/// <summary>
/// Build a Node hierachy into the scene property 'mainScene' from a Hand object
/// </summary>
/// <param name="hand"></param>
private void CreateNodeHierarchy(Hand hand, Scene handScene)
{
Node rootNode = handScene.RootNode = new Node();
Node handNode = new Node();
handNode.Name = GetNodeHandName(hand.Id.ToString());
rootNode.Children.Add(handNode);
NodeAnimationChannel bonetest = new NodeAnimationChannel();
bonetest.NodeName = GetNodeHandName(hand.Id.ToString());
handScene.Animations[0].NodeAnimationChannels.Add(bonetest);
foreach (Finger finger in hand.Fingers)
{
Node fingerNode = handNode;
foreach (Leap.Bone.BoneType boneType in (Leap.Bone.BoneType[])Enum.GetValues(typeof(Leap.Bone.BoneType)))
{
string fingerType = finger.Type.ToString();
//Add a node hierarchy
fingerNode = AddChildBone(fingerType, boneType.ToString(), hand, fingerNode);
//Fill the NodeAnimChannel
NodeAnimationChannel bone = new NodeAnimationChannel();
bone.NodeName = GetNodeBoneName(fingerType, boneType.ToString(), hand);
handScene.Animations[0].NodeAnimationChannels.Add(bone);
}
}
}
public static Animation CopyAnimationInto(Animation animSource, Animation animTarget)
{
foreach (NodeAnimationChannel animChan in animSource.NodeAnimationChannels)
{
NodeAnimationChannel copyChannel = new NodeAnimationChannel();
copyChannel.NodeName = animChan.NodeName;
copyChannel.PostState = animChan.PostState;
copyChannel.PreState = animChan.PreState;
//copyChannel.ScalingKeys = animChan.ScalingKeys.Add(animChan.)
animChan.ScalingKeys.ForEach((item) =>
{
copyChannel.ScalingKeys.Add(new VectorKey(item.Time, item.Value));
});
animChan.RotationKeys.ForEach((item) =>
{
copyChannel.RotationKeys.Add(new QuaternionKey(item.Time, item.Value));
});
animChan.PositionKeys.ForEach((item) =>
{
copyChannel.PositionKeys.Add(new VectorKey(item.Time, item.Value));
});
animTarget.NodeAnimationChannels.Add(copyChannel);
}
return animTarget;
}
/// <summary>
/// Creates an Assimp.NodeAnimationChannel from the given NodeAnimationChannel list and Assimp.Node.<br />
/// Adds the Assimp.NodeAnimationChannel to the given Assimp.Animation
/// </summary>
/// <param name="node"></param>
/// <param name="channel"></param>
private static void CreateNodeAnimationChannels(Assimp.Animation animation, List<NodeAnimationChannel> sourceNodeAnimationChannels, Node node)
{
NodeAnimationChannel nodeAnimationChannel = new NodeAnimationChannel();
nodeAnimationChannel = sourceNodeAnimationChannels[animation.NodeAnimationChannelCount];
nodeAnimationChannel.NodeName = node.Name;
animation.NodeAnimationChannels.Add(nodeAnimationChannel);
for (int i = 0; i < node.ChildCount; i++)
CreateNodeAnimationChannels(animation, sourceNodeAnimationChannels, node.Children[i]);
}
/// <summary>
/// Build a Node hierachy into the scene property 'mainScene' from a Hand object
/// </summary>
/// <param name="hand"></param>
private void CreateNodeHierarchy(Hand hand)
{
Node root = this.mainScene.RootNode;
Node handNode = new Node();
handNode.Name = GetNodeName(hand.Id.ToString());
root.Children.Add(handNode);
foreach (Finger finger in hand.Fingers)
{
Node fingerNode = new Node();
foreach (Bone.BoneType boneType in (Bone.BoneType[])Enum.GetValues(typeof(Bone.BoneType)))
{
//Add a node hierarchy
fingerNode = AddChildBone(boneType.ToString(), fingerNode);
//Fill the NodeAnimChannel
NodeAnimationChannel bone = new NodeAnimationChannel();
bone.NodeName = GetNodeName(boneType.ToString());
anim.NodeAnimationChannels.Add(bone);
}
}
}
/// <summary>
/// Constructs a new Animation.
