
vec3RotateAlong(&ball->boneDirection, rotateAngle, &rotateAxis,
&ball->boneDirection);
generateYZfromBoneDirection(&ball->boneDirection,
&ball->localYaxis, &ball->localZaxis);
} else {
// TODO:
}
} else {
ball->boneDirection = parent->boneDirection;
generateYZfromBoneDirection(&ball->boneDirection,
&ball->localYaxis, &ball->localZaxis);
/*
vec3CrossProduct(&worldYaxis, &ball->boneDirection, &ball->localYaxis);
vec3Normalize(&ball->localYaxis);
vec3CrossProduct(&ball->localYaxis, &ball->boneDirection,
&ball->localZaxis);
vec3Normalize(&ball->localZaxis);*/
}
}
for (child = bmeshGetBallFirstChild(bm, ball, &iterator);
@ -526,6 +457,7 @@ static bmeshBall *bmeshFindChildBallForConvexHull(bmesh *bm, bmeshBall *root,
if (!child) {
return ball;
}
ball->radius = 0;
return bmeshFindChildBallForConvexHull(bm, root, child);
}
@ -537,6 +469,7 @@ static bmeshBall *bmeshFindParentBallForConvexHull(bmesh *bm, bmeshBall *root,
if (!ball->notFitHull && isDistanceEnoughForConvexHull(root, ball)) {
return ball;
}
ball->radius = 0;
return bmeshFindParentBallForConvexHull(bm, root, depth - 1,
bm->parentBallStack[depth - 1]);
}
@ -705,26 +638,6 @@ static convexHull *createConvexHullForBall(bmesh *bm, int depth,
}
}
/*
if (!hasVertexNotFitOnHull) {
for (i = 0; i < arrayGetLength(ballPtrArray); ++i) {
bmeshBall *ballItem = *((bmeshBall **)arrayGetItem(ballPtrArray, i));
if (-1 == ballItem->countsForHull[0] ||
ballItem->countsForHull[0] != ballItem->countsForHull[1] ||
ballItem->countsForHull[1] != ballItem->countsForHull[2] ||
ballItem->countsForHull[2] != ballItem->countsForHull[3]) {
hasVertexNotFitOnHull = 1;
if (!ballItem->notFitHull) {
*needRetry = 1;
ballItem->notFitHull = 1;
arrayDestroy(ballPtrArray);
convexHullDestroy(hull);
return 0;
}
}
}
}*/
if (hasVertexNotFitOnHull) {
fprintf(stderr, "%s:hasVertexNotFitOnHull.\n", __FUNCTION__);
arrayDestroy(ballPtrArray);
@ -747,7 +660,7 @@ static int bmeshStichFrom(bmesh *bm, int depth, bmeshBall *ball) {
bm->parentBallStack[depth] = ball;
}
ball->roundColor = bm->roundColor;
if (BMESH_BALL_TYPE_ROOT == ball->type/* && 2 == ball->index*/) {
if (BMESH_BALL_TYPE_ROOT == ball->type) {
convexHull *hull = 0;
for (;;) {
@ -763,27 +676,6 @@ static int bmeshStichFrom(bmesh *bm, int depth, bmeshBall *ball) {
glPushMatrix();
/*
if (lastShowFaceIndexIncTime + 0 < osGetMilliseconds()) {
if (17 == showFaceIndex) {
if (lastShowFaceIndexIncTime + 0 < osGetMilliseconds()) {
if (showFaceIndex > convexHullGetFace3Num(hull)) {
showFaceIndex = 0;
} else {
showFaceIndex++;
}
lastShowFaceIndexIncTime = osGetMilliseconds();
}
} else {
if (showFaceIndex > convexHullGetFace3Num(hull)) {
showFaceIndex = 0;
} else {
showFaceIndex++;
}
lastShowFaceIndexIncTime = osGetMilliseconds();
}
}*/
if (hull)
{
int triIndex;
@ -942,6 +834,7 @@ static int bmeshStichFrom(bmesh *bm, int depth, bmeshBall *ball) {
int bmeshStitch(bmesh *bm) {
bm->roundColor++;
memset(bm->parentBallStack, 0, sizeof(bm->parentBallStack));
return bmeshStichFrom(bm, 0, bmeshGetRootBall(bm));
}
@ -1004,23 +897,30 @@ static void drawWallsBetweenQuads(vec3 *origin, quad *q1, quad *q2) {
}
}
static int bmeshGenerateInbetweenMeshFrom(bmesh *bm, bmeshBall *parent,
static int bmeshGenerateInbetweenMeshFrom(bmesh *bm, int depth,
bmeshBall *ball) {
int result = 0;
bmeshBallIterator iterator;
bmeshBall *child = 0;
bmeshBall *parent;
if (bm->roundColor == ball->roundColor) {
return 0;
}
if (depth < BMESH_MAX_PARENT_BALL_DEPTH) {
bm->parentBallStack[depth] = ball;
}
ball->roundColor = bm->roundColor;
if (ball->radius > 0) {
if (depth - 1 >= 0 && (ball->radius > 0 || ball->flagForHull) &&
!ball->notFitHull) {
quad currentFace;
calculateBallQuad(ball, &currentFace);
if (parent && parent->radius > 0) {
parent = bm->parentBallStack[depth - 1];
child = bmeshGetBallFirstChild(bm, ball, &iterator);
if (parent) {
quad parentFace;
ball->inbetweenMesh = 1;
calculateBallQuad(parent, &parentFace);
drawWallsBetweenQuads(&ball->position, &parentFace, &currentFace);
child = bmeshGetBallFirstChild(bm, ball, &iterator);
if (!child) {
bmeshBall fakeParentParent = *parent;
bmeshBall fakeParent = *ball;
@ -1046,7 +946,7 @@ static int bmeshGenerateInbetweenMeshFrom(bmesh *bm, bmeshBall *parent,
for (child = bmeshGetBallFirstChild(bm, ball, &iterator);
child;
child = bmeshGetBallNextChild(bm, ball, &iterator)) {
result = bmeshGenerateInbetweenMeshFrom(bm, ball, child);
result = bmeshGenerateInbetweenMeshFrom(bm, depth + 1, child);
if (0 != result) {
fprintf(stderr, "%s:bmeshGenerateInbetweenMeshFrom failed.\n",
__FUNCTION__);
@ -1058,6 +958,7 @@ static int bmeshGenerateInbetweenMeshFrom(bmesh *bm, bmeshBall *parent,
int bmeshGenerateInbetweenMesh(bmesh *bm) {
bm->roundColor++;
memset(bm->parentBallStack, 0, sizeof(bm->parentBallStack));
return bmeshGenerateInbetweenMeshFrom(bm, 0, bmeshGetRootBall(bm));
}

1
src/bmesh.h
View File

@ -28,6 +28,7 @@ typedef struct {
int roundColor;
int notFitHull;
int flagForHull;
int inbetweenMesh;
} bmeshBall;
typedef int bmeshBallIterator;

2
src/render.cpp
View File

@ -274,7 +274,7 @@ void Render::paintGL() {
bmeshGenerateInbetweenBalls(bm);
bmeshSweep(bm);
bmeshStitch(bm);
//bmeshGenerateInbetweenMesh(bm);
bmeshGenerateInbetweenMesh(bm);
}
if (bm) {