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https://github.com/onlyuser/dexvt-lite

3D Inverse Kinematics with Constraints and... GPU Ray Tracing!
https://github.com/onlyuser/dexvt-lite

3d-engine 3d-printer boids ccd delta-robot glsl hexapod inverse-kinematics motion-planning octree path-planning path-tracing ray-tracing robotics stewart-platform

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3D Inverse Kinematics with Constraints and... GPU Ray Tracing!

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README 

          
[![Build Status](https://secure.travis-ci.org/onlyuser/dexvt-lite.png)](http://travis-ci.org/onlyuser/dexvt-lite)



3D Inverse Kinematics with Constraints and... GPU Ray Tracing!

==============================================================



Copyright (C) 2011-2017 



About

-----



dexvt-lite is a 3D inverse kinematics and GPU ray tracing tech demonstrator.

It features rovolute joint constraints, prismatic joint constraints, end-effector orientation constraints, and... GPU ray tracing!



See sister project demonstrating other engine features: [dexvt-test](https://github.com/onlyuser/dexvt-test)



Algorithm

---------



**3D Inverse Kinematics**



Supports rovolute joint constraints, prismatic joint constraints, and end-effector orientation constraints.

The way each constraint type is handled is described below:



* Revolute Joint Constraints

    * "Non-hinge" joints

        1. In each joint's rotation step, rotate on a pivot that aligns the end-effector with the target.

        2. Enforce joint constraints in euler space by capping the post-rotation orientation of the adjacent segment to be within the joint's maximal deviation from neutral orientation. Do this for each axis.

    * "Hinge" joints

        1. In each joint's rotation step, rotate on a pivot that minimizes the distance between the end-effector and the target, all the while staying within the joint's plane of free rotation. Setting non-constraint-violating goals early on avoids most problems described [here](https://stackoverflow.com/questions/21373012/best-inverse-kinematics-algorithm-with-constraints-on-joint-angles).

        2. Enforce joint constraints perpendicular to the joint's pivot by squeezing the post-rotation orientation of the adjacent segment to be within the joint's plane of free rotation. This adds numerical stability to the pivot so it doesn't "drift".

        3. Enforce joint constraints within the joint's plane of free rotation by capping the post-rotation orientation of the adjacent segment to be within the joint's maximal deviation from neutral orientation.



* Prismatic Joint Constraints

    * In each joint's translation step, slide the adjacent segment by the maximal extent it can slide within the joint's range of free translation to align the end-effector with the target.



* End-effector Orientation Constraints

    * In each joint's rotation/translation step, extend the end-effector position by the end-effector orientation offset.



**GPU Ray Tracing**



* Supports 4 material types:

    * Reflective

    * Transparent

    * Diffuse

    * Glowing



* Supports 3 primitive types:

    * Spheres

    * Planes

    * Boxes



Screenshots

-----------



[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_ik_const_thumb.gif?attredirects=0)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_ik_const.gif?attredirects=0)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_ray_tracer_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_ray_tracer.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_ray_tracer2_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_ray_tracer2.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_ray_tracer3_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_ray_tracer3.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_ray_tracer4_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_ray_tracer4.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_ray_tracer_old_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_ray_tracer_old.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_ray_tracer_old2_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_ray_tracer_old2.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_boids_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_boids.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_gimbal_lock_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_gimbal_lock.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_hexapod_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_hexapod.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_path_hexapod_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_path_hexapod.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_rail_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_rail.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_path_stewart_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_path_stewart.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_spider_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_spider.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_spider_wireframe_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_spider_wireframe.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_path_deltabot_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_path_deltabot.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_path_3dprinter_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_path_3dprinter.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_path_fanta_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_path_fanta.png)

[![Screenshot](https://sites.google.com/site/onlyuser/projects/graphics/thumbs/dexvt-lite_path_fanta_wireframe_thumb.png)](https://sites.google.com/site/onlyuser/projects/graphics/images/dexvt-lite_path_fanta_wireframe.png)



Requirements

------------



Unix tools and 3rd party components (accessible from $PATH):



    gcc mesa-common-dev freeglut3-dev libglew-dev libglm-dev libpng-dev curl imagemagick



Resource files not included:



    

        resource files

        purpose

    

    

        

            data/SaintPetersSquare2/posx.png


            data/SaintPetersSquare2/negx.png


            data/SaintPetersSquare2/posy.png


            data/SaintPetersSquare2/negy.png


            data/SaintPetersSquare2/posz.png


            data/SaintPetersSquare2/negz.png

        

        Cube map texture (6 faces)

    

    

        data/chesterfield_color.png

        Color map texture

    

    

        data/chesterfield_normal.png

        Normal map texture

    



