/*
Init character given serialized skeleton information
*/
void SBDebuggerUtility::initCharacter(const std::string& name, const std::string& skelName)
{
if (name == "")
{
LOG("Character has no name - will not be created.");
return;
}
SmartBody::SBCharacter* sbCharacter = SmartBody::SBScene::getScene()->createCharacter(name, "");
if (!sbCharacter)
{
LOG("Problem creating character %s, will not be created in remote session...", name.c_str());
return;
}
SmartBody::SBSkeleton* sbSkeleton = SmartBody::SBScene::getScene()->getSkeleton(skelName);
if (!sbSkeleton)
{
LOG("Problem creating skeleton %s, character %s will not be created in remote session...", name.c_str(), skelName.c_str());
return;
}
SmartBody::SBSkeleton* copySbSkeleton = new SmartBody::SBSkeleton(sbSkeleton);
if (!copySbSkeleton)
{
LOG("Problem creating copy of skeleton %s, character %s will not be created in remote session...", name.c_str(), skelName.c_str());
return;
}
sbCharacter->setSkeleton(copySbSkeleton);
}
void ResourceWindow::updateCharacter( Fl_Tree_Item* tree, SmartBody::SBCharacter* character )
{
SmartBody::SBCharacter* sbcharacter = dynamic_cast<SmartBody::SBCharacter*>(character);
Fl_Tree_Item* item = resourceTree->add(tree,character->getName().c_str());
item->user_data((void*) addSpecialName(character->getName()));
resourceTree->sortorder(FL_TREE_SORT_NONE);
Fl_Tree_Item* skeletonFolder = resourceTree->add(item,"skeleton");
skeletonFolder->user_data((void*) _reverseSpecialNames["skeleton"]);
SmartBody::SBSkeleton* sbSk = sbcharacter->getSkeleton();
if (sbSk)
{
Fl_Tree_Item* charSkItem = resourceTree->add(skeletonFolder, sbSk->getName().c_str());
}
Fl_Tree_Item* controllerFolder = resourceTree->add(item,"controllers");
controllerFolder->user_data((void*) _reverseSpecialNames["controller"]);
controllerFolder->close();
// add controllers
MeControllerTreeRoot* ctTree = character->ct_tree_p ;
if( ctTree )
{
int n = ctTree->count_controllers();
for (int c = 0; c < n; c++)
{
//LOG( "%s", ctTree->controller(c)->name() );
Fl_Tree_Item* ctrlItem = resourceTree->add(controllerFolder,ctTree->controller(c)->getName().c_str());
// ctrlItem->user_data((void*)ITEM_CONTROLLER);
}
}
/*
// add gesture map
Fl_Tree_Item* gestureFolder = resourceTree->add(item,"gestures");
gestureFolder->user_data((void*)-1);
gestureFolder->close();
// add individual gesture mappings
SmartBody::SBScene* scene = SmartBody::SBScene::getScene();
SBGestureMap* gestureMap = scene->getGestureMapManager()->getGestureMap(sbcharacter->getName());
if (gestureMap)
{
std::string lexeme;
std::string type;
std::string hand;
std::string style;
std::string posture;
gestureMap->getGestureByInfo(lexeme, type, hand, style, posture);
Fl_Tree_Item* gestureItem = resourceTree->add(gestureFolder, lexeme.c_str());
gestureItem->user_data((void*)ITEM_GESTUREMAP);
}
*/
// add NVBG
Fl_Tree_Item* nvbgItem = resourceTree->add(item, "minibrain");
nvbgItem->user_data((void*) _reverseSpecialNames["minibrain"]);
SmartBody::Nvbg* nvbg = character->getNvbg();
if (nvbg)
{
nvbgItem = resourceTree->add(item, nvbg->getName().c_str());
}
}
SBAPI bool SBM_GetCharacter( SBMHANDLE sbmHandle, const char * name, SBM_CharacterFrameDataMarshalFriendly * character )
{
if ( !SBM_HandleExists( sbmHandle ) )
{
LOG("SBM_GetCharcter : Handle %d does not exist", sbmHandle);
return false;
}
SmartBody::SBScene * scene = SmartBody::SBScene::getScene();
SmartBody::SBCharacter * sbcharacter = scene->getCharacter(name);
const SBM_CharacterFrameDataMarshalFriendly & data = sbcharacter->GetFrameDataMarshalFriendly();
if (character->m_numJoints == 0 || character->m_numJoints != data.m_numJoints)
{
SBM_ReleaseCharacterJoints(character);
character->m_numJoints = data.m_numJoints;
character->jname = new char * [ character->m_numJoints ];
character->jx = new float [ character->m_numJoints ];
