SkeletonTransform.cc

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#include "SkeletonTransform.hh"
#include <ACG/Geometry/AlgorithmsAngleT.hh>
//-----------------------------------------------------------------------------
 
SkeletonTransform::SkeletonTransform(Skeleton& _skeleton) : skeleton_(_skeleton)
{
  refPose_ = skeleton_.referencePose();
}
 
//-----------------------------------------------------------------------------
 
void SkeletonTransform::scaleSkeleton(double _factor, Skeleton::Pose* _pose) {
 
  // note: scaling the root joints is important since this controls e.g. the size of foot steps
  
  if ( _pose == 0)
    _pose = refPose_;
 
  //scale bones in the given pose
  for (Skeleton::Iterator it = skeleton_.begin(); it != skeleton_.end(); ++it )
      _pose->setLocalTranslation( (*it)->id(), _pose->localTranslation((*it)->id()) * _factor );
 
  // if given pose is refPose
  if ( _pose == refPose_){
    //scale bones in the animations
    for (size_t a=0; a < skeleton_.animationCount(); a++)
      for (unsigned int iFrame = 0; iFrame < skeleton_.animation(a)->frameCount(); iFrame++){
 
          Skeleton::Pose* pose = skeleton_.animation(a)->pose( iFrame );
 
          if ( pose == refPose_ )
            continue;
 
          for (Skeleton::Iterator it = skeleton_.begin(); it != skeleton_.end(); ++it )
              pose->setLocalTranslation( (*it)->id(), pose->localTranslation((*it)->id()) * _factor );
      }
  }
}
 
//-----------------------------------------------------------------------------
 
void SkeletonTransform::translateSkeleton(ACG::Vec3d _translation, Skeleton::Pose* _pose) {
 
  if ( _pose == 0)
    _pose = refPose_;
  
  //apply the transformation to given pose
  ACG::Vec3d position = _pose->globalTranslation( 0 );
  _pose->setGlobalTranslation( 0, position + _translation );
  
  // apply to all animations if the refpose was changed
  if ( _pose == refPose_ ){
 
    // apply transformation to all frames of all animations
    for (unsigned int a=0; a < skeleton_.animationCount(); a++)
    for (unsigned int iFrame = 0; iFrame < skeleton_.animation(a)->frameCount(); iFrame++){
 
      Skeleton::Pose* pose = skeleton_.animation(a)->pose( iFrame );
 
      if ( pose == refPose_ )
        continue;
 
      ACG::Vec3d globalTranslation = pose->globalTranslation( 0 );
      pose->setGlobalTranslation( 0, globalTranslation + _translation );
    }
  }
}
 
//-----------------------------------------------------------------------------
 
void SkeletonTransform::transformSkeleton(Matrix4x4 _transformation, Skeleton::Pose* _pose) {
 
  if ( _pose == 0)
    _pose = refPose_;
  
  //apply the transformation to given pose
  ACG::Matrix4x4d local = _pose->localMatrix( 0 );
  _pose->setLocalMatrix( 0, _transformation * local );
  
  // apply to all animations if the refpose was changed
  if ( _pose == refPose_ ){
 
    // apply transformation to all frames of all animations
    for (unsigned int a=0; a < skeleton_.animationCount(); a++)
    for (unsigned int iFrame = 0; iFrame < skeleton_.animation(a)->frameCount(); iFrame++){
 
      Skeleton::Pose* pose = skeleton_.animation(a)->pose( iFrame );
 
      if ( pose == refPose_ )
        continue;
 
      ACG::Matrix4x4d localMatrix = pose->localMatrix( 0 );
      pose->setLocalMatrix( 0, _transformation * localMatrix );
    }
  }
}
 
//-----------------------------------------------------------------------------
 
void SkeletonTransform::transformJoint(Skeleton::Joint* _joint, Matrix4x4 _matrix, bool _keepChildPositions) {
 
  if (_joint == 0)
    return;
  
  Matrix4x4 transform;
  transform.identity();
  
