PoseT.hh

/*===========================================================================*\
*                                                                            *
*                              OpenFlipper                                   *
 *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
 *           Department of Computer Graphics and Multimedia                  *
 *                          All rights reserved.                             *
 *                            www.openflipper.org                            *
 *                                                                           *
 *---------------------------------------------------------------------------*
 * This file is part of OpenFlipper.                                         *
 *---------------------------------------------------------------------------*
 *                                                                           *
 * Redistribution and use in source and binary forms, with or without        *
 * modification, are permitted provided that the following conditions        *
 * are met:                                                                  *
 *                                                                           *
 * 1. Redistributions of source code must retain the above copyright notice, *
 *    this list of conditions and the following disclaimer.                  *
 *                                                                           *
 * 2. Redistributions in binary form must reproduce the above copyright      *
 *    notice, this list of conditions and the following disclaimer in the    *
 *    documentation and/or other materials provided with the distribution.   *
 *                                                                           *
 * 3. Neither the name of the copyright holder nor the names of its          *
 *    contributors may be used to endorse or promote products derived from   *
 *    this software without specific prior written permission.               *
 *                                                                           *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
*                                                                            *
\*===========================================================================*/

/*===========================================================================*\
*                                                                            *
*   $Revision$                                                       *
*   $LastChangedBy$                                                *
*   $Date$                     *
*                                                                            *
\*===========================================================================*/

#ifndef POSET_HH
#define POSET_HH

#include "ACG/Math/Matrix4x4T.hh"
#include "ACG/Math/VectorT.hh"

#include "ACG/Math/QuaternionT.hh"
#include "ACG/Math/DualQuaternionT.hh"


template<typename PointT>
class SkeletonT;

template<typename PointT>
class PoseT
{
  template<typename>
  friend class SkeletonT;
  template<typename>
  friend class AnimationT;
  template<typename>
  friend class FrameAnimationT;

protected:
  typedef PointT                                Point;
  typedef typename Point::value_type            Scalar;
  typedef typename ACG::VectorT<Scalar, 3>      Vector;
  typedef typename ACG::Matrix4x4T<Scalar>      Matrix;
  typedef typename ACG::QuaternionT<Scalar>     Quaternion;
  typedef typename ACG::DualQuaternionT<Scalar> DualQuaternion;

public:
  PoseT(SkeletonT<Point>* _skeleton);
  PoseT(const PoseT<PointT>& _other);
  virtual ~PoseT();

  // =======================================================================================
  // =======================================================================================
  
  inline const Matrix& localMatrix(unsigned int _joint) const;
  void setLocalMatrix(unsigned int _joint, const Matrix &_local, bool _keepLocalChildPositions=true);
  inline Vector localTranslation(unsigned int _joint);
  void setLocalTranslation(unsigned int _joint, const Vector &_position, bool _keepLocalChildPositions=true);  

  inline Matrix localMatrixInv(unsigned int _joint) const;
  
  inline const Matrix& globalMatrix(unsigned int _joint) const;
  void setGlobalMatrix(unsigned int _joint, const Matrix &_global, bool _keepGlobalChildPositions=true);
  inline Vector globalTranslation(unsigned int _joint);
  void setGlobalTranslation(unsigned int _joint, const Vector &_position, bool _keepGlobalChildPositions=true);
  
  virtual Matrix globalMatrixInv(unsigned int _joint) const;

  // =======================================================================================
  // =======================================================================================

  virtual void insertJointAt(unsigned int _index);

  virtual void removeJointAt(unsigned int _index);

protected:
  // =======================================================================================
  // =======================================================================================

  void updateFromLocal(unsigned int _joint, bool _keepChildPositions=true);
  void updateFromGlobal(unsigned int _joint, bool _keepChildPositions=true);

public:

  // =======================================================================================
  // =======================================================================================

  inline const Matrix&         unifiedMatrix(unsigned int _joint);
  inline const Quaternion&     unifiedRotation(unsigned int _joint);
  inline const DualQuaternion& unifiedDualQuaternion(unsigned int _joint);

protected:

  SkeletonT<PointT>* skeleton_;
  std::vector<Matrix> local_;
  std::vector<Matrix> global_;

  std::vector<Matrix> unified_;
  
  std::vector<DualQuaternion> unifiedDualQuaternion_;
};

//=============================================================================
//=============================================================================
#if defined(INCLUDE_TEMPLATES) && !defined(POSET_C)
#define POSET_TEMPLATES
#include "PoseT.cc"
#endif
//=============================================================================
#endif
//=============================================================================