character->jy = new float [ character->m_numJoints ];
character->jz = new float [ character->m_numJoints ];
character->jrw = new float [ character->m_numJoints ];
character->jrx = new float [ character->m_numJoints ];
character->jry = new float [ character->m_numJoints ];
character->jrz = new float [ character->m_numJoints ];
for ( int i = 0; i < character->m_numJoints; i++ )
{
character->jname[ i ] = new char[ strlen(data.jname[ i ]) + 1 ];
strcpy( character->jname[ i ], data.jname[ i ] );
}
}
character->x = data.x;
character->y = data.y;
character->z = data.z;
character->rw = data.rw;
character->rx = data.rx;
character->ry = data.ry;
character->rz = data.rz;
memcpy(character->jx, data.jx, data.m_numJoints * sizeof(float));
memcpy(character->jy, data.jy, data.m_numJoints * sizeof(float));
memcpy(character->jz, data.jz, data.m_numJoints * sizeof(float));
memcpy(character->jrw, data.jrw, data.m_numJoints * sizeof(float));
memcpy(character->jrx, data.jrx, data.m_numJoints * sizeof(float));
memcpy(character->jry, data.jry, data.m_numJoints * sizeof(float));
memcpy(character->jrz, data.jrz, data.m_numJoints * sizeof(float));
return true;
}
void SBDebuggerUtility::initCharacterFaceDefinition(const std::string& characterName, const std::string& faceDefName, const std::string& message)
{
SmartBody::SBScene* sbScene = SmartBody::SBScene::getScene();
SmartBody::SBCharacter* sbCharacter = sbScene->getCharacter(characterName);
if (!sbCharacter)
return;
SmartBody::SBFaceDefinition* faceDef = sbScene->getFaceDefinition(faceDefName);
if (!faceDef)
return;
sbCharacter->setFaceDefinition(faceDef);
}
int main_sb( int argc, char** argv )
{
osg::ArgumentParser arguments( &argc, argv );
SmartBody::SBScene* scene = SmartBody::SBScene::getScene();
scene->setMediaPath( "./smartbody/" ); // data/
scene->addAssetPath( "motion", "ChrBrad" );
scene->addAssetPath( "mesh", "mesh");
scene->addAssetPath( "script", "scripts");
scene->loadAssets();
int numMotions = scene->getNumMotions();
std::cout << "Loaded motions: " << numMotions << std::endl;
SmartBody::SBCharacter* character = scene->createCharacter( "mycharacter", "" );
SmartBody::SBSkeleton* skeleton = scene->createSkeleton( "ChrBrad.sk" );
character->setSkeleton( skeleton );
character->createStandardControllers();
SmartBody::SBSimulationManager* sim = scene->getSimulationManager();
sim->setupTimer();
osg::ref_ptr<osg::Group> root = new osg::Group;
osgViewer::Viewer viewer;
viewer.setCameraManipulator( new osgGA::TrackballManipulator );
viewer.addEventHandler( new osgGA::StateSetManipulator(viewer.getCamera()->getOrCreateStateSet()) );
viewer.addEventHandler( new osgViewer::StatsHandler );
viewer.addEventHandler( new osgViewer::WindowSizeHandler );
viewer.setSceneData( root.get() );
viewer.setUpViewOnSingleScreen( 1 );
std::string ret = scene->getBmlProcessor()->execBML( "mycharacter", "<body posture=\"ChrBrad@Idle01\"/>" );
sim->start();
while ( !viewer.done() )
{
scene->update();
int numCharacters = scene->getNumCharacters();
if (numCharacters == 0)
return true;
sim->updateTimer();
viewer.frame();
}
sim->stop();
return 0;
}
void SBDebuggerUtility::updateCharacter(const std::string& cName, const std::string& jName,
float& posX, float& posY, float& posZ,
float& rotX, float& rotY, float& rotZ, float& rotW)
{
SmartBody::SBCharacter* sbCharacter = SmartBody::SBScene::getScene()->getCharacter(cName);
if (!sbCharacter)
return;
SmartBody::SBJoint* sbJoint = sbCharacter->getSkeleton()->getJointByName(jName);
if (sbJoint)
{
sbJoint->pos()->value(0, (float)posX);
sbJoint->pos()->value(1, (float)posY);
sbJoint->pos()->value(2, (float)posZ);
SrQuat q = SrQuat((float)rotW, (float)rotX, (float)rotY, (float)rotZ);
SrQuat newq = sbJoint->getPrerotation().inverse()*q;
sbJoint->quat()->value(newq);
}
}
void MiniBrain::update(SBCharacter* character, double time, double dt)
{
if (minibrainCounter < 300)
