void OnlineViewerServerImpl::updateLog
(BodyItemInfo* info, const LinkPositionSequence& links, int numLinks, double time)
{
BodyMotionItem* motionItem = info->logItem;
if(!motionItem){
motionItem = info->bodyItem->findChildItem<BodyMotionItem>(info->logName);
if(!motionItem){
motionItem = new BodyMotionItem();
motionItem->setName(info->logName);
info->bodyItem->addChildItem(motionItem);
}
resetLogItem(info, motionItem);
}
if(info->needToSelectLogItem){
ItemTreeView::instance()->selectItem(motionItem, true);
info->needToSelectLogItem = false;
}
MultiSE3Seq& seq = *motionItem->motion()->linkPosSeq();
int frame = seq.frameOfTime(time);
int lastFrame = std::max(0, std::min(frame, seq.numFrames()));
seq.setNumFrames(frame + 1);
Body* body = info->bodyItem->body();
for(int i=lastFrame; i <= frame; ++i){
MultiSE3Seq::Frame positions = seq.frame(i);
for(int j=0; j < numLinks; ++j){
SE3& se3 = positions[j];
se3.translation() = Eigen::Map<Vector3>(const_cast<double*>(links[j].p));
Matrix3 Rs = body->link(j)->Rs().transpose();
se3.rotation() = Eigen::Map<Matrix3>(const_cast<double*>(links[j].R)).transpose() * Rs;
}
}
}
void BodyMotionGenerationBar::onGenerationButtonClicked()
{
set<BodyMotionItem*> motionItems; // for avoiding overlap
ItemList<Item> selectedItems = ItemTreeView::mainInstance()->selectedItems<Item>();
for(size_t i=0; i < selectedItems.size(); ++i){
PoseSeqItem* poseSeqItem = dynamic_cast<PoseSeqItem*>(selectedItems[i]);
if(poseSeqItem){
motionItems.insert(poseSeqItem->bodyMotionItem());
} else {
BodyMotionItem* motionItem = dynamic_cast<BodyMotionItem*>(selectedItems[i]);
if(motionItem){
motionItems.insert(motionItem);
}
}
}
for(set<BodyMotionItem*>::iterator p = motionItems.begin(); p != motionItems.end(); ++p){
BodyMotionItem* motionItem = *p;
BodyItem* bodyItem = motionItem->findOwnerItem<BodyItem>(true);
if(bodyItem){
PoseProvider* provider = 0;
PoseSeqItem* poseSeqItem = dynamic_cast<PoseSeqItem*>(motionItem->parentItem());
if(poseSeqItem){
provider = poseSeqItem->interpolator().get();
} else {
bodyMotionPoseProvider->initialize(bodyItem->body(), motionItem->motion());
provider = bodyMotionPoseProvider;
if(setup->newBodyItemCheck.isChecked()){
BodyMotionItem* newMotionItem = new BodyMotionItem();
newMotionItem->setName(motionItem->name() + "'");
motionItem->parentItem()->insertChildItem(newMotionItem, motionItem->nextItem());
motionItem = newMotionItem;
}
}
shapeBodyMotion(bodyItem->body(), provider, motionItem, true);
}
}
}
