Skeleton.hpp

#pragma once
 
#include <Core/Animation/HandleArray.hpp>
#include <Core/Containers/AdjacencyList.hpp>
 
namespace Ra {
namespace Core {
namespace Animation {
 
class RA_CORE_API Skeleton : public HandleArray
{
  public:
    enum Manipulation {
        FORWARD = 0, 
        PSEUDO_IK    
    };
 
    Skeleton();
    explicit Skeleton( const uint n );
    Skeleton( const Skeleton& skeleton ) = default;
 
    ~Skeleton() override = default;
 
    inline uint size() const override { return m_graph.size(); }
    void clear() override;
    const Pose& getPose( const SpaceType MODE ) const override;
    void setPose( const Pose& pose, const SpaceType MODE ) override;
    const Transform& getTransform( const uint i, const SpaceType MODE ) const override;
 
    void setTransform( const uint i, const Transform& T, const SpaceType MODE ) override;
 
    uint addRoot( const Transform& T = Transform::Identity(), const Label label = "" );
 
    uint addBone( const uint parent,
                  const Transform& T   = Transform::Identity(),
                  const SpaceType MODE = SpaceType::LOCAL,
                  const Label label    = "" );
 
    void getBonePoints( uint i, Vector3& startOut, Vector3& endOut ) const;
 
    Vector3 projectOnBone( uint boneIdx, const Vector3& pos ) const;
 
    friend std::ostream& operator<<( std::ostream& os, const Skeleton& skeleton );
 
  protected:
    void setLocalTransform( uint i, const Transform& T );
 
    void setModelTransform( uint i, const Transform& T );
 
  public:
    AdjacencyList m_graph;
 
    Manipulation m_manipulation { FORWARD };
 
  protected:
    ModelPose m_modelSpace;
};
 
} // namespace Animation
} // Namespace Core
} // Namespace Ra