SkinT_impl.hh

/* ========================================================================= *
 *                                                                           *
 *                               OpenFlipper                                 *
 *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
 *           Department of Computer Graphics and Multimedia                  *
 *                          All rights reserved.                             *
 *                            www.openflipper.org                            *
 *                                                                           *
 *---------------------------------------------------------------------------*
 * This file is part of OpenFlipper.                                         *
 *---------------------------------------------------------------------------*
 *                                                                           *
 * Redistribution and use in source and binary forms, with or without        *
 * modification, are permitted provided that the following conditions        *
 * are met:                                                                  *
 *                                                                           *
 * 1. Redistributions of source code must retain the above copyright notice, *
 *    this list of conditions and the following disclaimer.                  *
 *                                                                           *
 * 2. Redistributions in binary form must reproduce the above copyright      *
 *    notice, this list of conditions and the following disclaimer in the    *
 *    documentation and/or other materials provided with the distribution.   *
 *                                                                           *
 * 3. Neither the name of the copyright holder nor the names of its          *
 *    contributors may be used to endorse or promote products derived from   *
 *    this software without specific prior written permission.               *
 *                                                                           *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
 *                                                                           *
 * ========================================================================= */

/*===========================================================================*\
 *
 *   $Revision: 21010 $
 *   $Date: 2015-07-16 10:52:48 +0200 (Do, 16 Jul 2015) $
 *
\*===========================================================================*/





#ifdef USE_OPENMP
#include <omp.h>
#endif
#define SKINT_C

//-----------------------------------------------------------------------------

template<typename MeshT>
SkinT<MeshT>::SkinT(SkeletonT<PointT> *_skeleton, MeshT *_mesh, int _objectID) :
  BaseSkin(_objectID),
  skeleton_(_skeleton),
  mesh_(_mesh),
  objectId_(_objectID),
  lastmethod_(Blending::M_LBS),
  weightsComputed_(false)

{
}

//-----------------------------------------------------------------------------

template<typename MeshT>
SkinT<MeshT>::~SkinT()
{

}

//-----------------------------------------------------------------------------

template<typename MeshT>
typename SkinT<MeshT>::Skeleton* SkinT<MeshT>::skeleton()
{
  return skeleton_;
}

//-----------------------------------------------------------------------------

template<typename MeshT>
void SkinT<MeshT>::attachSkin()
{
  // create the skins properties
  OpenMesh::VPropHandleT<DefaultPose> propDefaultPose;
  OpenMesh::VPropHandleT<SkinWeights> propWeights;

  //make sure properties are there
  if( !mesh_->get_property_handle(propDefaultPose, DEFAULTPOSE_PROP) )
    mesh_->add_property(propDefaultPose, DEFAULTPOSE_PROP);

  if (! mesh_->get_property_handle(propWeights, SKIN_WEIGHTS_PROP))
    mesh_->add_property(propWeights, SKIN_WEIGHTS_PROP);

  // backup the default pose
  for(typename MeshT::VertexIter it = mesh_->vertices_begin(); it != mesh_->vertices_end(); ++it)
    mesh_->property(propDefaultPose, *it) = DefaultPose(mesh_->point(*it), mesh_->normal(*it));
}

//-----------------------------------------------------------------------------

template<typename MeshT>
void SkinT<MeshT>::deformSkin()
{
  deformSkin(lastAnimationHandle_, lastmethod_);
}

//-----------------------------------------------------------------------------

template<typename MeshT>
void SkinT<MeshT>::deformSkin(const AnimationHandle &_hAni, Blending::Method _method)
{
  // Do not transform skin if skin weights were not computed before
  // as the mesh entirely disappears since all vertices collapse to origin
  if(!weightsComputed_) {
      return;
  }

  lastAnimationHandle_ = _hAni;
  lastmethod_          = _method;

  // first get the properties
  OpenMesh::VPropHandleT<DefaultPose> propDefaultPose;
  OpenMesh::VPropHandleT<SkinWeights> propWeights;

  if(!mesh_->get_property_handle(propDefaultPose, DEFAULTPOSE_PROP) ||
     !mesh_->get_property_handle(propWeights, SKIN_WEIGHTS_PROP))
    return; // missing properties

