Initial Draft of InMoov2 and Finite State Machine

src/main/java/org/myrobotlab/caliko/Application.java

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+package org.myrobotlab.caliko;
+
+import static org.lwjgl.glfw.GLFW.glfwPollEvents;
+import static org.lwjgl.glfw.GLFW.glfwWindowShouldClose;
+import static org.lwjgl.opengl.GL11.GL_COLOR_BUFFER_BIT;
+import static org.lwjgl.opengl.GL11.GL_DEPTH_BUFFER_BIT;
+import static org.lwjgl.opengl.GL11.glClear;
+
+import org.myrobotlab.service.Caliko;
+
+import au.edu.federation.caliko.demo.CalikoDemo;
+import au.edu.federation.utils.Vec3f;
+
+/**
+ * An example application to demonstrate the Caliko library in both 2D and 3D
+ * modes.
+ *
+ * Use up/down cursors to change between 2D/3D mode and left/right cursors to
+ * change demos. In 2D mode clicking using the left mouse button (LMB) changes
+ * the target location, and you can click and drag. In 3D mode, use W/S/A/D to
+ * move the camera and the mouse with LMB held down to look.
+ *
+ * See the README.txt for further documentation and controls.
+ *
+ * @author Al Lansley
+ * @version 1.0 - 31/01/2016
+ */
+public class Application {
+  // Define cardinal axes
+  final Vec3f X_AXIS = new Vec3f(1.0f, 0.0f, 0.0f);
+  final Vec3f Y_AXIS = new Vec3f(0.0f, 1.0f, 0.0f);
+  final Vec3f Z_AXIS = new Vec3f(0.0f, 0.0f, 1.0f);
+
+  // State tracking variables
+  boolean use3dDemo = true;
+  int demoNumber = 7;
+  boolean fixedBaseMode = true;
+  boolean rotateBasesMode = false;
+  boolean drawLines = true;
+  boolean drawAxes = false;
+  boolean drawModels = true;
+  boolean drawConstraints = true;
+  boolean leftMouseButtonDown = false;
+  boolean paused = true;
+
+  // Create our window and OpenGL context
+  int windowWidth = 800;
+  int windowHeight = 600;
+  public OpenGLWindow window = null;
+
+  // Declare a CalikoDemo object which can run our 3D and 2D demonstration
+  // scenarios
+  transient private CalikoDemo demo;
+  transient private Caliko service;
+  public boolean running = true;
+
+  public Application(Caliko service) {
+    this.service = service;
+    window = new OpenGLWindow(this, service, windowWidth, windowHeight);
+    demo = new CalikoDemo3D(this);
+    mainLoop();
+    window.cleanup();
+  }
+
+  public Caliko getService() {
+    return service;
+  }
+
+  private void mainLoop() {
+    // Run the rendering loop until the user closes the window or presses Escape
+    while (!glfwWindowShouldClose(window.mWindowId) && running) {
+      // Clear the screen and depth buffer then draw the demo
+      glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+      demo.draw();
+
+      // Swap the front and back colour buffers and poll for events
+      window.swapBuffers();
+      glfwPollEvents();
+    }
+  }
+
+} // End of Application class

