75 lines
1.6 KiB
C++
75 lines
1.6 KiB
C++
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#pragma once
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#include "Armature.h"
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using namespace gti320;
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// Constructor
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//
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Link::Link(Link* _parent, const Vector3f& _eulerAng, const Vector3f& _trans) :
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parent(_parent), eulerAng(_eulerAng), trans(_trans)
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{
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if (parent != nullptr)
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{
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parent->enfants.push_back(this);
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}
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M.setIdentity();
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}
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void Link::forward()
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{
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// TODO Create a rotation matrix from the Euler angles
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// of the current link.
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// TODO Create a local 4D rigid transformation matrix from the
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// 3D rotation matrix and translation of the current link.
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// TODO Update the global transformation for the link using the
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// parent's rigid transformation matrix and the local transformation.
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// Hint : the parent matrix should be post-multiplied.
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// Hint : the root does not have a parent. You must consider this case.
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// TODO Update the transformation of child links
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// by recursion.
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}
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Armature::Armature() : links(), root(nullptr)
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{
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}
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Armature::~Armature()
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{
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for (Link* l : links)
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{
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delete l;
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}
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}
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void Armature::updateKinematics()
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{
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assert(root != nullptr);
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root->forward();
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}
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void Armature::pack(Vector<float, Dynamic>& theta)
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{
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// TODO Collect the Euler angles of each link and put them
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// into the dense vector @a theta
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}
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void Armature::unpack(const Vector<float, Dynamic>& theta)
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{
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const int numLinks = links.size();
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assert(theta.size() == 3 * numLinks);
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// TODO Extract the Euler angles contained in the
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// dense vector @a theta and update the angles
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// for each link in the armature.
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//
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}
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