  //get transformation matrix
  Skeleton::Joint* parent = _joint->parent();
  
  if ( parent != 0 )
    // new GlobalMatrix after application of _matrix is:  newGlobal = _matrix * activePose->getGlobal( joint )
    // new LocalMatrix : activePose->getGlobalInv( parent->getID() ) * newGlobal
    // Transformation from LocalMatrix to new LocalMatrix:
    transform = refPose_->globalMatrixInv( parent->id() ) * _matrix * refPose_->globalMatrix( _joint->id() ) * refPose_->localMatrixInv( _joint->id() );
  else
    // the transformation for the root joint has to be applied directly
    // _matrix defines a post-multiplication but we need a pre-multiplication matrix X in order to apply
    // the transformation to all frames: _matrix * Global = Global * X --> X = GlobalInverse * _matrix * global
    transform = refPose_->globalMatrixInv( _joint->id() ) * _matrix * refPose_->globalMatrix( _joint->id() );
  
  
  //transform refPose
  if ( parent != 0 ){
 
    Matrix4x4 newMatrix = transform * refPose_->localMatrix( _joint->id() );
    refPose_->setLocalMatrix( _joint->id(), newMatrix, !_keepChildPositions); //keep child for local means !keepChild global
 
  } else {
    //directly apply the global transformation
    Matrix4x4 newMatrix = refPose_->globalMatrix( _joint->id() ) * transform;
    refPose_->setLocalMatrix( _joint->id(), newMatrix, !_keepChildPositions);
  }
 
  // apply transformation to all frames of all animations
  for (unsigned int a=0; a < skeleton_.animationCount(); a++)
  for (unsigned int iFrame = 0; iFrame < skeleton_.animation(a)->frameCount(); iFrame++){
    
    Skeleton::Pose* pose = skeleton_.animation(a)->pose( iFrame );
  
    if ( parent != 0 ){
      
      //transform the local matrix
      Matrix4x4 newMatrix = transform * pose->localMatrix( _joint->id() );
      pose->setLocalMatrix( _joint->id(), newMatrix, !_keepChildPositions);
 
      // the transformation may have changed two things
      // 1. due to the changed length of neighboring bones the rotation
      //    angle changes this has to be corrected by rotating the coord-frame
      // 2. the length of the bone to a child may have changed. Check that
      //    the length is the same like in the refPose
 
    } else {
      
      //directly apply the global transformation
      Matrix4x4 newMatrix = pose->globalMatrix( _joint->id() ) * transform;
        
      pose->setLocalMatrix( _joint->id(), newMatrix, !_keepChildPositions);
    }
  }
}
 
//-----------------------------------------------------------------------------
 
void SkeletonTransform::translateJoint(Skeleton::Joint* _joint, ACG::Vec3d _translation, bool _keepChildPositions) {
  ACG::GLMatrixd transformation;
  transformation.identity();
  transformation.translate( _translation );
 
  transformJoint(_joint, transformation, _keepChildPositions);
}
 
//-----------------------------------------------------------------------------
 
void SkeletonTransform::rotateJoint(Skeleton::Joint* _joint, Skeleton::Pose* _pose, Matrix4x4 _rotation, bool _applyToWholeAnimation) {
 
  if (_joint == 0)
    return;
  
  if ( fabs(1.0 - determinant(_rotation)) > 1E-6 ){
    std::cerr << "Cannot rotate joint. Matrix is not a rotation matrix (det:" << determinant(_rotation) << ")" << std::endl;
    return;
  }
 
  Matrix4x4 transform;
  transform.identity();
  
  //get transformation matrix
  Skeleton::Joint* parent = _joint->parent();
  
  if ( parent != 0 )
    // new GlobalMatrix after application of _matrix is:  newGlobal = _matrix * activePose->getGlobal( joint )
    // new LocalMatrix : activePose->getGlobalInv( parent->getID() ) * newGlobal
    // Transformation from LocalMatrix to new LocalMatrix:
    transform = _pose->globalMatrixInv( parent->id() ) * _rotation * _pose->globalMatrix( _joint->id() ) * _pose->localMatrixInv( _joint->id() );
  else
    // the transformation for the root joint has to be applied directly
    // _matrix defines a post-multiplication but we need a pre-multiplication matrix X in order to apply
    // the transformation to all frames: _matrix * Global = Global * X --> X = GlobalInverse * _matrix * global
    transform = _pose->globalMatrixInv( _joint->id() ) * _rotation * _pose->globalMatrix( _joint->id() );
 
