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skeleton.cpp @ 692

Revision 692, 14.1 KB checked in by mattausch, 18 years ago (diff)
adding ogre 1.2 and dependencies

Line
1	#include "skeleton.h"
2
3	namespace OgreMayaExporter
4	{
5	// Constructor
6	Skeleton::Skeleton()
7	{
8	m_joints.clear();
9	m_animations.clear();
10	}
11
12
13	// Destructor
14	Skeleton::~Skeleton()
15	{
16	clear();
17	}
18
19
20	// Clear skeleton data
21	void Skeleton::clear()
22	{
23	m_joints.clear();
24	m_animations.clear();
25	}
26
27
28	// Load skeleton data from given skin cluster
29	MStatus Skeleton::load(MFnSkinCluster* pSkinCluster,ParamList& params)
30	{
31	MStatus stat;
32	//update skin cluster pointer
33	if (!pSkinCluster)
34	{
35	std::cout << "Could not load skeleton data, no skin cluster specified\n";
36	return MS::kFailure;
37	}
38	//retrieve and load joints from the skin cluster
39	MDagPath jointDag,rootDag;
40	MDagPathArray influenceDags;
41	int numInfluenceObjs = pSkinCluster->influenceObjects(influenceDags,&stat);
42	std::cout << "num influence objects: " << numInfluenceObjs << "\n";
43	for (int i=0; i<numInfluenceObjs; i++)
44	{
45	jointDag = influenceDags[i];
46	std::cout << "influence object " << i << ": " << jointDag.fullPathName().asChar() << "\n";
47	if (influenceDags[i].hasFn(MFn::kJoint))
48	{
49	//retrieve root joint
50	rootDag = jointDag;
51	while (jointDag.length()>0)
52	{
53	jointDag.pop();
54	if (jointDag.hasFn(MFn::kJoint) && jointDag.length()>0)
55	rootDag = jointDag;
56	}
57	//check if skeleton has already been loaded
58	bool skip = false;
59	for (int j=0; j<m_joints.size() && !skip; j++)
60	{
61	//skip skeleton if already loaded
62	if (rootDag.partialPathName() == m_joints[j].name)
63	{
64	skip = true;
65	std::cout << "joint already loaded: skipped\n";
66	}
67	}
68	//load joints data from root
69	if (!skip)
70	{
71	std::cout << "Loading skeleton with root: " << rootDag.partialPathName().asChar() << "...\n";
72	MSelectionList selectionList;
73	MGlobal::getActiveSelectionList(selectionList);
74	// Set Neutral Pose
75	//check if we want the skin bind pose
76	if (params.neutralPoseFrame == NPT_BINDPOSE)
77	{
78	// Note: we reset to the bind pose, then get current matrix
79	// if bind pose could not be restored we use the current pose as a bind pose
80	MGlobal::selectByName(jointDag.partialPathName(),MGlobal::kReplaceList);
81	MGlobal::executeCommand("dagPose -r -g -bp");
82	}
83	//check if we want specified frame as neutral pose
84	else if (params.neutralPoseType == NPT_FRAME)
85	{
86	//set time to desired time
87	MTime npTime = (double)params.neutralPoseFrame;
88	MAnimControl::setCurrentTime(npTime.as(MTime::kSeconds));
89	}
90
91	//load joints data
92	stat = loadJoint(rootDag,NULL,params);
93	if (MS::kSuccess == stat)
94	std::cout << "OK\n";
95	else
96	std::cout << "Failed\n";
97
98	/*
99	//restore skeleton to neutral pose
100	if (params.neutralPoseFrame == 1)
101	{
102	MGlobal::executeCommand("dagPose -r -g -bp");
103	MGlobal::setActiveSelectionList(selectionList,MGlobal::kReplaceList);
104	}
105	else if (params.neutralPoseType == 2)
106	{
107	//set time to desired time
108	MTime npTime = (double)params.neutralPoseFrame;
109	MAnimControl::setCurrentTime(npTime.as(MTime::kSeconds));
110	}
111	*/
112	}
113	}
114	}
115
116	return MS::kSuccess;
117	}
118
119
120	// Load a joint
121	MStatus Skeleton::loadJoint(MDagPath& jointDag,joint* parent,ParamList& params)
122	{
123	int i;
124	joint newJoint;
125	joint* parentJoint = parent;
126	// if it is a joint node translate it and then proceed to child nodes, otherwise skip it
127	// and proceed directly to child nodes
128	if (jointDag.hasFn(MFn::kJoint))
129	{
