OMK::MKMHumano Class Reference

This Simulated object defines a position which moves in the space. More...

#include <OMKMKMHumano.h>

Inheritance diagram for OMK::MKMHumano:

[legend]Collaboration diagram for OMK::MKMHumano:

[legend]List of all members.

Public Attributes
mkm::CHumanSkeletonMesh	_treehMesh
mkSystem::COgreAvatarMeshMaster	_avatarMaster
mkm::CHumanControl	_controlMesh
Protected Member Functions
virtual void	finish ()
	The pre destruction.
virtual void	computeParameters ()
	This part of the compute methods computes the associated data.
Private Member Functions
	DECLARE_OBJECT_FACTORY (MKMHumano)

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Detailed Description

This Simulated object defines a position which moves in the space.

Definition at line 20 of file OMKMKMHumano.h.

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Member Function Documentation

OMK::MKMHumano::DECLARE_OBJECT_FACTORY

(

MKMHumano

)

[private]

void MKMHumano::finish

(

)

[protected, virtual]

The pre destruction.

Delete all the extensions of the object.

Reimplemented from OMK::ExtensibleSimulatedObject.

Definition at line 34 of file OMKMKMHumano.cpp.

References _avatarMaster.

{
  _avatarMaster.close() ;
}

void MKMHumano::computeParameters

(

)

[protected, virtual]

This part of the compute methods computes the associated data.

Reimplemented from OMK::BasicHumano.

Definition at line 39 of file OMKMKMHumano.cpp.

References _avatarMaster, _controlMesh, OMK::BasicHumano::_initDone, OMK::MovingHumano::_initialisationSequence, OMK::BasicHumano::_position, OMK::MovingHumano::_posture, _treehMesh, OMK::BasicHumano::computeParameters(), OMK::Vis::convert(), OMK::ParametersAccessor::get(), OMK::SimulatedObject::getConfigurationParameters(), OMK::GroundService::getGround(), OMK::SimulatedObject::getName(), OMK::SimulatedObject::getObjectDescriptor(), OMK::Name::getString(), OMERROR, HBT::PostureData::rootPos, HBT::PostureData::rootQuat, and OMK::IAttributeT< PrmType, ModelType, AccessorType >::set().

{
  if( !_initDone )
  {
    bool ok = true ;

    // Retrieve parameters
    const ConfigurationParameterDescriptor* node = getConfigurationParameters() ;
    ok = ok && ( node != 0 ) ;

    if( !_position.get().isUniformScale() ) OMERROR( "Scale must be uniform" ) ;
    std::string name = getName().getString() ; 
    ParametersAccessor::get( node, "Name", name ) ;

    std::string meshFile ;
    ok = ok && ParametersAccessor::get( node, "Mesh", meshFile, this ) ;

    std::string nodeAssociationFile ;
    ok = ok && ParametersAccessor::get( node, "NodeAssociation", nodeAssociationFile, this ) ;

    mkSystem::COgreAvatarMeshMaster::ESoftAxis axis = mkSystem::COgreAvatarMeshMaster::EAxis_Default ;
    std::map< std::string, mkSystem::COgreAvatarMeshMaster::ESoftAxis > softAxisMapping ;
    softAxisMapping[ "Default"      ] = mkSystem::COgreAvatarMeshMaster::EAxis_Default      ;
    softAxisMapping[ "UserDefined"  ] = mkSystem::COgreAvatarMeshMaster::EAxis_UserDefined  ;
    softAxisMapping[ "BipedeMax"    ] = mkSystem::COgreAvatarMeshMaster::EAxis_BipedeMax    ;
    softAxisMapping[ "BipedeQuidam" ] = mkSystem::COgreAvatarMeshMaster::EAxis_BipedeQuidam ;

    ParametersAccessor::get( node, "Axis", axis,  softAxisMapping ) ;

    bool useShadows = true ;
    ParametersAccessor::get( node, "UseShadows", useShadows ) ;
    
    bool footPrint = true ;
    ParametersAccessor::get( node, "FootPrint", footPrint ) ;

    float heightCorrection = footPrint ? 0.0f : -1.0f ;
    ParametersAccessor::get( node, "HeightCorrection", heightCorrection ) ;

    float footPrintResistance = 0.5f ;
    ParametersAccessor::get( node, "FootPrintResistance", footPrintResistance ) ;

    bool stackBlending = false ; // true = stack, false = dynamic, default dynamic
    std::map< std::string, bool > blendingMapping ;
    blendingMapping[ "Stack"   ] = true  ;
    blendingMapping[ "Dynamic" ] = false ;
    ParametersAccessor::get( node, "StackBlending", stackBlending, blendingMapping ) ;

    if( ok )
    { // All parameters are ok
      // Initialisation
      _treehMesh.init() ;
      _initialisationSequence = _avatarMaster.init( _treehMesh, meshFile,
                          name, true,
                          nodeAssociationFile,
                          useShadows, axis, 1.0f/_position.get().getScale().X(),
                          0.0f ) ;
      _controlMesh.init( _treehMesh ) ;
      // Configuration
      _controlMesh.setPosition( -_position.get().getTranslate().X(), _position.get().getTranslate().Z(), _position.get().getTranslate().Y() ) ;
      _controlMesh.enableFootprint( footPrint ) ;
      _controlMesh.setHeightCorrection( heightCorrection ) ;
      _controlMesh.setFootprintResistance( footPrintResistance ) ;
      _controlMesh.enableConstraints( false ) ;

      GroundService* groundService = OBT::getService< GroundService >( 'Grnd' ) ;
      if( groundService )
      {
        _controlMesh.getControlFootprint().setGroundClass( &groundService->getGround() ) ;
      }
      if( stackBlending )
        _controlMesh.setStackBlending() ; 
      else 
        _controlMesh.setDynamicBlending() ;
      // Need at least one update
      _controlMesh.update( 1e-9f );
    }
    else
    {
      OMERROR( "Unable to initialise MKM" ) ;
    }
  }
  // Call the ancestor to send the intialisation data
  MovingHumano::computeParameters() ;
  // The avatar master is initialised => update the posture
  if( _avatarMaster.isInitialized() )
    {
    _controlMesh.update( 1.0f / getObjectDescriptor().getFrequency() );
    _controlMesh.getPosture().computeToRelative( _avatarMaster );
    HBT::PostureData* posture = _avatarMaster.computeAndGetPostureDatas() ;
    _posture.set( *posture );
    Transform pos( _position.get() ) ;
    pos.setTranslate( convert( posture->rootPos ) ) ;
    pos.setRotate( convert( posture->rootQuat ) ) ;
    _position.set( pos ) ; 
  }
}

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Member Data Documentation

mkm::CHumanSkeletonMesh OMK::MKMHumano::_treehMesh

Definition at line 24 of file OMKMKMHumano.h.

Referenced by computeParameters().

mkSystem::COgreAvatarMeshMaster OMK::MKMHumano::_avatarMaster

Definition at line 25 of file OMKMKMHumano.h.

Referenced by computeParameters(), and finish().

mkm::CHumanControl OMK::MKMHumano::_controlMesh

Definition at line 26 of file OMKMKMHumano.h.

Referenced by computeParameters(), OMK::MKMMoveToTaskExtension::preComputeParameters(), and OMK::MKMHeadToTaskExtension::preComputeParameters().

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