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Fix elbow rotation.

master
Jeremy Hu 2016-12-27 07:51:25 +09:30
parent 21a462979d
commit 7b58a62aa6
4 changed files with 100 additions and 66 deletions
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6
data/bmesh_test_2.h
View File

@ -5,7 +5,7 @@
#define THIRD_BALL_SIZE 0.4 #define THIRD_BALL_SIZE 0.4
const float bmeshTestBalls[][6] = { const float bmeshTestBalls[][6] = {
/*Head*/ {0, 0.00000, 5.39143, 0.61970, BIG_BALL_SIZE}, /*Head*/ {0, 0.00000, 5.39143, 0.61970, BIG_BALL_SIZE, 1},
/*Neck*/ {1, 0.00000, 4.39990, -0.21690, THIRD_BALL_SIZE}, /*Neck*/ {1, 0.00000, 4.39990, -0.21690, THIRD_BALL_SIZE},
/*Under Neck*/ {2, 0.00000, 2.88163, 0.00000, THIRD_BALL_SIZE, 1}, /*Under Neck*/ {2, 0.00000, 2.88163, 0.00000, THIRD_BALL_SIZE, 1},
/*Chest*/ {3, 0.00000, 1.39434, 0.61970, SECOND_BALL_SIZE}, /*Chest*/ {3, 0.00000, 1.39434, 0.61970, SECOND_BALL_SIZE},
@ -18,7 +18,7 @@ const float bmeshTestBalls[][6] = {
/*LShoulder*/ {10,+1.42532, 2.72670, -0.44708, THIRD_BALL_SIZE}, /*LShoulder*/ {10,+1.42532, 2.72670, -0.44708, THIRD_BALL_SIZE},
/*LElbow1*/ {11,+3.12951, 1.95207, -1.07872, THIRD_BALL_SIZE}, /*LElbow1*/ {11,+3.12951, 1.95207, -1.07872, THIRD_BALL_SIZE},
/*LElbow2*/ {12,+2.91261, 1.08448, -0.68593, THIRD_BALL_SIZE}, /*LElbow2*/ {12,+2.91261, 1.08448, -0.68593, THIRD_BALL_SIZE},
/*LPalm1*/ {13,+1.76616, 0.53399, 0.09306, TINY_BALL_SIZE}, /*LPalm1*/ {13,+1.76616, 0.53399, 0.09306, TINY_BALL_SIZE, 1},
/*LPalm2*/ {14,+1.27039, 0.49576, 0.53458, TINY_BALL_SIZE}, /*LPalm2*/ {14,+1.27039, 0.49576, 0.53458, TINY_BALL_SIZE},
/*LPalm3*/ {15,+1.48729, 0.03099, 0.34054, TINY_BALL_SIZE}, /*LPalm3*/ {15,+1.48729, 0.03099, 0.34054, TINY_BALL_SIZE},
/*RKnee*/ {16,-1.82813, -1.64222, 0.30091, THIRD_BALL_SIZE}, /*RKnee*/ {16,-1.82813, -1.64222, 0.30091, THIRD_BALL_SIZE},
@ -27,7 +27,7 @@ const float bmeshTestBalls[][6] = {
/*RShoulder*/ {19,-1.42532, 2.72670, -0.44708, THIRD_BALL_SIZE}, /*RShoulder*/ {19,-1.42532, 2.72670, -0.44708, THIRD_BALL_SIZE},
/*RElbow1*/ {20,-3.12951, 1.95207, -1.07872, THIRD_BALL_SIZE}, /*RElbow1*/ {20,-3.12951, 1.95207, -1.07872, THIRD_BALL_SIZE},
/*RElbow2*/ {21,-2.91261, 1.08448, -0.68593, THIRD_BALL_SIZE}, /*RElbow2*/ {21,-2.91261, 1.08448, -0.68593, THIRD_BALL_SIZE},
/*RPalm1*/ {22,-1.76616, 0.53399, 0.09306, TINY_BALL_SIZE}, /*RPalm1*/ {22,-1.76616, 0.53399, 0.09306, TINY_BALL_SIZE, 1},
/*RPalm2*/ {23,-1.27039, 0.49576, 0.53458, TINY_BALL_SIZE}, /*RPalm2*/ {23,-1.27039, 0.49576, 0.53458, TINY_BALL_SIZE},
/*RPalm3*/ {24,-1.48729, 0.03099, 0.34054, TINY_BALL_SIZE}, /*RPalm3*/ {24,-1.48729, 0.03099, 0.34054, TINY_BALL_SIZE},
/*Mouth*/ {25, 0.00000, 4.57765, 1.92032, TINY_BALL_SIZE}, /*Mouth*/ {25, 0.00000, 4.57765, 1.92032, TINY_BALL_SIZE},

