PoseT.hh

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#pragma once

#include "ACG/Math/Matrix4x4T.hh"

#include "ACG/Math/QuaternionT.hh"
#include "ACG/Math/DualQuaternionT.hh"


template<typename PointT>
class SkeletonT;

template<typename PointT>
class PoseT
{
  template<typename>
  friend class SkeletonT;
  template<typename>
  friend class AnimationT;
  template<typename>
  friend class FrameAnimationT;

protected:
  typedef PointT                                Point;
  typedef typename Point::value_type            Scalar;
  typedef typename ACG::VectorT<Scalar, 3>      Vector;
  typedef typename ACG::Matrix4x4T<Scalar>      Matrix;
  typedef typename ACG::QuaternionT<Scalar>     Quaternion;
  typedef typename ACG::DualQuaternionT<Scalar> DualQuaternion;

public:
  explicit PoseT(SkeletonT<Point>* _skeleton);

  explicit PoseT(const PoseT<PointT>& _other);

  virtual ~PoseT();

  // =======================================================================================
  // =======================================================================================
  
  inline const Matrix& localMatrix(unsigned int _joint) const;
  void setLocalMatrix(unsigned int _joint, const Matrix &_local, bool _keepLocalChildPositions=true);
  inline Vector localTranslation(unsigned int _joint);
  void setLocalTranslation(unsigned int _joint, const Vector &_position, bool _keepLocalChildPositions=true);  

  inline Matrix localMatrixInv(unsigned int _joint) const;
  
  inline const Matrix& globalMatrix(unsigned int _joint) const;
  void setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions=true);
  inline Vector globalTranslation(unsigned int _joint);
  void setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions=true);
  
  virtual Matrix globalMatrixInv(unsigned int _joint) const;

  // =======================================================================================
  // =======================================================================================

  virtual void insertJointAt(size_t _index);

  virtual void removeJointAt(size_t _index);

protected:
  // =======================================================================================
  // =======================================================================================

  void updateFromLocal(size_t _joint, bool _keepChildPositions=true);
  void updateFromGlobal(size_t _joint, bool _keepChildPositions=true);

public:

  // =======================================================================================
  // =======================================================================================

  inline const Matrix&         unifiedMatrix(size_t _joint);
  inline const Quaternion&     unifiedRotation(size_t _joint);
  inline const DualQuaternion& unifiedDualQuaternion(size_t _joint);

protected:

  SkeletonT<PointT>* skeleton_;
  std::vector<Matrix> local_;
  std::vector<Matrix> global_;

  std::vector<Matrix> unified_;
  
  std::vector<DualQuaternion> unifiedDualQuaternion_;
};

//=============================================================================
//=============================================================================
#if defined(INCLUDE_TEMPLATES) && !defined(POSET_C)
#define POSET_TEMPLATES
#include "PoseT_impl.hh"
#endif