void setKeyframe( osgDB::Input& fr, int ch, double time,
osgAnimation::Vec3KeyframeContainer* posKey,
osgAnimation::QuatKeyframeContainer* rotKey )
{
if ( ch&0x07 && posKey ) // Position keyframe
{
float keyValue[3] = { 0.0f };
if ( ch&0x01 ) fr.readSequence( keyValue[0] );
if ( ch&0x02 ) fr.readSequence( keyValue[1] );
if ( ch&0x04 ) fr.readSequence( keyValue[2] );
osg::Vec3 vec( keyValue[0], keyValue[1], keyValue[2] );
posKey->push_back( osgAnimation::Vec3Keyframe(time, vec) );
}
if ( ch&0x38 && rotKey ) // Rotation keyframe
{
float keyValue[3] = { 0.0f };
if ( ch&0x08 ) fr.readSequence( keyValue[2] );
if ( ch&0x10 ) fr.readSequence( keyValue[0] );
if ( ch&0x20 ) fr.readSequence( keyValue[1] );
// Note that BVH data need to concatenate the rotating matrices as Y*X*Z
// So we should not create Quat directly from input values, which makes a wrong X*Y*Z
osg::Matrix rotMat = osg::Matrix::rotate(osg::DegreesToRadians(keyValue[1]), osg::Vec3(0.0,1.0,0.0))
* osg::Matrix::rotate(osg::DegreesToRadians(keyValue[0]), osg::Vec3(1.0,0.0,0.0))
* osg::Matrix::rotate(osg::DegreesToRadians(keyValue[2]), osg::Vec3(0.0,0.0,1.0));
osg::Quat quat = rotMat.getRotate();
rotKey->push_back( osgAnimation::QuatKeyframe(time, quat) );
}
}
void buildHierarchy( osgDB::Input& fr, int level, osgAnimation::Bone* parent )
{
bool isRecognized = false;
if ( !parent ) return;
if ( fr.matchSequence("OFFSET %f %f %f") )
{
isRecognized = true;
++fr;
osg::Vec3 offset;
if ( fr.readSequence(offset) )
{
// Process OFFSET section
parent->setBindMatrixInBoneSpace( osg::Matrix::translate(offset) );
if ( _drawingFlag && parent->getNumParents() && level>0 )
parent->getParent(0)->addChild( createRefGeometry(offset, 0.5).get() );
}
}
if ( fr.matchSequence("CHANNELS %i") )
{
isRecognized = true;
// Process CHANNELS section
int noChannels;
fr[1].getInt( noChannels );
fr += 2;
for ( int i=0; i<noChannels; ++i )
{
// Process each channel
std::string channelName;
fr.readSequence( channelName );
alterChannel( channelName, _joints.back().second );
}
}
if ( fr.matchSequence("End Site {") )
{
isRecognized = true;
fr += 3;
if ( fr.matchSequence("OFFSET %f %f %f") )
{
++fr;
osg::Vec3 offsetEndSite;
if ( fr.readSequence(offsetEndSite) )
{
// Process End Site section
osg::ref_ptr<osgAnimation::Bone> bone = new osgAnimation::Bone( parent->getName()+"End" );
bone->setBindMatrixInBoneSpace( osg::Matrix::translate(offsetEndSite) );
bone->setDataVariance( osg::Object::DYNAMIC );
parent->addChild( bone.get() );
if ( _drawingFlag )
parent->addChild( createRefGeometry(offsetEndSite, 0.5).get() );
}
}
fr.advanceOverCurrentFieldOrBlock();
}
if ( fr.matchSequence("ROOT %w {") || fr.matchSequence("JOINT %w {") )
{
isRecognized = true;
// Process JOINT section
osg::ref_ptr<osgAnimation::Bone> bone = new osgAnimation::Bone( fr[1].getStr() );
bone->setDefaultUpdateCallback();
bone->setDataVariance( osg::Object::DYNAMIC );
parent->addChild( bone.get() );
_joints.push_back( JointNode(bone, 0) );
int entry = fr[1].getNoNestedBrackets();
fr += 3;
