public void Parse()
{
Posture p = new Posture();
bool IsFirstElement = true;
StreamReader sread = new StreamReader(_path);
while (!sread.EndOfStream)
{
string buffer = sread.ReadLine();
buffer = buffer.TrimStart();
if ('#' == buffer[0]) // 注释行
{
continue;
}
if (':' == buffer[0])
{
continue;
}
string[] splitbuff = buffer.Split(new Char[] { '\t', ' ' }, StringSplitOptions.RemoveEmptyEntries);
Bone bone = new Bone();
bone.Name = splitbuff[0];
if (1 == splitbuff.Length)
{
if (!IsFirstElement)
{
_postures.Add(p.Clone());
p.Bones.Clear();
}
if (IsFirstElement)
{
IsFirstElement = false;
}
continue;
}
List <string> dofss = new List <string>();
for (int i = 1; i < splitbuff.Length; i++)
{
dofss.Add(splitbuff[i]);
}
bone.Dofs = dofss.ToArray();
p.Bones.Add(bone.Clone());
if (sread.EndOfStream)
{
_postures.Add(p.Clone());
}
}
sread.Close();
}
private void ListBox1_SelectedValueChanged(object sender, EventArgs e)
{
Bone lvsDisp = (Bone)((ListBox)sender).SelectedItem;
if (lvsDisp != null)
{
this.ucBoneEdit1.bone = (Bone)lvsDisp.Clone();
this.ucBoneEdit1.RefreshEditor();
}
}
/// <summary>
/// 根据文件建立骨架
/// </summary>
/// <param name="filename">asf文件的绝对路径</param>
/// <returns>Skeleton 对象</returns>
public static Skeleton CreateSkeletonFromAsfFile(string filename)
{
AsfParse gap = new AsfParse(filename);
gap.Parse();
Skeleton ske = new Skeleton();
Bone root = new Bone();
root.Name = "root";
root.DofNames.Add("tx"); root.DofNames.Add("ty"); root.DofNames.Add("ty");
root.DofNames.Add("rx"); root.DofNames.Add("ry"); root.DofNames.Add("rz");
ske.Bones.Add(root.Name, root);
// 关节信息
int numbone = gap.Bones.Count;
for (int indbone = 0; indbone < numbone; ++indbone)
{
Bone bone = new Bone();
bone.Name = gap.Bones[indbone].Name;
bone.Length = float.Parse(gap.Bones[indbone].Length);
bone.Dir.x = float.Parse(gap.Bones[indbone].Direction[0]);
bone.Dir.y = float.Parse(gap.Bones[indbone].Direction[1]);
bone.Dir.z = float.Parse(gap.Bones[indbone].Direction[2]);
bone.Axis.x = float.Parse(gap.Bones[indbone].Axis[0]);
bone.Axis.y = float.Parse(gap.Bones[indbone].Axis[1]);
bone.Axis.z = float.Parse(gap.Bones[indbone].Axis[2]);
int numdof = 0;
if (gap.Bones[indbone].Dofs != null)
{
numdof = gap.Bones[indbone].Dofs.Length;
}
for (int inddof = 0; inddof < numdof; ++inddof)
{
string namedof = gap.Bones[indbone].Dofs[inddof];
bone.DofNames.Add(namedof);
}
ske.Bones.Add(bone.Name, bone.Clone());
}
// -- 关节关联
int numhier = gap.HierarchyItems.Count;
for (int indhier = 0; indhier < numhier; ++indhier)
{
string bonename = gap.HierarchyItems[indhier].Parent;
int numchildren = gap.HierarchyItems[indhier].Children.Count;
for (int indchild = 0; indchild < numchildren; ++indchild)
{
string childname = gap.HierarchyItems[indhier].Children[indchild];
Skeleton.Bone parent = ske.Bones[bonename];
Skeleton.Bone child = ske.Bones[childname];
if (parent.Children == null)
{
parent.Children = new List <Bone>();
}
parent.Children.Add(child);
child.Parent = parent;
Matrix3 childmx = new Matrix3();
Matrix3 childmy = new Matrix3();
Matrix3 childmz = new Matrix3();
Matrix3 parentinvmx = new Matrix3();
