X-Git-Url: http://git.lukelau.me/?p=opengl.git;a=blobdiff_plain;f=main.cpp;h=e4cc81a2d79846c9a8e3028cfb85a2b2b42899ab;hp=281da276905660e1e4a5935c1caf961f9c53d97f;hb=ad77a970429c9c5e9cf8d513d0469d03ad82e622;hpb=5e2b8438a1600a790dc105d25b7d5cd2278864aa

diff --git a/main.cpp b/main.cpp
index 281da27..e4cc81a 100644
--- a/main.cpp
+++ b/main.cpp
@@ -21,6 +21,7 @@
 #include "skybox.hpp"
 #include "image.hpp"
 #include "util.hpp"
+#include "ik.hpp"
 
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 
@@ -101,6 +102,33 @@ void drawLight(Light &light) {
 	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);
@@ -140,8 +168,20 @@ void display() {
 	glUniform3fv(glGetUniformLocation(pbrProg->progId, "lightPositions"), numLights, glm::value_ptr(lightPositions[0]));
 	glUniform3fv(glGetUniformLocation(pbrProg->progId, "lightColors"), numLights, glm::value_ptr(lightColors[0]));
 
-	/* 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}); */
+#ifdef COWEDBOY_IK
+	{ 
+		glm::vec3 targetPos(sin(d) * 2 + 3, -2, 1);
+		Light targetLight = { glm::translate(glm::mat4(1), targetPos), {0.5, 1, 1}  };
+		drawLight(targetLight);
+		inverseKinematics(*sceneModel->find("Shoulder.L"), *sceneModel->find("Finger.L"), targetPos);
+
+		targetPos = { sin(d * 2) * 2 - 5, 2.5, 0 };
+		targetLight = { glm::translate(glm::mat4(1), targetPos), {1, 1, 0.5}  };
+		drawLight(targetLight);
+		inverseKinematics(*sceneModel->find("Shoulder.R"), *sceneModel->find("Finger.R"), targetPos);
+	}
+#endif
+
 	sceneModel->draw(skyboxes[activeSkybox], d * 1000);
 
 	for (Light &light: lights) drawLight(light);
@@ -175,20 +215,6 @@ void setupLightBuffers(GLuint progId) {
 	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();
@@ -206,7 +232,7 @@ void init() {
 	pbrProg = new Program("pbrvert.glsl", "pbrfrag.glsl");
 	glUseProgram(pbrProg->progId);
 
-	const std::string scenePath = "models/newtonsCradle.glb";
+	const std::string scenePath = "models/cowedboy.glb";
 	const aiScene *scene = importer.ReadFile(scenePath, aiProcess_Triangulate | aiProcess_CalcTangentSpace | aiProcess_GenNormals | aiProcess_FlipUVs);
 	if (!scene) {
 		std::cerr << importer.GetErrorString() << std::endl;
@@ -264,11 +290,14 @@ void keyboardUp(unsigned char key, int x, int y) {
 	keyStates[key] = false;
 }
 
-#define ENABLE_MOVEMENT
+/* #define ENABLE_MOVEMENT */
 
 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'])
@@ -281,6 +310,7 @@ void timer(int _) {
 		ySpeed = 0.1f;
 	if (keyStates['e'])
 		ySpeed = -0.1f;
+#pragma clang diagnostic pop
 
 	camPos.x += xSpeed * sin(yaw) + zSpeed * cos(yaw);
 	camPos.y += ySpeed;