130	MFnIkJoint jointFn(jointDag);
131	// Display info
132	std::cout << "Loading joint: " << jointFn.partialPathName().asChar();
133	if (parent)
134	std::cout << " (parent: " << parent->name.asChar() << ")\n";
135	else
136	std::cout << "\n";
137	// Get parent index
138	int idx=-1;
139	if (parent)
140	{
141	for (i=0; i<m_joints.size() && idx<0; i++)
142	{
143	if (m_joints[i].name == parent->name)
144	idx=i;
145	}
146	}
147	// Get joint matrix
148	MMatrix bindMatrix = jointDag.inclusiveMatrix();
149	// Calculate scaling factor inherited by parent
150	double scale[3];
151	if (parent)
152	{
153	MTransformationMatrix M(parent->worldMatrix);
154	M.getScale(scale,MSpace::kWorld);
155	}
156	else
157	{
158	scale[0] = 1;
159	scale[1] = 1;
160	scale[2] = 1;
161	}
162	// Calculate Local Matrix
163	MMatrix localMatrix;
164	if (parent)
165	localMatrix = bindMatrix * parent->worldMatrix.inverse();
166	else
167	{ // root node of skeleton
168	if (params.exportWorldCoords)
169	localMatrix = bindMatrix;
170	else
171	localMatrix = bindMatrix * jointDag.exclusiveMatrix().inverse();
172	}
173	// Calculate rotation data
174	double qx,qy,qz,qw;
175	((MTransformationMatrix)localMatrix).getRotationQuaternion(qx,qy,qz,qw);
176	MQuaternion rotation(qx,qy,qz,qw);
177	MVector axis;
178	double theta;
179	rotation.getAxisAngle(axis,theta);
180	axis.normalize();
181	if (axis.length() < 0.5)
182	{
183	axis.x = 0;
184	axis.y = 1;
185	axis.z = 0;
186	theta = 0;
187	}
188	// Set joint info
189	newJoint.name = jointFn.partialPathName();
190	newJoint.id = m_joints.size();
191	newJoint.parentIndex = idx;
192	newJoint.worldMatrix = bindMatrix;
193	newJoint.localMatrix = localMatrix;
194	newJoint.posx = localMatrix(3,0) * scale[0];
195	newJoint.posy = localMatrix(3,1) * scale[1];
196	newJoint.posz = localMatrix(3,2) * scale[2];
197	newJoint.angle = theta;
198	newJoint.axisx = axis.x;
199	newJoint.axisy = axis.y;
200	newJoint.axisz = axis.z;
201	newJoint.jointDag = jointDag;
202	m_joints.push_back(newJoint);
203	// Get pointer to newly created joint
204	parentJoint = &newJoint;
205	}
206	// Load children joints
207	for (i=0; i<jointDag.childCount();i++)
208	{
209	MObject child;
210	child = jointDag.child(i);
211	MDagPath childDag = jointDag;
212	childDag.push(child);
213	loadJoint(childDag,parentJoint,params);
214	}
215	return MS::kSuccess;
216	}
217
218
219	// Load animations
220	MStatus Skeleton::loadAnims(ParamList& params)
221	{
222	MStatus stat;
223	int i;
224	std::cout << "Loading joint animations...\n";
225	// save current time for later restore
226	double curtime = MAnimControl::currentTime().as(MTime::kSeconds);
227	// clear animations list
228	m_animations.clear();
229	// load animation clips for the whole skeleton
230	for (i=0; i<params.clipList.size(); i++)
231	{
232	stat = loadClip(params.clipList[i].name,params.clipList[i].start,
233	params.clipList[i].stop,params.clipList[i].rate,params);
234	if (stat == MS::kSuccess)
235	std::cout << "Clip successfully loaded\n";
236	else
237	std::cout << "Failed loading clip\n";
238	}
239	//restore current time
240	MAnimControl::setCurrentTime(MTime(curtime,MTime::kSeconds));
241	return MS::kSuccess;
242	}
243
244
245	// Load an animation clip
246	MStatus Skeleton::loadClip(MString clipName,double start,double stop,double rate,ParamList& params)
247	{
248	MStatus stat;
249	int i,j;
250	MString msg;
251	std::vector<double> times;
252	// if skeleton has no joint we can't load the clip
253	if (m_joints.size() < 0)
254	return MS::kFailure;
255	// display clip name
256	std::cout << "clip \"" << clipName.asChar() << "\"\n";
257	// calculate times from clip sample rate
258	times.clear();
259	for (double t=start; t<stop; t+=rate)
