Source code
/* Copyright (C) 1999-2009 by Peter Eastman
This program is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details. */
package artofillusion.animation;
import artofillusion.*;
import artofillusion.math.*;
import artofillusion.object.*;
import artofillusion.ui.*;
import buoy.event.*;
import buoy.widget.*;
import java.awt.*;
import java.text.*;
/** SkeletonTool is an EditingTool used for manipulating the skeletons of objects. */
public class SkeletonTool extends EditingTool
{
private static final int CLICK_TOL = 6;
private static final int HANDLE_SIZE = 4;
private static final int NO_HANDLES = 0;
private static final int UNLOCKED_HANDLES = 1;
private static final int ALL_HANDLES = 2;
private static int whichHandles = UNLOCKED_HANDLES;
private Point clickPoint;
private Vec3 clickPos, handlePos[];
private boolean hideHandle[], invertDragDir;
private int clickedHandle;
private IKSolver ik;
private Mesh oldMesh, mesh;
private UndoRecord undo;
private boolean allowCreating;
private String helpText;
public SkeletonTool(MeshEditorWindow fr, boolean allowCreating)
{
super(fr);
this.allowCreating = allowCreating;
initButton("skeleton");
clickedHandle = -1;
helpText = Translate.text(allowCreating ? "skeletonTool.helpText" : "skeletonTool.helpTextNoCreate");
}
public void activate()
{
super.activate();
theWindow.setHelpText(helpText);
}
public int whichClicks()
{
return ALL_CLICKS;
}
public String getToolTipText()
{
return Translate.text("skeletonTool.tipText");
}
/** Find the positions of all the degree-of-freedom handles. */
private void findHandlePositions(Mat4 objToScreen, Joint j, ViewerCanvas view)
{
if (j.parent == null || whichHandles == NO_HANDLES)
hideHandle = new boolean [] {true, true, true, true};
else if (whichHandles == UNLOCKED_HANDLES)
hideHandle = new boolean [] {j.angle1.fixed, j.angle2.fixed, j.length.fixed, j.twist.fixed};
else
hideHandle = new boolean [4];
double scale = 70.0/view.getScale();
handlePos = new Vec3 [] {new Vec3(0.0, scale, 0.0), new Vec3(scale, 0.0, 0.0),
new Vec3(0.0, 0.0, scale), new Vec3(-scale*0.6, -scale*0.6, scale*0.4)};
Vec3 jointPos = new Vec3(j.coords.getOrigin());
objToScreen.transform(jointPos);
int jointX = (int) jointPos.x;
int jointY = (int) jointPos.y;
for (int i = 0; i < hideHandle.length; i++)
{
if (hideHandle[i])
continue;
j.coords.fromLocal().transformDirection(handlePos[i]);
handlePos[i].add(j.coords.getOrigin());
objToScreen.transform(handlePos[i]);
int x = (int) handlePos[i].x;
int y = (int) handlePos[i].y;
if (x == jointX && y == jointY)
hideHandle[i] = true;
}
}
public void drawOverlay(ViewerCanvas view)
{
if (ik != null)
return;
MeshViewer mv = (MeshViewer) view;
int selected = mv.getSelectedJoint();
mesh = (oldMesh == null ? (Mesh) mv.getController().getObject().getObject() : oldMesh);
Skeleton s = mesh.getSkeleton();
Joint j = s.getJoint(selected);
if (j == null)
return;
Camera cam = mv.getCamera();
CoordinateSystem objCoords = mv.getDisplayCoordinates();
Mat4 objToScreen = cam.getWorldToScreen().times(objCoords.fromLocal());
if (clickedHandle == -1)
{
// Draw the handles for each degree of freedom.
findHandlePositions(objToScreen, j, view);
Vec3 jointPos = new Vec3(j.coords.getOrigin());
objToScreen.transform(jointPos);
int jointX = (int) jointPos.x;
int jointY = (int) jointPos.y;
for (int i = 0; i < hideHandle.length; i++)
{
if (hideHandle[i])
continue;
int x = (int) handlePos[i].x;
int y = (int) handlePos[i].y;
view.drawLine(new Point(jointX, jointY), new Point(x, y), Color.darkGray);
view.drawBox(x-HANDLE_SIZE/2, y-HANDLE_SIZE/2, HANDLE_SIZE, HANDLE_SIZE, ViewerCanvas.handleColor);
}
}
else if (clickedHandle < 2)
{
// Draw a circle to show the DOF being moved.