  Pose* pose = skeleton_->pose(_hAni);

  #ifndef USE_OPENMP
    int verticesWithoutWeights = 0;
  #endif
  
  // for every vertex
  typename MeshT::VertexIter it;
#ifdef USE_OPENMP
  std::vector< OpenMesh::VertexHandle > vhandles; vhandles.clear(); vhandles.reserve(mesh_->n_vertices());
  for(it = mesh_->vertices_begin(); it != mesh_->vertices_end(); ++it){vhandles.push_back(*it);}
  int vhcount = (int) vhandles.size();
  #pragma omp parallel for
  for (int vhindex = 0; vhindex < vhcount; vhindex++)
#else
  for(it = mesh_->vertices_begin(); it != mesh_->vertices_end(); ++it)
#endif
  {
    #ifdef USE_OPENMP
      const OpenMesh::VertexHandle currentVertexH = vhandles[vhindex];
    #else
      const OpenMesh::VertexHandle currentVertexH = *it;
    #endif

    // based on its position in the default pose
    OpenMesh::Vec3d default_point  = mesh_->property(propDefaultPose, currentVertexH).point,
                    default_normal = mesh_->property(propDefaultPose, currentVertexH).normal;

    OpenMesh::Vec3d point(0, 0, 0), normal(0, 0, 0);    // the new position and normal

    if( _method == Blending::M_LBS ) {

      // Linear blend skinning
      SkinWeights &weights = mesh_->property(propWeights, currentVertexH);

      #ifndef USE_OPENMP
      if (weights.size() == 0)
      {
        verticesWithoutWeights++;
      }
      #endif

      SkinWeights::iterator it_w;
      for(it_w = weights.begin(); it_w != weights.end(); ++it_w)
      {
        const Matrix &unified = pose->unifiedMatrix(it_w->first);

        point  += it_w->second * unified.transform_point(default_point);
        normal += it_w->second * unified.transform_vector(default_normal);
      }

    }else if( _method == Blending::M_DBS ) {
      // Dual quaternion blend skinning

      std::vector<double>         weightVector;
      std::vector<DualQuaternion> dualQuaternions;

      SkinWeights &weights = mesh_->property(propWeights, currentVertexH);
      SkinWeights::iterator it_w;

      for(it_w = weights.begin(); it_w != weights.end(); ++it_w){
        weightVector.push_back(    it_w->second );
        dualQuaternions.push_back( pose->unifiedDualQuaternion(it_w->first) );
      }

      DualQuaternion dq = DualQuaternion::interpolate(weightVector, dualQuaternions);

      point  = dq.transform_point(default_point);
      normal = dq.transform_vector(default_normal);

    } else {
      std::cerr << "ERROR: Unknown skinning method!" << std::endl;
    }

    mesh_->set_point(currentVertexH, point);
    mesh_->set_normal(currentVertexH, normal);
  }

  #ifndef USE_OPENMP
    if ( verticesWithoutWeights > 0 )
      std::cerr << "Deform skin: " << verticesWithoutWeights << " vertices without skin weights." << std::endl;
  #endif

  mesh_->update_face_normals();
}

//-----------------------------------------------------------------------------

template<typename MeshT>
void SkinT<MeshT>::releaseSkin()
{
  // create the skins properties
  OpenMesh::VPropHandleT<DefaultPose> propDefaultPose;

  // try to restore the default pose
  if(mesh_->get_property_handle(propDefaultPose, DEFAULTPOSE_PROP))
  {
    typename MeshT::VertexIter it;
    for(it = mesh_->vertices_begin(); it != mesh_->vertices_end(); ++it)
    {
      mesh_->set_point(*it, mesh_->property(propDefaultPose, *it).point);
      mesh_->set_normal(*it, mesh_->property(propDefaultPose, *it).normal);
    }
    mesh_->remove_property(propDefaultPose);
  }

  // Remove the skin weights
  OpenMesh::VPropHandleT<SkinWeights> propSkinWeights;
  mesh_->remove_property(propSkinWeights);
}

//-----------------------------------------------------------------------------