/// <summary>
/// Performs a blending based on the from posture and the to posture. In particular a blending weight and an additional blending mask is utilized. If the blending mask is set to null, all bones with position + rotation will be used for blending.
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <param name="weight"></param>
/// <param name="blendingMask"></param>
/// <returns></returns>
public static MAvatarPostureValues PerformBlend(IntermediateSkeleton skeleton, MAvatarPostureValues from, MAvatarPostureValues to, float weight, Dictionary <MJointType, BlendProperty> blendingMask = null)
{
//MAvatarPosture result = from.Clone();
MAvatarPosture zero = skeleton.GetAvatarDescription(from.AvatarID).ZeroPosture;
skeleton.SetChannelData(from);
List <MQuaternion> fromRot = skeleton.GetLocalJointRotations(from.AvatarID);
skeleton.SetChannelData(to);
List <MQuaternion> toRot = skeleton.GetLocalJointRotations(to.AvatarID);
for (int i = 0; i < zero.Joints.Count; i++)
{
//By default belnd both position and rotation
BlendProperty blendProperty = new BlendProperty(1.0f, 1.0f);
MJointType joint = zero.Joints[i].Type;
if (blendingMask != null && blendingMask.ContainsKey(joint))
{
//Get the bone weight
blendingMask.TryGetValue(joint, out blendProperty);
}
//Perform a linear interpolation of the position
// Does not correspond to intermediate skeleton representation.
// result.Joints[i].Position = result.Joints[i].Position.Lerp(to.Joints[i].Position, weight * blendProperty.PositionWeight);
//Perform a slerp of the rotation
skeleton.SetLocalJointRotation(to.AvatarID, joint, fromRot[i].Slerp(toRot[i], weight * blendProperty.RotationWeight));
}
return(skeleton.RecomputeCurrentPostureValues(to.AvatarID));
}
/// <summary>
/// Performs a blending based on the from posture and the to posture.
/// </summary>
/// <param name="from"></param>
/// <param name="to"></param>
/// <param name="weight"></param>
/// <param name="rootTransform">Specifies whether the root transform is blended as well</param>
/// <returns></returns>
public static MAvatarPostureValues PerformBlend(IntermediateSkeleton skeleton, MAvatarPostureValues from, MAvatarPostureValues to, float weight, bool rootTransform = true)
{
MAvatarPosture zero = skeleton.GetAvatarDescription(from.AvatarID).ZeroPosture;
skeleton.SetChannelData(from);
List <MQuaternion> fromRot = skeleton.GetLocalJointRotations(from.AvatarID);
skeleton.SetChannelData(to);
List <MQuaternion> toRot = skeleton.GetLocalJointRotations(to.AvatarID);
for (int i = 0; i < zero.Joints.Count; i++)
{
//By default belnd both position and rotation
MJointType joint = zero.Joints[i].Type;
//Perform a linear interpolation of the position
// Does not correspond to intermediate skeleton representation.
// result.Joints[i].Position = result.Joints[i].Position.Lerp(to.Joints[i].Position, weight * blendProperty.PositionWeight);
//Perform a slerp of the rotation
skeleton.SetLocalJointRotation(to.AvatarID, joint, fromRot[i].Slerp(toRot[i], weight));
}
return(skeleton.RecomputeCurrentPostureValues(to.AvatarID));
/*
* MAvatarPosture result = from.Clone();
*
* for (int i = 0; i < result.Joints.Count; i++)
* {
* //Skip if root transform should be ignored
* if (i == 0 && rootTransform)
* result.Joints[i].Position = result.Joints[i].Position.Lerp(to.Joints[i].Position, weight);
*
* //Perform a slerp of the rotation
* result.Joints[i].Rotation = result.Joints[i].Rotation.Slerp(to.Joints[i].Rotation, weight);
* }
*
* return result;
*/
}
/// <summary>
/// Assigns the pose to the avatar.
