HBT::AvatarMesh Class Reference

Class to add a skeleton in an Ogre visualisation. More...

#include <HBTAvatarMesh.h>

Collaboration diagram for HBT::AvatarMesh:

[legend]List of all members.

Data
Ogre::SceneNode *	_pObjectSceneNode
Ogre::SceneNode *	_meshNode
Ogre::Entity *	_entity
bool	_hidden
bool	_initialised
unsigned short	_nbBones
Ogre::Quaternion	_sceneNodeInverseQuat
Constructor et Destructor
	AvatarMesh ()
	Default constructor.
virtual	~AvatarMesh ()
	Destructor.
bool	init (Ogre::SceneManager *ogreSceneManager, const InitialisationSequence *initSequence)
	Initialisation de la posture et du mesh 3D à partir d'un squelette.
void	close ()
	Close the object.
bool	isInitialised () const
	Returns the intialise state of the object.
static AvatarMesh *	create ()
	Instance creator.
Public Member Functions
Display
void	update (const PostureData &postureData)
	Update the state of the avatar.
virtual void	show (const bool show=true)
	Shows (or hides) the object.
virtual void	hide (const bool hide=true)
	Hides (or shows) the object.
virtual bool	isHidden () const
	The hide state.
Accesseurs
void *	getObjectSceneNode () const
	Returns the CLine3d node.
Position, orientation and scale of the object
virtual Ogre::Vector3	getPos () const
	Get the position.
virtual Ogre::Quaternion	getRot () const
	Get the orientation.
virtual Ogre::Vector3	getScl () const
	Get the scale.
virtual void	setPos (const Ogre::Vector3 &vec)
	Set the position.
virtual void	setRot (const Ogre::Quaternion &q)
	Set the orientation.
virtual void	setScl (const Ogre::Vector3 &scl)
	Set the scale.
Bones methods.
unsigned short	getNbBones () const
	The number of bones.
int	getBoneID (const std::string &boneName) const
	Gets the id of a bone from its name.
void	setBoneOrientation (const int boneID, const Ogre::Quaternion &quat, const bool inWorldFrame=false)
	Set the orientation of a bone.
void	setBoneOrientation (const std::string &boneName, const Ogre::Quaternion &quat, const bool inWorldFrame=false)
	Set the orientation of a bone.
Ogre accessor
Ogre::SceneNode *	getOgreSceneNode ()
	The Ogre scene node of the object.

---

Detailed Description

Class to add a skeleton in an Ogre visualisation.

This class add a skeleton in the Ogre and update it. The initialisation is made with init, and the update is made with update. Each of the methods uses a specific data struture (InitialisationSequence and PostureData) which containts appropriate data.

Definition at line 21 of file HBTAvatarMesh.h.

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Constructor & Destructor Documentation

AvatarMesh::AvatarMesh

(

)

Default constructor.

Definition at line 10 of file HBTAvatarMesh.cpp.

: _pObjectSceneNode( NULL ), 
  _meshNode( NULL ), 
  _entity( NULL ), 
  _hidden( false ),
  _initialised( false )
{
}

AvatarMesh::~AvatarMesh

(

)

[virtual]

Destructor.

Definition at line 33 of file HBTAvatarMesh.cpp.

References close().

{
  close() ;
}

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Member Function Documentation

bool AvatarMesh::init	(	Ogre::SceneManager *	ogreSceneManager,
		const InitialisationSequence *	initSequence
	)

Initialisation de la posture et du mesh 3D à partir d'un squelette.

Parameters:

	ogreSceneManager	Reference to the Ogre scene manager
	initSequence	The initialisation data of the skeleton

Returns:

true if everything is ok

Definition at line 39 of file HBTAvatarMesh.cpp.

References _entity, _initialised, _meshNode, _nbBones, _pObjectSceneNode, _sceneNodeInverseQuat, HBT::InitialisationSequence::boneNumber, close(), HBT::InitialisationSequence::generalScale, HBT::InitialisationSequence::humanName, HBT::InitialisationSequence::meshFile, HBT::InitialisationSequence::postureQuat, HBT::InitialisationSequence::rootPos, HBT::InitialisationSequence::rootQuat, setPos(), setRot(), setScl(), and HBT::InitialisationSequence::useShadows.

