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Skeleton tests

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This commit is contained in:
hodasemi 2018-06-25 22:53:50 +02:00
parent 3d00ece41d
commit ca018300a1
4 changed files with 226 additions and 49 deletions
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4-intro.pdf Normal file
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197
CGII/src/Skeleton.cpp
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@ -22,11 +22,11 @@ Skeleton::~Skeleton()
delete root;
}
Bone* Skeleton::get_root() const { return root; }
const Mat4& Skeleton::get_origin() const { return origin; }
Vec3 Skeleton::get_origin_vec() const { return Vec3(origin(0, 3), origin(1, 3), origin(2,3)); }
void Skeleton::set_origin(const Vec3& v) { origin = translate(v); }
void Skeleton::set_origin(const Mat4& m) { origin = m; }
Bone *Skeleton::get_root() const { return root; }
const Mat4 &Skeleton::get_origin() const { return origin; }
Vec3 Skeleton::get_origin_vec() const { return Vec3(origin(0, 3), origin(1, 3), origin(2, 3)); }
void Skeleton::set_origin(const Vec3 &v) { origin = translate(v); }
void Skeleton::set_origin(const Mat4 &m) { origin = m; }
enum ParseState
{
@ -36,7 +36,7 @@ enum ParseState
Hierarchy,
};
bool Skeleton::fromASFFile(const std::string& filename)
bool Skeleton::fromASFFile(const std::string &filename)
{
origin.identity();
@ -44,7 +44,7 @@ bool Skeleton::fromASFFile(const std::string& filename)
reset_bounding_box();
ParseState state = Ignore;
Bone* current_node = nullptr;
Bone *current_node = nullptr;
bones.clear();
@ -86,7 +86,8 @@ bool Skeleton::fromASFFile(const std::string& filename)
state = BoneData;
else if (str.find(":hierarchy") == 0)
state = Hierarchy;
else state = Ignore;
else
state = Ignore;
continue;
}
switch (state)
@ -104,7 +105,7 @@ bool Skeleton::fromASFFile(const std::string& filename)
while (!ss.eof())
{
ss >> dofstr;
AtomicTransform* dof;
AtomicTransform *dof;
if (dofstr.find("RX") == 0)
dof = new AtomicXRotationTransform();
else if (dofstr.find("RY") == 0)
@ -157,7 +158,7 @@ bool Skeleton::fromASFFile(const std::string& filename)
ss >> a[0] >> a[1] >> a[2] >> order;
for (int i = 0; i < 3; ++i)
{
AtomicTransform* t;
AtomicTransform *t;
if (order.at(i) == 'X')
t = new AtomicXRotationTransform();
else if (order.at(i) == 'Y')
@ -177,7 +178,7 @@ bool Skeleton::fromASFFile(const std::string& filename)
while (!ss.eof())
{
ss >> dofstr;
AtomicTransform* dof;
AtomicTransform *dof;
if (dofstr.find("rx") == 0)
dof = new AtomicXRotationTransform();
else if (dofstr.find("ry") == 0)
@ -206,7 +207,6 @@ bool Skeleton::fromASFFile(const std::string& filename)
ss >> lower >> upper;
current_node->get_dof(n_dofs - i - 1)->set_limits(lower, upper);
}
}
break;
case Hierarchy:
@ -215,12 +215,12 @@ bool Skeleton::fromASFFile(const std::string& filename)
std::stringstream ss(str);
std::string parentstr;
ss >> parentstr;
Bone* parent = bones[parentstr];
Bone *parent = bones[parentstr];
std::string childstr;
while (!ss.eof())
{
ss >> childstr;
Bone* child = bones[childstr];
Bone *child = bones[childstr];
parent->add_child(child);
}
}
@ -241,7 +241,7 @@ bool Skeleton::fromASFFile(const std::string& filename)
}
}
void Skeleton::postprocess(Bone* node, const Vec3& global_position)
void Skeleton::postprocess(Bone *node, const Vec3 &global_position)
{
//For display adaptation
auto bone_offset_in_global_system = node->get_direction_in_world_space() * node->get_length();
@ -256,7 +256,77 @@ void Skeleton::postprocess(Bone* node, const Vec3& global_position)
}
}
void Skeleton::write_pinocchio_file(const std::string& filename)
Vec3 into_vec3(const Vec4 &v)
{
