void OsgSkeletonRepresentation::setNeutralBonePoses(const std::map<std::string, SurgSim::Math::RigidTransform3d>& poses)
{
for (auto& pose : poses)
{
setNeutralBonePose(pose.first, pose.second);
}
}
TEST_F(OsgSkeletonRepresentationRenderTests, WithNeutralPoseTest)
{
auto graphics = std::make_shared<SurgSim::Graphics::OsgSkeletonRepresentation>("Skeleton");
graphics->loadModel("OsgSkeletonRepresentationRenderTests/rigged_cylinder.osgt");
graphics->setSkinningShaderFileName("Shaders/skinning.vert");
graphics->setNeutralBonePose("Bone",
makeRigidTransform(makeRotationQuaternion(M_PI_4, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero()));
auto sceneElement = std::make_shared<SurgSim::Framework::BasicSceneElement>("Rigged Cylinder");
sceneElement->addComponent(graphics);
scene->addSceneElement(sceneElement);
viewElement->setPose(SurgSim::Math::makeRigidTransform(
Vector3d(-0.3, 0.3, -0.3),
Vector3d(0.0, 0.0, 0.0),
Vector3d(0.0, 0.0, 1.0)));
runtime->start();
boost::this_thread::sleep(boost::posix_time::milliseconds(2000));
std::pair<RigidTransform3d, RigidTransform3d> rootTransform;
rootTransform.first =
makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero());
rootTransform.second =
makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero());
std::pair<RigidTransform3d, RigidTransform3d> boneTransform;
boneTransform.first =
makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d::Zero());
boneTransform.second =
makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 4.0, 0.0));
int numSteps = 1000;
for (int i = 0; i < numSteps; ++i)
{
double t = static_cast<double>(i) / numSteps;
RigidTransform3d pose = interpolate(rootTransform, t);
sceneElement->setPose(pose);
pose = interpolate(boneTransform, t / 3.0);
graphics->setBonePose("Bone", RigidTransform3d::Identity());
graphics->setBonePose("Bone_001", pose);
graphics->setBonePose("Bone_002", pose);
graphics->setBonePose("Bone_003", pose);
/// The total number of steps should complete in 5 seconds
boost::this_thread::sleep(boost::posix_time::milliseconds(5000 / numSteps));
}
runtime->stop();
}