bool UnFbx::FFbxImporter::ImportCurveToAnimSequence(class UAnimSequence * TargetSequence, const FString& CurveName, const FbxAnimCurve* FbxCurve, int32 CurveFlags,const FbxTimeSpan AnimTimeSpan, const float ValueScale/*=1.f*/) const
{
if (TargetSequence && FbxCurve)
{
FName Name = *CurveName;
USkeleton* Skeleton = TargetSequence->GetSkeleton();
FSmartNameMapping* NameMapping = Skeleton->SmartNames.GetContainer(USkeleton::AnimCurveMappingName);
// Add or retrieve curve
USkeleton::AnimCurveUID Uid;
if (!NameMapping->Exists(Name))
{
// mark skeleton dirty
Skeleton->Modify();
}
NameMapping->AddOrFindName(Name, Uid);
FFloatCurve * CurveToImport = static_cast<FFloatCurve *>(TargetSequence->RawCurveData.GetCurveData(Uid, FRawCurveTracks::FloatType));
if(CurveToImport==NULL)
{
if(TargetSequence->RawCurveData.AddCurveData(Uid, CurveFlags))
{
CurveToImport = static_cast<FFloatCurve *> (TargetSequence->RawCurveData.GetCurveData(Uid, FRawCurveTracks::FloatType));
}
else
{
// this should not happen, we already checked before adding
ensureMsgf(0, TEXT("FBX Import: Critical error: no memory?"));
}
}
else
{
CurveToImport->FloatCurve.Reset();
}
return ImportCurve(FbxCurve, CurveToImport, AnimTimeSpan, ValueScale);
}
return false;
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent)
{
setupUi(this);
m_pTimerMainWindow = new QTimer(this);
m_pTimerMainWindow->setInterval(100);
m_pTimerMainWindow->start();
connect(ComboAngUnits, SIGNAL(currentIndexChanged(int)), this, SLOT(AngleUnitsChanged())) ;
connect(ComboPeriodMode, SIGNAL(currentIndexChanged(int)), this, SLOT(PeriodModeChanged())) ;
connect(ComboInterpolMode, SIGNAL(currentIndexChanged(int)), this, SLOT(InterpolMethodChanged())) ;
connect(CommandPeriod, SIGNAL(pressed()), this, SLOT(PeriodTextChanged())) ;
connect(CommandSamples, SIGNAL(pressed()), this, SLOT(SamplesTextChanged())) ;
connect(CommandThighLeng, SIGNAL(pressed()), this, SLOT(ThighLenTextChanged())) ;
connect(CommandLowerLegLeng, SIGNAL(pressed()) ,this, SLOT(LegLenTextChanged())) ;
connect(CommandDelay, SIGNAL(pressed()), this, SLOT(DelayTextChanged())) ;
connect(ButtonAdamsSim, SIGNAL(clicked()), this, SLOT(RunAdamsSim()));
/*-----------------------------------------------------------------------------------------------
Hip Objects Creation and Initialization
-----------------------------------------------------------------------------------------------*/
vector <double> vHipTimeVals, vHipAngVals;
pHipLeft = new CompleteJointPlot;
MainHLayoutLHip->addWidget(pHipLeft);
pHipRight = new CompleteJointPlot;
MainHLayoutRHip->addWidget(pHipRight);
vHipTimeVals.push_back(0.12); // Getting Time values into vector
vHipTimeVals.push_back(0.75);
vHipTimeVals.push_back(1.47);
vHipTimeVals.push_back(1.98);
vHipTimeVals.push_back(2.55);
vHipTimeVals.push_back(2.91);
vHipAngVals.push_back(0.371755131000000); // Getting Angle Values into Vector
vHipAngVals.push_back(0.0279252680000000);
vHipAngVals.push_back(-0.336848546000000);
vHipAngVals.push_back(0.0191986220000000);
vHipAngVals.push_back(0.425860337000000);
vHipAngVals.push_back(0.359537826000000);
pHipLeft->SetDelay(1.5);
pHipLeft->SetTitle("Left Hip");
pHipLeft->SetMarkersStatus(MarkersUnchanged);
pHipLeft->ImportMarkers (vHipTimeVals,vHipAngVals);
pHipLeft->ShowMarkers(Qt::red);
pHipLeft->PlotCurve();
pHipRight->SetDelay(0);
pHipRight->SetTitle("Right Hip");
pHipRight->SetMarkersStatus(MarkersUnchanged);
pHipRight->ImportMarkers ( vHipTimeVals , vHipAngVals );
pHipRight->ShowMarkers(Qt::red);
pHipRight->PlotCurve();
/*-----------------------------------------------------------------------------------------------
Knee Objects Creation and Initialization