 
  //transform pose
  if ( (_pose == refPose_) || !_applyToWholeAnimation ){
 
    if ( parent != 0 ){
 
      Matrix4x4 newMatrix = transform * _pose->localMatrix( _joint->id() );
      _pose->setLocalMatrix( _joint->id(), newMatrix);
 
    } else {
 
      //directly apply the global transformation
      Matrix4x4 newMatrix = _pose->globalMatrix( _joint->id() ) * transform;
      _pose->setLocalMatrix( _joint->id(), newMatrix);
    }
  }
 
  //TODO don't apply to all frames but only to those belonging to the same animation as _pose
  if ( _applyToWholeAnimation ){
    // apply transformation to all frames of all animations
    for (unsigned int a=0; a < skeleton_.animationCount(); a++)
    for (unsigned int iFrame = 0; iFrame < skeleton_.animation(a)->frameCount(); iFrame++){
      
      Skeleton::Pose* pose = skeleton_.animation(a)->pose( iFrame );
    
      if ( parent != 0 ){
        //transform the local matrix
        Matrix4x4 newMatrix = transform * pose->localMatrix( _joint->id() );
          
        pose->setLocalMatrix( _joint->id(), newMatrix);
        
      } else {
        
        //directly apply the global transformation
        Matrix4x4 newMatrix = pose->globalMatrix( _joint->id() ) * transform;
          
        pose->setLocalMatrix( _joint->id(), newMatrix);
      }
    }
  }
}
 
//-----------------------------------------------------------------------------
 
 
double SkeletonTransform::determinant(const Matrix4x4& _m) {
  double value;
 
  value =
  _m(0,3) * _m(1,2) * _m(2,1) * _m(3,0)-_m(0,2) * _m(1,3) * _m(2,1) * _m(3,0)-_m(0,3) * _m(1,1) * _m(2,2) * _m(3,0)+_m(0,1) * _m(1,3) * _m(2,2) * _m(3,0)+
  _m(0,2) * _m(1,1) * _m(2,3) * _m(3,0)-_m(0,1) * _m(1,2) * _m(2,3) * _m(3,0)-_m(0,3) * _m(1,2) * _m(2,0) * _m(3,1)+_m(0,2) * _m(1,3) * _m(2,0) * _m(3,1)+
  _m(0,3) * _m(1,0) * _m(2,2) * _m(3,1)-_m(0,0) * _m(1,3) * _m(2,2) * _m(3,1)-_m(0,2) * _m(1,0) * _m(2,3) * _m(3,1)+_m(0,0) * _m(1,2) * _m(2,3) * _m(3,1)+
  _m(0,3) * _m(1,1) * _m(2,0) * _m(3,2)-_m(0,1) * _m(1,3) * _m(2,0) * _m(3,2)-_m(0,3) * _m(1,0) * _m(2,1) * _m(3,2)+_m(0,0) * _m(1,3) * _m(2,1) * _m(3,2)+
  _m(0,1) * _m(1,0) * _m(2,3) * _m(3,2)-_m(0,0) * _m(1,1) * _m(2,3) * _m(3,2)-_m(0,2) * _m(1,1) * _m(2,0) * _m(3,3)+_m(0,1) * _m(1,2) * _m(2,0) * _m(3,3)+
  _m(0,2) * _m(1,0) * _m(2,1) * _m(3,3)-_m(0,0) * _m(1,2) * _m(2,1) * _m(3,3)-_m(0,1) * _m(1,0) * _m(2,2) * _m(3,3)+_m(0,0) * _m(1,1) * _m(2,2) * _m(3,3);
 
  return value;
}