#include <Core/Animation/Skeleton.hpp>

Inheritance diagram for Ra::Core::Animation::Skeleton:

Collaboration diagram for Ra::Core::Animation::Skeleton:

Public Types
enum	Manipulation { FORWARD = 0 , PSEUDO_IK }

Public Types inherited from Ra::Core::Animation::HandleArray
enum class	SpaceType : bool { LOCAL , MODEL }

Public Member Functions
	Skeleton ()
	CONSTRUCTOR.

	Skeleton (const uint n)

	Skeleton (const Skeleton &skeleton)=default

uint	size () const override

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
	Projects point `pos`, given in Model Space, onto the bone with index `boneIdx`.

Public Member Functions inherited from Ra::Core::Animation::HandleArray
	HandleArray (const uint n)

	HandleArray (const HandleArray &handle)=default

HandleArray &	operator= (const HandleArray &handle)=default

Label	getName () const

void	setName (const Label &name)

Label	getLabel (const uint i) const

void	setLabel (const uint i, const Label &text)

Public Attributes
AdjacencyList	m_graph
	The Joint hierarchy.

Manipulation	m_manipulation { FORWARD }
	The manipulation scheme.

Public Attributes inherited from Ra::Core::Animation::HandleArray
LocalPose	m_pose

Protected Member Functions
void	setLocalTransform (uint i, const Transform &T)

void	setModelTransform (uint i, const Transform &T)

Protected Attributes
ModelPose	m_modelSpace
	Skeleton pose in MODEL space.

Protected Attributes inherited from Ra::Core::Animation::HandleArray
Label	m_name

std::vector< Label >	m_label

Friends
std::ostream &	operator<< (std::ostream &os, const Skeleton &skeleton)
	Stream insertion operator.

Detailed Description

The Skeleton class.

A skeleton is a set of joint transforms with an associated joint hierarchy, represented by a graph ( adjacency list ).

Skeleton bones represent a couple of joints: the proximal joint and the distal joint, the former being the parent of the latter in the hierarchy. For animation purposes, a bone transform refers to the proximal joint's tranform.

During the edition of the transformation of a skeleton bone, the transformations of all the bones are updated accroding to the Manipulation scheme (cf Ra::Core:Animation::Skeleton::Manipulation).

Definition at line 24 of file Skeleton.hpp.

Member Enumeration Documentation

◆ Manipulation

enum Ra::Core::Animation::Skeleton::Manipulation

Edition scheme for the manipulation of the skeleton.

Todo:: also implement Inverse Kynematics.

Enumerator
FORWARD	Standard edition scheme: rotation and / or translation of one bone.
PSEUDO_IK	Advanced edition scheme: translation of a bone means parent's rotation.

Definition at line 29 of file Skeleton.hpp.

Member Function Documentation

◆ addBone()

uint Ra::Core::Animation::Skeleton::addBone	(	const uint	parent,
		const Transform &	T = `Transform::Identity()`,
		const SpaceType	MODE = `SpaceType::LOCAL`,
		const Label	label = `""`
	)

Add a new joint transform to the skeleton.

Parameters

parent	the index of the joint's parent in the hierarchy
T	the joint transform associated to the new bone
MODE	SpaceType of T (either SpaceType::LOCAL or SpaceType::MODEL)
label	the name for the new joint

Returns: the index of the new joint

Definition at line 146 of file Skeleton.cpp.

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◆ addRoot()

uint Ra::Core::Animation::Skeleton::addRoot	(	const Transform &	T = `Transform::Identity()`,
		const Label	label = `""`
	)

Add a new root transform to the skeleton.

Parameters

T	the joint transform associated to the new bone
label	the name for the new joint

Returns: the index of the new joint

Definition at line 139 of file Skeleton.cpp.

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◆ clear()

void Ra::Core::Animation::Skeleton::clear ( )

overridevirtual

Clear the transformations data

Reimplemented from Ra::Core::Animation::HandleArray.

Definition at line 16 of file Skeleton.cpp.

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◆ getBonePoints()

void Ra::Core::Animation::Skeleton::getBonePoints	(	uint	i,
		Vector3 &	startOut,
		Vector3 &	endOut
	)		const

Get the i-th bone endpoints in Model space.

Parameters

	i	the bone index
[out]	startOut	the bone's start point
[out]	endOut	the bone's end point

Note: If the i-th bone is a leaf, then startOut == endOut.

Definition at line 164 of file Skeleton.cpp.

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◆ getPose()

const Pose & Ra::Core::Animation::Skeleton::getPose ( const SpaceType MODE ) const

overridevirtual

Returns: the current pose in the MODE space.

Reimplemented from Ra::Core::Animation::HandleArray.

Definition at line 22 of file Skeleton.cpp.

◆ getTransform()

const Transform & Ra::Core::Animation::Skeleton::getTransform	(	const uint	i,
		const SpaceType	MODE
	)		const

overridevirtual

Returns: the i-th transformation in MODE space.

Reimplemented from Ra::Core::Animation::HandleArray.

Definition at line 55 of file Skeleton.cpp.

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◆ setLocalTransform()

void Ra::Core::Animation::Skeleton::setLocalTransform	(	uint	i,
		const Transform &	T
	)

protected

Sets the i-th transform to T, given in Local space.

Note: Updates the Model-space transform of the descendants.; This method keeps the Local-space transforms of the descendants untouched.

Definition at line 101 of file Skeleton.cpp.

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◆ setModelTransform()

void Ra::Core::Animation::Skeleton::setModelTransform	(	uint	i,
		const Transform &	T
	)

protected

Sets the i-th transform to T, given in Model space.

Note: Updates the Local-space transform of the descendants.; This method keeps the Model-space transforms of the descendants untouched.

Definition at line 120 of file Skeleton.cpp.

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◆ setPose()

void Ra::Core::Animation::Skeleton::setPose	(	const Pose &	pose,
		const SpaceType	MODE
	)

overridevirtual

Set the current pose.

Parameters

pose	the new pose
MODE	the space the psoe lives in

Reimplemented from Ra::Core::Animation::HandleArray.

Definition at line 29 of file Skeleton.cpp.

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◆ setTransform()

void Ra::Core::Animation::Skeleton::setTransform	(	const uint	i,
		const Transform &	T,
		const SpaceType	MODE
	)

overridevirtual

Set the i-th transform to T, which is given in the MODE space, w.r.t. the current manipulation scheme and updates the whole Skeleton Pose.

Reimplemented from Ra::Core::Animation::HandleArray.

Definition at line 63 of file Skeleton.cpp.

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◆ size()

uint Ra::Core::Animation::Skeleton::size ( ) const

inlineoverridevirtual

Returns: the number of transformations

Reimplemented from Ra::Core::Animation::HandleArray.

Definition at line 40 of file Skeleton.hpp.

The documentation for this class was generated from the following files:

/home/runner/work/Radium-Engine/Radium-Engine/src/Radium-Engine/src/Core/Animation/Skeleton.hpp
/home/runner/work/Radium-Engine/Radium-Engine/src/Radium-Engine/src/Core/Animation/Skeleton.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ Manipulation

Member Function Documentation

◆ addBone()

◆ addRoot()

◆ clear()

◆ getBonePoints()

◆ getPose()

◆ getTransform()

◆ setLocalTransform()

◆ setModelTransform()

◆ setPose()

◆ setTransform()

◆ size()