public ISVisualizationJoint(MMICSharp.Common.RJoint jBase, Transform RootBone, Dictionary <MJointType, string> bonenameMap)
{
if (bonenameMap.ContainsKey(jBase.GetMJoint().Type))
{
string name = bonenameMap[jBase.GetMJoint().Type];
this.reference = RootBone.GetChildRecursiveByName(name);
}
else
{
this.reference = null;
}
/*
* if (bonemap.ContainsKey(jBase.GetMJoint().ID))
* {
* this.referenceBone = bonemap[jBase.GetMJoint().ID];
* }
* else
* {
* //Debug.LogWarning("Retargeting: there is a bone without a reference: " + jBase.GetMJoint().ID);
* this.referenceBone = HumanBodyBones.LastBone;
* }*/
//this.anim = anim;
this.j = jBase;
for (int i = 0; i < jBase.children.Count; i++)
{
MMICSharp.Common.RJoint child = (RJoint)jBase.children[i];
ISVisualizationJoint retjoint = new ISVisualizationJoint(child, RootBone, bonenameMap);
retjoint.parent = this;
this.children.Add(retjoint);
}
}
/// <summary>
/// Retargets the global posture to the intermediate skeleton
/// </summary>
/// <param name="globalTarget"></param>
/// <returns></returns>
public MAvatarPostureValues RetargetToIntermediate(MAvatarPosture globalTarget)
{
RJoint root = ((RJoint)this.skeleton.GetRoot(globalTarget.AvatarID));
bool rootFound = false;
foreach (MJoint j in globalTarget.Joints)
{
if (j.Type != MJointType.Undefined)
{
RJoint rj = ((RJoint)root.GetChild(j.Type));
rj.RetargetPositionToIS(j.Position, j.Rotation);
rj.RetargetRotationToIS(j.Rotation);
if (!rootFound)
{
rootFound = true;
if (j.Type == MJointType.Root)
{
}
else
{
MVector3 globalPos = rj.GetGlobalPosManually();
root.SetGlobalPosManually(new MVector3(globalPos.X, 0, globalPos.Z));
//rj.SetGlobalPosManually(new MVector3(0, globalPos.Y, 0));
}
}
}
}
root.RecomputeLocalTransformations();
MAvatarPostureValues ret = new MAvatarPostureValues(globalTarget.AvatarID, root.GetAvatarPostureValues());
return(ret);
}
/// <summary>
/// Returns partial MAvatarPostureValues for the defined joint list of the lastPostureValues.
/// </summary>
/// <param name="avatarID"></param>
/// <param name="joints"></param>
/// <returns></returns>
public MAvatarPostureValues GetCurrentPostureValuesPartial(string avatarID, List <MJointType> joints)
{
RJoint root = this.hierarchies[avatarID];
List <double> postureValues = root.GetAvatarPostureValuesPartial(joints);
MAvatarPostureValues values = new MAvatarPostureValues(avatarID, postureValues);
return(values);
}
/// <summary>
/// Returns the current posture values for the avatar by recomputing the values based on the internal hierarchy.
/// </summary>
/// <param name="avatarID"></param>
/// <returns></returns>
public MAvatarPostureValues GetCurrentPostureValues(string avatarID)
{
RJoint root = this.hierarchies[avatarID];
List <double> postureValues = root.GetAvatarPostureValues();
MAvatarPostureValues values = new MAvatarPostureValues(avatarID, postureValues);
return(values);
//return this.lastPostureValues[avatarID];
}
public void SetBaseReference(MAvatarPosture posture)
{
foreach (MJoint j in posture.Joints)
{
if (j.Type != MJointType.Undefined)
{
RJoint rj = (RJoint)this.GetChild(j.Type);
rj.SetBaseReference(j.Rotation, j.Position);
}
}
}
public new static RJoint Initialize(List <MJoint> joints)
{
RJoint root = new RJoint(joints[0]);
for (int i = 1; i < joints.Count; i++)
{
RJoint parent = (RJoint)root.GetChild(joints[i].Parent);
RJoint j = new RJoint(joints[i]);
if (parent != null)
{
parent.children.Add(j);
}
j.parentJoint = parent;
}
// initialize zero posture
root.SetAvatarPostureValues(null);
return(root);
}
/// <summary>
/// Initializes the anthropometry from a given description.
/// Has to be performed prior to all other interactions with the
/// intermediate skeleton (e.g. query for joint positions, etc.).
