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#include "skeleton.h"
#include "amc_util.h"
Skeleton::Skeleton() : using_degrees_(false) {
}
Skeleton::~Skeleton() {
}
int Skeleton::num_root_bones() const {
return (int)root_bones_.size();
}
std::string Skeleton::root_bone(int i) const {
return root_bones_[i];
}
int Skeleton::num_children(const std::string &bone_name) const {
if (children_.find(bone_name) == children_.end()) {
return 0;
}
else {
return (int)children_.find(bone_name)->second.size();
}
}
std::string Skeleton::child_bone(const std::string &bone_name, int i) const {
return children_.find(bone_name)->second[i];
}
bool Skeleton::rx_dof(const std::string &bone_name) const {
return rx_dof_.find(bone_name)->second;
}
Vector2 Skeleton::rx_limits(const std::string &bone_name) const {
return rx_limits_.find(bone_name)->second;
}
bool Skeleton::ry_dof(const std::string &bone_name) const {
return ry_dof_.find(bone_name)->second;
}
Vector2 Skeleton::ry_limits(const std::string &bone_name) const {
return ry_limits_.find(bone_name)->second;
}
bool Skeleton::rz_dof(const std::string &bone_name) const {
return rz_dof_.find(bone_name)->second;
}
Vector2 Skeleton::rz_limits(const std::string &bone_name) const {
return rz_limits_.find(bone_name)->second;
}
int Skeleton::degrees_of_freedom(const std::string &bone_name) const {
return (int)rx_dof(bone_name) + (int)ry_dof(bone_name) + (int)rz_dof(bone_name);
}
Vector3 Skeleton::BoneDirectionAndLength(const std::string &bone_name) const {
return lengths_.find(bone_name)->second * directions_.find(bone_name)->second;
}
Matrix4 Skeleton::BoneSpaceToRotAxesSpace(const std::string &bone_name) const {
return bone_to_rot_axes_.find(bone_name)->second;
}
Matrix4 Skeleton::RotAxesSpaceToBoneSpace(const std::string &bone_name) const {
return rot_axes_to_bone_.find(bone_name)->second;
}
Matrix4 Skeleton::BoneSpaceToChildrenSpace(const std::string &bone_name) const {
return bone_to_children_.find(bone_name)->second;
}
const bool ABORT_ON_ERROR=true;
void assume(bool b) {
if (!b && ABORT_ON_ERROR) {
std::abort();
}
}
void Skeleton::LoadFromASF(const std::string &asf_filename) {
std::ifstream in(asf_filename.c_str());
SimpleParser parser(&in);
while (parser.Good()) {
if (parser.Expect("#")) {
//std::cerr << "Ignoring comment line" << std::endl;
parser.SwallowLine();
}
else if (parser.Expect(":version")) {
parser.SwallowLine();
}
else if (parser.Expect(":name")) {
//std::cerr << "Swallowing name" << std::endl;
parser.SwallowLine();
}
else if (parser.Expect(":units")) {
//std::cerr << "Reading units" << std::endl;
ParseUnits(&parser);
}
else if (parser.Expect(":documentation")) {
//std::cerr << "Reading documentation" << std::endl;
while (parser.Good() && !parser.Peek(":")) {
parser.SwallowLine();
}
}
else if (parser.Expect(":root")) {
//std::cerr << "Reading root" << std::endl;
ParseRoot(&parser);
}
else if (parser.Expect(":bonedata")) {
//std::cerr << "Reading bonedata" << std::endl;
ParseBonedata(&parser);
}
else if (parser.Expect(":hierarchy")) {
//std::cerr << "Reading hierarchy" << std::endl;
ParseHierarchy(&parser);
}
else {
std::string tok;
parser.ReadToken(tok);
if (!parser.Good()) {
break;
}
std::cerr << "Encountered unknown token" << std::endl;
std::cerr << "'" << tok << "'" << std::endl;
std::abort();
}
} // end while (looping over file)
}
void Skeleton::ParseUnits(SimpleParser *parser) {
bool cont;
do {
cont = false;
if (parser->Expect("mass")) {
float trash;
parser->ReadFloat(trash);
cont = true;
}
if (parser->Expect("length")) {
float trash;
parser->ReadFloat(trash);
cont = true;
}
if (parser->Expect("angle")) {
std::string token;
parser->ReadToken(token);
if (token == "deg") {
using_degrees_ = true;
}
}
} while (cont);
}
void Skeleton::ParseRoot(SimpleParser *parser) {
bool cont;
do {
cont = false;
if (parser->Expect("order")) {