double len = j.length.pos;
Mat4 m1, m2;
if (clickedHandle == 0)
{
m1 = Mat4.zrotation(j.twist.pos*Math.PI/180.0);
m2 = j.parent.coords.fromLocal().times(Mat4.yrotation(j.angle2.pos*Math.PI/180.0));
}
else
{
m1 = Mat4.xrotation(j.angle1.pos*Math.PI/180.0).times(Mat4.zrotation(j.twist.pos*Math.PI/180.0));
m2 = j.parent.coords.fromLocal();
}
m2 = objToScreen.times(m2);
Point pos[] = new Point [64];
for (int i = 0; i < pos.length; i++)
{
double angle = i*2.0*Math.PI/pos.length;
Vec3 p = new Vec3(0.0, 0.0, len);
p = m1.timesDirection(p);
if (clickedHandle == 0)
p = m2.times(Mat4.xrotation(angle).timesDirection(p));
else
p = m2.times(Mat4.yrotation(angle).timesDirection(p));
pos[i] = new Point((int) p.x, (int) p.y);
}
for (int i = 1; i < pos.length; i++)
view.drawLine(new Point(pos[i-1].x, pos[i-1].y), new Point(pos[i].x, pos[i].y), Color.darkGray);
view.drawLine(new Point(pos[0].x, pos[0].y), new Point(pos[pos.length-1].x, pos[pos.length-1].y), Color.darkGray);
}
}
public void mousePressed(WidgetMouseEvent e, ViewerCanvas view)
{
MeshViewer mv = (MeshViewer) view;
ViewerCanvas allViews[] = ((MeshEditorWindow) theWindow).getAllViews();
mesh = (Mesh) mv.getController().getObject().getObject();
Skeleton s = mesh.getSkeleton();
Joint selectedJoint = s.getJoint(mv.getSelectedJoint());
Camera cam = mv.getCamera();
CoordinateSystem objCoords = mv.getDisplayCoordinates();
Mat4 objToScreen = cam.getWorldToScreen().times(objCoords.fromLocal());
clickPoint = e.getPoint();
if (e.isControlDown() && allowCreating)
{
// Create a new joint.
undo = new UndoRecord(theWindow, false, UndoRecord.COPY_OBJECT, new Object [] {mesh, mesh.duplicate()});
Joint j, parent = s.getJoint(mv.getSelectedJoint());
if (parent == null)
{
double distToJoint = cam.getDistToScreen();
clickPos = cam.convertScreenToWorld(clickPoint, distToJoint);
objCoords.toLocal().transform(clickPos);
j = new Joint(new CoordinateSystem(clickPos, Vec3.vz(), Vec3.vy()), null, "Root "+s.getNextJointID());
j.angle1.fixed = j.angle2.fixed = true;
s.addJoint(j, -1);
}
else
{
double distToJoint = cam.getWorldToView().timesZ(parent.coords.getOrigin());
clickPos = cam.convertScreenToWorld(clickPoint, distToJoint);
objCoords.toLocal().transform(clickPos);
Vec3 zdir = clickPos.minus(parent.coords.getOrigin());
zdir.normalize();
Vec3 ydir = cam.getCameraCoordinates().getZDirection().cross(zdir);
ydir.normalize();
j = new Joint(new CoordinateSystem(clickPos, zdir, ydir), parent, "Bone "+s.getNextJointID());
s.addJoint(j, parent.id);
}
for (int k = 0; k < allViews.length; k++)
((MeshViewer) allViews[k]).setSelectedJoint(j.id);
boolean moving[] = new boolean [s.getNumJoints()];
moving[s.findJointIndex(j.id)] = true;
ik = new IKSolver(s, mv.getLockedJoints(), moving);
theWindow.updateImage();
theWindow.updateMenus();
oldMesh = (Mesh) mesh.duplicate();
return;
}
// See whether a handle was clicked.
if (selectedJoint != null)
{
findHandlePositions(objToScreen, selectedJoint, view);
for (int i = 0; i < hideHandle.length; i++)
{
if (!hideHandle[i] && Math.abs(handlePos[i].x-clickPoint.x) <= 0.5*CLICK_TOL && Math.abs(handlePos[i].y-clickPoint.y) <= 0.5*CLICK_TOL)
{
clickedHandle = i;
oldMesh = (Mesh) mesh.duplicate();
Vec2 jointPos = objToScreen.timesXY(selectedJoint.coords.getOrigin());
invertDragDir = (handlePos[i].x < jointPos.x);
theWindow.updateImage();
return;
}
}
}
// Determine which joint was clicked on.
Joint joint[] = s.getJoints();
int i;
for (i = 0; i < joint.length; i++)
{
Vec2 pos = objToScreen.timesXY(joint[i].coords.getOrigin());
if ((clickPoint.x > pos.x-CLICK_TOL) &&
(clickPoint.x < pos.x+CLICK_TOL) &&
(clickPoint.y > pos.y-CLICK_TOL) &&
(clickPoint.y < pos.y+CLICK_TOL))
break;
}
if (i == joint.length)
{
// No joint was clicked on, so deselect the selected joint.
for (int j = 0; j < allViews.length; j++)
((MeshViewer) allViews[j]).setSelectedJoint(-1);
theWindow.updateImage();
theWindow.updateMenus();
return;
}
if (e.isShiftDown())
{
// Toggle whether this joint is locked.
