skeletonRenderer.cpp

#include "skeletonRenderer.h"
#include "openGLHelper.h"
#include "FK.h"
using namespace std;

// CSCI 520 Computer Animation and Simulation
// Jernej Barbic and Yijing Li

SkeletonRenderer::SkeletonRenderer(const FK* fk, double localAxisLength)
{
	renderedLocalAxisLength = localAxisLength;
	this->fk = fk;
}

void SkeletonRenderer::renderSkeleton() const
{
	// save attributes
	glPushAttrib(GL_LINE_BIT | GL_POINT_BIT | GL_CURRENT_BIT);

	// render joint position
	glColor3f(1, 0, 0);
	glPointSize(20);
	glBegin(GL_POINTS);
	for (int jointID = 0; jointID < fk->getNumJoints(); jointID++)
		Draw(fk->getJointGlobalPosition(jointID));
	glEnd();

	// render the connection between joints
	glLineWidth(5.0);
	glColor3f(1, 1, 0);
	glBegin(GL_LINES);
	for (int jointID = 0; jointID < fk->getNumJoints(); jointID++)
	{
		int parentID = fk->getJointParent(jointID);
		if (parentID < 0)
			continue;

		Draw(fk->getJointGlobalPosition(jointID), fk->getJointGlobalPosition(parentID));
	}
	glEnd();

	glPopAttrib();
}

void SkeletonRenderer::renderJointCoordAxes(int jointID) const
{
	// save attributes
	glPushAttrib(GL_LINE_BIT | GL_POINT_BIT | GL_CURRENT_BIT);
	Vec3d jointPos = fk->getJointGlobalPosition(jointID);
	// render coordinate frame of the joint
	glLineWidth(8.0);
	glBegin(GL_LINES);
	for (int d = 0; d < 3; d++)
	{
		Vec3d axisEndPosLocal(0.0);
		axisEndPosLocal[d] = renderedLocalAxisLength;
		Vec3d axisEndPosGlobal = fk->getJointGlobalTransform(jointID).transformPoint(axisEndPosLocal);
		Vec3d color(0, 0, 0);
		color[d] = 1.0;
		glColor3f(color[0], color[1], color[2]);
		Draw(jointPos);
		Draw(axisEndPosGlobal);
	}
	glEnd();

	glPopAttrib();
}

void SkeletonRenderer::renderJoint(int jointID) const
{
	// save attributes
	glPushAttrib(GL_LINE_BIT | GL_POINT_BIT | GL_CURRENT_BIT);

	// render joint position
	Vec3d jointPos = fk->getJointGlobalPosition(jointID);
	glColor3f(1, 0, 0);
	glPointSize(10);
	glBegin(GL_POINTS);
	Draw(jointPos);
	glEnd();

	// render descedents joints
	glLineWidth(5.0);
	glColor3f(1, 0, 0);
	vector<int> descedentIDs = fk->getJointDescendents(jointID);
	glBegin(GL_LINES);
	for (int childID : descedentIDs)
	{
		int parentID = fk->getJointParent(childID);
		Draw(fk->getJointGlobalPosition(parentID));
		Draw(fk->getJointGlobalPosition(childID));
	}
	glEnd();
	glColor3f(0, 0, 1);
	glPointSize(10);
	glBegin(GL_POINTS);
	for (int childID : descedentIDs)
	{
		Draw(fk->getJointGlobalPosition(childID));
	}
	glEnd();
	glPopAttrib();
}