Matrix3 parentinvmy = new Matrix3();
Matrix3 parentinvmz = new Matrix3();
childmx.FromAxisAngle(Vector3.UNIT_X, child.Axis.x);//子节点：从局部坐标系到全局坐标系
childmy.FromAxisAngle(Vector3.UNIT_Y, child.Axis.y);
childmz.FromAxisAngle(Vector3.UNIT_Z, child.Axis.z);
parentinvmx.FromAxisAngle(Vector3.UNIT_X, -parent.Axis.x); //父节点：从全局坐标系到局部坐标系
parentinvmy.FromAxisAngle(Vector3.UNIT_Y, -parent.Axis.y);
parentinvmz.FromAxisAngle(Vector3.UNIT_Z, -parent.Axis.z);
child.ParentOrient.FromRotationMatrix(parentinvmx * parentinvmy * parentinvmz * childmz * childmy * childmx);
Matrix3 childinvmx = new Matrix3();
Matrix3 childinvmy = new Matrix3();
Matrix3 childinvmz = new Matrix3();
childinvmx.FromAxisAngle(Vector3.UNIT_X, -child.Axis.x);//子节点：从全局坐标系到局部坐标系
childinvmy.FromAxisAngle(Vector3.UNIT_Y, -child.Axis.y);
childinvmz.FromAxisAngle(Vector3.UNIT_Z, -child.Axis.z);
child.Dir = childinvmx * childinvmy * childinvmz * child.Dir;
child.Dir.Normalize();
}
}
return(ske);
}
public void Parse()
{
ReadStage stage = ReadStage.Header;
Bone tempbone = new Bone();
HierarchyItem hierarchyitem = new HierarchyItem();
StreamReader sread = new StreamReader(this._path);
while (!sread.EndOfStream)
{
string buffer = sread.ReadLine();
buffer = buffer.TrimStart();
buffer = buffer.TrimEnd();
if ('#' == buffer[0]) // 注释
{
continue;
}
string[] splitbuff = buffer.Split();
switch (stage)
{
#region Parse
case ReadStage.Header:
switch (splitbuff[0])
{
#region Header
case ":version":
break;
case ":name":
break;
case ":units":
break;
case "mass": // of :units
break;
case "length": // of :units
goto case "mass";
case "angle": // of :units
goto case "mass";
case ":documentation":
break;
case ":root":
stage = ReadStage.Root;
break;
default:
break;
#endregion
}
break;
case ReadStage.Root:
switch (splitbuff[0])
{
#region Root
case "order":
break;
case "axis":
break;
case "position":
break;
case "orientation":
break;
case ":bonedata":
stage = ReadStage.Bonedata;
break;
#endregion
}
break;
case ReadStage.Bonedata:
switch (splitbuff[0])
{
#region Bonedata
case "begin":
break;
case "id":
break;
case "name":
tempbone.Name = splitbuff[1];
break;
case "direction":
tempbone.Direction = new string[] {
splitbuff[1],
splitbuff[2],
splitbuff[3]
};
break;
case "length":
tempbone.Length = splitbuff[1];
break;
case "axis":
tempbone.Axis = new string[] {
splitbuff[1],
splitbuff[2],
splitbuff[3]
};
break;
case "dof":
List <string> dofnames = new List <string>();
for (int i = 1; i < splitbuff.Length; ++i)
{
dofnames.Add(splitbuff[i]);
}
tempbone.Dofs = dofnames.ToArray();
break;
case "limits":
break;
case "end":
_bones.Add(tempbone.Clone());
tempbone = new Bone();
break;
case ":hierarchy":
stage = ReadStage.Hierarchy;
break;
default:
break;
#endregion
}
break;
case ReadStage.Hierarchy:
switch (splitbuff[0])
{
#region Hierarchy
case "begin":
break;
case "end":
break;
default:
hierarchyitem.Parent = splitbuff[0];
for (int i = 1; i < splitbuff.Length; ++i)
{
hierarchyitem.Children.Add(splitbuff[i]);
}
_hierarchyitems.Add(hierarchyitem.Clone());
hierarchyitem.Children.Clear();
break;
#endregion
}
break;
default:
break;
#endregion
}
}
sread.Close();
}