X-Git-Url: https://git.lukelau.me/?p=opengl.git;a=blobdiff_plain;f=main.cpp;fp=main.cpp;h=a579adfc63ffdb71e910f63840b1a4b625bd9711;hp=281da276905660e1e4a5935c1caf961f9c53d97f;hb=d26c67a51e58c3f70d1689e265e9bebe578b50ad;hpb=5e2b8438a1600a790dc105d25b7d5cd2278864aa

diff --git a/main.cpp b/main.cpp
index 281da27..a579adf 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 +168,40 @@ void display() {
 	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);
@@ -175,20 +235,6 @@ 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 +252,7 @@ void init() {
 	pbrProg = new Program("pbrvert.glsl", "pbrfrag.glsl");
 	glUseProgram(pbrProg->progId);
 
-	const std::string scenePath = "models/newtonsCradle.glb";
+	const std::string scenePath = "models/ik.glb";
 	const aiScene *scene = importer.ReadFile(scenePath, aiProcess_Triangulate | aiProcess_CalcTangentSpace | aiProcess_GenNormals | aiProcess_FlipUVs);
 	if (!scene) {
 		std::cerr << importer.GetErrorString() << std::endl;
@@ -269,6 +315,9 @@ void keyboardUp(unsigned char key, int x, int y) {
 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 +330,7 @@ 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;