cont = true;
if (!parser->Expect("TX TY TZ RX RY RZ")) {
std::cerr << "'order' not in order expected" << std::endl;
std::abort();
}
}
if (parser->Expect("axis")) {
cont = true;
if (!parser->Expect("XYZ")) {
std::cerr << "'axis' not in order expected" << std::endl;
std::abort();
}
}
if (parser->Expect("position")) {
cont = true;
parser->ReadFloat(root_position_[0]);
parser->ReadFloat(root_position_[1]);
parser->ReadFloat(root_position_[2]);
root_position_ = amc2meter(root_position_);
}
if (parser->Expect("orientation")) {
cont = true;
parser->ReadFloat(root_orientation_[0]);
parser->ReadFloat(root_orientation_[1]);
parser->ReadFloat(root_orientation_[2]);
}
} while (cont);
}
void Skeleton::ParseBonedata(SimpleParser *parser) {
while (parser->Expect("begin")) {
int id = -1;
std::string name;
Vector3 direction;
float length = 0.0;
Matrix4 bone_to_rot_axes;
Matrix4 rot_axes_to_bone;
bool rx_dof = false;
bool ry_dof = false;
bool rz_dof = false;
Vector2 rx_limits;
Vector2 ry_limits;
Vector2 rz_limits;
while (!parser->Expect("end")) {
if (parser->Expect("id")) {
parser->ReadInt(id);
}
if (parser->Expect("name")) {
parser->ReadToken(name);
}
if (parser->Expect("direction")) {
parser->ReadFloat(direction[0]);
parser->ReadFloat(direction[1]);
parser->ReadFloat(direction[2]);
}
if (parser->Expect("length")) {
parser->ReadFloat(length);
length = amc2meter(length);
}
if (parser->Expect("axis")) {
float ax, ay, az;
std::string axis_type;
parser->ReadFloat(ax);
parser->ReadFloat(ay);
parser->ReadFloat(az);
if (using_degrees_) {
ax = GfxMath::ToRadians(ax);
ay = GfxMath::ToRadians(ay);
az = GfxMath::ToRadians(az);
}
parser->ReadToken(axis_type);
if (axis_type == "XYZ") {
rot_axes_to_bone = Matrix4::RotationZ(az) *
Matrix4::RotationY(ay) *
Matrix4::RotationX(ax);
bone_to_rot_axes = rot_axes_to_bone.Inverse();
}
else {
std::cerr << "'axis type' not in order expected" << std::endl;
std::abort();
}
}
if (parser->Expect("dof")) {
rx_dof = parser->Expect("rx");
ry_dof = parser->Expect("ry");
rz_dof = parser->Expect("rz");
}
if (parser->Expect("limits")) {
int ndof = (int)rx_dof + (int)ry_dof + (int)rz_dof;
for (int dof=0; dof < ndof; dof++) {
assume(parser->Expect("("));
float min, max;
parser->ReadFloat(min);
parser->ReadFloat(max);
assume(parser->Expect(")"));
if (dof == 0) {
if (rx_dof) rx_limits = Vector2(min, max);
else if (ry_dof) ry_limits = Vector2(min, max);
else if (rz_dof) rz_limits = Vector2(min, max);
else abort();
}
else if (dof == 1) {
if (rx_dof && ry_dof) ry_limits = Vector2(min, max);
else if (rx_dof && rz_dof) rz_limits = Vector2(min, max);
else if (ry_dof && rz_dof) rz_limits = Vector2(min, max);
else abort();
}
else if (dof == 2) {
if (rx_dof && ry_dof && rz_dof) rz_limits = Vector2(min, max);
else abort();
}
else {
std::cerr << "bad dof limits" << std::endl;
abort();
}
}
}
} // read "end" token
// save the bone to the skeleton data structure
ids_[name] = id;
directions_[name] = direction;
lengths_[name] = length;
rx_dof_[name] = rx_dof;
ry_dof_[name] = ry_dof;
rz_dof_[name] = rz_dof;
rx_limits_[name] = rx_limits;
ry_limits_[name] = ry_limits;
rz_limits_[name] = rz_limits;
bone_to_rot_axes_[name] = bone_to_rot_axes;
rot_axes_to_bone_[name] = rot_axes_to_bone;
bone_to_children_[name] = Matrix4::Translation(length * direction);
}
}
void Skeleton::ParseHierarchy(SimpleParser *parser) {
if (!parser->Expect("begin")) {
std::cerr << "Reading hierarchy, expected 'begin', not found" << std::endl;
std::abort();
}
while (!parser->Expect("end")) {
std::string line;
std::string parent;
parser->ReadToken(parent);
parser->ReadLine(line);
std::stringstream ss(line);
std::string child;
ss >> child;
while (ss) {
if (parent == "root") {
root_bones_.push_back(child);
}
else {
children_[parent].push_back(child);
}
ss >> child;
}
}
}
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