void AnimBlendLinearMove::setFrameAndPhase(float dt, float alpha, int prevPoseIndex, int nextPoseIndex,
float* prevDeltaTimeOut, float* nextDeltaTimeOut, Triggers& triggersOut) {
const float FRAMES_PER_SECOND = 30.0f;
auto prevClipNode = std::dynamic_pointer_cast<AnimClip>(_children[prevPoseIndex]);
assert(prevClipNode);
auto nextClipNode = std::dynamic_pointer_cast<AnimClip>(_children[nextPoseIndex]);
assert(nextClipNode);
float v0 = _characteristicSpeeds[prevPoseIndex];
float n0 = (prevClipNode->getEndFrame() - prevClipNode->getStartFrame()) + 1.0f;
float v1 = _characteristicSpeeds[nextPoseIndex];
float n1 = (nextClipNode->getEndFrame() - nextClipNode->getStartFrame()) + 1.0f;
// rate of change in phase space, necessary to achive desired speed.
float omega = (_desiredSpeed * FRAMES_PER_SECOND) / ((1.0f - alpha) * v0 * n0 + alpha * v1 * n1);
float f0 = prevClipNode->getStartFrame() + _phase * n0;
prevClipNode->setCurrentFrame(f0);
float f1 = nextClipNode->getStartFrame() + _phase * n1;
nextClipNode->setCurrentFrame(f1);
// integrate phase forward in time.
_phase += omega * dt;
// detect loop trigger events
if (_phase >= 1.0f) {
triggersOut.push_back(_id + "Loop");
_phase = glm::fract(_phase);
}
*prevDeltaTimeOut = omega * dt * (n0 / FRAMES_PER_SECOND);
*nextDeltaTimeOut = omega * dt * (n1 / FRAMES_PER_SECOND);
}
void PointsFileSystem::navigateToFirstFrame()
{
int current_frame = getDisplayFirstFrame()->getFrame();
if (current_frame == getStartFrame())
return;
int start_frame = getStartFrame();
hideAndShowPointCloud(current_frame, start_frame);
return;
}
void AnimBlendLinearMove::setCurrentFrameInternal(float frame) {
assert(_children.size() > 0);
auto clipNode = std::dynamic_pointer_cast<AnimClip>(_children.front());
assert(clipNode);
const float NUM_FRAMES = (clipNode->getEndFrame() - clipNode->getStartFrame()) + 1.0f;
_phase = fmodf(frame, NUM_FRAMES);
}
//! updates the absolute position based on the relative and the parents position
void CAnimatedMeshSceneNode::updateAbsolutePosition()
{
if ( 0 == Mesh || Mesh->getMeshType() != EAMT_MD3 )
{
IAnimatedMeshSceneNode::updateAbsolutePosition();
return;
}
SMD3QuaterionTag parent;
if ( Parent && Parent->getType () == ESNT_ANIMATED_MESH)
{
parent = ((IAnimatedMeshSceneNode*) Parent)->getAbsoluteTransformation ( MD3Special.Tagname );
}
SMD3QuaterionTag relative( RelativeTranslation, RelativeRotation );
SMD3QuaterionTagList *taglist;
taglist = ( (IAnimatedMeshMD3*) Mesh )->getTagList ( getFrameNr(),255,getStartFrame (),getEndFrame () );
if ( taglist )
{
MD3Special.AbsoluteTagList.Container.set_used ( taglist->size () );
for ( u32 i = 0; i!= taglist->size (); ++i )
{
MD3Special.AbsoluteTagList[i].position = parent.position + (*taglist)[i].position + relative.position;
MD3Special.AbsoluteTagList[i].rotation = parent.rotation * (*taglist)[i].rotation * relative.rotation;
}
}
}
void CAnimatedMeshSceneNode::useAnimationSet(u32 set_num)
{
if (m_animation_set.empty())
{
setFrameLoop(getStartFrame(), getEndFrame());
return;
}
setFrameLoop(m_animation_set[set_num * 2], m_animation_set[set_num * 2 + 1]);
}
bool GAFAnimation::gotoAndPlay(const char * frameLabel)
{
int f = getStartFrame(frameLabel);
if (-1 == f)
{
return false;
}
return gotoAndPlay(f);
}
void VisualOdometry::confirmTrials() {
// empty check
if (trials.empty())
return;
// triangulate landmarks
// prepare points
cv::Mat pts1(2, trials.size(), cv::DataType<float>::type),
pts2(2, trials.size(), cv::DataType<float>::type);
int col = 0;
for (auto it = trials.begin(); it != trials.end(); it++) {
cv::KeyPoint k1, k2;
it->firstPointPair(k1, k2);
pts1.at<float>(0, col) = k1.pt.x;
pts1.at<float>(1, col) = k1.pt.y;
pts2.at<float>(0, col) = k2.pt.x;
pts2.at<float>(1, col) = k2.pt.y;
col++;
}
cv::Mat pts3D;
triangulate(pts1, pts2, pts3D);
// convert to world coordinate
