Developer Documentation

PoseT_impl.hh
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40 \*===========================================================================*/
41
42
43
44 #define POSET_C
45
46 #include <cassert>
47
48 //-----------------------------------------------------------------------------
49
58 template<typename PointT>
59 PoseT<PointT>::PoseT(SkeletonT<PointT>* _skeleton) : skeleton_(_skeleton)
60 {
61 assert(_skeleton != 0);
62
63 // add joints until we have the same size as the reference pose
64 while( skeleton_->jointCount() > local_.size() )
65 insertJointAt( local_.size() );
66 }
67
68 //-----------------------------------------------------------------------------
69
75 template<typename PointT>
76 PoseT<PointT>::PoseT(const PoseT<PointT> &_other) : skeleton_(_other.skeleton_)
77 {
78 local_.insert(local_.begin(), _other.local_.begin(), _other.local_.end());
79 global_.insert(global_.begin(), _other.global_.begin(), _other.global_.end());
80 unified_.insert(unified_.begin(), _other.unified_.begin(), _other.unified_.end());
81 unifiedDualQuaternion_.insert(unifiedDualQuaternion_.begin(), _other.unifiedDualQuaternion_.begin(), _other.unifiedDualQuaternion_.end());
82 }
83
84 //-----------------------------------------------------------------------------
85
90 template<typename PointT>
91 PoseT<PointT>::~PoseT()
92 {
93
94 }
95
96 //-----------------------------------------------------------------------------
97
103 template<typename PointT>
104 inline const typename PoseT<PointT>::Matrix& PoseT<PointT>::localMatrix(unsigned int _joint) const
105 {
106 return local_[_joint];
107 }
108
109 //-----------------------------------------------------------------------------
110
119 template<typename PointT>
120 void PoseT<PointT>::setLocalMatrix(unsigned int _joint, const Matrix& _local, bool _keepLocalChildPositions)
121 {
122 local_[_joint] = _local;
123
124 updateFromLocal(_joint, _keepLocalChildPositions);
125 }
126
127 //-----------------------------------------------------------------------------
128
138 template<typename PointT>
139 inline typename PoseT<PointT>::Vector PoseT<PointT>::localTranslation(unsigned int _joint)
140 {
141 Vector ret;
142 Matrix &mat = local_[_joint];
143 for(int i = 0; i < 3; ++i)
144 ret[i] = mat(i, 3);
145 return ret;
146 }
147
148 //-----------------------------------------------------------------------------
149
160 template<typename PointT>
161 void PoseT<PointT>::setLocalTranslation(unsigned int _joint, const Vector &_position, bool _keepLocalChildPositions)
162 {
163 Matrix &mat = local_[_joint];
164 for(int i = 0; i < 3; ++i)
165 mat(i, 3) = _position[i];
166
167 updateFromLocal(_joint, _keepLocalChildPositions);
168 }
169
170 //-----------------------------------------------------------------------------
171
175 template<typename PointT>
176 typename PoseT<PointT>::Matrix PoseT<PointT>::localMatrixInv(unsigned int _joint) const
177 {
178 Matrix ret = local_[_joint];
179 ret.invert();
180 return ret;
181 }
182
183 //-----------------------------------------------------------------------------
184
192 template<typename PointT>
193 inline const typename PoseT<PointT>::Matrix& PoseT<PointT>::globalMatrix(unsigned int _joint) const
194 {
195 return global_[_joint];
196 }
197
198 //-----------------------------------------------------------------------------
199
210 template<typename PointT>
211 void PoseT<PointT>::setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions)
212 {
213 global_[_joint] = _global;
214
215 updateFromGlobal(_joint, _keepGlobalChildPositions);
216 }
217
218 //-----------------------------------------------------------------------------
219
226 template<typename PointT>
227 inline typename PoseT<PointT>::Vector PoseT<PointT>::globalTranslation(unsigned int _joint)
228 {
229 Vector ret;
230 Matrix &mat = global_[_joint];