150
src/bmesh.c
View File

@ -229,8 +229,6 @@ static int bmeshGenerateInbetweenBallsBetween(bmesh *bm,
vec3 localYaxis; vec3 localYaxis;
vec3 boneDirection; vec3 boneDirection;
vec3 normalizedBoneDirection; vec3 normalizedBoneDirection;
vec3 worldYaxis = {0, 1, 0};
vec3 worldXaxis = {1, 0, 0};
bmeshBall *firstBall = bmeshGetBall(bm, firstBallIndex); bmeshBall *firstBall = bmeshGetBall(bm, firstBallIndex);
bmeshBall *secondBall = bmeshGetBall(bm, secondBallIndex); bmeshBall *secondBall = bmeshGetBall(bm, secondBallIndex);
bmeshBall *newBall; bmeshBall *newBall;
@ -268,7 +266,7 @@ static int bmeshGenerateInbetweenBallsBetween(bmesh *bm,
step += remaining / calculatedStepCount; step += remaining / calculatedStepCount;
offset = step; offset = step;
if (offset < distance) { if (offset < distance) {
while (offset < distance) { while (offset < distance && offset + BMESH_STEP_DISTANCE <= distance) {
float frac = offset / distance; float frac = offset / distance;
parentBallIndex = bmeshAddInbetweenBallBetween(bm, parentBallIndex = bmeshAddInbetweenBallBetween(bm,
firstBall, secondBall, frac, parentBallIndex); firstBall, secondBall, frac, parentBallIndex);
@ -402,9 +400,12 @@ int bmeshAddQuad(bmesh *bm, quad *q) {
static int bmeshSweepFrom(bmesh *bm, bmeshBall *parent, bmeshBall *ball) { static int bmeshSweepFrom(bmesh *bm, bmeshBall *parent, bmeshBall *ball) {
int result = 0; int result = 0;
vec3 worldYaxis = {0, 1, 0};
bmeshBallIterator iterator; bmeshBallIterator iterator;
bmeshBall *child = 0; bmeshBall *child = 0;
if (bm->roundColor == ball->roundColor) {
return 0;
}
ball->roundColor = bm->roundColor;
if (BMESH_BALL_TYPE_KEY == ball->type) { if (BMESH_BALL_TYPE_KEY == ball->type) {
child = bmeshGetBallFirstChild(bm, ball, &iterator); child = bmeshGetBallFirstChild(bm, ball, &iterator);
if (child) { if (child) {
@ -414,41 +415,55 @@ static int bmeshSweepFrom(bmesh *bm, bmeshBall *parent, bmeshBall *ball) {
vec3CrossProduct(&parent->boneDirection, &child->boneDirection, vec3CrossProduct(&parent->boneDirection, &child->boneDirection,
&rotateAxis); &rotateAxis);
vec3Normalize(&rotateAxis); vec3Normalize(&rotateAxis);
vec3Add(&rotateAxis, &ball->position, &rotateAxis);
rotateAngle = vec3Angle(&parent->boneDirection, &child->boneDirection); 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; rotateAngle *= 0.5;
/* /*
glColor3f(0.0, 0.0, 0.0); if (11 == ball->index) {
drawDebugPrintf("<%f,%f,%f> <%f,%f,%f> rotateAngle:%f", glPushMatrix();
parent->boneDirection.x, //glTranslatef(parent->position.x, parent->position.y, parent->position.z);
parent->boneDirection.y, glColor3f(1.0, 0.0, 1.0);
parent->boneDirection.z, glBegin(GL_LINES);
child->boneDirection.x, glVertex3f(0, 0, 0);