/// </summary>
/// <param name="animation">Unmanaged AiAnimation.</param>
internal Animation(AiAnimation animation)
{
_name = animation.Name.GetString();
_duration = animation.Duration;
_ticksPerSecond = animation.TicksPerSecond;
//Load node animations
if(animation.NumChannels > 0 && animation.Channels != IntPtr.Zero) {
AiNodeAnim[] nodeAnims = MemoryHelper.MarshalArray<AiNodeAnim>(animation.Channels, (int) animation.NumChannels, true);
_channels = new NodeAnimationChannel[nodeAnims.Length];
for(int i = 0; i < _channels.Length; i++) {
_channels[i] = new NodeAnimationChannel(nodeAnims[i]);
}
}
//Load mesh animations
if(animation.NumMeshChannels > 0 && animation.MeshChannels != IntPtr.Zero) {
AiMeshAnim[] meshAnims = MemoryHelper.MarshalArray<AiMeshAnim>(animation.MeshChannels, (int) animation.NumMeshChannels, true);
_meshChannels = new MeshAnimationChannel[meshAnims.Length];
for(int i = 0; i < _meshChannels.Length; i++) {
_meshChannels[i] = new MeshAnimationChannel(meshAnims[i]);
}
}
}
void TestAnimationChannel(NodeAnimationChannel netChannel, NodeAnim sharpChannel)
{
Assert.AreEqual(netChannel.NodeName, sharpChannel.NodeName);
Assert.AreEqual(netChannel.PositionKeyCount, sharpChannel.PositionKeys.Length);
for(int i=0; i<netChannel.PositionKeyCount; i++)
{
Assert.AreEqual(netChannel.PositionKeys[i].Time, sharpChannel.PositionKeys[i].Time);
MathAssert.AreEqual(netChannel.PositionKeys[i].Value, sharpChannel.PositionKeys[i].Value);
}
Assert.AreEqual(netChannel.RotationKeyCount, sharpChannel.RotationKeys.Length);
for (int i = 0; i < netChannel.RotationKeyCount; i++)
{
Assert.AreEqual(netChannel.RotationKeys[i].Time, sharpChannel.RotationKeys[i].Time);
MathAssert.AreEqual(netChannel.RotationKeys[i].Value, sharpChannel.RotationKeys[i].Value);
}
Assert.AreEqual(netChannel.ScalingKeyCount, sharpChannel.ScalingKeys.Length);
for (int i = 0; i < netChannel.ScalingKeyCount; i++)
{
Assert.AreEqual(netChannel.ScalingKeys[i].Time, sharpChannel.ScalingKeys[i].Time);
MathAssert.AreEqual(netChannel.ScalingKeys[i].Value, sharpChannel.ScalingKeys[i].Value);
}
}
/// <summary>
/// Convert AssimpAnimation, positions and rotation, in Matrix3D (Absolute)
/// </summary>
/// <param name="finMat">Matrix</param>
/// <param name="pNodeAnim">Assimp Node data</param>
/// <param name="parentMatrix">Matrix of the parent Node</param>
/// <returns></returns>
private Matrix3D GetAbsoluteMatrix(out Matrix4x4 finMat, NodeAnimationChannel pNodeAnim, Matrix4x4 parentMatrix)
{
Assimp.Quaternion rot = pNodeAnim.RotationKeys.ElementAtOrDefault(Session.CurrentSession.CurrentProject.CurrentModel3D.Animation.Tick).Value;
Matrix4x4 rotMatrix = rot.GetMatrix();
Assimp.Vector3D pos = pNodeAnim.PositionKeys.ElementAtOrDefault(Session.CurrentSession.CurrentProject.CurrentModel3D.Animation.Tick).Value;
Matrix4x4 transMatrix = Matrix4x4.FromTranslation(pos);
Matrix4x4 nodeTrans = rotMatrix * transMatrix;
finMat = nodeTrans * parentMatrix;
return matrixConverter.AssimpMatrixtoMatrix3D(finMat);
}
/**
* This function will Initialize (names, size, ect...)
* the mChannels array in Animation newly created class.
