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());
}
}
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);
}
}
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;
}
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();
}