while ( !fr.eof() && fr[0].getNoNestedBrackets()>entry )
buildHierarchy( fr, entry, bone.get() );
fr.advanceOverCurrentFieldOrBlock();
}
if ( !isRecognized )
{
osg::notify(osg::WARN) << "BVH Reader: Unrecognized symbol " << fr[0].getStr()
<< ". Ignore current field or block." << std::endl;
fr.advanceOverCurrentFieldOrBlock();
}
}
void buildMotion( osgDB::Input& fr, osgAnimation::Animation* anim )
{
int i=0, frames=0;
float frameTime=0.033f;
if ( !fr.readSequence("Frames:", frames) )
{
osg::notify(osg::WARN) << "BVH Reader: Frame number setting not found, but an unexpected "
<< fr[0].getStr() << ". Set to 1." << std::endl;
}
++fr;
if ( !fr.readSequence("Time:", frameTime) )
{
osg::notify(osg::WARN) << "BVH Reader: Frame time setting not found, but an unexpected "
<< fr[0].getStr() << ". Set to 0.033 (30FPS)." << std::endl;
}
// Each joint has a position animating channel and an euler animating channel
std::vector< osg::ref_ptr<osgAnimation::Vec3LinearChannel> > posChannels;
std::vector< osg::ref_ptr<osgAnimation::QuatSphericalLinearChannel> > rotChannels;
for ( JointList::iterator itr=_joints.begin(); itr!=_joints.end(); ++itr )
{
std::string name = itr->first->getName();
osg::ref_ptr<osgAnimation::Vec3KeyframeContainer> posKey = new osgAnimation::Vec3KeyframeContainer;
osg::ref_ptr<osgAnimation::Vec3LinearSampler> posSampler = new osgAnimation::Vec3LinearSampler;
osg::ref_ptr<osgAnimation::Vec3LinearChannel> posChannel = new osgAnimation::Vec3LinearChannel( posSampler.get() );
posSampler->setKeyframeContainer( posKey.get() );
posChannel->setName( "position" );
posChannel->setTargetName( name );
osg::ref_ptr<osgAnimation::QuatKeyframeContainer> rotKey = new osgAnimation::QuatKeyframeContainer;
osg::ref_ptr<osgAnimation::QuatSphericalLinearSampler> rotSampler = new osgAnimation::QuatSphericalLinearSampler;
osg::ref_ptr<osgAnimation::QuatSphericalLinearChannel> rotChannel = new osgAnimation::QuatSphericalLinearChannel( rotSampler.get() );
rotSampler->setKeyframeContainer( rotKey.get() );
rotChannel->setName( "quaternion" );
rotChannel->setTargetName( name );
posChannels.push_back( posChannel );
rotChannels.push_back( rotChannel );
}
// Obtain motion data from the stream
while ( !fr.eof() && i<frames )
{
for ( unsigned int n=0; n<_joints.size(); ++n )
{
osgAnimation::Vec3LinearChannel* posChannel = posChannels[n].get();
osgAnimation::QuatSphericalLinearChannel* rotChannel = rotChannels[n].get();
setKeyframe( fr, _joints[n].second, frameTime*(double)i,
dynamic_cast<osgAnimation::Vec3KeyframeContainer*>(posChannel->getSampler()->getKeyframeContainer()),
dynamic_cast<osgAnimation::QuatKeyframeContainer*>(rotChannel->getSampler()->getKeyframeContainer()) );
}
i++;
}
// Add valid channels to the animate object
for ( unsigned int n=0; n<_joints.size(); ++n )
{
if ( posChannels[n]->getOrCreateSampler()->getOrCreateKeyframeContainer()->size()>0 )
anim->addChannel( posChannels[n].get() );
if ( rotChannels[n]->getOrCreateSampler()->getOrCreateKeyframeContainer()->size()>0 )
anim->addChannel( rotChannels[n].get() );
}
}