/// </summary>
/// <param name="pose"></param>
/// <param name="assignLocalPositions">Specifies whether the local positions are assigned as well</param>
public virtual void AssignPostureValues(MAvatarPostureValues pose, bool assignLocalPositions = true)
{
//Perform a retargeting to the specific skeleton using the retargeting service
MAvatarPosture p = this.retargetingService.RetargetToTarget(pose);
//Update the values of the skeletal representation
skeleton.SetChannelData(pose);
//Compute the root transformation if defined
/*
* if (this.AutoComputeRootTransform)
* {
* MVector3 globalRootBonePosition = skeleton.GetRootPosition(this.AvatarID);
* MQuaternion globalRootBoneRotation = skeleton.GetRootRotation(this.AvatarID);
*
*
* //Compute the root transform
* this.RootTransform.position = new Vector3((float)globalRootBonePosition.X, this.RootTransform.position.y, (float)globalRootBonePosition.Z);
* //this.RootBone.transform.position = globalRootBonePosition.ToVector3();
*
*
* Vector3 currentEulerRoot = this.RootTransform.eulerAngles;
* this.RootTransform.rotation = Quaternion.Euler(currentEulerRoot.x, globalRootBoneRotation.ToQuaternion().eulerAngles.y - 90.0f, currentEulerRoot.z);
* //this.RootBone.transform.rotation = globalRootBoneRotation.ToQuaternion();
*
* MTransform CharTransform = new MTransform("tmp", this.RootTransform.position.ToMVector3(), this.RootTransform.rotation.ToMQuaternion());
* }
*/
// Update root transform
this.RootTransform.transform.position = p.Joints[0].Position.ToVector3();
this.RootTransform.transform.rotation = p.Joints[0].Rotation.ToQuaternion();
//Update the transforms/visualization by applying the global transformations
this.Pelvis.ApplyGlobalJoints(p.Joints);
//Update the skeleton visualization if enabled
if (this.skelVis != null)
{
this.skelVis.root.ApplyPostureValues();
}
}
public void TestRootPosition()
{
MAvatarDescription desc = IntermediateSkeleton.GenerateFromDescriptionFile("TestAvatar");
IntermediateSkeleton skeleton = new IntermediateSkeleton();
skeleton.InitializeAnthropometry(desc);
List <double> rotationValues = new List <double>()
{
0, 0, 0, 0.86041, -0.01303, 0.50383, 0.07533, //S1L5
0.00000, 0.00000, 0.00000, 1.00000, 0.00000, 0.00000, 0.00000, // T12L12
0.00000, 0.00000, 0.00000, 1.00000, 0.00000, 0.00000, 0.00000, // T1T2
0.00000, 0.00000, 0.00000, 1.00000, 0.00000, 0.00000, 0.00000, //C4C5
0.00000, 0.00000, 0.00000, 0.98890, 0.04908, -0.13945, -0.01508, // Head
0.00000, 0.00000, 0.00000, 0.74914, -0.35251, 0.02895, 0.56007, // LeftShoulder
0.98560, 0.11136, -0.00962, 0.12689, // Left ELbow
0.96542, -0.01250, 0.25953, 0.02139, // Left Wrist
0.00000, 0.00000, 0.00000, 0.74411, 0.10420, 0.26279, -0.60530,
0.95158, 0.28073, 0.07735, -0.09850, // Right Elbow
0.99256, -0.00379, 0.11897, -0.02548, // right wrist
0.94999, -0.28306, 0.12805, 0.03154, // Left hip
0.97503, 0.22205, 0.00000, -0.00001, // Knee
0.99439, -0.07404, 0.06580, 0.03709, // Ankle
1.00000, 0.00000, 0.00000, 0.00000, // Toes
0.99694, 0.07053, -0.02371, 0.02406, // Right Hip
0.91716, 0.39852, 0.00000, 0.00000, // Knee
0.99076, -0.12976, 0.02501, 0.03048, // Ankle
1.00000, 0.00000, 0.00000, 0.00000
}; // Toes
MAvatarPostureValues values = new MAvatarPostureValues(desc.AvatarID, rotationValues);
skeleton.SetChannelData(values);
MVector3 pos = skeleton.GetGlobalJointPosition(desc.AvatarID, MJointType.S1L5Joint);
MVector3 gt = skeleton.GetRoot(desc.AvatarID).GetMJoint().Position;
gt = new MVector3(gt.X + rotationValues[0], gt.Y + rotationValues[1], gt.Z + rotationValues[2]);
System.Console.WriteLine("pos: {0}, {1}, {2}", pos.X, pos.Y, pos.Z);
System.Console.WriteLine("gt: {0}, {1}, {2}", gt.X, gt.Y, gt.Z);
Assert.IsTrue(System.Math.Abs(pos.X - gt.X) < 0.001);
Assert.IsTrue(System.Math.Abs(pos.Y - gt.Y) < 0.001);
Assert.IsTrue(System.Math.Abs(pos.Z - gt.Z) < 0.001);
}