int sframe = trials.back().getStartFrame();
cv::Mat posR, posT;
graph.getPose(sframe, posR, posT);
cv::Mat posRT = fullRT(posR, posT);
pts3D = posRT * pts3D;
int colcount = 0;
for (auto it = trials.begin(); it != trials.end(); it++) {
// add location to landmark data structure
cv::Point3f p = cv::Point3f(pts3D.at<float>(0, colcount),
pts3D.at<float>(1, colcount),
pts3D.at<float>(2, colcount));
it->setLocation(p);
colcount++;
// add initial value of land mark to factor graph data structure
graph.addLandMark(landmarkID, p);
// move from trail to true landmarks
landmarks[landmarkID] = *it;
// add factors
int curframe = it->getStartFrame();
for (int i = 0; i < it->getTraceSize(); i++) {
cv::KeyPoint p1, p2;
it->getPointPair(i, p1, p2);
graph.addStereo(curframe, landmarkID, p1.pt, p2.pt);
curframe++;
}
landmarkID++;
}
trials.clear();
}
void
Model::toXml(QTextStream &stream, QString indent,
QString extraAttributes) const
{
stream << indent;
stream << QString("<model id=\"%1\" name=\"%2\" sampleRate=\"%3\" start=\"%4\" end=\"%5\" %6/>\n")
.arg(getObjectExportId(this))
.arg(encodeEntities(objectName()))
.arg(getSampleRate())
.arg(getStartFrame())
.arg(getEndFrame())
.arg(extraAttributes);
}
void PointsFileSystem::navigateToPreviousFrame()
{
int current_frame = getDisplayFirstFrame()->getFrame();
if (current_frame == getStartFrame())
return;
int prev_frame = current_frame - 1;
hideAndShowPointCloud(current_frame, prev_frame);
return;
}
bool GAFObject::gotoAndPlay(const std::string& frameLabel)
{
uint32_t f = getStartFrame(frameLabel);
if (IDNONE == f)
{
uint32_t frameNumber = atoi(frameLabel.c_str());
if (frameNumber == 0)
{
return false;
}
return gotoAndPlay(frameNumber - 1);
}
return gotoAndPlay(f);
}
bool GAFAnimation::playSequence(const char * name, bool looped, bool _resume, AnimSetSequenceHint hint)
{
if (!m_asset)
{
return false;
}
if (!name)
{
return false;
}
int s = getStartFrame(name);
int e = getEndFrame(name);
if (-1 == s || -1 == e)
{
return false;
}
m_currentSequenceStart = s;
m_currentSequenceEnd = e;
if (_currentFrameIndex < m_currentSequenceStart || _currentFrameIndex >m_currentSequenceEnd)
{
_currentFrameIndex = m_currentSequenceStart;
}
else
{
if (hint == ASSH_RESTART)
{
_currentFrameIndex = m_currentSequenceStart;
}
else
{
// new hints may appear
}
}
setLooped(looped);
if (_resume)
{
resumeAnimation();
}
else
{
stop();
}
return true;
}
bool GAFObject::playSequence(const std::string& name, bool looped, bool resume /*= true*/)
{
if (!m_asset || !m_timeline)
{
return false;
}
if (name.empty())
{
return false;
}
uint32_t s = getStartFrame(name);
uint32_t e = getEndFrame(name);
if (IDNONE == s || IDNONE == e)
{
return false;
}
m_currentSequenceStart = s;
m_currentSequenceEnd = e;
m_currentFrame = m_isReversed ? (e - 1) : (s);
setLooped(looped, false);
if (resume)
{
resumeAnimation();
}
else
{
stop();
}
return true;
}
//! renders the node.
void CAnimatedMeshSceneNode::render()
{
video::IVideoDriver* driver = SceneManager->getVideoDriver();
if (!Mesh || !driver)
return;
bool isTransparentPass =
SceneManager->getSceneNodeRenderPass() == scene::ESNRP_TRANSPARENT;
++PassCount;
s32 frame = getFrameNr();
scene::IMesh* m = Mesh->getMesh(frame, 255, StartFrame, EndFrame);
if ( 0 == m )
{
#ifdef _DEBUG
os::Printer::log("Animated Mesh returned no mesh to render.", Mesh->getDebugName(), ELL_WARNING);
#endif
}
driver->setTransform(video::ETS_WORLD, AbsoluteTransformation);
u32 i,g;
// update all dummy transformation nodes
if (!JointChildSceneNodes.empty() && Mesh &&
(Mesh->getMeshType() == EAMT_MS3D || Mesh->getMeshType() == EAMT_X || Mesh->getMeshType() == EAMT_B3D ))
{
IAnimatedMeshMS3D* amm = (IAnimatedMeshMS3D*)Mesh;
core::matrix4* m;
for ( i=0; i< JointChildSceneNodes.size(); ++i)
if (JointChildSceneNodes[i])
{
m = amm->getMatrixOfJoint(i, frame);
