Developer Documentation

PoseT.hh
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40 \*===========================================================================*/
41
42 #pragma once
43
44 #include "ACG/Math/Matrix4x4T.hh"
45
46 #include "ACG/Math/QuaternionT.hh"
47 #include "ACG/Math/DualQuaternionT.hh"
48
49
50 template<typename PointT>
51 class SkeletonT;
52
57 template<typename PointT>
58 class PoseT
59 {
60 template<typename>
61 friend class SkeletonT;
62 template<typename>
63 friend class AnimationT;
64 template<typename>
65 friend class FrameAnimationT;
66
67 protected:
68 typedef PointT Point;
69 typedef typename Point::value_type Scalar;
70 typedef typename ACG::VectorT<Scalar, 3> Vector;
71 typedef typename ACG::Matrix4x4T<Scalar> Matrix;
72 typedef typename ACG::QuaternionT<Scalar> Quaternion;
73 typedef typename ACG::DualQuaternionT<Scalar> DualQuaternion;
74
75 public:
77 explicit PoseT(SkeletonT<Point>* _skeleton);
78
80 explicit PoseT(const PoseT<PointT>& _other);
81
83 virtual ~PoseT();
84
85 // =======================================================================================
90 // =======================================================================================
91
94 inline const Matrix& localMatrix(unsigned int _joint) const;
95 void setLocalMatrix(unsigned int _joint, const Matrix &_local, bool _keepLocalChildPositions=true);
96 inline Vector localTranslation(unsigned int _joint);
97 void setLocalTranslation(unsigned int _joint, const Vector &_position, bool _keepLocalChildPositions=true);
98
99 inline Matrix localMatrixInv(unsigned int _joint) const;
100
103 inline const Matrix& globalMatrix(unsigned int _joint) const;
104 void setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions=true);
105 inline Vector globalTranslation(unsigned int _joint);
106 void setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions=true);
107
108 virtual Matrix globalMatrixInv(unsigned int _joint) const;
109
112 // =======================================================================================
117 // =======================================================================================
118
130 virtual void insertJointAt(size_t _index);
131
143 virtual void removeJointAt(size_t _index);
144
147 protected:
148 // =======================================================================================
154 // =======================================================================================
155
156 void updateFromLocal(size_t _joint, bool _keepChildPositions=true);
157 void updateFromGlobal(size_t _joint, bool _keepChildPositions=true);
158
161 public:
162
163 // =======================================================================================
168 // =======================================================================================
169
170 inline const Matrix& unifiedMatrix(size_t _joint);
171 inline const Quaternion& unifiedRotation(size_t _joint);
172 inline const DualQuaternion& unifiedDualQuaternion(size_t _joint);
173
176 protected:
177
179 SkeletonT<PointT>* skeleton_;
181 std::vector<Matrix> local_;
183 std::vector<Matrix> global_;
184
186 std::vector<Matrix> unified_;
187
190 std::vector<DualQuaternion> unifiedDualQuaternion_;
191 };
192
193 //=============================================================================
194 //=============================================================================
195 #if defined(INCLUDE_TEMPLATES) && !defined(POSET_C)
196 #define POSET_TEMPLATES
197 #include "PoseT_impl.hh"
198 #endif
199
200
PoseT::setLocalMatrix
void setLocalMatrix(unsigned int _joint, const Matrix &_local, bool _keepLocalChildPositions=true)
Sets the local coordinate system.
Definition: PoseT_impl.hh:120
PoseT::insertJointAt
virtual void insertJointAt(size_t _index)
Called by the skeleton/animation as a new joint is inserted.
Definition: PoseT_impl.hh:281
PoseT::unifiedDualQuaternion
const DualQuaternion & unifiedDualQuaternion(size_t _joint)
Returns a dual quaternion holding the unified matrix represented as dual quaternion.
Definition: PoseT_impl.hh:431
PoseT::globalTranslation
Vector globalTranslation(unsigned int _joint)
Returns the global translation vector.
