PoseT.hh 9.12 KB
 Jan Möbius committed Dec 27, 2016 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 /*===========================================================================*\ * * * 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. * * * \*===========================================================================*/  Jan Möbius committed Jan 08, 2019 42 #pragma once  Jan Möbius committed Dec 27, 2016 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76  #include "ACG/Math/Matrix4x4T.hh" #include "ACG/Math/QuaternionT.hh" #include "ACG/Math/DualQuaternionT.hh" template class SkeletonT; /** * @brief A general pose, used to store the frames of the animation * */ template class PoseT { template friend class SkeletonT; template friend class AnimationT; template friend class FrameAnimationT; protected: typedef PointT Point; typedef typename Point::value_type Scalar; typedef typename ACG::VectorT Vector; typedef typename ACG::Matrix4x4T Matrix; typedef typename ACG::QuaternionT Quaternion; typedef typename ACG::DualQuaternionT DualQuaternion; public: /// Constructor  Jan Möbius committed Feb 06, 2017 77 78  explicit PoseT(SkeletonT* _skeleton);  Jan Möbius committed Dec 27, 2016 79  /// Copy Constructor  Jan Möbius committed Feb 06, 2017 80 81  explicit PoseT(const PoseT& _other);  Jan Möbius committed Dec 27, 2016 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198  /// Destructor virtual ~PoseT(); // ======================================================================================= /** @anchor PoseEditing * @name Pose editing * These methods update the other coordinate systems, changing the local coordinates will also change the global and vice versa. * @{ */ // ======================================================================================= /// local matrix manipulation /// the local matrix represents a joints orientation/translation in the coordinate frame of the parent joint 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; /// global matrix manipulation /// the global matrix represents a joints orientation/translation in global coordinates 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; /** @} */ // ======================================================================================= /** * @name Synchronization * Use these methods to keep the pose in sync with the number (and indices) of the joints. * @{ */ // ======================================================================================= /** * \brief Called by the skeleton/animation as a new joint is inserted * * To keep the vectors storing the matrices for the joints in sync with the joints a new entry has to be inserted * in exactly the same place if a new joint is added to the skeleton. This is done here. Derived classes * have to overwrite this method to keep their data members in sync as well. Always call the base class * method first. * * @param _index The new joint is inserted at this position. Insert new joints at the end by passing * SkeletonT<>::jointCount() as parameter. */ virtual void insertJointAt(size_t _index); /** * \brief Called by the skeleton/animation as a joint is removed * * To keep the vectors storing the matrices for the joints in sync with the joints exactly the same entry * has to be removed as a joint is removed from the skeleton. This is done here. Derived classes * have to overwrite this method to keep their data members in sync as well. Always call the base class * method first. * * @param _index The new joint is inserted at this position. Insert new joints at the end by passing * SkeletonT<>::jointCount() as parameter. */ virtual void removeJointAt(size_t _index); /** @} */ protected: // ======================================================================================= /** @name Coordinate system update methods * These methods propagate the change in one of the coordinate systems into the other. This will * keep intact the children nodes' positions per default (by recursively updating all children.). * This behavior can be influenced via the _keepChildPositions parameter. * @{ */ // ======================================================================================= void updateFromLocal(size_t _joint, bool _keepChildPositions=true); void updateFromGlobal(size_t _joint, bool _keepChildPositions=true); /** @} */ public: // ======================================================================================= /** @anchor UnifiedMatrices * @name Unified Matrices * Use these methods to gain access to the precalculations performed by this derivation. * @{ */ // ======================================================================================= inline const Matrix& unifiedMatrix(size_t _joint); inline const Quaternion& unifiedRotation(size_t _joint); inline const DualQuaternion& unifiedDualQuaternion(size_t _joint); /** @} */ protected: /// a pointer to the skeleton SkeletonT* skeleton_; /// the pose in local coordinates std::vector local_; /// the pose in global coordinates std::vector global_; /// the global pose matrix left-multiplied to the inverse global reference matrix: \f$M_{pose} \cdot M^{-1}_{reference} \f$ std::vector unified_; /// JointT::PoseT::unified in DualQuaternion representation /// note: the real part of the dual quaternion is the rotation part of the transformation as quaternion std::vector unifiedDualQuaternion_; }; //============================================================================= //============================================================================= #if defined(INCLUDE_TEMPLATES) && !defined(POSET_C) #define POSET_TEMPLATES #include "PoseT.cc" #endif  Jan Möbius committed Jan 08, 2019 199   Jan Möbius committed Dec 27, 2016 200