child->boneDirection.y, glVertex3f(parent->boneDirection.x, parent->boneDirection.y,
child->boneDirection.z, parent->boneDirection.z);
rotateAngle); glEnd();
glPopMatrix();
glPushMatrix(); glPushMatrix();
glTranslatef(parent->position.x, parent->position.y, parent->position.z); //glTranslatef(child->position.x, child->position.y, child->position.z);
glColor3f(1.0, 0.0, 1.0); glColor3f(0.0, 1.0, 1.0);
glBegin(GL_LINES); glBegin(GL_LINES);
glVertex3f(0, 0, 0); glVertex3f(0, 0, 0);
glVertex3f(parent->boneDirection.x, parent->boneDirection.y, glVertex3f(child->boneDirection.x, child->boneDirection.y,
parent->boneDirection.z); child->boneDirection.z);
glEnd(); glEnd();
glPopMatrix(); glPopMatrix();
glPushMatrix(); glPushMatrix();
glTranslatef(child->position.x, child->position.y, child->position.z); //glTranslatef(ball->position.x, ball->position.y, ball->position.z);
glColor3f(0.0, 1.0, 1.0); glColor3f(1.0, 0.0, 0.0);
glBegin(GL_LINES); glBegin(GL_LINES);
glVertex3f(0, 0, 0); glVertex3f(0, 0, 0);
glVertex3f(child->boneDirection.x, child->boneDirection.y, glVertex3f(rotateAxis.x, rotateAxis.y, rotateAxis.z);
child->boneDirection.z); glEnd();
glEnd(); glPopMatrix();
glPopMatrix(); }*/
*/
ball->boneDirection = parent->boneDirection; ball->boneDirection = parent->boneDirection;
vec3RotateAlong(&ball->boneDirection, rotateAngle, &rotateAxis, vec3RotateAlong(&ball->boneDirection, rotateAngle, &rotateAxis,
@ -460,11 +475,14 @@ static int bmeshSweepFrom(bmesh *bm, bmeshBall *parent, bmeshBall *ball) {
} }
} else { } else {
ball->boneDirection = parent->boneDirection; ball->boneDirection = parent->boneDirection;
generateYZfromBoneDirection(&ball->boneDirection,
&ball->localYaxis, &ball->localZaxis);
/*
vec3CrossProduct(&worldYaxis, &ball->boneDirection, &ball->localYaxis); vec3CrossProduct(&worldYaxis, &ball->boneDirection, &ball->localYaxis);
vec3Normalize(&ball->localYaxis); vec3Normalize(&ball->localYaxis);
vec3CrossProduct(&ball->localYaxis, &ball->boneDirection, vec3CrossProduct(&ball->localYaxis, &ball->boneDirection,
&ball->localZaxis); &ball->localZaxis);
vec3Normalize(&ball->localZaxis); vec3Normalize(&ball->localZaxis);*/
} }
} }
for (child = bmeshGetBallFirstChild(bm, ball, &iterator); for (child = bmeshGetBallFirstChild(bm, ball, &iterator);
@ -480,6 +498,7 @@ static int bmeshSweepFrom(bmesh *bm, bmeshBall *parent, bmeshBall *ball) {
} }
int bmeshSweep(bmesh *bm) { int bmeshSweep(bmesh *bm) {
bm->roundColor++;
return bmeshSweepFrom(bm, 0, bmeshGetRootBall(bm)); return bmeshSweepFrom(bm, 0, bmeshGetRootBall(bm));
} }
@ -488,7 +507,7 @@ static bmeshBall *bmeshFindBallForConvexHull(bmesh *bm, bmeshBall *root,
bmeshBallIterator iterator; bmeshBallIterator iterator;
bmeshBall *child; bmeshBall *child;