{
minibrainCounter ++;
return;
}
SrVec myVelocity;
SrVec myPosition;
float mySpeed = 0.0f;
SrVec myFacing(0, 0, 1);
// determine the facing vector
SkJoint* base = character->getSkeleton()->search_joint("base");
if (base)
{
SkJointQuat* jointQuat = base->quat();
const SrQuat& quat = jointQuat->orientation();
SrVec zfacing(0, 0, 1);
myFacing = zfacing * quat;
}
const std::vector<std::string>& pawns = SmartBody::SBScene::getScene()->getPawnNames();
for (std::vector<std::string>::const_iterator pawnIter = pawns.begin();
pawnIter != pawns.end();
pawnIter++)
{
SBPawn* pawn = SmartBody::SBScene::getScene()->getPawn((*pawnIter));
// determine the velocity of the object
std::map<std::string, ObjectData>::iterator piter = _data.find(pawn->getName());
if (piter != _data.end())
{
ObjectData& data = (*piter).second;
// get the last position
SrVec& lastPosition = data.position;
// get the current position
SmartBody::SBCharacter* curCharacter = dynamic_cast<SmartBody::SBCharacter*>(pawn);
SrVec curPosition;
if (curCharacter)
{
curPosition = curCharacter->getPosition();
data.isAnimate = true;
}
else
{
float x, y, z, h, p, r;
pawn->get_world_offset(x, y, z, h, p, r);
curPosition.x = x;
curPosition.y = y;
curPosition.z = z;
data.isAnimate = false;
}
data.velocity = (curPosition - data.position) / (float) dt;
if ((int)data.cachePositions.size() > _cacheLimit)
data.cachePositions.pop_front();
data.cachePositions.push_back(curPosition);
SrVec temp;
for ( std::list<SrVec>::iterator iter = data.cachePositions.begin();
iter != data.cachePositions.end();
iter++)
{
temp += (*iter);
}
data.position = temp / float(data.cachePositions.size());
//data.position = curPosition;
if (curCharacter && curCharacter == character)
{
myVelocity = data.velocity;
myPosition = data.position;
mySpeed = myVelocity.len();
}
}
else
{
// seed the object data with position, no velocity
ObjectData data;
// get the current position
SmartBody::SBCharacter* curCharacter = dynamic_cast<SmartBody::SBCharacter*>(pawn);
SrVec curPosition;
if (curCharacter)
{
curPosition = curCharacter->getPosition();
}
else
{
float x, y, z, h, p, r;
pawn->get_world_offset(x, y, z, h, p, r);
curPosition.x = x;
curPosition.y = y;
curPosition.z = z;
}
data.velocity = SrVec();
data.position = curPosition;
if ((int)data.cachePositions.size() > _cacheLimit)
data.cachePositions.pop_front();
data.cachePositions.push_back(curPosition);
data.startGazeTime = -1;
_data.insert(std::pair<std::string, ObjectData>(pawn->getName(), data));
}
}
std::string fastestObject = "";
float fastest = -1;
ObjectData* fastestData = NULL;
for (std::map<std::string, ObjectData>::iterator piter = _data.begin();
piter != _data.end();
piter++)
{
std::string pawnName = (*piter).first;
if (pawnName == character->getName())
continue;
// calculate the relative positon and relative velocity
ObjectData& data = (*piter).second;
data.relativePosition = myPosition - data.position;
data.relativeVelocity = myVelocity - data.velocity;
float size = data.relativeVelocity.len();
// ignore objects that aren't moving faster than you are
if (size <= mySpeed)
continue;
if (size > fastest)
{
// ignore activity that is happening behind the character
SrVec diffVec = data.position - myPosition;
float result = dot(myFacing, diffVec);
if (result < 0.0f)
continue;
fastestObject = pawnName;
fastest = size;
fastestData = &data;
}
}
Nvbg* nvbg = character->getNvbg();
if (nvbg) // if an NVBG instance is running, send this information there
{
for (std::map<std::string, ObjectData>::iterator piter = _data.begin();
piter != _data.end();
piter++)
{
const std::string& pawnName = (*piter).first;
ObjectData& data = (*piter).second;
nvbg->objectEvent(character->getName(), pawnName, data.isAnimate, myPosition, myVelocity, data.position, data.velocity, data.relativePosition, data.relativeVelocity);
}
}