for (int j = 0; j < allViews.length; j++)
{
MeshViewer v = (MeshViewer) allViews[j];
if (v.isJointLocked(joint[i].id))
v.unlockJoint(joint[i].id);
else
v.lockJoint(joint[i].id);
}
theWindow.updateImage();
return;
}
// Make it the selected joint, and prepare to drag it.
for (int j = 0; j < allViews.length; j++)
((MeshViewer) allViews[j]).setSelectedJoint(joint[i].id);
clickPos = joint[i].coords.getOrigin();
theWindow.updateImage();
theWindow.updateMenus();
boolean moving[] = new boolean [s.getNumJoints()];
moving[s.findJointIndex(joint[i].id)] = true;
ik = new IKSolver(s, mv.getLockedJoints(), moving);
oldMesh = (Mesh) mesh.duplicate();
}
public void mouseDragged(final WidgetMouseEvent e, ViewerCanvas view)
{
final MeshViewer mv = (MeshViewer) view;
final CoordinateSystem objCoords = mv.getDisplayCoordinates();
final Camera cam = mv.getCamera();
final Mesh mesh = (Mesh) mv.getController().getObject().getObject();
final Skeleton s = mesh.getSkeleton();
final Joint selectedJoint = s.getJoint(mv.getSelectedJoint());
if (clickedHandle > -1)
{
// Adjust a single degree of freedom.
if (undo == null)
undo = new UndoRecord(getWindow(), false, UndoRecord.COPY_OBJECT, new Object [] {mesh, mesh.duplicate()});
double dist = clickPoint.x-e.getPoint().x;
if (invertDragDir)
dist = -dist;
Joint origJoint = oldMesh.getSkeleton().getJoint(mv.getSelectedJoint());
Joint.DOF dof = null;
Joint.DOF origDof = null;
String name = null;
switch (clickedHandle)
{
case 0:
dof = selectedJoint.angle1;
origDof = origJoint.angle1;
dist *= 1.8/Math.PI;
name = "X Bend";
break;
case 1:
dof = selectedJoint.angle2;
origDof = origJoint.angle2;
dist *= -1.8/Math.PI;
name = "Y Bend";
break;
case 2:
dof = selectedJoint.length;
origDof = origJoint.length;
dist /= -view.getScale();
name = "Length";
break;
case 3:
dof = selectedJoint.twist;
origDof = origJoint.twist;
dist *= 1.8/Math.PI;
name = "Twist";
break;
}
dof.set(origDof.pos+dist);
selectedJoint.recalcCoords(true);
if (!mv.getSkeletonDetached())
adjustMesh(mesh);
mv.getController().objectChanged();
theWindow.updateImage();
NumberFormat nf = NumberFormat.getNumberInstance();
nf.setMaximumFractionDigits(3);
theWindow.setHelpText(name+": "+nf.format(dof.pos));
return;
}
if (ik == null)
return;
boolean converged = false;
Vec3 target[] = new Vec3 [s.getNumJoints()];
int jointIndex = s.findJointIndex(selectedJoint.id);
ActionProcessor process = view.getActionProcessor();
do
{
Vec3 jointPos = objCoords.fromLocal().times(selectedJoint.coords.getOrigin());
double distToJoint = cam.getWorldToView().timesZ(jointPos);
Vec3 goal = cam.convertScreenToWorld(e.getPoint(), distToJoint);
objCoords.toLocal().transform(goal);
if (undo == null)
undo = new UndoRecord(SkeletonTool.this.getWindow(), false, UndoRecord.COPY_OBJECT, new Object [] {mesh, mesh.duplicate()});
target[jointIndex] = goal;
converged = ik.solve(target, 100);
if (!mv.getSkeletonDetached())
adjustMesh(mesh);
((ObjectViewer) view).getController().objectChanged();
theWindow.updateImage();
} while (!converged && (process == null || (!process.hasEvent() && !process.hasBeenStopped())));
}
public void mouseReleased(WidgetMouseEvent e, ViewerCanvas view)
{
if (undo == null && e.getClickCount() == 2 && !e.isShiftDown() && !e.isControlDown())
((MeshEditorWindow) theWindow).editJointCommand(); // They double-clicked without dragging.
ik = null;
mesh = oldMesh = null;
clickedHandle = -1;
if (undo != null)
theWindow.setUndoRecord(undo);
undo = null;
theWindow.setHelpText(helpText);
}
public void iconDoubleClicked()
{
BComboBox dofChoice = new BComboBox(new String [] {
Translate.text("noDOF"),
Translate.text("unlockedDOF"),
Translate.text("allDOF"),
});
dofChoice.setSelectedIndex(whichHandles);
ComponentsDialog dlg = new ComponentsDialog(theFrame, Translate.text("skeletonToolTitle"),
new Widget [] {dofChoice}, new String [] {null});
if (!dlg.clickedOk())
return;
whichHandles = dofChoice.getSelectedIndex();
theWindow.updateImage();
}
/** Adjust the mesh after the skeleton has changed. */
protected void adjustMesh(Mesh newMesh)
{
Skeleton.adjustMesh(oldMesh, newMesh);
}
}