#include "skybox.hpp"
#include "image.hpp"
#include "util.hpp"
+#include "ik.hpp"
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
glDrawArrays(GL_TRIANGLES, 0, 36);
}
+int findNodeTrans(const struct aiNode *n, const struct aiString name, glm::mat4 *dest) {
+ if (strcmp(n->mName.data, name.data) == 0) {
+ *dest = aiMatrixToMat4(n->mTransformation);
+ return 0;
+ }
+ for (int i = 0; i < n->mNumChildren; i++) {
+ if (findNodeTrans(n->mChildren[i], name, dest) == 0) {
+ glm::mat4 t = aiMatrixToMat4(n->mTransformation);
+ *dest = t * *dest;
+ return 0;
+ }
+ }
+ return 1;
+}
+
+glm::mat4 worldSpaceToModelSpace(aiNode *node, glm::mat4 m) {
+ aiNode *parent = node;
+ glm::mat4 res = m;
+ std::vector<glm::mat4> trans;
+ while (parent != nullptr) {
+ /* res = res * glm::inverse(aiMatrixToMat4(parent->mTransformation)); */
+ trans.push_back(glm::inverse(aiMatrixToMat4(parent->mTransformation)));
+ parent = parent->mParent;
+ }
+ while (!trans.empty()) { res = trans.back() * res; trans.pop_back(); }
+ return res;
+}
void display() {
glClearColor(0.5, 0.5, 0.5, 1);
glUniform3fv(glGetUniformLocation(pbrProg->progId, "lightPositions"), numLights, glm::value_ptr(lightPositions[0]));
glUniform3fv(glGetUniformLocation(pbrProg->progId, "lightColors"), numLights, glm::value_ptr(lightColors[0]));
+ glm::vec3 targetPos(sin(d * 1.f), 0, cos(d * 1.f));
+ inverseKinematic(*sceneModel->find("Bottom Bone"), *sceneModel->find("Toppest Bone"), targetPos);
+
+ /* std::array<glm::vec3, 3> jointPositions; std::array<float, 2> jointDistances; */
+
+ /* std::array<std::string, 3> jointNames = { "Bottom Bone", "Middle Bone", "Top Bone" }; */
+ /* for (int i = 0; i < 3; i++) { */
+ /* glm::mat4 trans; */
+ /* findNodeTrans(&sceneModel->getRoot()->ai, aiString(jointNames[i]), &trans); */
+ /* jointPositions[i] = glm::vec3(trans[3]); */
+
+ /* if (i > 0) */
+ /* jointDistances[i - 1] = glm::distance(jointPositions[i], jointPositions[i - 1]); */
+ /* } */
+
+ /* glm::vec3 targetPos(sin(d * 10.f), cos(d * 10.f), 0); */
+ /* auto newPositions = fabrik(targetPos, jointPositions, jointDistances); */
+
+ /* for (int i = 0; i < 3; i++) { */
+ /* glm::mat4 absTrans(1); */
+ /* findNodeTrans(&sceneModel->getRoot()->ai, aiString(jointNames[i]), */
+ /* &absTrans); */
+ /* glm::mat4 newAbsTrans = absTrans; */
+ /* newAbsTrans[3] = glm::vec4(newPositions[i], newAbsTrans[3][3]); */
+
+ /* auto node = sceneModel->getRoot()->ai.FindNode(jointNames[i].c_str()); */
+
+ /* auto newTrans = worldSpaceToModelSpace(node->mParent, newAbsTrans); */
+
+ /* node->mTransformation = mat4ToaiMatrix(newTrans); */
+ /* } */
/* sceneModel->find("Top Bone")->transform = glm::rotate(glm::mat4(1), d / 5.f, { 1, 0, 0}); */
/* sceneModel->find("Bottom Bone")->transform = glm::rotate(glm::mat4(1), d / 3.f, { 1, 0, 0}); */
+
sceneModel->draw(skyboxes[activeSkybox], d * 1000);
for (Light &light: lights) drawLight(light);
glVertexAttribPointer(posLoc, 3, GL_FLOAT, GL_FALSE, 0, 0);
}
-int findNodeTrans(struct aiNode *n, const struct aiString name, glm::mat4 *dest) {
- if (strcmp(n->mName.data, name.data) == 0) {
- *dest = aiMatrixToMat4(n->mTransformation);
- return 0;
- }
- for (int i = 0; i < n->mNumChildren; i++) {
- if (findNodeTrans(n->mChildren[i], name, dest) == 0) {
- glm::mat4 t = aiMatrixToMat4(n->mTransformation);
- *dest = t * *dest;
- return 0;
- }
- }
- return 1;
-}
void init() {
initUtilProg();
pbrProg = new Program("pbrvert.glsl", "pbrfrag.glsl");
glUseProgram(pbrProg->progId);
- const std::string scenePath = "models/newtonsCradle.glb";
+ const std::string scenePath = "models/ik.glb";
const aiScene *scene = importer.ReadFile(scenePath, aiProcess_Triangulate | aiProcess_CalcTangentSpace | aiProcess_GenNormals | aiProcess_FlipUVs);
if (!scene) {
std::cerr << importer.GetErrorString() << std::endl;
void timer(int _) {
#ifdef ENABLE_MOVEMENT
float xSpeed = 0.f, ySpeed = 0.f, zSpeed = 0.f;
+
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wchar-subscripts"
if (keyStates['w'])
zSpeed = 0.1f;
if (keyStates['s'])
ySpeed = 0.1f;
if (keyStates['e'])
ySpeed = -0.1f;
+#pragma clang diagnostic pop
camPos.x += xSpeed * sin(yaw) + zSpeed * cos(yaw);
camPos.y += ySpeed;