src/main/java/org/myrobotlab/caliko/CalikoDemo3D.java

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+package org.myrobotlab.caliko;
+
+import au.edu.federation.caliko.FabrikBone3D;
+import au.edu.federation.caliko.FabrikChain3D;
+import au.edu.federation.caliko.FabrikStructure3D;
+import au.edu.federation.caliko.demo.CalikoDemo;
+import au.edu.federation.caliko.demo3d.CalikoDemoStructure3D;
+import au.edu.federation.caliko.visualisation.Axis;
+import au.edu.federation.caliko.visualisation.Camera;
+import au.edu.federation.caliko.visualisation.FabrikConstraint3D;
+import au.edu.federation.caliko.visualisation.FabrikLine3D;
+// import au.edu.federation.caliko.visualisation.FabrikModel3D;
+import au.edu.federation.caliko.visualisation.Grid;
+import au.edu.federation.caliko.visualisation.MovingTarget3D;
+import au.edu.federation.utils.Mat4f;
+import au.edu.federation.utils.Utils;
+import au.edu.federation.utils.Vec3f;
+
+/**
+ * Class to demonstrate some of the features of the Caliko library in 3D.
+ * 
+ * @author Al Lansley
+ * @version 0.7.1 - 20/07/2016
+ */
+public class CalikoDemo3D implements CalikoDemo
+{
+	static float defaultBoneLength      = 10.0f;
+	static float boneLineWidth          = 5.0f;
+	static float constraintLineWidth    = 2.0f;	
+	static float baseRotationAmountDegs = 0.3f;
+
+	// Set yo a camera which we'll use to navigate. Params: location, orientation, width and height of window.
+	static Camera camera = new Camera(new Vec3f(0.0f, 00.0f, 150.0f), new Vec3f(), 800, 600);
+
+	// Setup some grids to aid orientation
+	static float extent       = 1000.0f;
+	static float gridLevel    = 100.0f;
+	static int   subdivisions = 20;
+	static Grid  lowerGrid    = new Grid(extent, extent, -gridLevel, subdivisions);
+	static Grid  upperGrid    = new Grid(extent, extent,  gridLevel, subdivisions);
+
+	// An axis to show the X/Y/Z orientation of each bone. Params: Axis length, axis line width
+	static Axis axis = new Axis(3.0f, 1.0f);
+
+	// A constraint we can use to draw any joint angle restrictions of ball and hinge joints
+	static FabrikConstraint3D constraint = new FabrikConstraint3D();
+
+	// A simple Wavefront .OBJ format model of a pyramid to display around each bone (set to draw with a 1.0f line width)
+	static FabrikModel3D model = new FabrikModel3D("/pyramid.obj", 1.0f);
+
+	// Setup moving target. Params: location, extents, interpolation frames, grid height for vertical bar
+	static MovingTarget3D target = new MovingTarget3D(new Vec3f(0, -30, 0), new Vec3f(60.0f), 200, gridLevel);
+
+	private FabrikStructure3D mStructure;
+
+	private CalikoDemoStructure3D demoStructure3d;
+
+	private transient Application application;
+
+	/**
+	 * Constructor.
+	 * 
+	 * @param	demoNumber	The number of the demo to set up.
+	 */
+	public CalikoDemo3D(Application application) 
+	{
+	  this.application = application; 
+		setup(0);
+	}
+
+	/**
+	 * Set up a demo consisting of an arrangement of 3D IK chains with a given configuration.
+	 * 
+	 * @param	demoNumber	The number of the demo to set up.
+	 */
+	public void setup(int demoNumber) 
+	{
+	  this.mStructure = application.getService().getStructure();
+
+	  this.demoStructure3d = new GuiDemoStructure(application.getService(), null);
+
+		// Set the appropriate window title and make an initial solve pass of the structure
+		application.window.setWindowTitle(this.mStructure.getName());
+		//structure.updateTarget( target.getCurrentLocation() );
+	}
+
+	/** Set all chains in the structure to be in fixed-base mode whereby the base locations cannot move. */
+	public void setFixedBaseMode(boolean value) { mStructure.setFixedBaseMode(value); }
+
+	/** Handle the movement of the camera using the W/S/A/D keys. */
+	public void handleCameraMovement(int key, int action) { camera.handleKeypress(key, action); }
+
+	public void draw()
+	{
+		// Move the camera based on keypresses and mouse movement
+		camera.move(1.0f / 60.0f);
+
+		// Get the ModelViewProjection matrix as we use it multiple times
+		Mat4f mvpMatrix = application.window.getMvpMatrix();
+
+		// Draw our grids
+    lowerGrid.draw(mvpMatrix);
+    upperGrid.draw(mvpMatrix);
+
+    // If we're not paused then step the target and solve the structure for the new target location
+    if (!application.paused)
+    {
+    	target.step();
+  		this.demoStructure3d.drawTarget(mvpMatrix);
+
+    	// Solve the structure (chains with embedded targets will use those, otherwise the provided target is used)
+    	mStructure.solveForTarget( target.getCurrentLocation() );
+
+    	FabrikChain3D chain = application.getService().getChain("default");
+
+      for (FabrikBone3D bone : chain.getChain()) {
+        bone.getStartLocation().getGlobalPitchDegs();
+        bone.getStartLocation().getGlobalYawDegs();
+
+        System.out.println("Bone X: " + bone.getStartLocation().toString());
+      }
+
+    }
+
+    // If we're in rotate base mode then rotate the base location(s) of all chains in the structure
+    if (application.rotateBasesMode)
+    {
+    	int numChains = mStructure.getNumChains();
+    	for (int loop = 0; loop < numChains; ++loop)
+    	{
+    		Vec3f base = mStructure.getChain(loop).getBaseLocation();
+        	base       = Vec3f.rotateAboutAxisDegs(base, baseRotationAmountDegs, CalikoDemoStructure3D.Y_AXIS);            
+        	mStructure.getChain(loop).setBaseLocation(base);
+    	}
+    }
+
+    // Draw the target
+    target.draw(Utils.YELLOW, 8.0f, mvpMatrix);
+
+    // Draw the structure as required
+    // Note: bone lines are drawn in the bone colour, models are drawn in white by default but you can specify a colour to the draw method,
+    //       axes are drawn X/Y/Z as Red/Green/Blue and constraints are drawn the colours specified in the FabrikConstraint3D class.
+    if (application.drawLines)       { FabrikLine3D.draw(mStructure, boneLineWidth, mvpMatrix);                                       }            
+    if (application.drawModels)      { model.drawStructure(mStructure, camera.getViewMatrix(), application.window.mProjectionMatrix); }         
+		if (application.drawAxes)        { axis.draw(mStructure, camera.getViewMatrix(), application.window.mProjectionMatrix);           }
+		if (application.drawConstraints) { constraint.draw(mStructure, constraintLineWidth, mvpMatrix);                                   }
+	}
+}