{
  OBT_ASSERT( ogreSceneManager && "The Scene Manager is invalid" ) ;
  OBT_ASSERT( initSequence->boneNumber.size() == initSequence->postureQuat.size() 
           && "The number of bones and quaternion don't match" ) ;

  if( _initialised ) close() ;

  //verification que le nom de l'entitée n'existe pas déjà, si oui on ajout un suffixe
  std::string changedName( initSequence->humanName ) ;
  std::string sceneMeshName( initSequence->humanName ) ;
  
  for( unsigned int counter = 0u ;ogreSceneManager->hasSceneNode( changedName ); counter++ )
  {
    ostringstream buffer ; 
    buffer << initSequence->humanName << "_#_" << counter ;
    changedName = buffer.str() ;
  }

  //on attache l'objet à la scene
  _entity = ogreSceneManager->createEntity( changedName, initSequence->meshFile ) ;

  if(initSequence->useShadows)
  {
    _entity->setCastShadows( true ) ;
    _entity->getMesh()->buildEdgeList() ;
  }

  //ajout des noeuds de scène
  _pObjectSceneNode = ogreSceneManager->getRootSceneNode()->createChildSceneNode( changedName ) ;
  _meshNode = _pObjectSceneNode->createChildSceneNode(string("mesh") + changedName) ;
  _meshNode->attachObject( _entity ) ;
  _meshNode->setInheritOrientation( true ) ;
  _meshNode->setPosition( Ogre::Vector3::ZERO ) ;  //position 0 par rapport au noeud root MKM: c'est le noeud root MKM qui prendra en charge toutes les orientations et translations
  _meshNode->setOrientation( Ogre::Quaternion::IDENTITY ) ;
  _meshNode->setScale( Ogre::Vector3::UNIT_SCALE ) ;
  
  //contrôle manuel des bones
  _nbBones = _entity->getSkeleton()->getNumBones() ;
  for( unsigned int i = 0u ; i < _nbBones; i++ )
  {
    Bone * bone = _entity->getSkeleton()->getBone( i ) ;
    bone->setManuallyControlled( true ) ;
  }

  //initialisation de la posture et des bones
  setScl( initSequence->generalScale ) ;  // global scale
  setRot( initSequence->rootQuat ) ;      // root orientation
  setPos( initSequence->rootPos ) ;       // root position

  for( unsigned int pos = 0; pos < initSequence->boneNumber.size() ; pos++ )
  {
    Bone * bone =_entity->getSkeleton()->getBone( initSequence->boneNumber.at( pos ) ) ;
    bone->setInheritOrientation( false ) ;

    //il faut multiplier par l'inverse du world orientation de l'entitée car le setOrientation du bones se fait dans le repère de l'entitée en mode inheritOrientation(false)
    bone->setOrientation( _sceneNodeInverseQuat * initSequence->postureQuat.at( pos ) ) ;
    bone->_update( true, true ) ;
  }

  _initialised = true;
  return true;
}

static AvatarMesh* HBT::AvatarMesh::create

(

)

[inline, static]

Instance creator.

Returns:

A new class instance

Definition at line 40 of file HBTAvatarMesh.h.

  {
    return new AvatarMesh();
  }

void AvatarMesh::close

(

)

Close the object.

Cut the link with the skeleton.

Definition at line 20 of file HBTAvatarMesh.cpp.

References _initialised, _meshNode, _pObjectSceneNode, and hide().

Referenced by init(), and ~AvatarMesh().

{
  if( _initialised )
  {
    hide( true ) ;
    _pObjectSceneNode->removeChild( _meshNode->getName() ) ;
    _pObjectSceneNode->getParentSceneNode()->removeChild( _pObjectSceneNode->getName() ) ;

    _initialised = false ;
  }
}

bool HBT::AvatarMesh::isInitialised

(

)

const [inline]

Returns the intialise state of the object.

Returns:

true if the object is initialised.

Definition at line 52 of file HBTAvatarMesh.h.

  {
    return _initialised;
  }

void AvatarMesh::update

(

const PostureData &

postureData

)

Update the state of the avatar.

Parameters:

postureData

The new posture.

Definition at line 116 of file HBTAvatarMesh.cpp.

References _initialised, HBT::PostureData::generalScale, HBT::PostureData::postureQuat, HBT::PostureData::quatModified, HBT::PostureData::rootPos, HBT::PostureData::rootQuat, setBoneOrientation(), setPos(), setRot(), and setScl().

Referenced by OMK::Vis::AvatarVisualObject::updatePosture().

