Export pinocchio file
This commit is contained in:
parent
ca018300a1
commit
ae74a5d55d
|
|
@ -266,6 +266,19 @@ void print_vec3(const Vec3 &v)
|
||||||
std::cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")" << std::endl;
|
std::cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")" << std::endl;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
Bone *find_root(Bone *bone)
|
||||||
|
{
|
||||||
|
float len = length(bone->get_bone_local_root_position() - bone->get_bone_local_tip_position());
|
||||||
|
|
||||||
|
if (len > 0.0f)
|
||||||
|
return bone;
|
||||||
|
|
||||||
|
for (int i = 0; i < bone->childCount(); i++)
|
||||||
|
{
|
||||||
|
return find_root(bone->child_at(i));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
void Skeleton::get_bones(Bone *bone, std::vector<Bone *> &bone_list)
|
void Skeleton::get_bones(Bone *bone, std::vector<Bone *> &bone_list)
|
||||||
{
|
{
|
||||||
float len = length(bone->get_bone_local_root_position() - bone->get_bone_local_tip_position());
|
float len = length(bone->get_bone_local_root_position() - bone->get_bone_local_tip_position());
|
||||||
|
|
@ -316,6 +329,26 @@ void calc_points(Bone *bone, std::vector<Vec3> &points, Vec3 parent_pos, float c
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
struct BonePoint
|
||||||
|
{
|
||||||
|
Bone *bone;
|
||||||
|
Vec3 point;
|
||||||
|
};
|
||||||
|
|
||||||
|
void calc_points_off_set(Bone *bone, std::vector<BonePoint> &points, Vec3 parent_pos, float correction)
|
||||||
|
{
|
||||||
|
Vec3 new_pos = parent_pos + (into_vec3(bone->get_bone_local_tip_position()) / correction);
|
||||||
|
|
||||||
|
BonePoint bp = {bone, new_pos};
|
||||||
|
|
||||||
|
points.emplace_back(bp);
|
||||||
|
|
||||||
|
for (int i = 0; i < bone->childCount(); i++)
|
||||||
|
{
|
||||||
|
calc_points_off_set(bone->child_at(i), points, new_pos, correction);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
float abs(float &v)
|
float abs(float &v)
|
||||||
{
|
{
|
||||||
if (v < 0.0f)
|
if (v < 0.0f)
|
||||||
|
|
@ -326,27 +359,16 @@ float abs(float &v)
|
||||||
return v;
|
return v;
|
||||||
}
|
}
|
||||||
|
|
||||||
void Skeleton::write_pinocchio_file(const std::string &filename)
|
struct Differences
|
||||||
{
|
{
|
||||||
std::ofstream o;
|
Vec3 min;
|
||||||
#ifdef _WIN32
|
Vec3 max;
|
||||||
std::wstring wfilename = cgv::utils::str2wstr(filename);
|
Vec3 diff;
|
||||||
o.open(wfilename, std::ios::out);
|
float max_diff;
|
||||||
#else
|
};
|
||||||
o.open(filename, std::ios::out);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
if (o)
|
Differences calc_diffs(std::vector<Vec3> &points)
|
||||||
{
|
{
|
||||||
/*Task 4.1: Write Pinocchio file into o */
|
|
||||||
|
|
||||||
std::vector<Bone *> bone_list;
|
|
||||||
get_bones(root, bone_list);
|
|
||||||
|
|
||||||
// gather all points
|
|
||||||
std::vector<Vec3> points;
|
|
||||||
calc_points(root, points, Vec3(0.0f, 0.0f, 0.0f));
|
|
||||||
|
|
||||||
Vec3 min(0.0f, 0.0f, 0.0f);
|
Vec3 min(0.0f, 0.0f, 0.0f);
|
||||||
Vec3 max(0.0f, 0.0f, 0.0f);
|
Vec3 max(0.0f, 0.0f, 0.0f);
|
||||||
|
|
||||||
|
|
@ -385,28 +407,98 @@ void Skeleton::write_pinocchio_file(const std::string &filename)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
