SkeletonTransform.hh 4.68 KB
Newer Older
Jan Möbius's avatar
Jan Möbius committed
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's avatar
Jan Möbius committed
42

Jan Möbius's avatar
Jan Möbius committed
43
44
45
46
47
48

#ifndef SKELETONTRANSFORM_HH
#define SKELETONTRANSFORM_HH

#include "../Skeleton.hh"
#include <ACG/Math/Matrix4x4T.hh>
Jan Möbius's avatar
Jan Möbius committed
49
#include <OpenFlipper/common/ObjectTypeDLLDefines.hh>
Jan Möbius's avatar
Jan Möbius committed
50
51
52
53
54
55
56
57

/** \brief Skeleton transformation class
 *
 * This class should be used to manipulate skeletons since
 * it makes sure that all necessary transformations are applied
 * and that the transformations do not mess up the skeleton
 *
 **/
Jan Möbius's avatar
Jan Möbius committed
58
class OBJECTTYPEDLLEXPORT SkeletonTransform {
Jan Möbius's avatar
Jan Möbius committed
59
60

  public:
Jan Möbius's avatar
Jan Möbius committed
61
    explicit SkeletonTransform(Skeleton& _skeleton);
Jan Möbius's avatar
Jan Möbius committed
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
    ~SkeletonTransform() {}

  public:
    /// scale all bones of the skeleton by the given factor
    void scaleSkeleton(double _factor, Skeleton::Pose* _pose = 0);

    /// translate the skeleton
    void translateSkeleton(ACG::Vec3d _translation, Skeleton::Pose* _pose = 0);

    /// transform the skeleton
    void transformSkeleton(Matrix4x4 _transformation, Skeleton::Pose* _pose = 0);

    /// apply a translation to a joint in the refPose
    void translateJoint(Skeleton::Joint* _joint, ACG::Vec3d _translation, bool _keepChildPositions = true);

    /// apply a transformation to a joint in the refPose
    void transformJoint(Skeleton::Joint* _joint, Matrix4x4 _matrix, bool _keepChildPositions = true);

    /// rotate a joint in an arbitrary Pose
    void rotateJoint(Skeleton::Joint* _joint, Skeleton::Pose* _pose, Matrix4x4 _rotation, bool _applyToWholeAnimation = true);

    /// compute determinant to check if matrix is rotation matrix
    static double determinant(Matrix4x4& _m);
    
  private:
    Skeleton& skeleton_;
    Skeleton::Pose* refPose_;
};

#endif //SKELETONTRANSFORM_HH