{
  if( _initialised )
  {
    setScl(postureData.generalScale) ;  //scale global
    setRot(postureData.rootQuat) ;  //orientation du root
    setPos(postureData.rootPos+Vector3(0,0,0) ) ;    //position du root

    //on applique l'orientation pour les bones:
    for( unsigned int cBone = 0; 
         cBone < postureData.quatModified.size() ; cBone ++ )
    {
      if( postureData.quatModified.at(cBone) )
        setBoneOrientation(cBone, postureData.postureQuat.at( cBone ), true ) ;
    }
  }//fin if initialized
}

virtual void HBT::AvatarMesh::show

(

const bool

show = true

)

[inline, virtual]

Shows (or hides) the object.

Parameters:

show

true (default) shows the avatar, false hides it.

See also:

hide.

Definition at line 67 of file HBTAvatarMesh.h.

  {
    hide( !show );
  }

void AvatarMesh::hide

(

const bool

hide = true

)

[virtual]

Hides (or shows) the object.

Parameters:

show

true (default) hides the avatar, false shows it.

See also:

show.

Definition at line 105 of file HBTAvatarMesh.cpp.

References _entity, _hidden, and _initialised.

Referenced by close().

{
  if( _initialised && _hidden != hide)
  {
    _hidden = hide;
    _entity->setVisible( !_hidden ) ;
  }
}

virtual bool HBT::AvatarMesh::isHidden

(

)

const [inline, virtual]

The hide state.

Returns:

true if the object is hidden.

Definition at line 79 of file HBTAvatarMesh.h.

  {
    return _hidden;
  }

void* HBT::AvatarMesh::getObjectSceneNode

(

)

const [inline]

Returns the CLine3d node.

Returns:

the object CLine3d node.

Definition at line 89 of file HBTAvatarMesh.h.

  {
    return _pObjectSceneNode;
  }

Ogre::Vector3 AvatarMesh::getPos

(

)

const [virtual]

Get the position.

Returns:

The object position in the Ogre referential.

Definition at line 135 of file HBTAvatarMesh.cpp.

References _entity, _initialised, and _meshNode.

{
  Ogre::Vector3 v( Ogre::Vector3::ZERO ) ;
  if( _initialised ) 
  {
    v = _entity->getSkeleton()->getRootBone()->getWorldPosition() ;
    Matrix4 sceneNodeTransform ;
    _meshNode->getWorldTransforms( &sceneNodeTransform ) ;
    v = sceneNodeTransform * v;
  }

  return v;
}

Ogre::Quaternion AvatarMesh::getRot

(

)

const [virtual]

Get the orientation.

Parameters:

The

orientation of the object in the Ogre referential.

Definition at line 150 of file HBTAvatarMesh.cpp.

References _initialised, and _pObjectSceneNode.

{
  
  return _initialised ?
    _pObjectSceneNode->getWorldOrientation() :
    Ogre::Quaternion::IDENTITY ;
}

Ogre::Vector3 AvatarMesh::getScl

(

)

const [virtual]

Get the scale.

Returns:

The object scale.

Definition at line 159 of file HBTAvatarMesh.cpp.

References _initialised, and _pObjectSceneNode.

{
   return  _initialised ? 
     _pObjectSceneNode->_getDerivedScale() : 
     Ogre::Vector3::UNIT_SCALE ;
}

void AvatarMesh::setPos

(

const Ogre::Vector3 &

vec

)

[virtual]

Set the position.

Parameters:

vec

The new object position in the Ogre referential.

Definition at line 167 of file HBTAvatarMesh.cpp.

References _entity, and _pObjectSceneNode.

Referenced by init(), and update().

{
  assert(_pObjectSceneNode) ;

  Ogre::Vector3 newPos( pos ) ;
  Ogre::Vector3 rootBonePos( _entity->getSkeleton()->getRootBone()->getWorldPosition() ) ;
  Ogre::Vector3 sceneNodeScale( _pObjectSceneNode->getScale() ) ;
  Quaternion sceneNodeOri( _pObjectSceneNode->getWorldOrientation() ) ;

  newPos = newPos - sceneNodeOri * ( rootBonePos * sceneNodeScale ) ;
  _pObjectSceneNode->setPosition( newPos ) ;
  _pObjectSceneNode->_update( true, true ) ;
}

void AvatarMesh::setRot

(

const Ogre::Quaternion &

q

)

[virtual]

Set the orientation.

Parameters:

q

The new object orientation in the Ogre referential.

Definition at line 182 of file HBTAvatarMesh.cpp.

References _meshNode, _pObjectSceneNode, and _sceneNodeInverseQuat.

Referenced by init(), and update().

