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

1 files changed, 136 insertions, 0 deletions

diff --git a/dev/a4-dance/skeleton.h b/dev/a4-dance/skeleton.h
new file mode 100644
index 0000000..7a30b33
--- /dev/null
+++ b/dev/a4-dance/skeleton.h
@@ -0,0 +1,136 @@
+#ifndef SKELETON_H_
+#define SKELETON_H_
+
+#include <mingfx.h>
+using namespace mingfx;
+
+#include "simple_parser.h"
+
+
+/** This data structure describes a rigid body skeleton used to record and play
+ back motion capture data.  Each skelton has a root node, which may have one or
+ more child bones.  Each bone, may have zero or more child bones.
+ 
+ */
+class Skeleton {
+public:
+    
+    /// Creates an empty skeleton
+    Skeleton();
+    virtual ~Skeleton();
+    
+    /// Loads a skeleton from the Acclaim ASF file format.
+    void LoadFromASF(const std::string &asf_filename);
+
+    /// The number of bones attached to the root node
+    int num_root_bones() const;
+    
+    /// The name of the i-th bone attached to the root node
+    std::string root_bone(int i) const;
+
+    /// The number of children of the named bone
+    int num_children(const std::string &bone_name) const;
+    
+    /// The name of the i-th child of the named bone
+    std::string child_bone(const std::string &bone_name, int i) const;
+    
+    
+    /** The joint angle rotations that produce the animation are applied around
+     a set of x,y,z axes that make sense for the joint (e.g., a joint with
+     only 1 degree-of-freedom might setup a coordinate system where the X-axis
+     is aligned along the hinge of that joint).  The following transform
+     rotates the bone's local coordinate system into the joint angle coordinate
+     system.  This must be done before the joint angles can be applied.  Then,
+     after the joint angles are applied, we must rotate back before applying
+     the to_parent transform.
+     */
+    Matrix4 BoneSpaceToRotAxesSpace(const std::string &bone_name) const;
+
+    /** The inverse of BoneSpaceToRotAxesSpace().  Use this matrix to rotate 
+     back to the bone's local coordinate system after applying joint angle 
+     rotations. */
+    Matrix4 RotAxesSpaceToBoneSpace(const std::string &bone_name) const;
+    
+    /** This matrix transforms from the bone's local coordinate system to the
+     coordinate system of its children, which is the same as translating from
+     the bone's origin by the BoneDirectionAndLength() */
+    Matrix4 BoneSpaceToChildrenSpace(const std::string &bone_name) const;
+    
+    /** Returns the direction and length of the bone.  If you translate from the
+     bone's origin along this vector, you will reach the point that should be
+     used as the origin for the bone's children. */
+    Vector3 BoneDirectionAndLength(const std::string &bone_name) const;
+    
+    
+    
+    /* Most users will not need to access the routines below this line because
+       all of these properties are taken into account when calculating the
+       matrices above. */
+
+    /// True if the joint used to rotate bone_name can rotate around the X axis.
+    bool rx_dof(const std::string &bone_name) const;
+
+    /// Returns the valid range of X-axis joint angles for the joint used to rotate bone_name.
+    Vector2 rx_limits(const std::string &bone_name) const;
+    
+    /// True if the joint used to rotate bone_name can rotate around the Y axis.
+    bool ry_dof(const std::string &bone_name) const;
+
+    /// Returns the valid range of Y-axis joint angles for the joint used to rotate bone_name.
+    Vector2 ry_limits(const std::string &bone_name) const;
+    
+    /// True if the joint used to rotate bone_name can rotate around the Z axis.
+    bool rz_dof(const std::string &bone_name) const;
+    
+    /// Returns the valid range of Z-axis joint angles for the joint used to rotate bone_name.
+    Vector2 rz_limits(const std::string &bone_name) const;
+    
+    /// Returns 0,1,2 or 3 for the number of degrees of freedom of the joint
+    /// used to rotate the named bone.
+    int degrees_of_freedom(const std::string &bone_name) const;
+    
+    
+    /// Typically zero, and we can ignore this.
+    Vector3 skeleton_root_position() const;
+
+    /// Typically zero, and we can ignore this.
+    Vector3 skeleton_root_orientation() const;
+    
+    
+private:
+    bool using_degrees_;
+
+    std::vector<std::string> root_bones_;
+    Vector3 root_position_;
+    Vector3 root_orientation_;
+
+    std::map<std::string, int> ids_;
+    
+    std::map<std::string, std::vector<std::string> > children_;
+    std::map<std::string, Vector3> directions_;
+
+    std::map<std::string, float> lengths_;
+    
+    std::map<std::string, bool> rx_dof_;
+    std::map<std::string, Vector2> rx_limits_;
+    
+    std::map<std::string, bool> ry_dof_;
+    std::map<std::string, Vector2> ry_limits_;
+    
+    std::map<std::string, bool> rz_dof_;
+    std::map<std::string, Vector2> rz_limits_;
+    
+    std::map<std::string, Matrix4> bone_to_rot_axes_;
+    std::map<std::string, Matrix4> rot_axes_to_bone_;
+    std::map<std::string, Matrix4> bone_to_children_;
+    
+    
+    // Helpers for parsing skeleton data from file
+    void ParseUnits(SimpleParser *parser);
+    void ParseRoot(SimpleParser *parser);
+    void ParseBonedata(SimpleParser *parser);
+    void ParseBone(SimpleParser *parser, bool dg);
+    void ParseHierarchy(SimpleParser *parser);
+};
+
+#endif