//std::cout << "min: ";
|
|
||||||
//print_vec3(min);
|
|
||||||
|
|
||||||
//std::cout << "max: ";
|
|
||||||
//print_vec3(max);
|
|
||||||
|
|
||||||
float x_diff = abs(min.x()) + abs(max.x());
|
float x_diff = abs(min.x()) + abs(max.x());
|
||||||
float y_diff = abs(min.y()) + abs(max.y());
|
float y_diff = abs(min.y()) + abs(max.y());
|
||||||
float z_diff = abs(min.z()) + abs(max.z());
|
float z_diff = abs(min.z()) + abs(max.z());
|
||||||
|
|
||||||
float max_diff = std::max(x_diff, std::max(y_diff, z_diff));
|
float max_diff = std::max(x_diff, std::max(y_diff, z_diff));
|
||||||
|
|
||||||
std::vector<Vec3> points2;
|
Differences diffs = {
|
||||||
calc_points(root, points2, Vec3(0.0f, 0.0f, 0.0f), max_diff);
|
min, max, Vec3(x_diff, y_diff, z_diff), max_diff};
|
||||||
|
|
||||||
for (auto p : points2)
|
return diffs;
|
||||||
{
|
|
||||||
print_vec3(p);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
float nip(float v)
|
||||||
|
{
|
||||||
|
if (v < 0.0f)
|
||||||
|
return -v;
|
||||||
|
|
||||||
|
return 0.0f;
|
||||||
|
}
|
||||||
|
|
||||||
|
Vec3 nip(Vec3 v)
|
||||||
|
{
|
||||||
|
return Vec3(nip(v.x()), nip(v.y()), nip(v.z()));
|
||||||
|
}
|
||||||
|
|
||||||
|
float correct_fract(float &f)
|
||||||
|
{
|
||||||
|
float almost_zero = 0.0000001f;
|
||||||
|
|
||||||
|
if (abs(f) < almost_zero)
|
||||||
|
return 0.0f;
|
||||||
|
|
||||||
|
return f;
|
||||||
|
}
|
||||||
|
|
||||||
|
Vec3 correct_fract(Vec3 &v)
|
||||||
|
{
|
||||||
|
return Vec3(correct_fract(v.x()), correct_fract(v.y()), correct_fract(v.z()));
|
||||||
|
}
|
||||||
|
|
||||||
|
Vec3 find_point(Bone *bone, std::vector<BonePoint> &bps)
|
||||||
|
{
|
||||||
|
for (BonePoint &bp : bps)
|
||||||
|
{
|
||||||
|
if (bp.bone == bone)
|
||||||
|
return correct_fract(bp.point);
|
||||||
|
}
|
||||||
|
|
||||||
|
// bone not found, something went wrong
|
||||||
|
abort();
|
||||||
|
}
|
||||||
|
|
||||||
|
void Skeleton::write_pinocchio_file(const std::string &filename)
|
||||||
|
{
|
||||||
|
std::ofstream o;
|
||||||
|
#ifdef _WIN32
|
||||||
|
std::wstring wfilename = cgv::utils::str2wstr(filename);
|
||||||
|
o.open(wfilename, std::ios::out);
|
||||||
|
#else
|
||||||
|
o.open(filename, std::ios::out);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (o)
|
||||||
|
{
|
||||||
|
/*Task 4.1: Write Pinocchio file into o */
|
||||||
|
|
||||||
|
std::vector<Bone *> bone_list;
|
||||||
|
get_bones(root, bone_list);
|
||||||
|
|
||||||
|
// gather all points
|
||||||
|
std::vector<Vec3> points;
|
||||||
|
calc_points(root, points, Vec3(0.0f, 0.0f, 0.0f));
|
||||||
|
|
||||||
|
Differences diffs = calc_diffs(points);
|
||||||
|
|
||||||
|
std::vector<Vec3> points2;
|
||||||
|
calc_points(root, points2, Vec3(0.0f, 0.0f, 0.0f), diffs.max_diff);
|
||||||
|
|
||||||
|
Differences diffs2 = calc_diffs(points2);
|
||||||
|
|
||||||
|
Vec3 offset(nip(diffs2.min));
|
||||||
|
|
||||||
|
std::cout << "offset: ";
|
||||||
|
print_vec3(offset);
|
||||||
|
|
||||||
|
std::vector<BonePoint> points3;
|
||||||
|
calc_points_off_set(root, points3, offset, diffs.max_diff);
|
||||||
|
|
||||||
//std::cout << "max_diff: " << max_diff << std::endl;