else // simple functionality - look at things that move quickly
{
// now look at the fastest thing moving that exceeds a threshold
float characterHeight = character->getHeight();
if (fastest > characterHeight / 10.0)
{
SbmPawn* gazeTarget = SmartBody::SBScene::getScene()->getPawn(fastestObject);
if (!gazeTarget)
return;
// make sure that we aren't already gazing at this object
MeCtScheduler2* gazeSchedule = character->gaze_sched_p;
if (!gazeSchedule)
return;
MeCtScheduler2::VecOfTrack tracks = gazeSchedule->tracks();
for (size_t t = 0; t < tracks.size(); t++)
{
MeController* controller = tracks[t]->animation_ct();
MeCtGaze* gaze = dynamic_cast<MeCtGaze*>(controller);
if (gaze)
{
float x, y, z;
SkJoint* joint = gaze->get_target_joint(x, y, z);
if (joint && joint->skeleton() == gazeTarget->getSkeleton())
{
// update the time
fastestData->startGazeTime = time;
return;
}
}
}
std::stringstream strstr;
strstr << "bml char " << character->getName() << " <gaze target=\"" << fastestObject << "\" sbm:joint-range=\"EYES NECK\"/>" << std::endl;
fastestData->startGazeTime = time;
SmartBody::SBScene::getScene()->getCommandManager()->execute((char*) strstr.str().c_str());
return;
}
// if we are staring at nothing, fade out any gazes for objects that have been 'uninteresting' for more than 2 seconds
for (std::map<std::string, ObjectData>::iterator piter = _data.begin();
piter != _data.end();
piter++)
{
ObjectData& data = (*piter).second;
if (data.startGazeTime > 0 && (time - data.startGazeTime) > 2.0 + float(rand() % 100) * .01f)
{
std::stringstream strstr;
strstr << "char " << character->getName() << " gazefade out .5" << std::endl;
data.startGazeTime = -1;
SmartBody::SBScene::getScene()->getCommandManager()->execute((char*) strstr.str().c_str());
std::stringstream strstr2;
strstr2 << "char " << character->getName() << " prune" << std::endl;
SmartBody::SBScene::getScene()->getCommandManager()->execute_later((char*) strstr2.str().c_str(), 3 + float(rand() % 100) * .01f);
}
}
}
}
bool OgreSmartBody::frameRenderingQueued(const Ogre::FrameEvent& evt)
{
if(mWindow->isClosed())
return false;
//Need to capture/update each device
mKeyboard->capture();
mMouse->capture();
if(mKeyboard->isKeyDown(OIS::KC_ESCAPE))
return false;
// smartbody
if (!m_pScene)
return true;
SmartBody::SBSimulationManager* sim = m_pScene->getSimulationManager();
sim->setTime((Ogre::Root::getSingleton().getTimer()->getMilliseconds() / 1000.0f) - mStartTime);
m_pScene->update();
int numCharacters = m_pScene->getNumCharacters();
if (numCharacters == 0)
return true;
const std::vector<std::string>& characterNames = m_pScene->getCharacterNames();
for (size_t n = 0; n < characterNames.size(); n++)
{
SmartBody::SBCharacter* character = m_pScene->getCharacter(characterNames[n]);
if (!this->getSceneManager()->hasEntity(characterNames[n]))
continue;
Ogre::Entity* entity = this->getSceneManager()->getEntity(characterNames[n]);
Ogre::Skeleton* meshSkel = entity->getSkeleton();
Ogre::Node* node = entity->getParentNode();
SrVec pos = character->getPosition();
SrQuat ori = character->getOrientation();
//std::cout << ori.w << ori.x << " " << ori.y << " " << ori.z << std::endl;
node->setPosition(pos.x, pos.y, pos.z);
node->setOrientation(ori.w, ori.x, ori.y, ori.z);
// Update joints
SmartBody::SBSkeleton* sbSkel = character->getSkeleton();
int numJoints = sbSkel->getNumJoints();
for (int j = 0; j < numJoints; j++)
{
SmartBody::SBJoint* joint = sbSkel->getJoint(j);
try
{
SrQuat orientation = joint->quat()->value();
Ogre::Vector3 posDelta(joint->getPosition().x, joint->getPosition().y, joint->getPosition().z);
Ogre::Quaternion quatDelta(orientation.w, orientation.x, orientation.y, orientation.z);
Ogre::Bone* bone = meshSkel->getBone(joint->getName());
if (!bone)
continue;
bone->setPosition(bone->getInitialPosition() + posDelta);
bone->setOrientation(quatDelta);
}