if (m)
JointChildSceneNodes[i]->getRelativeTransformationMatrix() = *m;
}
}
if (Shadow && PassCount==1)
Shadow->setMeshToRenderFrom(m);
// for debug purposes only:
u32 renderMeshes = 1;
video::SMaterial mat;
if (DebugDataVisible && PassCount==1)
{
// overwrite half transparency
if ( DebugDataVisible & scene::EDS_HALF_TRANSPARENCY )
{
for ( g=0; g<m->getMeshBufferCount(); ++g)
{
mat = Materials[g];
mat.MaterialType = video::EMT_TRANSPARENT_ADD_COLOR;
driver->setMaterial(mat);
driver->drawMeshBuffer ( m->getMeshBuffer ( g ) );
}
renderMeshes = 0;
}
}
// render original meshes
if ( renderMeshes )
{
for ( i=0; i<m->getMeshBufferCount(); ++i)
{
video::IMaterialRenderer* rnd = driver->getMaterialRenderer(Materials[i].MaterialType);
bool transparent = (rnd && rnd->isTransparent());
// only render transparent buffer if this is the transparent render pass
// and solid only in solid pass
if (transparent == isTransparentPass)
{
scene::IMeshBuffer* mb = m->getMeshBuffer(i);
driver->setMaterial(Materials[i]);
driver->drawMeshBuffer(mb);
}
}
}
// for debug purposes only:
if (DebugDataVisible && PassCount==1)
{
mat.Lighting = false;
driver->setMaterial(mat);
// show bounding box
if ( DebugDataVisible & scene::EDS_BBOX_BUFFERS )
{
for ( g=0; g< m->getMeshBufferCount(); ++g)
{
driver->draw3DBox( m->getMeshBuffer(g)->getBoundingBox(),
video::SColor(0,190,128,128)
);
}
}
if ( DebugDataVisible & scene::EDS_BBOX )
driver->draw3DBox(Box, video::SColor(0,255,255,255));
// show skeleton
if ( DebugDataVisible & scene::EDS_SKELETON )
{
if (Mesh->getMeshType() == EAMT_X)
{
// draw skeleton
const core::array<core::vector3df>* ds =
((IAnimatedMeshX*)Mesh)->getDrawableSkeleton(frame);
for ( g=0; g < ds->size(); g +=2 )
driver->draw3DLine((*ds)[g], (*ds)[g+1], video::SColor(0,51,66,255));
}
// show tag for quake3 models
if (Mesh->getMeshType() == EAMT_MD3 )
{
IAnimatedMesh * arrow = SceneManager->addArrowMesh ( "__tag_show",
4, 8, 5.f, 4.f, 0.5f, 1.f, 0xFF0000FF, 0xFF000088
);
if ( 0 == arrow )
{
arrow = SceneManager->getMesh ( "__tag_show" );
}
IMesh *arrowMesh = arrow->getMesh ( 0 );
video::SMaterial material;
material.Lighting = false;
driver->setMaterial(material);
core::matrix4 m;
SMD3QuaterionTagList *taglist = ((IAnimatedMeshMD3*)Mesh)->getTagList ( getFrameNr(),
255,
getStartFrame (),
getEndFrame ()
);
if ( taglist )
{
for ( u32 g = 0; g != taglist->size(); ++g )
{
(*taglist)[g].setto ( m );
driver->setTransform(video::ETS_WORLD, m );
for ( u32 a = 0; a != arrowMesh->getMeshBufferCount(); ++a )
driver->drawMeshBuffer ( arrowMesh->getMeshBuffer ( a ) );
}
}
}
}
// show normals
if ( DebugDataVisible & scene::EDS_NORMALS )
{
IAnimatedMesh * arrow = SceneManager->addArrowMesh ( "__debugnormal",
4, 8, 1.f, 0.6f, 0.05f, 0.3f, 0xFFECEC00, 0xFF999900
);
if ( 0 == arrow )
{
arrow = SceneManager->getMesh ( "__debugnormal" );
}
IMesh *mesh = arrow->getMesh ( 0 );
// find a good scaling factor
core::matrix4 m2;
// draw normals
for ( g=0; g<m->getMeshBufferCount(); ++g)
{
scene::IMeshBuffer* mb = m->getMeshBuffer(g);
const u32 vSize = mb->getVertexPitch();
const video::S3DVertex* v = ( const video::S3DVertex*)mb->getVertices();
for ( i = 0; i != mb->getVertexCount(); ++i )
{
AlignToUpVector ( m2, v->Normal );
AbsoluteTransformation.transformVect ( m2.pointer(), v->Pos );
driver->setTransform(video::ETS_WORLD, m2 );
for ( u32 a = 0; a != mesh->getMeshBufferCount(); ++a )
driver->drawMeshBuffer ( mesh->getMeshBuffer ( a ) );
v = (const video::S3DVertex*) ( (u8*) v + vSize );
}
}
driver->setTransform(video::ETS_WORLD, AbsoluteTransformation);
}
// show mesh
if ( DebugDataVisible & scene::EDS_MESH_WIRE_OVERLAY )
{
mat.Lighting = false;
mat.Wireframe = true;
driver->setMaterial(mat);
for ( g=0; g<m->getMeshBufferCount(); ++g)
{
driver->drawMeshBuffer ( m->getMeshBuffer ( g ) );
}
}
}
}