260	times.push_back(t);
261	times.push_back(stop);
262	// get animation length
263	double length=0;
264	if (times.size() > 0)
265	length = times[times.size()-1] - times[0];
266	// check if clip length is >0
267	if (length <= 0)
268	{
269	std::cout << "the clip has 0 length, we skip it\n";
270	return MS::kFailure;
271	}
272	// create the animation
273	animation a;
274	a.name = clipName.asChar();
275	a.tracks.clear();
276	a.length = length;
277	m_animations.push_back(a);
278	int animIdx = m_animations.size() - 1;
279	// create a track for current clip for all joints
280	std::vector<track> animTracks;
281	for (i=0; i<m_joints.size(); i++)
282	{
283	track t;
284	t.bone = m_joints[i].name;
285	t.keyframes.clear();
286	animTracks.push_back(t);
287	}
288	// evaluate animation curves at selected times
289	for (i=0; i<times.size(); i++)
290	{
291	//set time to wanted sample time
292	MAnimControl::setCurrentTime(MTime(times[i],MTime::kSeconds));
293	//load a keyframe for every joint at current time
294	for (j=0; j<m_joints.size(); j++)
295	{
296	keyframe key = loadKeyframe(m_joints[j],times[i]-times[0],params);
297	//add keyframe to joint track
298	animTracks[j].keyframes.push_back(key);
299	}
300	}
301	// add created tracks to current clip
302	for (i=0; i<animTracks.size(); i++)
303	{
304	m_animations[animIdx].tracks.push_back(animTracks[i]);
305	}
306	// display info
307	std::cout << "length: " << m_animations[animIdx].length << "\n";
308	std::cout << "num keyframes: " << animTracks[0].keyframes.size() << "\n";
309	// clip successfully loaded
310	return MS::kSuccess;
311	}
312
313
314	// Load a keyframe for a given joint at current time
315	keyframe Skeleton::loadKeyframe(joint& j,double time,ParamList& params)
316	{
317	MFnIkJoint jointFn(j.jointDag);
318	MTransformationMatrix matrix;
319	MVector position;
320	double scale[3];
321	scale[0] = 1; scale[1] = 1; scale[2] = 1;
322	int parentIdx = j.parentIndex;
323	//get joint matrix at current time
324	matrix = j.jointDag.inclusiveMatrix();
325	if (parentIdx >= 0)
326	{
327	//calculate inherited scale factor
328	((MTransformationMatrix)j.jointDag.exclusiveMatrix()).getScale(scale,MSpace::kWorld);
329	//calculate relative matrix
330	matrix = j.jointDag.inclusiveMatrix() * j.jointDag.exclusiveMatrixInverse();
331	}
332	else
333	{ // root joint
334	if (params.exportWorldCoords)
335	matrix = j.jointDag.inclusiveMatrix();
336	else
337	matrix = j.jointDag.inclusiveMatrix() * j.jointDag.exclusiveMatrixInverse();
338	}
339	//calculate position of joint at given time
340	position.x = matrix.asMatrix()(3,0) * scale[0];
341	position.y = matrix.asMatrix()(3,1) * scale[1];
342	position.z = matrix.asMatrix()(3,2) * scale[2];
343	//get relative transformation matrix
344	matrix = matrix.asMatrix() * j.localMatrix.inverse();
345	//calculate rotation
346	double qx,qy,qz,qw;
347	((MTransformationMatrix)matrix).getRotationQuaternion(qx,qy,qz,qw);
348	MQuaternion rotation(qx,qy,qz,qw);
349	double theta;
350	MVector axis;
351	rotation.getAxisAngle(axis,theta);
352	axis.normalize();
353	if (axis.length() < 0.5)
354	{
355	axis.x = 0;
356	axis.y = 1;
357	axis.z = 0;
358	theta = 0;
359	}
360	//create keyframe
361	keyframe key;
362	key.time = time;
363	key.tx = position.x - j.posx;
364	key.ty = position.y - j.posy;
365	key.tz = position.z - j.posz;
366	key.angle = theta;
367	key.axis_x = axis.x;
368	key.axis_y = axis.y;
369	key.axis_z = axis.z;
370	key.sx = 1;
371	key.sy = 1;
372	key.sz = 1;
373	return key;
374	}
375
376
377	// Get joint list
378	std::vector<joint>& Skeleton::getJoints()
379	{
380	return m_joints;
381	}
382
383
384	// Get animations
385	std::vector<animation>& Skeleton::getAnimations()
386	{
387	return m_animations;