-----------------------------------------------------------------------------------------------*/
vector <double> vKneeTimeVals, vKneeAngVals;
pKneeLeft = new CompleteJointPlot;
MainHLayoutLKnee->addWidget(pKneeLeft);
pKneeRight = new CompleteJointPlot;
MainHLayoutRKnee->addWidget(pKneeRight);
vKneeTimeVals.push_back(0.15); // Getting Time values into vector
vKneeTimeVals.push_back(0.39);
vKneeTimeVals.push_back(0.78);
vKneeTimeVals.push_back(1.17);
vKneeTimeVals.push_back(1.65);
vKneeTimeVals.push_back(2.16);
vKneeAngVals.push_back(-0.169296937); // Getting Angle Values into Vector
vKneeAngVals.push_back(-0.307177948000000);
vKneeAngVals.push_back(-0.151843645000000);
vKneeAngVals.push_back(-0.0331612560000000);
vKneeAngVals.push_back(-0.3036872900000);
vKneeAngVals.push_back(-0.996583003000000);
pKneeLeft->SetDelay(1.5);
pKneeLeft->SetTitle("Left Knee");
pKneeLeft->SetMarkersStatus(MarkersUnchanged);
pKneeLeft->ImportMarkers ( vKneeTimeVals , vKneeAngVals );
pKneeLeft->ShowMarkers(Qt::red);
pKneeLeft->PlotCurve();
pKneeRight->SetDelay(0);
pKneeRight->SetTitle("Right Knee");
pKneeRight->SetMarkersStatus(MarkersUnchanged);
pKneeRight->ImportMarkers ( vKneeTimeVals , vKneeAngVals);
pKneeRight->ShowMarkers(Qt::red);
pKneeRight->PlotCurve();
connect(pHipLeft, SIGNAL(InterpolationCompleted()), this, SLOT(GetValuesInterpol())) ;
connect(pHipRight, SIGNAL(InterpolationCompleted()), this, SLOT(GetValuesInterpol())) ;
connect(pKneeLeft, SIGNAL(InterpolationCompleted()), this, SLOT(GetValuesInterpol())) ;
connect(pKneeRight, SIGNAL(InterpolationCompleted()), this, SLOT(GetValuesInterpol())) ;
connect(pHipLeft, SIGNAL(ImportCurve()), this, SLOT(ImportValsCurve())) ;
connect(pHipRight, SIGNAL(ImportCurve()), this, SLOT(ImportValsCurve())) ;
connect(pKneeLeft, SIGNAL(ImportCurve()), this, SLOT(ImportValsCurve())) ;
connect(pKneeRight, SIGNAL(ImportCurve()), this, SLOT(ImportValsCurve())) ;
/*-----------------------------------------------------------------------------------------------
Creating End Effector Objects and initialization
-----------------------------------------------------------------------------------------------*/
pEndEffectRight = new CompleteEndEffectPlot;
MWinHLayoutREndEffect->addWidget(pEndEffectRight);
pEndEffectLeft = new CompleteEndEffectPlot;
MWinHLayoutLEndEffect->addWidget(pEndEffectLeft);
pEndEffectLeft->SetMarkersNumber(vHipTimeVals.size(), vKneeTimeVals.size());
pEndEffectRight->SetMarkersNumber(vHipTimeVals.size(), vKneeTimeVals.size());
EndEffectorPlot(pEndEffectRight, pHipRight, pKneeRight);
EndEffectorPlot(pEndEffectLeft, pHipLeft, pKneeLeft);
/*-----------------------------------------------------------------------------------------------
Creating RobotLinks Object
-----------------------------------------------------------------------------------------------*/
pRobotMain = new CompleteRobotLinks;
MainHLayoutSimulation->addWidget(pRobotMain);
pRobotMain->SetThighLength(50);
pRobotMain->SetLegLength(60);
pRobotMain->SetStepValue(0.0);
pRobotMain->SetPeriod(lineEditPeriod->text().toDouble());
pRobotMain->SetDelay(lineEditDelay->text().toDouble());
pRobotMain->SetScalingFactorAngle(1);
pRobotMain->SetSamples(lineEditSamples->text().toInt());
pRobotMain->SetSamplesCounter(0);
pRobotMain->SetTimerInterval();
ChangeSimulation();
/*-----------------------------------------------------------------------------------------------
Pointer to Robot Objects Creation
-----------------------------------------------------------------------------------------------*/
ppRobotObjects = new CompleteJointPlot*[4];
ppRobotObjects[1] = pHipLeft;
ppRobotObjects[3] = pKneeLeft;
ppRobotObjects[0] = pHipRight;
ppRobotObjects[2] = pKneeRight;
}