return Vec3(v.x(), v.y(), v.z());
}
void print_vec3(const Vec3 &v)
{
std::cout << "(" << v.x() << ", " << v.y() << ", " << v.z() << ")" << std::endl;
}
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());
if (len > 0.0f)
bone_list.emplace_back(bone);
for (int i = 0; i < bone->childCount(); i++)
{
get_bones(bone->child_at(i), bone_list);
}
}
int Skeleton::find_bone(Bone *bone, std::vector<Bone *> &bone_list)
{
for (int i = 0; i < bone_list.size(); i++)
{
if (bone == bone_list[i])
{
return i;
}
}
return -1;
}
void calc_points(Bone *bone, std::vector<Vec3> &points, Vec3 parent_pos)
{
Vec3 new_pos = parent_pos + into_vec3(bone->get_bone_local_tip_position());
points.emplace_back(new_pos);
for (int i = 0; i < bone->childCount(); i++)
{
calc_points(bone->child_at(i), points, new_pos);
}
}
void calc_points(Bone *bone, std::vector<Vec3> &points, Vec3 parent_pos, float correction)
{
Vec3 new_pos = parent_pos + (into_vec3(bone->get_bone_local_tip_position()) / correction);
points.emplace_back(new_pos);
for (int i = 0; i < bone->childCount(); i++)
{
calc_points(bone->child_at(i), points, new_pos, correction);
}
}
float abs(float &v)
{
if (v < 0.0f)
{
return -v;
}
return v;
}
void Skeleton::write_pinocchio_file(const std::string &filename)
{
std::ofstream o;
#ifdef _WIN32
@ -269,12 +339,95 @@ void Skeleton::write_pinocchio_file(const std::string& filename)
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));
Vec3 min(0.0f, 0.0f, 0.0f);
Vec3 max(0.0f, 0.0f, 0.0f);
for (auto &point : points)
{
//print_vec3(point);
if (point.x() < min.x())
{
min.x() = point.x();
}
if (point.y() < min.y())
{
min.y() = point.y();
}
if (point.z() < min.z())
{
min.z() = point.z();
}
if (point.x() > max.x())
{
max.x() = point.x();
}
if (point.y() > max.y())
{
max.y() = point.y();
}
if (point.z() > max.z())
{
max.z() = point.z();
}
}
//std::cout << "min: ";
//print_vec3(min);
//std::cout << "max: ";
//print_vec3(max);
float x_diff = abs(min.x()) + abs(max.x());
float y_diff = abs(min.y()) + abs(max.y());
float z_diff = abs(min.z()) + abs(max.z());
float max_diff = std::max(x_diff, std::max(y_diff, z_diff));
std::vector<Vec3> points2;
calc_points(root, points2, Vec3(0.0f, 0.0f, 0.0f), max_diff);
for (auto p : points2)
{
print_vec3(p);
}
//std::cout << "max_diff: " << max_diff << std::endl;
// ---------------------------- info ----------------------------
int i = 0;
for (Bone *bone : bone_list)
{
//float len = length(bone->get_bone_local_tip_position());
int parent_index = find_bone(bone->get_parent(), bone_list);
//std::cout << i++ << ": " << bone->get_name() << ": " << len << " parent: " << parent_index << std::endl;
Vec3 c = into_vec3(bone->get_bone_local_tip_position()) / max_diff;
o << i++ << " " << c.x() << " " << c.y() << " " << c.z() << " " << parent_index << std::endl;
}
//std::cout << std::endl
// << "---------------------------" << std::endl
// << std::endl;
}
o.close();
}
void Skeleton::read_pinocchio_file(std::string filename)
{
std::ifstream o;
@ -294,16 +447,12 @@ void Skeleton::read_pinocchio_file(std::string filename)
postprocess(root, get_origin_vec());
}
void Skeleton::get_skinning_matrices(std::vector<Mat4>& matrices)
void Skeleton::get_skinning_matrices(std::vector<Mat4> &matrices)
{
/*Task 4.6: Calculate skinning matrices */
}
Bone* Skeleton::find_bone(const std::string& name) const
Bone *Skeleton::find_bone(const std::string &name) const
{
auto it = bones.find(name);
if (it == bones.end())

32
CGII/src/Skeleton.h
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@ -10,45 +10,43 @@
#include <vector>
class Skeleton : public IHasBoundingBox
{
public:
public:
Skeleton();
~Skeleton();
//Loads skeleton data from an ASF file.