Definition: PoseT_impl.hh:227
PoseT::globalMatrix
const Matrix & globalMatrix(unsigned int _joint) const
Returns the global matrix for the given joint.
Definition: PoseT_impl.hh:193
PoseT::localMatrix
const Matrix & localMatrix(unsigned int _joint) const
Returns the local matrix for the given joint.
Definition: PoseT_impl.hh:104
PoseT::setGlobalTranslation
void setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions=true)
Sets the global translation vector.
Definition: PoseT_impl.hh:249
SkeletonT
Definition: JointT.hh:50
PoseT::setGlobalMatrix
void setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions=true)
Sets the global coordinate system.
Definition: PoseT_impl.hh:211
PoseT::localMatrixInv
Matrix localMatrixInv(unsigned int _joint) const
Simply returns the inverse of the local matrix.
Definition: PoseT_impl.hh:176
PoseT
A general pose, used to store the frames of the animation.
Definition: PoseT.hh:58
PoseT::globalMatrixInv
virtual Matrix globalMatrixInv(unsigned int _joint) const
Simply returns the inverse of the global matrix.
Definition: PoseT_impl.hh:267
PoseT::localTranslation
Vector localTranslation(unsigned int _joint)
Returns the local translation vector.
Definition: PoseT_impl.hh:139
PoseT::local_
std::vector< Matrix > local_
the pose in local coordinates
Definition: PoseT.hh:181
ACG::QuaternionT
Definition: QuaternionT.hh:75
PoseT::global_
std::vector< Matrix > global_
the pose in global coordinates
Definition: PoseT.hh:183
PoseT::~PoseT
virtual ~PoseT()
Destructor.
Definition: PoseT_impl.hh:91
PoseT::unifiedDualQuaternion_
std::vector< DualQuaternion > unifiedDualQuaternion_
Definition: PoseT.hh:190
FrameAnimationT
Definition: FrameAnimationT.hh:47
PoseT::unifiedRotation
const Quaternion & unifiedRotation(size_t _joint)
Returns a quaternion holding the rotational part of the unified matrix.
Definition: PoseT_impl.hh:415
PoseT::updateFromLocal
void updateFromLocal(size_t _joint, bool _keepChildPositions=true)
This method propagates the change in the local coordinate system to the global system and all childre...
Definition: PoseT_impl.hh:315
PoseT::setLocalTranslation
void setLocalTranslation(unsigned int _joint, const Vector &_position, bool _keepLocalChildPositions=true)
Sets the local translation vector.
Definition: PoseT_impl.hh:161
ACG::Matrix4x4T
Definition: Matrix4x4T.hh:92
PoseT::PoseT
PoseT(SkeletonT< Point > *_skeleton)
Constructor.
Definition: PoseT_impl.hh:59
ACG::DualQuaternionT
DualQuaternion class for representing rigid motions in 3d.
Definition: DualQuaternionT.hh:80
PoseT::unifiedMatrix
const Matrix & unifiedMatrix(size_t _joint)
Returns the unified matrix.
Definition: PoseT_impl.hh:397
PoseT::updateFromGlobal
void updateFromGlobal(size_t _joint, bool _keepChildPositions=true)
This method propagates the change in the global coordinate system to the local system and all childre...
Definition: PoseT_impl.hh:353
OpenMesh::VectorT
Definition: Vector11T.hh:83
AnimationT
Stores a single animation.
Definition: AnimationT.hh:58
PoseT::removeJointAt
virtual void removeJointAt(size_t _index)
Called by the skeleton/animation as a joint is removed.
Definition: PoseT_impl.hh:298
PoseT::skeleton_
SkeletonT< PointT > * skeleton_
a pointer to the skeleton
Definition: PoseT.hh:179
Vector
ACG::Vec3d Vector
Standard Type for 3d Vector used for scripting.
Definition: DataTypes.hh:174
PoseT::unified_
std::vector< Matrix > unified_
the global pose matrix left-multiplied to the inverse global reference matrix:
Definition: PoseT.hh:186