388	}
389
390
391	// Write skeleton data to Ogre XML file
392	MStatus Skeleton::writeXML(ParamList &params)
393	{
394	// Start skeleton description
395	params.outSkeleton << "<skeleton>\n";
396
397	// Write bones list
398	params.outSkeleton << "\t<bones>\n";
399	// For each joint write it's description
400	for (int i=0; i<m_joints.size(); i++)
401	{
402	params.outSkeleton << "\t\t<bone id=\"" << m_joints[i].id << "\" name=\"" << m_joints[i].name.asChar() << "\">\n";
403	params.outSkeleton << "\t\t\t<position x=\"" << m_joints[i].posx << "\" y=\"" << m_joints[i].posy
404	<< "\" z=\"" << m_joints[i].posz << "\"/>\n";
405	params.outSkeleton << "\t\t\t<rotation angle=\"" << m_joints[i].angle << "\">\n";
406	params.outSkeleton << "\t\t\t\t<axis x=\"" << m_joints[i].axisx << "\" y=\"" << m_joints[i].axisy
407	<< "\" z=\"" << m_joints[i].axisz << "\"/>\n";
408	params.outSkeleton << "\t\t\t</rotation>\n";
409	params.outSkeleton << "\t\t</bone>\n";
410	}
411	params.outSkeleton << "\t</bones>\n";
412
413	// Write bone hierarchy
414	params.outSkeleton << "\t<bonehierarchy>\n";
415	for (i=0; i<m_joints.size(); i++)
416	{
417	if (m_joints[i].parentIndex>=0)
418	{
419	params.outSkeleton << "\t\t<boneparent bone=\"" << m_joints[i].name.asChar() << "\" parent=\""
420	<< m_joints[m_joints[i].parentIndex].name.asChar() << "\"/>\n";
421	}
422	}
423	params.outSkeleton << "\t</bonehierarchy>\n";
424
425	// Write animations description
426	if (params.exportAnims)
427	{
428	params.outSkeleton << "\t<animations>\n";
429	// For every animation
430	for (i=0; i<m_animations.size(); i++)
431	{
432	// Write animation info
433	params.outSkeleton << "\t\t<animation name=\"" << m_animations[i].name.asChar() << "\" length=\"" <<
434	m_animations[i].length << "\">\n";
435	// Write tracks
436	params.outSkeleton << "\t\t\t<tracks>\n";
437	// Cycle through tracks
438	for (int j=0; j<m_animations[i].tracks.size(); j++)
439	{
440	track t = m_animations[i].tracks[j];
441	params.outSkeleton << "\t\t\t\t<track bone=\"" << t.bone.asChar() << "\">\n";
442	// Write track keyframes
443	params.outSkeleton << "\t\t\t\t\t<keyframes>\n";
444	for (int k=0; k<t.keyframes.size(); k++)
445	{
446	// time
447	params.outSkeleton << "\t\t\t\t\t\t<keyframe time=\"" << t.keyframes[k].time << "\">\n";
448	// translation
449	params.outSkeleton << "\t\t\t\t\t\t\t<translate x=\"" << t.keyframes[k].tx << "\" y=\"" <<
450	t.keyframes[k].ty << "\" z=\"" << t.keyframes[k].tz << "\"/>\n";
451	// rotation
452	params.outSkeleton << "\t\t\t\t\t\t\t<rotate angle=\"" << t.keyframes[k].angle << "\">\n";
453	params.outSkeleton << "\t\t\t\t\t\t\t\t<axis x=\"" << t.keyframes[k].axis_x << "\" y=\"" <<
454	t.keyframes[k].axis_y << "\" z=\"" << t.keyframes[k].axis_z << "\"/>\n";
455	params.outSkeleton << "\t\t\t\t\t\t\t</rotate>\n";
456	//scale
457	params.outSkeleton << "\t\t\t\t\t\t\t<scale x=\"" << t.keyframes[k].sx << "\" y=\"" <<
458	t.keyframes[k].sy << "\" z=\"" << t.keyframes[k].sz << "\"/>\n";
459	params.outSkeleton << "\t\t\t\t\t\t</keyframe>\n";
460	}
461	params.outSkeleton << "\t\t\t\t\t</keyframes>\n";
462	params.outSkeleton << "\t\t\t\t</track>\n";
463	}
464	// End tracks description
465	params.outSkeleton << "\t\t\t</tracks>\n";
466	// End animation description
467	params.outSkeleton << "\t\t</animation>\n";
468	}
469	params.outSkeleton << "\t</animations>\n";
470	}
471
472	// End skeleton description
473	params.outSkeleton << "</skeleton>\n";
474
475	return MS::kSuccess;
476	}
477
478
479	}; //end namespace

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source: OGRE/trunk/ogrenew/Tools/MayaExport/src/skeleton.cpp @ 692

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