float distance = vec3Distance(&root->position, &ball->position); float distance = vec3Distance(&root->position, &ball->position);
if (distance > root->radius) { if (distance >= root->radius) {
return ball; return ball;
} }
child = bmeshGetBallFirstChild(bm, ball, &iterator); child = bmeshGetBallFirstChild(bm, ball, &iterator);
@ -499,47 +518,59 @@ static bmeshBall *bmeshFindBallForConvexHull(bmesh *bm, bmeshBall *root,
return bmeshFindBallForConvexHull(bm, root, child); return bmeshFindBallForConvexHull(bm, root, child);
} }
static int bmeshStichFrom(bmesh *bm, bmeshBall *ball) { static void addBallToHull(convexHull *hull, bmeshBall *ballForConvexHull) {
vec3 z, y;
quad q;
vec3Scale(&ballForConvexHull->localYaxis, ballForConvexHull->radius, &y);
vec3Scale(&ballForConvexHull->localZaxis, ballForConvexHull->radius, &z);
vec3Sub(&ballForConvexHull->position, &y, &q.pt[0]);
vec3Add(&q.pt[0], &z, &q.pt[0]);
vec3Sub(&ballForConvexHull->position, &y, &q.pt[1]);
vec3Sub(&q.pt[1], &z, &q.pt[1]);
vec3Add(&ballForConvexHull->position, &y, &q.pt[2]);
vec3Sub(&q.pt[2], &z, &q.pt[2]);
vec3Add(&ballForConvexHull->position, &y, &q.pt[3]);
vec3Add(&q.pt[3], &z, &q.pt[3]);
convexHullAddVertex(hull, &q.pt[0]);
convexHullAddVertex(hull, &q.pt[1]);
convexHullAddVertex(hull, &q.pt[2]);
convexHullAddVertex(hull, &q.pt[3]);
}
static int bmeshStichFrom(bmesh *bm, bmeshBall *parent, bmeshBall *ball) {
int result = 0; int result = 0;
bmeshBallIterator iterator; bmeshBallIterator iterator;
bmeshBall *child; bmeshBall *child;
bmeshBall *ballForConvexHull; bmeshBall *ballForConvexHull;
if (bm->roundColor == ball->roundColor) {
return 0;
}
ball->roundColor = bm->roundColor;
if (BMESH_BALL_TYPE_ROOT == ball->type) { if (BMESH_BALL_TYPE_ROOT == ball->type) {
convexHull *hull = convexHullCreate(); convexHull *hull = convexHullCreate();
if (!hull) { if (!hull) {
fprintf(stderr, "%s:convexHullCreate failed.\n", __FUNCTION__); fprintf(stderr, "%s:convexHullCreate failed.\n", __FUNCTION__);
return -1; return -1;
} }
glColor3f(0.0, 0.0, 0.0);
drawDebugPrintf("root <%f,%f,%f>", ball->position.x,
ball->position.y, ball->position.z);
for (child = bmeshGetBallFirstChild(bm, ball, &iterator); for (child = bmeshGetBallFirstChild(bm, ball, &iterator);
child; child;
child = bmeshGetBallNextChild(bm, ball, &iterator)) { child = bmeshGetBallNextChild(bm, ball, &iterator)) {
vec3 z, y;
quad q;
int vertexIndices[4];
ballForConvexHull = bmeshFindBallForConvexHull(bm, ball, child); ballForConvexHull = bmeshFindBallForConvexHull(bm, ball, child);
addBallToHull(hull, ballForConvexHull);
vec3Scale(&ballForConvexHull->localYaxis, ballForConvexHull->radius, &y); }
vec3Scale(&ballForConvexHull->localZaxis, ballForConvexHull->radius, &z); if (parent) {
vec3Sub(&ballForConvexHull->position, &y, &q.pt[0]); addBallToHull(hull, parent);
