Merge branch 'support-code' of https://github.umn.edu/umn-csci-4611-f21/shared-upstream

1 files changed, 80 insertions, 0 deletions

diff --git a/dev/a4-dance/pose.h b/dev/a4-dance/pose.h
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+
+#ifndef POSE_H_
+#define POSE_H_
+
+#include <mingfx.h>
+using namespace mingfx;
+
+
+
+/** This data structure holds the transformations for the root node and for each
+ joint of a Skeleton that are needed to place the Skeleton in one specific pose
+ (i.e., one frame of mocap data).  It is possible to linearly interpolate between
+ poses using the Lerp command, treating the two end poses as keyframes.
+ */
+class Pose {
+public:
+    /// Creates a default (identity) pose
+    Pose();
+    virtual ~Pose();
+
+    /// Returns the 4x4 transformation matrix (both translation and rotation)
+    /// for the root of the skeleton at the time of this pose.
+    Matrix4 RootTransform() const;
+
+    /// Returns a 4x4 rotation-only matrix (the translation component will be zero)
+    /// that describes the rotation of the joint about which the named bone
+    /// rotates at the time of this pose.
+    Matrix4 JointRotation(const std::string &bone_name) const;
+
+    /// Linearly iterpolates between this Pose and another.  Internally, rotations
+    /// are interpolated using spherical linear interpolation with Quaternions.
+    Pose Lerp(const Pose &other, float alpha) const;
+
+    
+    /// Returns the position of the root node as a point.
+    Point3 root_position() { return root_position_; }
+
+    /// Returns just the rotational component of the root transformation.
+    Matrix4 root_rotation() { return root_rotation_; }
+    
+    /// Returns just the translational component of the root transformation.
+    Matrix4 root_translation() { return root_translation_; }
+
+    /// Returns the relative translation from a previous pose to this one.  This
+    /// must be set first using a function, such as, MotionClip::CalcRelativeTranslations().
+    Matrix4 root_relative_translation() { return root_rel_translation_; }
+    
+    /// Sets a frame number to associate with the pose.
+    void set_frame_number(int frame_num);
+    
+    /// Sets the root position.
+    void set_root_position(const Point3 &pos);
+
+    /// Sets the translation of the root since the last frame.
+    void set_root_relative_translation(const Vector3 &delta_since_last_frame);
+    
+    /// Sets the root orientation using Euler angles, following AMC file format conventions.
+    void set_root_orientation(const Vector3 &angles);
+    
+    /// Sets the joint angles using Euler angles, following AMC file format conventions.
+    void set_joint_angles(const std::string &bone_name, const Vector3 &angles);
+    
+    
+private:
+    int frame_num_;
+
+    Point3 root_position_;
+    Matrix4 root_translation_;
+    Matrix4 root_rel_translation_;
+    
+    Vector3 root_orientation_;
+    Matrix4 root_rotation_;
+    
+    std::map<std::string, Vector3> joint_angles_;
+    std::map<std::string, Matrix4> joint_rotations_;
+};
+
+#endif
+
+