231 for(int i = 0; i < 3; ++i)
232 ret[i] = mat(i, 3);
233 return ret;
234 }
235
236 //-----------------------------------------------------------------------------
237
248 template<typename PointT>
249 void PoseT<PointT>::setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions)
250 {
251 Matrix &mat = global_[_joint];
252 for(int i = 0; i < 3; ++i)
253 mat(i, 3) = _position[i];
254
255 updateFromGlobal(_joint, _keepGlobalChildPositions);
256 }
257
258 //-----------------------------------------------------------------------------
259
266 template<typename PointT>
267 typename PoseT<PointT>::Matrix PoseT<PointT>::globalMatrixInv(unsigned int _joint) const
268 {
269 if (_joint >= global_.size()) {
270 std::cerr << "Illegal joint number: " << _joint << std::endl;
271 return global_[0];
272 }
273 Matrix ret = global_[_joint];
274 ret.invert();
275 return ret;
276 }
277
278 //-----------------------------------------------------------------------------
279
280 template<typename PointT>
281 void PoseT<PointT>::insertJointAt(size_t _index)
282 {
283 Matrix id;
284 id.identity();
285
286 DualQuaternion idDQ;
287 idDQ.identity();
288
289 local_.insert(local_.begin() + _index, id);
290 global_.insert(global_.begin() + _index, id);
291 unified_.insert(unified_.begin() + _index, id);
292 unifiedDualQuaternion_.insert(unifiedDualQuaternion_.begin() + _index, idDQ);
293 }
294
295 //-----------------------------------------------------------------------------
296
297 template<typename PointT>
298 void PoseT<PointT>::removeJointAt(size_t _index)
299 {
300 local_.erase(local_.begin() + _index);
301 global_.erase(global_.begin() + _index);
302 unified_.erase(unified_.begin() + _index);
303 unifiedDualQuaternion_.erase(unifiedDualQuaternion_.begin() + _index);
304 }
305
306 //-----------------------------------------------------------------------------
307
314 template<typename PointT>
315 void PoseT<PointT>::updateFromLocal(size_t _joint, bool _keepChildPositions)
316 {
317 // first update the global coordinate system
318 if(skeleton_->parent(_joint) == -1)
319 global_[_joint] = local_[_joint];
320 else
321 global_[_joint] = globalMatrix(skeleton_->parent(_joint)) * localMatrix(_joint);
322
323 // update the unified matrices
324 Matrix matRefGlobalInv = skeleton_->referencePose()->globalMatrix(_joint);
325 matRefGlobalInv.invert();
326
327 unified_[_joint] = globalMatrix(_joint) * matRefGlobalInv;
328 unifiedDualQuaternion_[_joint] = DualQuaternion(unified_[_joint]);
329
330 // update children
331 if (_keepChildPositions) {
332 // finally update all children as well
333 for(size_t i = 0; i < skeleton_->childCount(_joint); ++i) {
334 updateFromLocal(skeleton_->child(_joint, i));
335 }
336 } else {
337 updateFromGlobal(_joint, true); //this will adjust the childrens' positions according to the _joint position.
338 }
339 }
340
341 //-----------------------------------------------------------------------------
342
352 template<typename PointT>
353 void PoseT<PointT>::updateFromGlobal(size_t _joint, bool _keepChildPositions)
354 {
355 // first update the local coordinate system
356 if(skeleton_->parent(_joint) == -1)
357 local_[_joint] = global_[_joint];
358 else
359 local_[_joint] = globalMatrixInv(skeleton_->parent(_joint)) * globalMatrix(_joint);
360
361 // update the unified matrices
362 Matrix matRefGlobalInv = skeleton_->referencePose()->globalMatrix(_joint);
363 matRefGlobalInv.invert();
364
365 unified_[_joint] = globalMatrix(_joint) * matRefGlobalInv;
366 unifiedDualQuaternion_[_joint] = DualQuaternion(unified_[_joint]);
367
368 // update children
369 if (_keepChildPositions) {
370 for(size_t i = 0; i < skeleton_->childCount(_joint); ++i) {
371 updateFromGlobal(skeleton_->child(_joint, i));
372 }
373 } else {
374 updateFromLocal(_joint, true); //this will adjust the childrens' positions according to the _joint position.
