/** modifies gesture appearancy according to POWER settings, move first key pose, changes hold durations
*param _motionSegments key poses of the sequence
*param _nucleusStart first pose of the nucleus at this position
**/
void GestureModifier::applyPower(vector<MotionSegment *> & _motionSegments, unsigned int _nucleusStart)
{
float power = _motionSegments[_nucleusStart]->getGestureModifier()->getPointee()->getPower();
if (power == 0) return;
if (power > 0 )
{
unsigned int holdTime = static_cast<unsigned int> ( 300 * floor(power));
unsigned int stopTime = _motionSegments[_nucleusStart]->getAbsoluteStopTime();
_motionSegments[_nucleusStart]->setHoldDuration(_motionSegments[_nucleusStart]->getHoldDuration() + holdTime);
if (_motionSegments.size() > (_nucleusStart +1) )
{
unsigned int nextStopTime = _motionSegments[_nucleusStart + 1]->getAbsoluteStopTime();
unsigned int nextHoldTime = _motionSegments[_nucleusStart + 1]->getHoldDuration();
if ((nextStopTime-nextHoldTime) < (stopTime + holdTime))
{
if (nextHoldTime >0 )
{
nextHoldTime -= holdTime;
if (nextHoldTime >= 0)
{
_motionSegments[_nucleusStart + 1]->setHoldDuration(nextHoldTime);
_motionSegments[_nucleusStart]->setAbsoluteStopTime(stopTime + holdTime);
}else
{
_motionSegments[_nucleusStart + 1]->setAbsoluteStopTime(nextStopTime - nextHoldTime +100);
_motionSegments[_nucleusStart + 1]->setHoldDuration(0);
}
}else
{
_motionSegments[_nucleusStart + 1]->setAbsoluteStopTime(stopTime + holdTime);
_motionSegments[_nucleusStart]->setAbsoluteStopTime(nextStopTime);
}
}else
_motionSegments[_nucleusStart]->setAbsoluteStopTime(stopTime + holdTime);
}else
_motionSegments[_nucleusStart]->setAbsoluteStopTime(stopTime + holdTime);
SMRIKConstraint* constraintPtr = static_cast<ActuatorHybridIKSlerp*>(((_motionSegments[_nucleusStart]->getActuator(0))))->getConstraintPtr(0);
SMRVector3 currentKeyPoint = constraintPtr->getPosition();
SMRVector3 nextKeyPoint = (static_cast<ActuatorHybridIKSlerp*>((_motionSegments[_nucleusStart+1])->getActuator(0)))->getConstraintPtr(0)->getPosition();
constraintPtr->setPosition(currentKeyPoint +((currentKeyPoint - nextKeyPoint).normalize() * (0.1f * power )));
}else
{
unsigned int holdTime = _motionSegments[_nucleusStart]->getHoldDuration();
if (holdTime > 0 )
{
unsigned int newHoldTime = static_cast<unsigned int> (max(0.0f,holdTime + (power * holdTime)));
_motionSegments[_nucleusStart]->setHoldDuration(newHoldTime);
_motionSegments[_nucleusStart]->setAbsoluteStopTime(_motionSegments[_nucleusStart]->getAbsoluteStopTime() - (holdTime -newHoldTime ));
}
}
}
void Tutorial02::onUpdate()
{
float tx,ty,tz;
m_flyNode.getPosition(&tx,&ty,&tz);
//roughly simulates the random fly of a fly
if((rand()%100)>95)
{
m_dx=((SMRUtils::ranf()))/50.0f;
m_dy=((SMRUtils::ranf()))/50.0f;
m_dz=((SMRUtils::ranf()))/50.0f;
}
//change fly position
m_flyNode.setPosition(tx+m_dx,ty+m_dy,tz+m_dz);
if(tx<-2.0) m_dx=0.05f;
if(tx>2.0) m_dx=-0.05f;
if(ty<2.0) m_dy=0.05f;
if(ty>4.0) m_dy=-0.05f;
if(tz<-2.0) m_dz=0.05f;
if(tz>2.0) m_dz=-0.05f;
m_flyNode.getPosition(&tx,&ty,&tz);
//update constraint position according to fly position
m_ikConstraint->setPosition(SMRVector3(tx,ty,tz));
//compute inverse kinematics
m_ikSolver->process();
//update visual representations
m_bones.update();
}
void ActuatorHybridIKSlerp::setTarget(const char* _jointTarget, const char* _jointName, const SMRVector3 &_offset, const SMRVector3 &_rotationOffset)
{
SMRIKConstraint *constraint = new SMRIKConstraint(); // use a factory later on
constraint->setJointTarget(_jointTarget, _rotationOffset);
constraint->setOffset(_offset);
constraint->setRelatedJointName(_jointName);
m_constraints.push_back(constraint);
//if related joint is the last one, enable analitical solver