{
  OBT_ASSERT( _pObjectSceneNode ) ;
  _pObjectSceneNode->setOrientation( q ) ;

  _sceneNodeInverseQuat = _meshNode->getWorldOrientation().Inverse() ;
}

void AvatarMesh::setScl

(

const Ogre::Vector3 &

scl

)

[virtual]

Set the scale.

Parameters:

scl

The new object scale.

Definition at line 191 of file HBTAvatarMesh.cpp.

References _pObjectSceneNode.

Referenced by init(), and update().

{
  assert(_pObjectSceneNode) ;
  ( (SceneNode*)_pObjectSceneNode)->setScale(scl[0],scl[1],scl[2]) ;
}

unsigned short AvatarMesh::getNbBones

(

)

const

The number of bones.

Returns:

The number of bones of the object.

Definition at line 205 of file HBTAvatarMesh.cpp.

References _initialised, and _nbBones.

{
  return _initialised ? _nbBones : 0u ;
}

int AvatarMesh::getBoneID

(

const std::string &

boneName

)

const

Gets the id of a bone from its name.

Parameters:

boneName

bone's name.

Returns:

The bone's id.

Definition at line 198 of file HBTAvatarMesh.cpp.

References _entity, and _initialised.

{
  return !_initialised ? 
    _entity->getSkeleton()->getBone( boneName )->getHandle() : -1 ;
}

void AvatarMesh::setBoneOrientation	(	const int	boneID,
		const Ogre::Quaternion &	quat,
		const bool	inWorldFrame = false
	)

Set the orientation of a bone.

Parameters:

	boneID	The bone's id.
	The	new orientation in the local referentiel.
	inWorldFrame

Definition at line 210 of file HBTAvatarMesh.cpp.

References _entity, _initialised, and _meshNode.

Referenced by update().

{
  if( _initialised )
  {
    Ogre::Quaternion quat( q ) ;
    Bone * bone = _entity->getSkeleton()->getBone( boneID ) ;

    if( inWorldFrame )
    {
      //il faut multiplier par l'inverse du world orientation de l'entitée car il semblerais que le setOrientation du bones se fait dans le repère de l'entitée en mode inheritOrientation(false)
      quat = _meshNode->getWorldOrientation().Inverse() * quat;
    }

    bone->setOrientation( quat ) ;

    bone->_update( true, true ) ;
  }
}

void HBT::AvatarMesh::setBoneOrientation	(	const std::string &	boneName,
		const Ogre::Quaternion &	quat,
		const bool	inWorldFrame = false
	)			[inline]

Set the orientation of a bone.

Definition at line 144 of file HBTAvatarMesh.h.

  {
    setBoneOrientation( getBoneID( boneName ), quat ) ;
  }

Ogre::SceneNode* HBT::AvatarMesh::getOgreSceneNode

(

)

[inline]

The Ogre scene node of the object.

Returns:

The Ogre scene node.

Definition at line 156 of file HBTAvatarMesh.h.

{ return _pObjectSceneNode ; }

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Member Data Documentation

Ogre::SceneNode* HBT::AvatarMesh::_pObjectSceneNode [protected]

Definition at line 162 of file HBTAvatarMesh.h.

Referenced by close(), getRot(), getScl(), init(), setPos(), setRot(), and setScl().

Ogre::SceneNode* HBT::AvatarMesh::_meshNode [protected]

Definition at line 163 of file HBTAvatarMesh.h.

Referenced by close(), getPos(), init(), setBoneOrientation(), and setRot().

Ogre::Entity* HBT::AvatarMesh::_entity [protected]

Definition at line 164 of file HBTAvatarMesh.h.

Referenced by getBoneID(), getPos(), hide(), init(), setBoneOrientation(), and setPos().

bool HBT::AvatarMesh::_hidden [private]

Definition at line 167 of file HBTAvatarMesh.h.

Referenced by hide().

bool HBT::AvatarMesh::_initialised [private]

Definition at line 168 of file HBTAvatarMesh.h.

Referenced by close(), getBoneID(), getNbBones(), getPos(), getRot(), getScl(), hide(), init(), setBoneOrientation(), and update().

unsigned short HBT::AvatarMesh::_nbBones [private]

Definition at line 169 of file HBTAvatarMesh.h.

Referenced by getNbBones(), and init().

Ogre::Quaternion HBT::AvatarMesh::_sceneNodeInverseQuat [private]

Definition at line 170 of file HBTAvatarMesh.h.

Referenced by init(), and setRot().

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