Commit 7b55c0f8 authored by Dirk Wilden's avatar Dirk Wilden
Browse files

skeleton documentation

git-svn-id: http://www.openflipper.org/svnrepo/OpenFlipper/branches/Free@10912 383ad7c9-94d9-4d36-a494-682f7c89f535
parent 0d063b7a
......@@ -83,8 +83,8 @@ public:
/// Destructor
virtual ~PoseT();
/**
* @name Pose editing
/** @anchor PoseEditing
* @name Pose editing
* These methods update the other coordinate systems, changing the local coordinates will also change the global and vice versa.
*/
//@{
......@@ -131,8 +131,8 @@ protected:
//@}
public:
/**
* @name Precalculated values
/** @anchor UnifiedMatrices
* @name Unified Matrices
* Use these methods to gain access to the precalculations performed by this derivation.
*/
//@{
......
......@@ -533,7 +533,7 @@ template<typename PointT>
unsigned int SkeletonT<PointT>::childCount(unsigned int _joint)
{
if ( _joint >= joints_.size() ){
std::cerr << "SkeletonT : getChildCount() called with non-existing joint " << _joint << std::endl;
std::cerr << "SkeletonT : childCount() called with non-existing joint " << _joint << std::endl;
return 0;
}
......@@ -613,9 +613,9 @@ inline typename SkeletonT<PointT>::Pose* SkeletonT<PointT>::pose(const Animation
* @brief Returns a pointer to the reference pose
*
* Use this if you need access to the special data members of the reference pose. Notice you can also
* get the reference pose by passing AnimationHandle() to the SkeletonT::getPose method:
* get the reference pose by passing AnimationHandle() to the SkeletonT::pose method:
* @code
* skeleton.getPose(AnimationHandle());
* skeleton.pose(AnimationHandle());
* @endcode
*/
template<typename PointT>
......
......@@ -125,8 +125,9 @@ public:
inline void clear();
//@}
/**
* @name Basic Joint Access
/** \anchor JointAccess
* @name Basic Joint Access
*
* Use these methods to access joints in the skeleton.
*/
//@{
......@@ -143,8 +144,8 @@ public:
//@}
/**
* @name Animation
/** \anchor AnimationAccess
* @name Animation
* Use these methods to equip the skeleton with animation data.
*/
//@{
......
/** \page skeletonType Skeleton Datatype
\section skeletonStructure Skeleton Structure
\image html type_skeleton_thumb.png
A \ref SkeletonT "skeleton" represents a hierarchical tree structure of \ref JointT "joints". The joints can be
accessed through the skeleton. Therefore the skeleton class provides and \ref SkeletonT::Iterator "iterator" over its joints.
Additional ways to access joints from the skeleton are defined in the \ref JointAccess "Joint Access Section".\n
The \ref JointT "joint class" does not directly store information about the position and orientation of the joint, since
this is dependent on the current pose. The joint class can be used to traverse from a joint to its neighbors in
the tree structure and to set the selection state of a joint. Each joint is equipped with a unique id which is guaranteed
to lie in a range between \f$[0,\cdots, (n-1)]\f$, where \f$ n \f$ is the number of joints. So when a joint is deleted
from the skeleton the ids may change.
\section skeletonPoses Poses and Animations
\image html poses.png
A skeleton consists of a set of different poses. Initially a skeleton has only one attached pose. The so called reference pose.
This pose defines the original position and orientation of each joint in the skeleton. For each animation defined on the skeleton
poses store the position of joints in each frame of the animation. So for every frame of the animation we have an associated pose.
\n \n
The \ref SkeletonT::referencePose "referencePose()" can directly be accessed from the skeleton. In order to access
specific poses from the animation we first have to get a handle for that pose. These handles are called \ref AnimationHandle "AnimationHandles"
and they store the index of an animation and index of a frame (or pose). All functions needed to access animations and poses
from a skeleton are defined in the \ref AnimationAccess "Animation Section".
\section transformations Joint Transformations
\image html transform.png
A \ref PoseT "pose" of the skeleton defines the skeleton configuration for one frame in the animation. Thus if we want to change
the position of joints this is only meaningful when a pose is given. The \ref PoseT "Pose class" can then be used to alter the
transformation of joints. Basically there are two \f$ 4 \times 4 \f$ matrices for every joint which store its alignment.\n \n
For every joint \f$ J_i \f$ in the skeleton we define a matrix \f$ G_i \f$ to prescribe the global position and orientation of
the joint. Hence, \f$ G_i \f$ is also referred to as the global matrix: \n
\f[
G_i = \left[ \begin{array}{cccc}
& & & p_x\\
& r & & p_y\\
& & & p_z\\
0 & 0 & 0 & 1\\
\end{array} \right] \f] \n \n
where \f$ r \in R^{3 \times 3} \f$ is a rotation matrix and \f$ p = (p_x,p_y,p_z)^\top \f$ denotes the global joint
position. The global matrix can also be seen as a transformation for the change of a basis. The global matrix
transforms points from the local coordinate frame of the joint to global Cartesian coordinates.\n \n
The representation of joints using global matrices is sufficient to represent the geometry of a skeleton, but for
computational efficiency we add another representation. We also express the position and orientation of a
joint relative to its parent joint. This local representation of the joints is also stored in matrices, yielding
a local matrix \f$ L_i \f$ for every joint \f$ J_i \f$:\n
\f[ L_i = G_p^{-1} \cdot G_i \f] \n
The functions to access and alter the transformations are defined in the \ref PoseEditing "Pose Editing section" of the
\ref PoseT class.\n \n
<B>Note:</B> When using the functions \ref PoseT::setLocalMatrix and \ref PoseT::setLocalTranslation the second parameter
'_keepLocalChildPositions' defines if a change of the local matrix, keeps the local matrices of the child joints and thus
updates the global matrices of the child joints or vice versa.\n \n
<B>Note:</B> When using the functions \ref PoseT::setGlobalMatrix and \ref PoseT::setGlobalTranslation the second parameter
'_keepGlobalChildPositions' defines if a change of the global matrix, keeps the global matrices of the child joints and thus
updates the local matrices of the child joints or vice versa.\n
\n
The \ref PoseT "Pose class" also provides unified matrices. These matrices are stored to minimize computations since they
are used often when the skeleton is equipped with a skin mesh. The unified matrix maps a point from global coordinates
in the reference pose to global coordinates in another pose. If the global matrix of a joint in reference pose is denoted as
\f$ G_0 \f$ and the global matrix in a target pose is denoted as \f$ G_f \f$ then the unified matrix \f$ U \f$ is given as:
\f[ U = G_f \cdot G_0^{-1} \f] \n
Functions to access the unified matrices of a pose are defined in the \ref UnifiedMatrices "Unified Matrices section".
*/
\ No newline at end of file
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