catch (Ogre::ItemIdentityException& ex)
{
// Should not happen as we filtered using m_mValidBones
}
}
}
return true;
}
BML::BehaviorRequestPtr BML::parse_bml_states( DOMElement* elem, const std::string& unique_id, BehaviorSyncPoints& behav_syncs, bool required, BmlRequestPtr request, SmartBody::SBScene* scene )
{
// local Id
std::string localId;
const XMLCh* attrID = elem->getAttribute(BMLDefs::ATTR_ID);
xml_utils::xml_translate(&localId, attrID);
// get character
std::string characterName = request->actor->getName();
SmartBody::SBCharacter* character = SmartBody::SBScene::getScene()->getCharacter(characterName);
if (character == NULL)
{
LOG("parse_bml_states ERR: cannot find character with name %s.", characterName.c_str());
return BehaviorRequestPtr();
}
MeCtParamAnimation* paramCt = character->param_animation_ct;
std::string layer = xml_parse_string(BMLDefs::ATTR_LAYER, elem);
if (layer == "1")
paramCt = character->param_animation_ct;
if (layer == "2")
paramCt = character->param_animation_ct_layer1;
if (layer == "3")
paramCt = character->param_animation_ct_layer2;
if (!paramCt)
{
LOG("No parameterized animation controller present for character %s.", character->getName().c_str());
return BehaviorRequestPtr();
}
// get state
std::string stateName = xml_parse_string(BMLDefs::ATTR_NAME, elem);
if (stateName == "")
{
LOG("parse_bml_states ERR: expecting a state name.");
return BehaviorRequestPtr();
}
PABlend* state = SmartBody::SBScene::getScene()->getBlendManager()->getBlend(stateName);
if (!state)
{
LOG("parse_bml_states WARNING: Can't find state name %s, will schedule PseudoIdle state under schedule mode", stateName.c_str());
}
// get parameters
std::string mode = xml_parse_string(BMLDefs::ATTR_MODE, elem);
if (mode == "")
mode = "schedule";
std::string xString = xml_parse_string(BMLDefs::ATTR_X, elem);
std::string yString = xml_parse_string(BMLDefs::ATTR_Y, elem);
std::string zString = xml_parse_string(BMLDefs::ATTR_Z, elem);
// get weights from parameters
std::vector<double> weights;
if (state)
{
weights.resize(state->getNumMotions());
}
if (weights.size() > 0)
weights[0] = 1.0f;
double x = 0;
double y = 0;
double z = 0;
if ((xString != "" || yString != "" || zString != "") && state)
{
x = atof(xString.c_str());
y = atof(yString.c_str());
z = atof(zString.c_str());
int parameterType = state->getType();
if (parameterType == 0)
state->getWeightsFromParameters(x, weights);
if (parameterType == 1)
state->getWeightsFromParameters(x, y, weights);
if (parameterType == 2)
state->getWeightsFromParameters(x, y, z, weights);
}
// wrap mode
ScheduleType scType;
std::string wrap = xml_parse_string(BMLDefs::ATTR_WRAPMODE, elem);
if (wrap == "")
wrap = "Loop";
boost::algorithm::to_lower(wrap);
scType.wrap = PABlendData::Loop;
if (wrap == "once")
scType.wrap = PABlendData::Once;
if (wrap == "clamp")
scType.wrap = PABlendData::Clamp;
// schedule mode
std::string schedule = xml_parse_string(BMLDefs::ATTR_SCHEDULEMODE, elem);
if (schedule == "")
schedule = "Queued";
boost::algorithm::to_lower(schedule);
scType.schedule = PABlendData::Queued;
if (schedule == "now")
scType.schedule = PABlendData::Now;
// blend mode
std::string blend = xml_parse_string(BMLDefs::ATTR_BLENDMODE, elem);
if (blend == "")
blend = "Overwrite";
boost::algorithm::to_lower(blend);
scType.blend =PABlendData::Overwrite;
if (blend == "additive")
scType.blend = PABlendData::Additive;
// partial joint name
std::string joint = xml_parse_string(BMLDefs::ATTR_PARTIALJOINT, elem);
if (joint == "")
joint = "null";
// take time offset0
scType.jName = joint;
scType.timeOffset = xml_parse_double(BMLDefs::ATTR_START, elem);
scType.stateTimeOffset = xml_parse_double(BMLDefs::ATTR_OFFSET, elem, 0.0);
scType.stateTimeTrim = xml_parse_double(BMLDefs::ATTR_TRIM, elem, 0.0);
scType.transitionLen = xml_parse_double(BMLDefs::ATTR_TRANSITION_LENGTH, elem, -1.0);