/// </summary>
/// <param name="description"></param>
public void InitializeAnthropometry(MAvatarDescription description)
{
this.avatarDescriptions[description.AvatarID] = description;
//update joint offsets
this.hierarchies[description.AvatarID] = RJoint.Initialize(description.ZeroPosture.Joints);
List <double> zero_rotations = new List <double>();
this.hierarchies[description.AvatarID].CreateZeroVector(zero_rotations);
MAvatarPostureValues values = new MAvatarPostureValues(description.AvatarID, zero_rotations);
this.lastPostureValues[description.AvatarID] = values;
List <MJointType> animatedJoints = new List <MJointType>();
foreach (MJoint j in description.ZeroPosture.Joints)
{
animatedJoints.Add(j.Type);
}
this.SetAnimatedJoints(description.AvatarID, animatedJoints);
}
public MAvatarPosture RetargetToTarget(MAvatarPostureValues intermediatePostureValues)
{
string id = intermediatePostureValues.AvatarID;
RJoint root = ((RJoint)this.skeleton.GetRoot(id));
root.SetAvatarPostureValues(intermediatePostureValues);
MAvatarPosture targetOut = new MAvatarPosture();
targetOut.AvatarID = id;
targetOut.Joints = new List <MJoint>();
foreach (MJoint j in this.basePostures[id].Joints)
{
MJoint outJ = new MJoint();
outJ.ID = j.ID;
outJ.Type = j.Type;
outJ.Parent = j.Parent;
if (outJ.Type != MJointType.Undefined)
{
RJoint rj = (RJoint)root.GetChild(j.Type);
outJ.Position = (rj).RetargetPositionToTarget();
outJ.Rotation = (rj).RetargetRotationToTarget();
}
else
{
outJ.Position = j.Position;
outJ.Rotation = j.Rotation;
}
targetOut.Joints.Add(outJ);
}
Dictionary <string, string> _children = this.children[id];
for (int i = 0; i < targetOut.Joints.Count; i++)
{
MJoint outJ = targetOut.Joints[i];
if (outJ.Type == MJointType.Undefined)
{
bool setRot = false;
bool setPos = false;
Console.WriteLine("no jointtype " + outJ.ID);
if (i == 0)
{
// find first joint that is mapped
foreach (MJoint j in targetOut.Joints)
{
if (j.Type != MJointType.Undefined)
{
outJ.Position = new MVector3(j.Position.X, 0, j.Position.Z);
//j.Position.X = 0;
//j.Position.Z = 0;
MVector3 forward = outJ.Rotation.Multiply(new MVector3(0, 0, 1));
forward.Y = 0;
forward.Normalize();
MVector3 currentForward = j.Rotation.Multiply(new MVector3(0, 0, 1));
MQuaternion drot = MVector3Extensions.FromToRotation(currentForward, forward);
outJ.Rotation = drot.Multiply(j.Rotation);
//outJ.Rotation = MQuaternionExtensions.Inverse(drot).Multiply(outJ.Rotation);
setPos = true;
setRot = true;
break;
}
}
}
else
{
/*
* This is disabled for now, as it was not working propperly.
*
* if(_children.ContainsKey(outJ.ID) && _children[outJ.ID] != "")
* {
* for(int jID = i+1; jID < targetOut.Joints.Count; jID ++)
* {
* MJoint j = targetOut.Joints[jID];
* if (j.ID == _children[outJ.ID])
* {
*
* MVector3 srcDir = new MVector3(0, 1, 0);//outJ.Rotation.Multiply(new MVector3(0, 1, 0)).Normalize
* MVector3 trgDir = null;
* MQuaternion parentRot = null;
* if(outJ.Parent != null)
* {
* for(int pID = i-1; pID > 0; pID--)
* {
* if(targetOut.Joints[pID].ID == outJ.Parent)
* {
* if(targetOut.Joints[pID].Type != MJointType.Undefined)
* {
* parentRot = targetOut.Joints[pID].Rotation;
* trgDir = MQuaternionExtensions.Inverse(parentRot).Multiply(j.Position.Subtract(outJ.Position).Normalize());
* }
* }
* }
* }
* if(trgDir != null)
* {
* MQuaternion rot = MVector3Extensions.FromToRotation(srcDir, trgDir);
* outJ.Rotation = parentRot.Multiply(rot);
* outJ.Position = null;
* setRot = true;
* break;
*
* }
*
*
* }
* }
* }*/
}
if (!setRot)
{
outJ.Rotation = null;
}
if (!setPos)
{
outJ.Position = null;
}
}
}
return(targetOut);
}
