hubo_joint_info_t HuboDescription::getJointInfo(size_t joint_index) const
{
if( joint_index >= getJointCount() )
{
fprintf(stderr, "Requesting joint info for an index which is out-of-bounds (%zu)!\n"
" -- Maximum index is %zu\n", joint_index, getJointCount()-1);
hubo_joint_info_t info;
memset(&info, 0, sizeof(hubo_joint_info_t));
return info;
}
return joints[joint_index]->info;
}
StringArray HuboDescription::getJointNames() const
{
StringArray result;
for(size_t i=0; i<getJointCount(); ++i)
{
result.push_back(getJointName(i));
}
return result;
}
size_t HuboDescription::getJointIndex(const std::string& joint_name) const
{
for(size_t i=0; i < getJointCount(); ++i)
{
std::string current_name(joints[i]->info.name);
if(joint_name == current_name)
{
return i;
}
}
return InvalidIndex;
}
MeshSkin* MeshSkin::clone(NodeCloneContext &context) const
{
MeshSkin* skin = new MeshSkin();
skin->_bindShape = _bindShape;
if (_rootNode && _rootJoint)
{
const unsigned int jointCount = getJointCount();
skin->setJointCount(jointCount);
GP_ASSERT(skin->_rootNode == NULL);
// Check if the root node has already been cloned.
if (Node* rootNode = context.findClonedNode(_rootNode))
{
skin->_rootNode = rootNode;
rootNode->addRef();
}
else
{
skin->_rootNode = _rootNode->cloneRecursive(context);
}
Node* node = NULL;
if (strcmp(skin->_rootNode->getId(), _rootJoint->getId()) == 0)
{
node = skin->_rootNode;
}
else
{
node = skin->_rootNode->findNode(_rootJoint->getId());
}
GP_ASSERT(node);
skin->_rootJoint = static_cast<Joint*>(node);
for (unsigned int i = 0; i < jointCount; ++i)
{
Joint* oldJoint = getJoint(i);
GP_ASSERT(oldJoint);
Joint* newJoint = static_cast<Joint*>(skin->_rootNode->findNode(oldJoint->getId()));
if (!newJoint)
{
if (strcmp(skin->_rootJoint->getId(), oldJoint->getId()) == 0)
newJoint = static_cast<Joint*>(skin->_rootJoint);
}
GP_ASSERT(newJoint);
skin->setJoint(newJoint, i);
}
}
return skin;
}