375 }
376 }
377
378 //-----------------------------------------------------------------------------
379
396 template<typename PointT>
397 inline const typename PoseT<PointT>::Matrix& PoseT<PointT>::unifiedMatrix(size_t _joint)
398 {
399 return unified_[_joint];
400 }
401
402 //-----------------------------------------------------------------------------
403
414 template<typename PointT>
415 inline const typename PoseT<PointT>::Quaternion& PoseT<PointT>::unifiedRotation(size_t _joint)
416 {
417 return unifiedDualQuaternion_[_joint].real();
418 }
419
420 //-----------------------------------------------------------------------------
421
430 template<typename PointT>
431 inline const typename PoseT<PointT>::DualQuaternion& PoseT<PointT>::unifiedDualQuaternion(size_t _joint)
432 {
433 return unifiedDualQuaternion_[_joint];
434 }
435
436 //-----------------------------------------------------------------------------
437
PoseT::globalMatrixInv
virtual Matrix globalMatrixInv(unsigned int _joint) const
Simply returns the inverse of the global matrix.
Definition: PoseT_impl.hh:267
PoseT::~PoseT
virtual ~PoseT()
Destructor.
Definition: PoseT_impl.hh:91
PoseT::localMatrixInv
Matrix localMatrixInv(unsigned int _joint) const
Simply returns the inverse of the local matrix.
Definition: PoseT_impl.hh:176
PoseT::setGlobalMatrix
void setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions=true)
Sets the global coordinate system.
Definition: PoseT_impl.hh:211
PoseT::unifiedMatrix
const Matrix & unifiedMatrix(size_t _joint)
Returns the unified matrix.
Definition: PoseT_impl.hh:397
PoseT::setGlobalTranslation
void setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions=true)
Sets the global translation vector.
Definition: PoseT_impl.hh:249
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
FrameAnimationT::skeleton_
Skeleton * skeleton_
Pointer to associated skeleton.
Definition: FrameAnimationT.hh:122
PoseT::unifiedDualQuaternion_
std::vector< DualQuaternion > unifiedDualQuaternion_
Definition: PoseT.hh:190
ACG::DualQuaternionT
DualQuaternion class for representing rigid motions in 3d.
Definition: DualQuaternionT.hh:80
OpenMesh::VectorT
Definition: Vector11T.hh:83
ACG::Matrix4x4T::identity
void identity()
setup an identity matrix
Definition: Matrix4x4T_impl.hh:250
PoseT
A general pose, used to store the frames of the animation.
Definition: PoseT.hh:58
ACG::DualQuaternionT::identity
static DualQuaternion identity()
identity dual quaternion [ R(1, 0, 0, 0), D(0,0,0,0) ]
Definition: DualQuaternionT_impl.hh:146
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::invert
bool invert()
matrix inversion (returns true on success)
Definition: Matrix4x4T_impl.hh:291
PoseT::PoseT
PoseT(SkeletonT< Point > *_skeleton)
Constructor.
Definition: PoseT_impl.hh:59
PoseT::localMatrix
const Matrix & localMatrix(unsigned int _joint) const
Returns the local matrix for the given joint.
Definition: PoseT_impl.hh:104
ACG::Matrix4x4T
Definition: Matrix4x4T.hh:92
PoseT::unified_
std::vector< Matrix > unified_
the global pose matrix left-multiplied to the inverse global reference matrix:
Definition: PoseT.hh:186
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::local_
std::vector< Matrix > local_
the pose in local coordinates
Definition: PoseT.hh:181
PoseT::skeleton_
SkeletonT< PointT > * skeleton_
a pointer to the skeleton
Definition: PoseT.hh:179
SkeletonT
Definition: JointT.hh:50
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::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
PoseT::localTranslation
Vector localTranslation(unsigned int _joint)
Returns the local translation vector.
Definition: PoseT_impl.hh:139
PoseT::removeJointAt
virtual void removeJointAt(size_t _index)
Called by the skeleton/animation as a joint is removed.
Definition: PoseT_impl.hh:298
PoseT::globalMatrix
const Matrix & globalMatrix(unsigned int _joint) const
Returns the global matrix for the given joint.
Definition: PoseT_impl.hh:193
PoseT::setLocalMatrix
void setLocalMatrix(unsigned int _joint, const Matrix &_local, bool _keepLocalChildPositions=true)
Sets the local coordinate system.
Definition: PoseT_impl.hh:120
PoseT::global_
std::vector< Matrix > global_
the pose in global coordinates
Definition: PoseT.hh:183
ACG::QuaternionT
Definition: QuaternionT.hh:75
PoseT::globalTranslation
Vector globalTranslation(unsigned int _joint)
Returns the global translation vector.
Definition: PoseT_impl.hh:227