Make Targets

------------



     target           action                        

     all              make binaries                 

     test             all + run tests               

     clean            remove all intermediate files 

     lint             perform cppcheck              

     docs             make doxygen documentation    

     resources        download resource files       

     clean_lint       remove cppcheck results       

     clean_docs       remove doxygen documentation  

     clean_resources  remove resource files         



Controls

--------



Keyboard:



     key          purpose                 

     b            toggle bounding-box     

     f            toggle frame rate       

     g            toggle guide wires      

     h            toggle HUD              

     l            toggle lights           

     n            toggle normals          

     p            toggle ortho-projection 

     t            toggle texture          

     w            toggle wireframe        

     x            toggle axis             

     z            toggle labels           

     up/down      pitch                   

     left/right   yaw                     

     pg-up/pg-dn  roll                    

     home         toggle target           

     space        toggle animation        

     esc          exit                    



Mouse:



     mouse-button + drag  purpose 

     left                 orbit   

     right                zoom    



References

----------





    
"Setting up an OpenGL development environment in Ubuntu Linux"


    
http://www.codeproject.com/Articles/182109/Setting-up-an-OpenGL-development-environment-in-Ub


    
"OpenGL Programming"


    
http://en.wikibooks.org/wiki/OpenGL_Programming


    
"Tutorial - Getting Started with the OpenGL Shading Language (GLSL)"


    
http://joshbeam.com/articles/getting_started_with_glsl/


    
"Cube Maps: Sky Boxes and Environment Mapping"


    
http://antongerdelan.net/opengl/cubemaps.html


    
"3D C/C++ tutorials - OpenGL - GLSL cube mapping"


    
http://www.belanecbn.sk/3dtutorials/index.php?id=24


    
"Skyboxes using glsl Version 330"


    
http://gamedev.stackexchange.com/questions/60313/skyboxes-using-glsl-version-330


    
"Rioki's Corner - GLSL Skybox"


    
http://www.rioki.org/2013/03/07/glsl-skybox.html


    
"How would you implement chromatic aberration?"


    
http://gamedev.stackexchange.com/questions/58408/how-would-you-implement-chromatic-aberration


    
"How do you calculate the angle between two normals in glsl?"


    
http://stackoverflow.com/questions/338762/how-do-you-calculate-the-angle-between-two-normals-in-glsl


    
"Chapter 7. Environment Mapping Techniques"


    
http://http.developer.nvidia.com/CgTutorial/cg_tutorial_chapter07.html


    
"Humus Cube Map Textures - Colosseum"


    
http://www.humus.name/index.php?page=Textures


    
"Kay's Blog Texture and game development freebies! - Well Preserved Chesterfield"


    
http://kay-vriend.blogspot.tw/2012/11/well-preserved-chesterfield.html


    
"Philip Rideout's OpenGL Bloom Tutorial"


    
http://prideout.net/archive/bloom/


    
"An investigation of fast real-time GPU-based image blur algorithms"


    
https://software.intel.com/en-us/blogs/2014/07/15/an-investigation-of-fast-real-time-gpu-based-image-blur-algorithms


    
"mattdesl/lwjgl-basics - ShaderLesson5"


    
https://github.com/mattdesl/lwjgl-basics/wiki/ShaderLesson5


    
"Jam3/glsl-fast-gaussian-blur - glsl-fast-gaussian-blur"


    
https://github.com/Jam3/glsl-fast-gaussian-blur


    
"john-chapman-graphics SSAO Tutorial"


    
http://john-chapman-graphics.blogspot.tw/2013/01/ssao-tutorial.html


    
"Know your SSAO artifacts"


    
http://mtnphil.wordpress.com/2013/06/26/know-your-ssao-artifacts/


    
"songho.ca OpenGL Projection Matrix"


    
http://www.songho.ca/opengl/gl_projectionmatrix.html


    
"3D MeshWorks"


    
http://www.jrbassett.com


    
"Missing gtc/constants.hpp #12"


    
https://github.com/g-truc/glm/issues/12


    
"Kinematics (Advanced Methods in Computer Graphics) Part 4"


    
http://what-when-how.com/advanced-methods-in-computer-graphics/kinematics-advanced-methods-in-computer-graphics-part-4/


    
"alfanick's inverse-kinematics repo (ccd.cpp)"


    
https://github.com/alfanick/inverse-kinematics/blob/master/ccd.cpp


    
"Best Inverse kinematics algorithm with constraints on joint angles"


    
https://stackoverflow.com/questions/21373012/best-inverse-kinematics-algorithm-with-constraints-on-joint-angles


    
"Real-Time 3d Robotics UI (Python)"


    
https://coreykruger.wordpress.com/programming-and-scripting/462-2/


    
"Anand's blog - GPGPU In Android: Load a texture with floats and read it back"


    
http://www.anandmuralidhar.com/blog/tag/gpgpu/


    
"Ray-Plane and Ray-Disk Intersection"


    
https://www.scratchapixel.com/lessons/3d-basic-rendering/minimal-ray-tracer-rendering-simple-shapes/ray-plane-and-ray-disk-intersection


    
"Ray-Sphere Intersection"


    
https://www.scratchapixel.com/lessons/3d-basic-rendering/minimal-ray-tracer-rendering-simple-shapes/ray-sphere-intersection





Keywords

--------



    3D inverse kinematics (cyclic coordinate descent), forward kinematics, rovolute joint constraints, prismatic joint constraints, end-effector orientation constraints, GPU ray tracing