test/ik_test.cpp

#include <rive/node.hpp>
#include <rive/bones/bone.hpp>
#include <rive/shapes/shape.hpp>
#include "no_op_renderer.hpp"
#include "rive_file_reader.hpp"
#include "rive_testing.hpp"
#include <cstdio>

TEST_CASE("two bone ik places bones correctly", "[file]") {
    auto file = ReadRiveFile("../../test/assets/two_bone_ik.riv");
    auto artboard = file->artboard();

    REQUIRE(artboard->find<rive::Shape>("circle a") != nullptr);
    auto circleA = artboard->find<rive::Shape>("circle a");

    REQUIRE(artboard->find<rive::Shape>("circle b") != nullptr);
    auto circleB = artboard->find<rive::Shape>("circle b");

    REQUIRE(artboard->find<rive::Bone>("a") != nullptr);
    auto boneA = artboard->find<rive::Bone>("a");

    REQUIRE(artboard->find<rive::Bone>("b") != nullptr);
    auto boneB = artboard->find<rive::Bone>("b");

    REQUIRE(artboard->find<rive::Node>("target") != nullptr);
    auto target = artboard->find<rive::Node>("target");

    REQUIRE(artboard->animation("Animation 1") != nullptr);
    auto animation = artboard->animation("Animation 1");

    // Make sure dependency structure is correct. Important thing here is to
    // ensure that circle a is dependent upon the tip of the ik chain (bone b).
    // circle b is a child of bone b so it'll be there anyway, but may as well
    // validate.
    REQUIRE(std::find(boneB->dependents().begin(), boneB->dependents().end(), circleA) !=
            boneB->dependents().end());
    REQUIRE(std::find(boneB->dependents().begin(), boneB->dependents().end(), circleB) !=
            boneB->dependents().end());

    animation->apply(artboard, 0.0f, 1.0f);
    artboard->advance(0.0f);
    REQUIRE(target->x() == 296.0f);
    REQUIRE(target->y() == 202.0f);
    REQUIRE(aboutEqual(boneA->worldTransform(),
                       rive::Mat2D(0.11632211506366729736328125f,
                                   -0.993211567401885986328125f,
                                   0.993211567401885986328125f,
                                   0.11632211506366729736328125f,
                                   26.015254974365234375f,
                                   475.2149658203125f)));

    REQUIRE(aboutEqual(boneB->worldTransform(),
                       rive::Mat2D(0.974071562290191650390625f,
                                   0.2262403070926666259765625f,
                                   -0.2262403070926666259765625f,
                                   0.974071562290191650390625f,
                                   64.31568145751953125f,
                                   148.1883544921875f)));

    animation->apply(artboard, 1.0f, 1.0f);
    artboard->advance(0.0f);
    REQUIRE(target->x() == 450.0f);
    REQUIRE(target->y() == 337.0f);
    REQUIRE(aboutEqual(boneA->worldTransform(),
                       rive::Mat2D(0.650279819965362548828125f,
                                   -0.7596948146820068359375f,
                                   0.7596948146820068359375f,
                                   0.650279819965362548828125f,
                                   26.015254974365234375f,
                                   475.2149658203125f)));

    REQUIRE(aboutEqual(boneB->worldTransform(),
                       rive::Mat2D(0.8823678493499755859375f,
                                   0.470560371875762939453125f,
                                   -0.47056043148040771484375f,
                                   0.882367908954620361328125f,
                                   240.1275634765625f,
                                   225.07647705078125f)));
}

TEST_CASE("ik keeps working after a lot of iterations", "[file]") {
    auto file = ReadRiveFile("../../test/assets/two_bone_ik.riv");
    auto artboard = file->artboard();

    REQUIRE(artboard->find<rive::Shape>("circle a") != nullptr);
    auto circleA = artboard->find<rive::Shape>("circle a");

    REQUIRE(artboard->find<rive::Shape>("circle b") != nullptr);
    auto circleB = artboard->find<rive::Shape>("circle b");

    REQUIRE(artboard->find<rive::Bone>("a") != nullptr);
    auto boneA = artboard->find<rive::Bone>("a");

    REQUIRE(artboard->find<rive::Bone>("b") != nullptr);
    auto boneB = artboard->find<rive::Bone>("b");

    REQUIRE(artboard->find<rive::Node>("target") != nullptr);
    auto target = artboard->find<rive::Node>("target");

    REQUIRE(artboard->animation("Animation 1") != nullptr);
    auto animation = artboard->animation("Animation 1");

    // Make sure dependency structure is correct. Important thing here is to
    // ensure that circle a is dependent upon the tip of the ik chain (bone b).
    // circle b is a child of bone b so it'll be there anyway, but may as well
    // validate.
    REQUIRE(std::find(boneB->dependents().begin(), boneB->dependents().end(), circleA) !=
            boneB->dependents().end());
    REQUIRE(std::find(boneB->dependents().begin(), boneB->dependents().end(), circleB) !=
            boneB->dependents().end());

    for (int i = 0; i < 1000; i++) {
        animation->apply(artboard, 0.0f, 1.0f);
        artboard->advance(0.0f);
        REQUIRE(target->x() == 296.0f);
        REQUIRE(target->y() == 202.0f);
        REQUIRE(aboutEqual(boneA->worldTransform(),
                           rive::Mat2D(0.11632211506366729736328125f,
                                       -0.993211567401885986328125f,
                                       0.993211567401885986328125f,
                                       0.11632211506366729736328125f,
                                       26.015254974365234375f,
                                       475.2149658203125f)));

        REQUIRE(aboutEqual(boneB->worldTransform(),
                           rive::Mat2D(0.974071562290191650390625f,
                                       0.2262403070926666259765625f,
                                       -0.2262403070926666259765625f,
                                       0.974071562290191650390625f,
                                       64.31568145751953125f,
                                       148.1883544921875f)));

        animation->apply(artboard, 1.0f, 1.0f);
        artboard->advance(0.0f);
        REQUIRE(target->x() == 450.0f);
        REQUIRE(target->y() == 337.0f);
        REQUIRE(aboutEqual(boneA->worldTransform(),
                           rive::Mat2D(0.650279819965362548828125f,
                                       -0.7596948146820068359375f,
                                       0.7596948146820068359375f,
                                       0.650279819965362548828125f,
                                       26.015254974365234375f,
                                       475.2149658203125f)));

        REQUIRE(aboutEqual(boneB->worldTransform(),
                           rive::Mat2D(0.8823678493499755859375f,
                                       0.470560371875762939453125f,
                                       -0.47056043148040771484375f,
                                       0.882367908954620361328125f,
                                       240.1275634765625f,
                                       225.07647705078125f)));
    }
}