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PoseT.hh
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49 
50 #ifndef POSET_HH
51 #define POSET_HH
52 
53 #include "ACG/Math/Matrix4x4T.hh"
54 #include "ACG/Math/VectorT.hh"
55 
56 #include "ACG/Math/QuaternionT.hh"
57 #include "ACG/Math/DualQuaternionT.hh"
58 
59 
60 template<typename PointT>
61 class SkeletonT;
62 
67 template<typename PointT>
68 class PoseT
69 {
70  template<typename>
71  friend class SkeletonT;
72  template<typename>
73  friend class AnimationT;
74  template<typename>
75  friend class FrameAnimationT;
76 
77 protected:
78  typedef PointT Point;
79  typedef typename Point::value_type Scalar;
80  typedef typename ACG::VectorT<Scalar, 3> Vector;
81  typedef typename ACG::Matrix4x4T<Scalar> Matrix;
82  typedef typename ACG::QuaternionT<Scalar> Quaternion;
84 
85 public:
87  PoseT(SkeletonT<Point>* _skeleton);
89  PoseT(const PoseT<PointT>& _other);
91  virtual ~PoseT();
92 
93  // =======================================================================================
98  // =======================================================================================
99 
102  inline const Matrix& localMatrix(unsigned int _joint) const;
103  void setLocalMatrix(unsigned int _joint, const Matrix &_local, bool _keepLocalChildPositions=true);
104  inline Vector localTranslation(unsigned int _joint);
105  void setLocalTranslation(unsigned int _joint, const Vector &_position, bool _keepLocalChildPositions=true);
106 
107  inline Matrix localMatrixInv(unsigned int _joint) const;
108 
111  inline const Matrix& globalMatrix(unsigned int _joint) const;
112  void setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions=true);
113  inline Vector globalTranslation(unsigned int _joint);
114  void setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions=true);
115 
116  virtual Matrix globalMatrixInv(unsigned int _joint) const;
117 
120  // =======================================================================================
125  // =======================================================================================
126 
138  virtual void insertJointAt(unsigned int _index);
139 
151  virtual void removeJointAt(unsigned int _index);
152 
155 protected:
156  // =======================================================================================
162  // =======================================================================================
163 
164  void updateFromLocal(unsigned int _joint, bool _keepChildPositions=true);
165  void updateFromGlobal(unsigned int _joint, bool _keepChildPositions=true);
166 
169 public:
170 
171  // =======================================================================================
176  // =======================================================================================
177 
178  inline const Matrix& unifiedMatrix(unsigned int _joint);
179  inline const Quaternion& unifiedRotation(unsigned int _joint);
180  inline const DualQuaternion& unifiedDualQuaternion(unsigned int _joint);
181 
184 protected:
185 
189  std::vector<Matrix> local_;
191  std::vector<Matrix> global_;
192 
194  std::vector<Matrix> unified_;
195 
198  std::vector<DualQuaternion> unifiedDualQuaternion_;
199 };
200 
201 //=============================================================================
202 //=============================================================================
203 #if defined(INCLUDE_TEMPLATES) && !defined(POSET_C)
204 #define POSET_TEMPLATES
205 #include "PoseT.cc"
206 #endif
207 //=============================================================================
208 #endif
209 //=============================================================================
210 
virtual Matrix globalMatrixInv(unsigned int _joint) const
Simply returns the inverse of the global matrix.
Definition: PoseT.cc:273
void setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions=true)
Sets the global coordinate system.
Definition: PoseT.cc:217
SkeletonT< PointT > * skeleton_
a pointer to the skeleton
Definition: PoseT.hh:187
void setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions=true)
Sets the global translation vector.
Definition: PoseT.cc:255
virtual void removeJointAt(unsigned int _index)
Called by the skeleton/animation as a joint is removed.
Definition: PoseT.cc:304
PoseT(SkeletonT< Point > *_skeleton)
Constructor.
Definition: PoseT.cc:65
void updateFromGlobal(unsigned int _joint, bool _keepChildPositions=true)
This method propagates the change in the global coordinate system to the local system and all childre...
Definition: PoseT.cc:359
Vector localTranslation(unsigned int _joint)
Returns the local translation vector.
Definition: PoseT.cc:145
void updateFromLocal(unsigned int _joint, bool _keepChildPositions=true)
This method propagates the change in the local coordinate system to the global system and all childre...
Definition: PoseT.cc:321
std::vector< DualQuaternion > unifiedDualQuaternion_
Definition: PoseT.hh:198
A general pose, used to store the frames of the animation.
Definition: PoseT.hh:68
std::vector< Matrix > unified_
the global pose matrix left-multiplied to the inverse global reference matrix:
Definition: PoseT.hh:194
ACG::Vec3d Vector
Standard Type for 3d Vector used for scripting.
Definition: DataTypes.hh:187
virtual void insertJointAt(unsigned int _index)
Called by the skeleton/animation as a new joint is inserted.
Definition: PoseT.cc:287
DualQuaternion class for representing rigid motions in 3d.
virtual ~PoseT()
Destructor.
Definition: PoseT.cc:97
const Matrix & localMatrix(unsigned int _joint) const
Returns the local matrix for the given joint.
Definition: PoseT.cc:110
const Quaternion & unifiedRotation(unsigned int _joint)
Returns a quaternion holding the rotational part of the unified matrix.
Definition: PoseT.cc:421
const Matrix & unifiedMatrix(unsigned int _joint)
Returns the unified matrix.
Definition: PoseT.cc:403
void setLocalTranslation(unsigned int _joint, const Vector &_position, bool _keepLocalChildPositions=true)
Sets the local translation vector.
Definition: PoseT.cc:167
Vector globalTranslation(unsigned int _joint)
Returns the global translation vector.
Definition: PoseT.cc:233
Matrix localMatrixInv(unsigned int _joint) const
Simply returns the inverse of the local matrix.
Definition: PoseT.cc:182
const DualQuaternion & unifiedDualQuaternion(unsigned int _joint)
Returns a dual quaternion holding the unified matrix represented as dual quaternion.
Definition: PoseT.cc:437
std::vector< Matrix > global_
the pose in global coordinates
Definition: PoseT.hh:191
void setLocalMatrix(unsigned int _joint, const Matrix &_local, bool _keepLocalChildPositions=true)
Sets the local coordinate system.
Definition: PoseT.cc:126
Stores a single animation.
Definition: AnimationT.hh:67
const Matrix & globalMatrix(unsigned int _joint) const
Returns the global matrix for the given joint.
Definition: PoseT.cc:199
std::vector< Matrix > local_
the pose in local coordinates
Definition: PoseT.hh:189