bool fromASFFile(const std::string& filename);
bool fromASFFile(const std::string &filename);
//Writes the current skeleton to a Pinocchio file.
void write_pinocchio_file(const std::string& filename);
void write_pinocchio_file(const std::string &filename);
//Loads a Pinocchio skeleton file and adapts the current skeleton according to this file.
void read_pinocchio_file(std::string filename);
//Fille the matrices vector with the skinning matrices for all bones in DFS order
void get_skinning_matrices(std::vector<Mat4>& matrices);
void get_skinning_matrices(std::vector<Mat4> &matrices);
//Returns the skeleton's root bone
Bone* get_root() const;
Bone *get_root() const;
const Mat4& get_origin() const;
const Mat4 &get_origin() const;
Vec3 get_origin_vec() const;
void set_origin(const Vec3&);
void set_origin(const Mat4&);
void set_origin(const Vec3 &);
void set_origin(const Mat4 &);
Bone* find_bone(const std::string& name) const;
Bone *find_bone(const std::string &name) const;
private:
private:
Mat4 origin;
std::string version;
std::string name;
Bone* root;
void postprocess(Bone* node, const Vec3& global_position);
Bone *root;
void postprocess(Bone *node, const Vec3 &global_position);
void get_bones(Bone *bone, std::vector<Bone *> &bone_list);
int find_bone(Bone *bone, std::vector<Bone *> &bone_list);
std::map<const std::string, Bone*> bones;
std::map<const std::string, Bone *> bones;
};

30
penis.txt Normal file
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@ -0,0 +1,30 @@
0 0.0429472 -0.0565452 0.0264444 -1
1 -7.5121e-09 -0.225528 0 0
2 0 -0.236038 0 1
3 8.92062e-09 -0.073179 -0.014522 2
4 -5.48289e-17 -0.0374839 4.69168e-08 3
5 -0.0411343 -0.0565452 0.0264444 -1
6 0 -0.234226 0 5
7 -7.5121e-09 -0.236596 0 6
8 4.69506e-09 -0.0744582 -0.0151752 7
9 2.00063e-16 -0.0381506 4.77513e-08 8
10 0.000890649 0.0641375 -0.00609295 -1
11 0.00178704 0.0645553 -0.00134698 10
12 0.00128702 0.0650298 0.00152129 11
13 -0.00170664 0.0550206 0.00542001 12
14 0.00327919 0.0554969 -0.00390619 13
15 0.00117224 0.0557831 -0.00196647 14
16 0.105943 0.0378376 -0.00980558 12
17 1.68454e-07 -0.157005 -2.90101e-07 16
18 1.17764e-07 -0.10976 -2.02806e-07 17
19 -3.12333e-18 -0.0548801 7.10897e-08 18
20 -1.28279e-18 -0.0225364 2.91929e-08 19
21 -1.0339e-18 -0.0181695 2.35361e-08 20
22 1.78412e-08 -0.0260878 3.10974e-08 19
23 -0.0988282 0.0432937 -0.0127496 12
24 -1.77206e-07 -0.165162 -3.05173e-07 23
25 -1.16433e-07 -0.108519 -2.00513e-07 24
26 3.08802e-18 -0.0542597 6.70519e-08 25
27 1.11643e-18 -0.0196147 2.4239e-08 26
28 8.99718e-19 -0.0158139 1.95421e-08 27
29 -1.50242e-08 -0.0227056 2.70658e-08 26