64 lines
1.4 KiB
C
64 lines
1.4 KiB
C
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#pragma once
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/**
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* @file IKApplication.h
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*
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* @brief Application class for labo 2.
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*
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* Nom:
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* Code permanent :
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* Email :
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*
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*/
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#include <nanogui/window.h>
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#include <nanogui/textbox.h>
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#include <nanogui/label.h>
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#include <nanogui/layout.h>
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#include <nanogui/slider.h>
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#include <nanogui/screen.h>
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#include <nanogui/vscrollpanel.h>
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#include "Armature.h"
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#include "LinkUI.h"
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#include "TargetUI.h"
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#include "IKSolver.h"
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#include "Math3D.h"
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class IKGLCanvas;
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// Iterative closest point algorithm
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//
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class IKApplication : public nanogui::Screen
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{
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public:
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IKApplication();
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virtual bool keyboard_event(int key, int scancode, int action, int modifiers) override;
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virtual void draw(NVGcontext *ctx) override;
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nanogui::Window* getWindow() { return m_window.get(); }
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gti320::Armature* getArmature() const { return m_armature.get(); }
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const gti320::Vector3f& getTargetPos() const { return m_targetPos; }
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private:
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// Reset the source transform and the initial transform.
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//
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void reset();
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void ikSolve();
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void initializeArmature();
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void initializeTarget();
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std::unique_ptr<gti320::IKSolver> m_ikSolver;
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std::unique_ptr<IKGLCanvas> m_canvas;
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nanogui::ref<nanogui::Window> m_window;
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std::vector<LinkUI*> m_linkUIArr;
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std::unique_ptr<TargetUI> m_targetUI;
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std::unique_ptr<gti320::Armature> m_armature;
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gti320::Vector3f m_targetPos;
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};
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