scType.playSpeed = xml_parse_double(BMLDefs::ATTR_SPEED, elem, 1.0);
scType.duration = xml_parse_double(BMLDefs::ATTR_DURATION, elem, -1.0);
std::string directPlayStr = xml_parse_string(BMLDefs::ATTR_DIRECTPLAY, elem, "false");
scType.directPlay = false;
if (directPlayStr == "true")
scType.directPlay = true;
SmartBody::SBAnimationBlend0D* ZeroDState = dynamic_cast<SmartBody::SBAnimationBlend0D*>(state);
if (!ZeroDState) // don't use state offset unless it is a 0-D state
{
scType.stateTimeOffset = 0.0;
scType.stateTimeTrim = 0.0;
}
// schedule a state
if (mode == "schedule")
{
if (state)
//character->param_animation_ct->schedule(state, x, y, z, wrapMode, scheduleMode, blendMode, joint, timeOffset, stateStartOffset, stateEndTrim, transitionLen, directPlay);
//character->param_animation_ct->schedule(state, weights, scType);
paramCt->schedule(state, weights, scType);
else
//character->param_animation_ct->schedule(state, weights, scType);
paramCt->schedule(state, weights, scType);
}
// update parameter
if (mode == "update")
{
// character->param_animation_ct->updateWeights(weights);
paramCt->updateWeights(weights);
paramCt->getCurrentPABlendData()->wrapMode = scType.wrap;
}
return BehaviorRequestPtr( new EventRequest(unique_id, localId, "", "", behav_syncs, ""));
}
void PAAutoFootStepsEditor::confirmEditting(Fl_Widget* widget, void* data)
{
PAAutoFootStepsEditor* footStepEditor = (PAAutoFootStepsEditor*) data;
PABlend* currentState = footStepEditor->stateEditor->getCurrentState();
if (!currentState)
{
LOG("PAAutoFootStepsEditor::confirmEditting WARNING: please select a state!");
return;
}
// take down previous correspondence points first
footStepEditor->stateEditor->previousKeys.clear();
footStepEditor->stateEditor->previousKeys.resize(currentState->getNumMotions());
for (int i = 0; i < currentState->getNumMotions(); i++)
{
footStepEditor->stateEditor->previousKeys[i].resize(currentState->getNumKeys());
footStepEditor->stateEditor->previousKeys[i] = currentState->keys[i];
}
// auto foot steps algorithm
float floorHeight = (float)atof(footStepEditor->inputFloorHeight->value());
float heightThresh = (float)atof(footStepEditor->inputHeightThreshold->value());
float speedThresh = (float)atof(footStepEditor->inputSpeedThreshold->value());
int speedWindow = atoi(footStepEditor->inputSpeedDetectWindow->value());
int stepsPerJoint = atoi(footStepEditor->inputStepsPerJoint->value());
if (stepsPerJoint < 1)
stepsPerJoint = 1;
int checkDebugInfoVal = footStepEditor->checkDebugInfo->value();
if (checkDebugInfoVal == 0)
footStepEditor->isPrintDebugInfo = false;
if (checkDebugInfoVal == 1)
footStepEditor->isPrintDebugInfo = true;
const std::vector<std::string>& selectedMotions = footStepEditor->stateEditor->getSelectedMotions();
SmartBody::SBCharacter* curCharacter = footStepEditor->stateEditor->paWindow->getCurrentCharacter();
std::vector<std::string> selectedJoints;
for (int i = 0; i < footStepEditor->browserJoint->size(); i++)
{
if (footStepEditor->browserJoint->selected(i+1))
{
selectedJoints.push_back(footStepEditor->browserJoint->text(i + 1));
}
}
if (selectedJoints.size() == 0)
{
fl_alert("Please select at least one joint.");
return;
}
std::stringstream finalMessage;
std::vector<std::string> motionsNeedManualAdjusting;
finalMessage << "Current State: " << currentState->stateName << "\n";
bool isConvergent = true;
for (size_t m = 0; m < selectedMotions.size(); m++)
{
// shared
std::vector<double> possibleTiming;
// divided
std::vector<std::vector<double> > vecOutMeans;
vecOutMeans.resize(selectedJoints.size());
std::vector<std::vector<double> > vecTiming;
vecTiming.resize(selectedJoints.size());
SmartBody::SBMotion* motion = SmartBody::SBScene::getScene()->getMotion(selectedMotions[m]);
if (!motion)
continue;
#if 1 // feng : I tried to refactor the footstep detection into a API function in SBMotion.