|
//std::cout << "max_diff: " << max_diff << std::endl;
|
||||||
|
|
||||||
|
Bone *new_root = find_root(root);
|
||||||
|
|
||||||
// ---------------------------- info ----------------------------
|
// ---------------------------- info ----------------------------
|
||||||
int i = 0;
|
int i = 0;
|
||||||
for (Bone *bone : bone_list)
|
for (Bone *bone : bone_list)
|
||||||
|
|
@ -415,9 +507,17 @@ void Skeleton::write_pinocchio_file(const std::string &filename)
|
||||||
|
|
||||||
int parent_index = find_bone(bone->get_parent(), bone_list);
|
int parent_index = find_bone(bone->get_parent(), bone_list);
|
||||||
|
|
||||||
|
if (parent_index == -1)
|
||||||
|
{
|
||||||
|
if (bone != new_root)
|
||||||
|
{
|
||||||
|
parent_index = find_bone(new_root, bone_list);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
//std::cout << i++ << ": " << bone->get_name() << ": " << len << " parent: " << parent_index << std::endl;
|
//std::cout << i++ << ": " << bone->get_name() << ": " << len << " parent: " << parent_index << std::endl;
|
||||||
|
|
||||||
Vec3 c = into_vec3(bone->get_bone_local_tip_position()) / max_diff;
|
Vec3 c = find_point(bone, points3);
|
||||||
|
|
||||||
o << i++ << " " << c.x() << " " << c.y() << " " << c.z() << " " << parent_index << std::endl;
|
o << i++ << " " << c.x() << " " << c.y() << " " << c.z() << " " << parent_index << std::endl;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,5 +0,0 @@
|
||||||
(cos((r*pi)/180)+x²*(1-cos(r*pi)/180))*xl+(-z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*yl+(y*sin((r*pi)/180)+z*x*(1-cos(r*pi)/180))*zl = xs
|
|
||||||
(z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*xl+(cos((r*pi)/180)+y²*(1-cos(r*pi)/180))*yl+(-x*sin((r*pi)/180)+z*y*(1-cos(r*pi)/180))*zl = ys
|
|
||||||
(-y*sin((r*pi)/180)+x*z*(1-cos(r*pi)/180))*xl+(x*sin((r*pi)/180)+y*z(1-cos(r*pi)/180))*yl+(cos((r*pi)/180)+z²*(1-cos(r*pi)/180))*zl = zs
|
|
||||||
|
|
||||||
(cos((r*pi)/180)+x²*(1-cos(r*pi)/180))*xl+(-z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*yl+(y*sin((r*pi)/180)+z*x*(1-cos(r*pi)/180))*zl)-xt)²+((z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*xl+(cos((r*pi)/180)+y²*(1-cos(r*pi)/180))*yl+(-x*sin((r*pi)/180)+z*y*(1-cos(r*pi)/180))*zl-yt)²+((-y*sin((r*pi)/180)+x*z*(1-cos(r*pi)/180))*xl+(x*sin((r*pi)/180)+y*z(1-cos(r*pi)/180))*yl+(cos((r*pi)/180)+z²*(1-cos(r*pi)/180))*zl-zt)²
|
|
||||||
2367
attachment.out
Normal file
2367
attachment.out
Normal file
File diff suppressed because it is too large
Load diff
60
penis.txt
60
penis.txt
|
|
@ -1,30 +1,30 @@
|
||||||
0 0.0429472 -0.0565452 0.0264444 -1
|
0 0.137811 0.583432 0.0451131 -1
|
||||||
1 -7.5121e-09 -0.225528 0 0
|
1 0.137811 0.357903 0.0451131 0
|
||||||
2 0 -0.236038 0 1
|
2 0.137811 0.121865 0.0451131 1
|
||||||
3 8.92062e-09 -0.073179 -0.014522 2
|
3 0.137811 0.0486858 0.0305911 2
|
||||||
4 -5.48289e-17 -0.0374839 4.69168e-08 3
|
4 0.137811 0.011202 0.0305911 3
|
||||||
5 -0.0411343 -0.0565452 0.0264444 -1
|
5 0.0537295 0.583432 0.0451131 0
|
||||||
6 0 -0.234226 0 5
|
6 0.0537295 0.349205 0.0451131 5
|
||||||
7 -7.5121e-09 -0.236596 0 6
|
7 0.0537295 0.112609 0.0451131 6
|
||||||