* @param skeleton Skeleton Fetch on the kinect stream
*/
private void InitAnimBones(Scene scene, Skeleton skeleton)
{
Animation newAnim = new Animation();
//We set 0 by defaults but it should be interesting to check tickpersecond for a skeleton record
newAnim.TicksPerSecond = 0;
newAnim.DurationInTicks = 0;
scene.Animations.Add(newAnim);
//this.animList.Add(new Tuple<Int32, Animation>(skeleton.TrackingId, newAnim));
foreach (Joint joint in skeleton.Joints)
{
NodeAnimationChannel bone = new NodeAnimationChannel();
bone.NodeName = joint.JointType.ToString();
newAnim.NodeAnimationChannels.Add(bone);
}
}
/**
* Kinect Joint Conversion to NodeAnim
*/
private void KinectJointToNode(Scene mainScene, Joint joint, NodeAnimationChannel matchedNode, double time)
{
VectorKey keyframePos = new VectorKey();
keyframePos.Value.X = joint.Position.X;
keyframePos.Value.Y = joint.Position.Y;
keyframePos.Value.Z = joint.Position.Z;
keyframePos.Time = time;
QuaternionKey keyframeRot = new QuaternionKey();
if (joint.JointType == JointType.HipCenter)
{
keyframeRot.Value = new Quaternion(0, (float)3, (float)1.3);
}
else
{
keyframeRot.Value.X = 0;
keyframeRot.Value.Y = 0;
keyframeRot.Value.Z = 0;
}
keyframeRot.Time = time;
//We set last_assimp_joint node that we will reuse for calculate localPosition/Rotation the next step
string prevNodeName = mainScene.RootNode.FindNode(matchedNode.NodeName).Parent.Name;
VectorKey prevKeyframePos = new VectorKey();
bool find = false;
/*
* TODO: We could refactor that code to avoid to go through all joint each time
* we need to look for a specific joint
*/
foreach (Joint j in currentJoinCol)
{
if (prevNodeName == "")
find = true;
if (j.JointType.ToString() == prevNodeName)
{
prevKeyframePos.Value.X = j.Position.X;
prevKeyframePos.Value.Y = j.Position.Y;
prevKeyframePos.Value.Z = j.Position.Z;
find = true;
break;
}
}
if (find == false)
throw new Exception();
if (prevNodeName != "")
keyframePos.Value -= prevKeyframePos.Value;
keyframePos.Value.X *= 17;
keyframePos.Value.Y *= 17;
keyframePos.Value.Z *= 17;
matchedNode.PositionKeys.Add(keyframePos);
matchedNode.RotationKeys.Add(keyframeRot);
}
/**
* Convert a KinectJoint into a NodeAnimationChannel and add it in an Animation.
* This method also take care if there NodeJoint already exist or not in the Animation
* and create it if not (In fact some kinect joint can appear wheareas they didnt exist before)
* @param joint The KinectJoint which will be converted
* @param curAnim The animation in which the converted kinectJoint will be added
*/
private void AddJointAtTimeframeEnd(Scene scene, Joint joint, Animation curAnim, double time)
{
//We try to find the KinectJoint in the Assimp recorder (curAnim)
// \todo Apparently .toString() on a enumerate is obsolete, so need to check on that
NodeAnimationChannel matchedNode =
(from nodeAnimTmp in curAnim.NodeAnimationChannels
where nodeAnimTmp.NodeName == joint.JointType.ToString()
select nodeAnimTmp).First();
//If we dont, we add it in the Channel
if (matchedNode == null)
{
NodeAnimationChannel newAnimJoint = new NodeAnimationChannel();
newAnimJoint.NodeName = joint.JointType.ToString();
curAnim.NodeAnimationChannels.Add(newAnimJoint);
matchedNode = newAnimJoint;
}
this.KinectJointToNode(scene, joint, matchedNode, time);
}
/// <summary>
/// Convert Assimp animation Data in Matrix3D Data
/// </summary>
/// <param name="finMat">Matrix</param>
/// <param name="pNodeAnim">Assimp Node data</param>
/// <param name="parentMatrix">Matrix of the parent Node</param>
/// <returns></returns>
private Matrix3D GetActualMatrix(out Matrix4x4 finMat, NodeAnimationChannel pNodeAnim, Matrix4x4 parentMatrix, int frame)
{
Assimp.Quaternion rot = pNodeAnim.RotationKeys.ElementAtOrDefault(frame).Value;
Matrix4x4 rotMatrix = rot.GetMatrix();
Assimp.Vector3D pos = pNodeAnim.PositionKeys.ElementAtOrDefault(frame).Value;
Matrix4x4 transMatrix = Matrix4x4.FromTranslation(pos);
Matrix4x4 nodeTrans = rotMatrix * transMatrix;
finMat = nodeTrans * parentMatrix;
return matrixConverter.AssimpMatrixtoMatrix3D(finMat);
}
/// <summary>
/// Stack a new matrix on the current one from information
/// available inside the NodeAnimationChannels
/// </summary>
/// <param name="finMat"></param>
/// <param name="nodeAnim"></param>
/// <param name="frameIndex"></param>
private Matrix4x4 StackMatrix(Matrix4x4 parentMatrix, NodeAnimationChannel nodeAnim, int frameIndex)
{
Assimp.Quaternion rot = nodeAnim.RotationKeys[frameIndex].Value;
Matrix4x4 rotMatrix = rot.GetMatrix();
Assimp.Vector3D pos = nodeAnim.PositionKeys[frameIndex].Value;
Matrix4x4 transMatrix = Matrix4x4.FromTranslation(pos);
Matrix4x4 nodeTrans = rotMatrix * transMatrix;
return nodeTrans * parentMatrix;
}