// Still contains too many parameters to be used as an API. But would clean it up more and see if we can come up with
// a version that can also detect the number of steps as the input. If this is interfering with the editor, set this back to 0.
std::vector<double> outMeans;
int maxNumSteps = footStepEditor->stateEditor->getCurrentState()->getNumKeys();
if (!footStepEditor->isProcessAll)
{
stepsPerJoint = maxNumSteps / selectedJoints.size();
}
else
{
maxNumSteps = stepsPerJoint * selectedJoints.size();
}
// std::vector<FootStepRecord> footSteps;
// motion->autoFootPlantDetection(curCharacter->getSkeleton(),selectedJoints,floorHeight, heightThresh,speedThresh,footSteps);
//
// for (int i=0;i<footSteps.size();i++)
// {
// FootStepRecord& record = footSteps[i];
// LOG("Footstep joint = %s, start frame = %f, end frame = %f",record.jointName.c_str(), record.startTime, record.endTime);
// }
isConvergent = motion->autoFootStepDetection(outMeans, stepsPerJoint, maxNumSteps, curCharacter->getSkeleton(), selectedJoints,
floorHeight, heightThresh, speedThresh, speedWindow, footStepEditor->isPrintDebugInfo);
#else
motion->connect(curCharacter->getSkeleton());
for(int f = 0; f < motion->getNumFrames(); f++)
{
motion->apply_frame(f);
motion->connected_skeleton()->update_global_matrices();
for (size_t jointId = 0; jointId < selectedJoints.size(); jointId ++)
{
std::string jointName = selectedJoints[jointId];
SBJoint* joint = curCharacter->getSkeleton()->getJointByName(jointName);
if (!joint)
continue;
// get height
const SrMat& gMat = joint->gmat();
SrVec gPos = SrVec(gMat.get(12), gMat.get(13), gMat.get(14));
// get speed
int startFrame = f - speedWindow / 2;
int endFrame = f + speedWindow / 2;
float startTime = startFrame * (float)motion->getFrameRate();
float endTime = endFrame * (float)motion->getFrameRate();
float speed = motion->getJointSpeed(joint, startTime, endTime);
// print info
if (footStepEditor->isPrintDebugInfo)
LOG("motion %s at time %f-> speed is %f, height is %f, joint is %s", motion->getName().c_str(), f * motion->getFrameRate(), speed, gPos.y, jointName.c_str());
// filter for height
if (gPos.y < floorHeight || gPos.y > (floorHeight + heightThresh))
continue;
// filter speed
if (speed <= speedThresh)
{
vecTiming[jointId].push_back(f * (float)motion->getFrameRate());
possibleTiming.push_back(f * (float)motion->getFrameRate());
}
}
}
// K means algorithm according to desired number of steps
std::vector<double> outMeans;
int maxNumSteps = footStepEditor->stateEditor->getCurrentState()->getNumKeys();
if (!footStepEditor->isProcessAll)
{
stepsPerJoint = maxNumSteps / selectedJoints.size();
}
else
{
maxNumSteps = stepsPerJoint * selectedJoints.size();
}
/*
int numSteps = footStepEditor->stateEditor->getCurrentState()->getNumKeys();
isConvergent = footStepEditor->kMeansClustering1D(numSteps, possibleTiming, outMeans);
*/
for (size_t jointId = 0; jointId < selectedJoints.size(); jointId++)
{
if (jointId == (selectedJoints.size() - 1) && !footStepEditor->isProcessAll)
{
int mod = footStepEditor->stateEditor->getCurrentState()->getNumKeys() % selectedJoints.size();
stepsPerJoint += mod;
}
bool retBoolean = footStepEditor->kMeansClustering1D(stepsPerJoint, vecTiming[jointId], vecOutMeans[jointId]);
if (!retBoolean)
{
isConvergent = false;
break;
}
}
if (isConvergent)
{
outMeans.clear();
for (size_t joinId = 0; joinId < selectedJoints.size(); joinId++)
{
for (size_t meanId = 0; meanId < vecOutMeans[joinId].size(); meanId++)
outMeans.push_back(vecOutMeans[joinId][meanId]);
}
std::sort(outMeans.begin(), outMeans.end());
}
#endif
// apply it to corresponding points
// also appending starting and ending corresponding points
int motionIndex = currentState->getMotionId(selectedMotions[m]);
if (isConvergent)
{
std::stringstream ss;
ss << "[" << motion->getName() << "]detected ";
for (size_t i = 0; i < outMeans.size(); i++)
ss << outMeans[i] << " ";