if (string(_jointName) == (m_kinematicChain->getJoint(m_kinematicChain->getNumJoints()-1))->getName() && m_kinematicChain->getName().find("arm") != string::npos ) // hack to limit IK to arms
{
m_analyticalIKSolver.addConstraintPtr(constraint);
m_perfomAnalyticalIK = true;
}
m_iterativeIKSolver.addConstraintPtr(constraint);
//computeTargetPose();
}
void ActuatorHybridIKSlerp::setTarget(const SMRVector3 &target, const char* _jointName, const SMRVector3 &_offset)
{
SMRIKConstraint *constraint = new SMRIKConstraint(); // use a factory later on
constraint->setPosition(target);
constraint->setOffset(_offset);
constraint->setRelatedJointName(_jointName);
m_constraints.push_back(constraint);
if (string(_jointName) == (m_kinematicChain->getJoint(m_kinematicChain->getNumJoints()-1))->getName() )
{
m_analyticalIKSolver.addConstraintPtr(constraint);
m_perfomAnalyticalIK = true;
}
m_iterativeIKSolver.addConstraintPtr(constraint);
//computeTargetPose();
}
/* extents spatial dimension by scaling the motion bounding box
*/
void GestureModifier::spatialExtent(vector<MotionSegment *> & _motionSegments, const SMRVector3 & _lowerBoxBound, const SMRVector3 & _higherBoxBound)
{
if (m_v_s == 0.0) return; // no spatial extent to apply, return
vector<MotionSegment *>::iterator motionSegIt = _motionSegments.begin();
while ( motionSegIt < _motionSegments.end() && (*motionSegIt)->getGestureModifier() == NULL )
{
motionSegIt++;
}
if ( motionSegIt == _motionSegments.end())
return; //no nucleus assigned to this gesture
//first key pose:
SMRIKConstraint* constraintPtr = (static_cast<ActuatorHybridIKSlerp*>((*motionSegIt)->getActuator(0)))->getConstraintPtr(0);
SMRVector3 currentKeyPoint = constraintPtr->getPosition();
motionSegIt++;
if ( motionSegIt == _motionSegments.end() || (*motionSegIt)->getGestureModifier() == NULL )
{
//only one pose in the nucleus
((*motionSegIt)->getGestureModifier())->getPointee()->spatialExtent(currentKeyPoint);
constraintPtr->setPosition(currentKeyPoint);
return;
}
SMRVector3 boundingBoxCenter = (_lowerBoxBound + _higherBoxBound) * 0.5f;
const float scaleFactor = m_v_s * 0.8f;
constraintPtr->setPosition(currentKeyPoint + ((currentKeyPoint-boundingBoxCenter)* scaleFactor));
constraintPtr = (static_cast<ActuatorHybridIKSlerp*>((*motionSegIt)->getActuator(0)))->getConstraintPtr(0);
currentKeyPoint = constraintPtr->getPosition();
constraintPtr->setPosition(currentKeyPoint + ((currentKeyPoint-boundingBoxCenter)* scaleFactor));
motionSegIt++;
while ( motionSegIt < _motionSegments.end() && (*motionSegIt)->getGestureModifier() != NULL )
{
constraintPtr = (static_cast<ActuatorHybridIKSlerp*>((*motionSegIt)->getActuator(0)))->getConstraintPtr(0);
currentKeyPoint = constraintPtr->getPosition();
constraintPtr->setPosition(currentKeyPoint + ((currentKeyPoint-boundingBoxCenter)* scaleFactor));
motionSegIt++;
}
}
void Tutorial03::onUpdate()
{
float tx,ty,tz;
m_flyNode.getPosition(&tx,&ty,&tz);
//roughly simulates the random fly of a fly
if((rand()%100)>95)
{
m_dx=((SMRUtils::ranf()))/100.0f;
m_dy=((SMRUtils::ranf()))/100.0f;
m_dz=((SMRUtils::ranf()))/100.0f;
}
//change fly position
if(tx<-1.0) m_dx= 0.01f;
if(tx>1.0) m_dx= -0.01f;
if(ty<1.0) m_dy= 0.01f;
if(ty>2.2) m_dy= -0.01f;
if(tz<-1.0) m_dz= 0.01f;
if(tz>1.0) m_dz= -0.01f;
m_flyNode.setPosition(tx+m_dx,ty+m_dy,tz+m_dz);
m_flyNode.getPosition(&tx,&ty,&tz);
SMRQuaternion rotCorrection;
rotCorrection.fromEulerAngles(-M_PI/2.0, 0.0, 0.0);
//update constraint position according to fly position
SMRVector3 targetPosition(tx,ty,tz);
rotCorrection.rotate(targetPosition);
m_ikConstraint->setPosition(targetPosition);
//compute inverse kinematics
m_ikSolver->process();
//update tentacle's joint (IK)
updateTentacle();
}