vec3Add(&q.pt[0], &z, &q.pt[0]);
vec3Sub(&ballForConvexHull->position, &y, &q.pt[1]);
vec3Sub(&q.pt[1], &z, &q.pt[1]);
vec3Add(&ballForConvexHull->position, &y, &q.pt[2]);
vec3Sub(&q.pt[2], &z, &q.pt[2]);
vec3Add(&ballForConvexHull->position, &y, &q.pt[3]);
vec3Add(&q.pt[3], &z, &q.pt[3]);
vertexIndices[0] = convexHullAddVertex(hull, &q.pt[0]);
vertexIndices[1] = convexHullAddVertex(hull, &q.pt[1]);
vertexIndices[2] = convexHullAddVertex(hull, &q.pt[2]);
vertexIndices[3] = convexHullAddVertex(hull, &q.pt[3]);
} }
convexHullGenerate(hull); convexHullGenerate(hull);
glPushMatrix(); glPushMatrix();
{ {
int triIndex; int triIndex;
glColor4f(1.0f, 1.0f, 1.0f, 0.5); glColor3f(1.0f, 1.0f, 1.0f);
for (triIndex = 0; triIndex < convexHullGetTriangleNum(hull); for (triIndex = 0; triIndex < convexHullGetTriangleNum(hull);
++triIndex) { ++triIndex) {
triangle *tri = (triangle *)convexHullGetTriangle(hull, triIndex); triangle *tri = (triangle *)convexHullGetTriangle(hull, triIndex);
@ -568,7 +599,7 @@ static int bmeshStichFrom(bmesh *bm, bmeshBall *ball) {
for (child = bmeshGetBallFirstChild(bm, ball, &iterator); for (child = bmeshGetBallFirstChild(bm, ball, &iterator);
child; child;
child = bmeshGetBallNextChild(bm, ball, &iterator)) { child = bmeshGetBallNextChild(bm, ball, &iterator)) {
result = bmeshSweepFrom(bm, ball, child); result = bmeshStichFrom(bm, ball, child);
if (0 != result) { if (0 != result) {
fprintf(stderr, "%s:bmeshSweepFrom failed.\n", __FUNCTION__); fprintf(stderr, "%s:bmeshSweepFrom failed.\n", __FUNCTION__);
return result; return result;
@ -578,5 +609,6 @@ static int bmeshStichFrom(bmesh *bm, bmeshBall *ball) {
} }
int bmeshStitch(bmesh *bm) { int bmeshStitch(bmesh *bm) {
return bmeshStichFrom(bm, bmeshGetRootBall(bm)); bm->roundColor++;
return bmeshStichFrom(bm, 0, bmeshGetRootBall(bm));
} }

4
src/render.cpp
View File

@ -274,10 +274,12 @@ void Render::paintGL() {
bmeshBall *ball = bmeshGetBall(bm, index); bmeshBall *ball = bmeshGetBall(bm, index);
drawBmeshBall(bm, ball); drawBmeshBall(bm, ball);
}*/ }*/
for (index = 0; index < bmeshGetBoneNum(bm); ++index) { for (index = 0; index < bmeshGetBoneNum(bm); ++index) {
bmeshBone *bone = bmeshGetBone(bm, index); bmeshBone *bone = bmeshGetBone(bm, index);
drawBmeshBone(bm, bone); drawBmeshBone(bm, bone);
} }
/*
glColor4f(1.0f, 1.0f, 1.0f, 0.5); glColor4f(1.0f, 1.0f, 1.0f, 0.5);
glBegin(GL_QUADS); glBegin(GL_QUADS);
for (index = 0; index < bmeshGetQuadNum(bm); ++index) { for (index = 0; index < bmeshGetQuadNum(bm); ++index) {
@ -301,7 +303,7 @@ void Render::paintGL() {
} }
glVertex3f(q->pt[0].x, q->pt[0].y, q->pt[0].z); glVertex3f(q->pt[0].x, q->pt[0].y, q->pt[0].z);
glEnd(); glEnd();
} }*/
} }
glPopMatrix(); glPopMatrix();