LOG("%s", ss.str().c_str());
finalMessage << ss.str() << "\n";
currentState->keys[motionIndex].clear();
if (footStepEditor->isProcessAll)
currentState->keys[motionIndex].push_back(0);
for (size_t i = 0; i < outMeans.size(); i++)
currentState->keys[motionIndex].push_back(outMeans[i]);
if (footStepEditor->isProcessAll)
currentState->keys[motionIndex].push_back(motion->getDuration());
}
else
{
motionsNeedManualAdjusting.push_back(motion->getName());
std::stringstream ss;
ss << "[" << motion->getName() << "]NOT detected(evenly distrubted): ";
int actualNum = maxNumSteps;
currentState->keys[motionIndex].clear();
if (footStepEditor->isProcessAll)
actualNum += 2;
for (int i = 0; i < actualNum; i++)
{
double step = motion->getDuration() / double(actualNum - 1);
currentState->keys[motionIndex].push_back(step * i);
ss << step * i << " ";
}
LOG("%s", ss.str().c_str());
finalMessage << ss.str() << "\n";
}
motion->disconnect();
}
// print out final message
finalMessage << "\n\n=======Summary=======\n";
for (size_t m = 0; m < motionsNeedManualAdjusting.size(); m++)
{
finalMessage << motionsNeedManualAdjusting[m] << " may need manual adjusting\n";
}
fl_message("%s", finalMessage.str().c_str());
// refresh state editor
footStepEditor->stateEditor->buttonUndoAutoFootSteps->activate();
footStepEditor->stateEditor->refresh();
footStepEditor->hide();
}
PAAutoFootStepsEditor::PAAutoFootStepsEditor(PABlendEditor* editor, int x, int y, int w, int h) : Fl_Window(x, y, w, h)
{
set_modal();
stateEditor = editor;
xDis = 10;
yDis = 10;
int csx = xDis;
int csy = yDis;
isPrintDebugInfo = false;
this->label("Auto Footsteps Editor");
this->begin();
inputFloorHeight = new Fl_Input(xDis + csx + 100, yDis, 10 * xDis, 2 * yDis, "FloorHeight");
inputFloorHeight->value("0");
inputHeightThreshold = new Fl_Input(xDis + csx + 100, 4 * yDis, 10 * xDis, 2 * yDis, "HeightThreshold");
std::stringstream inputHeightSS;
inputHeightSS << 0.15f / SmartBody::SBScene::getScene()->getScale();
inputHeightThreshold->value(inputHeightSS.str().c_str());
inputSpeedThreshold = new Fl_Input(xDis + csx + 100, 7 * yDis, 10 * xDis, 2 * yDis, "SpeedThreshold");
std::stringstream inputSpeedSS;
inputSpeedSS << 0.4f / SmartBody::SBScene::getScene()->getScale();
inputSpeedThreshold->value(inputSpeedSS.str().c_str());
inputSpeedDetectWindow = new Fl_Input(xDis + csx + 100, 10 * yDis, 10 * xDis, 2 * yDis, "SpeedDetectWindow");
inputSpeedDetectWindow->value("3");
inputSpeedDetectWindow->deactivate();
browserJoint = new Fl_Multi_Browser(xDis + csx + 100, 13 * yDis, 28 * xDis, 20 * yDis, "Joint");
SmartBody::SBCharacter* character = stateEditor->paWindow->getCurrentCharacter();
if (character)
{
const std::vector<std::string>& charJNames = character->getSkeleton()->getJointNames();
for (size_t i = 0; i < charJNames.size(); i++)
browserJoint->add(charJNames[i].c_str());
}
inputStepsPerJoint = new Fl_Input(xDis + csx + 100, 36 * yDis, 10 * xDis, 2 * yDis, "StepsPerJoint");
PABlend* curState = stateEditor->getCurrentState();
std::vector<std::string> selectedMotions = stateEditor->getSelectedMotions();
if (selectedMotions.size() == curState->getNumMotions())
inputStepsPerJoint->activate();
else
inputStepsPerJoint->deactivate();
int stepsPerJoint = 2;
std::stringstream ss;
ss << stepsPerJoint;
inputStepsPerJoint->value(ss.str().c_str());
browserSelectedMotions = new Fl_Browser(xDis + csx + 100, 39 * yDis, 28 * xDis, 10 * yDis, "SelectedMotions");
browserSelectedMotions->deactivate();
refreshSelectedMotions();
checkDebugInfo = new Fl_Check_Button(xDis + csx + 100, 51 * yDis, 10 * xDis, 2 * yDis, "DumpDetailInformation");
buttonConfirm = new Fl_Button(xDis + csx, 55 * yDis, 10 * xDis, 2 * yDis, "Apply");
buttonConfirm->callback(confirmEditting, this);
buttonCancel = new Fl_Button(xDis + csx + 120, 55 * yDis, 10 * xDis, 2 * yDis, "Leave");
buttonCancel->callback(cancelEditting, this);
this->end();
}
