122 lines
4.1 KiB
C++
122 lines
4.1 KiB
C++
#include <QtGlobal>
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#include <QMatrix4x4>
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#include <QDebug>
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#include <cmath>
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#include <QtMath>
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#include "ccdikresolver.h"
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#include "util.h"
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CcdIkSolver::CcdIkSolver()
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{
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}
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void CcdIkSolver::setSolveFrom(int fromNodeIndex)
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{
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m_fromNodeIndex = fromNodeIndex;
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}
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void CcdIkSolver::setNodeHingeConstraint(int nodeIndex,
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const QVector3D &axis, double minLimitDegrees, double maxLimitDegrees)
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{
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auto &node = m_nodes[nodeIndex];
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node.axis = axis;
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node.minLimitDegrees = minLimitDegrees;
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node.maxLimitDegrees = maxLimitDegrees;
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}
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void CcdIkSolver::setMaxRound(int maxRound)
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{
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m_maxRound = maxRound;
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}
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void CcdIkSolver::setDistanceThreshod(float threshold)
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{
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m_distanceThreshold2 = threshold * threshold;
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}
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int CcdIkSolver::addNodeInOrder(const QVector3D &position)
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{
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CcdIkNode node;
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node.position = position;
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int nodeCount = m_nodes.size();
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m_nodes.push_back(node);
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return nodeCount;
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}
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void CcdIkSolver::solveTo(const QVector3D &position)
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{
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//qDebug() << "solveTo:" << position;
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m_destination = position;
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float lastDistance2 = 0;
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for (int i = 0; i < m_maxRound; i++) {
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const auto &endEffector = m_nodes[m_nodes.size() - 1];
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float distance2 = (endEffector.position - m_destination).lengthSquared();
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//qDebug() << "Round:" << i << " distance2:" << distance2;
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if (distance2 <= m_distanceThreshold2)
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break;
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if (lastDistance2 > 0 && fabs(distance2 - lastDistance2) <= m_distanceCeaseThreshold2)
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break;
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lastDistance2 = distance2;
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iterate();
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}
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}
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const QVector3D &CcdIkSolver::getNodeSolvedPosition(int index)
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{
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Q_ASSERT(index >= 0 && index < (int)m_nodes.size());
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return m_nodes[index].position;
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}
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int CcdIkSolver::getNodeCount()
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{
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return (int)m_nodes.size();
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}
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void CcdIkSolver::iterate()
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{
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auto rotateChildren = [&](const QQuaternion &quaternion, int i) {
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const auto &origin = m_nodes[i];
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for (size_t j = i + 1; j <= m_nodes.size() - 1; j++) {
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auto &next = m_nodes[j];
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const auto offset = next.position - origin.position;
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next.position = origin.position + quaternion.rotatedVector(offset);
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}
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};
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for (int i = m_nodes.size() - 2; i >= m_fromNodeIndex; i--) {
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const auto &origin = m_nodes[i];
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const auto &endEffector = m_nodes[m_nodes.size() - 1];
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QVector3D from = (endEffector.position - origin.position).normalized();
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QVector3D to = (m_destination - origin.position).normalized();
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auto quaternion = QQuaternion::rotationTo(from, to);
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rotateChildren(quaternion, i);
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if (origin.axis.isNull())
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continue;
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QVector3D oldAxis = origin.axis;
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QVector3D newAxis = quaternion.rotatedVector(oldAxis);
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auto hingQuaternion = QQuaternion::rotationTo(newAxis, oldAxis);
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rotateChildren(hingQuaternion, i);
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// TODO: Support angle limit for other axis
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int parentIndex = i - 1;
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if (parentIndex < 0)
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continue;
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int childIndex = i + 1;
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if (childIndex >= m_nodes.size())
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continue;
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const auto &parent = m_nodes[parentIndex];
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const auto &child = m_nodes[childIndex];
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QVector3D angleFrom = (QVector3D(0.0, parent.position.y(), parent.position.z()) -
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QVector3D(0.0, origin.position.y(), origin.position.z())).normalized();
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QVector3D angleTo = (QVector3D(0.0, child.position.y(), child.position.z()) -
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QVector3D(0.0, origin.position.y(), origin.position.z())).normalized();
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float degrees = angleInRangle360BetweenTwoVectors(angleFrom, angleTo, QVector3D(1.0, 0.0, 0.0));
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if (degrees < origin.minLimitDegrees) {
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auto quaternion = QQuaternion::fromAxisAndAngle(QVector3D(1.0, 0.0, 0.0), origin.minLimitDegrees - degrees);
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rotateChildren(quaternion, i);
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} else if (degrees > origin.maxLimitDegrees) {
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auto quaternion = QQuaternion::fromAxisAndAngle(QVector3D(-1.0, 0.0, 0.0), degrees - origin.maxLimitDegrees);
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rotateChildren(quaternion, i);
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}
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}
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}
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