8 4.69506e-09 -0.0744582 -0.0151752 7
|
8 0.0537295 0.0381506 0.0299378 7
|
||||||
9 2.00063e-16 -0.0381506 4.77513e-08 8
|
9 0.0537295 0 0.0299379 8
|
||||||
10 0.000890649 0.0641375 -0.00609295 -1
|
10 0.0957544 0.704114 0.0125758 0
|
||||||
11 0.00178704 0.0645553 -0.00134698 10
|
11 0.0975414 0.768669 0.0112288 10
|
||||||
12 0.00128702 0.0650298 0.00152129 11
|
12 0.0988285 0.833699 0.0127501 11
|
||||||
13 -0.00170664 0.0550206 0.00542001 12
|
13 0.0971218 0.88872 0.0181701 12
|
||||||
14 0.00327919 0.0554969 -0.00390619 13
|
14 0.100401 0.944217 0.0142639 13
|
||||||
15 0.00117224 0.0557831 -0.00196647 14
|
15 0.101573 1 0.0122974 14
|
||||||
16 0.105943 0.0378376 -0.00980558 12
|
16 0.204771 0.871537 0.0029445 12
|
||||||
17 1.68454e-07 -0.157005 -2.90101e-07 16
|
17 0.204771 0.714532 0.00294421 16
|
||||||
18 1.17764e-07 -0.10976 -2.02806e-07 17
|
18 0.204772 0.604772 0.00294401 17
|
||||||
19 -3.12333e-18 -0.0548801 7.10897e-08 18
|
19 0.204772 0.549892 0.00294408 18
|
||||||
20 -1.28279e-18 -0.0225364 2.91929e-08 19
|
20 0.204772 0.527356 0.00294411 19
|
||||||
21 -1.0339e-18 -0.0181695 2.35361e-08 20
|
21 0.204772 0.509186 0.00294413 20
|
||||||
22 1.78412e-08 -0.0260878 3.10974e-08 19
|
22 0.204772 0.523804 0.00294411 19
|
||||||
23 -0.0988282 0.0432937 -0.0127496 12
|
23 3.12924e-07 0.876993 5.06639e-07 12
|
||||||
24 -1.77206e-07 -0.165162 -3.05173e-07 23
|
24 1.35718e-07 0.711831 2.01466e-07 23
|
||||||
25 -1.16433e-07 -0.108519 -2.00513e-07 24
|
25 0 0.603312 0 24
|
||||||
26 3.08802e-18 -0.0542597 6.70519e-08 25
|
26 0 0.549052 0 25
|
||||||
27 1.11643e-18 -0.0196147 2.4239e-08 26
|
27 0 0.529438 0 26
|
||||||
28 8.99718e-19 -0.0158139 1.95421e-08 27
|
28 0 0.513624 1.11786e-07 27
|
||||||
29 -1.50242e-08 -0.0227056 2.70658e-08 26
|
29 0 0.526347 0 26
|
||||||
|
|
|
||||||
30
skeleton.out
Normal file
30
skeleton.out
Normal file
|
|
@ -0,0 +1,30 @@
|
||||||
|
0 2.3462 53.9829 1.04428 -1
|
||||||
|
1 5.75874 34.4147 0.482767 0
|
||||||
|
2 6.48344 11.7505 -0.628775 1
|
||||||
|
3 6.65659 5.263 -0.586761 2
|
||||||
|
4 6.77683 1.34023 -0.33446 3
|
||||||
|
5 -4.64843 48.7597 1.71993 0
|
||||||
|
6 -5.72403 29.1603 0.0568622 5
|
||||||
|
7 -6.62952 11.1159 -0.574507 6
|
||||||
|
8 -6.66423 4.90962 -0.5577 7
|
||||||
|
9 -6.74013 1.14803 -0.275692 8
|
||||||
|
10 -0.604978 63.0263 0.779478 0
|
||||||
|
11 -0.130926 69.2639 -1.52999 10
|
||||||
|
12 0.115879 74.5396 -2.65442 11
|
||||||
|
13 -0.15631 79.638 -0.895521 12
|
||||||
|
14 0.0588091 84.345 -0.695696 13
|
||||||
|
15 0.0437946 89.1495 -0.353748 14
|
||||||
|
16 9.09887 72.4755 -2.84531 12
|
||||||
|
17 16.8129 64.0465 -2.13472 16
|
||||||
|
18 23.1151 58.5242 -0.650485 17
|
||||||
|
19 27.4567 54.6228 1.36793 18
|
||||||
|
20 28.2612 52.7851 1.45856 19
|
||||||
|
21 29.4334 50.6264 1.52051 20
|
||||||
|
22 27.5264 52.6479 1.44833 19
|
||||||
|
23 -8.56763 72.9413 -2.96782 12
|
||||||
|
24 -18.5195 62.3423 -2.08202 23
|
||||||
|
25 -25.8688 56.1692 0.456197 24
|
||||||
|
26 -28.335 53.0878 1.24571 25
|
||||||
|
27 -29.673 51.1485 1.84335 26
|
||||||
|
28 -29.8857 50.0595 1.80841 27
|
||||||
|
29 -28.5799 51.4408 1.22361 26
|
||||||
Loading…
Reference in a new issue