Loading visuals data from LuaModel, added stub for capsule mesh creation, added sample model rig
Martin Felis
parent
caf00bc3ac
commit
d1ada7f3a4
File diff suppressed because it is too large
Load Diff
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@ -14,6 +14,7 @@
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#include "Serializer.h"
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#include "CharacterModule.h"
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#include "LuaTableTypes.h"
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#include "rbdl/addons/luamodel/luatables.h"
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@ -26,6 +27,8 @@ bool LuaModelReadFromTable (LuaTable &model_table, Model *model, bool verbose);
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}
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}
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// Types needed to parse
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using namespace std;
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using namespace RigidBodyDynamics;
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using namespace RigidBodyDynamics::Addons;
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@ -108,6 +111,66 @@ bool CharacterEntity::LoadRig(const char* filename) {
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gLog ("Creating rig model from %s ... %s", filename, load_result ? "success" : "failed!");
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gLog ("Rig model has %d degrees of freedom", mRigModel->qdot_size);
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gLog ("Reading rig geometry information ... ");
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int frame_count = model_table["frames"].length();
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gLog ("Found %d frames", frame_count);
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for (int fi = 1; fi <= frame_count; ++fi) {
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LuaTableNode frame_table = model_table["frames"][fi];
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string frame_name = frame_table["name"].getDefault<string>("");
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int visuals_count = frame_table["visuals"].length();
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gLog (" Frame %s has %d visuals", frame_name.c_str(), visuals_count);
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for (int vi = 1; vi <= visuals_count; ++vi) {
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LuaTableNode visual_table = frame_table["visuals"][vi];
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bool have_geometry = visual_table["geometry"].exists();
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if (!have_geometry) {
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gLog (" Warning: could not find geometry for visual %d of frame %s",
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vi, frame_name.c_str());
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continue;
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}
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Vector4f color (1.f, 0.f, 1.f, 1.f);
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if (visual_table["color"].length() == 3) {
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color.block<3,1>(0,0) = visual_table["color"].getDefault(Vector3f(color.block<3,1>(0,0)));
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} if (visual_table["color"].length() == 4) {
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color = visual_table["color"].getDefault(color);
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}
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Mesh* mesh = nullptr;
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if (visual_table["geometry"]["box"].exists()) {
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Vector3f dimensions = visual_table["geometry"]["box"]["dimensions"].getDefault(Vector3f (1.f, 1.f, 1.f));
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mesh = Mesh::sCreateCuboid (
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dimensions[0],
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dimensions[1],
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dimensions[2]
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);
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} else if (visual_table["geometry"]["sphere"].exists()) {
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int rows = static_cast<int>(
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visual_table["geometry"]["sphere"]["radius"].getDefault (16.f)
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);
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int segments = static_cast<int>(
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visual_table["geometry"]["sphere"]["segments"].getDefault (16.f)
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);
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float radius = visual_table["geometry"]["sphere"]["radius"].getDefault (1.f);
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mesh = Mesh::sCreateUVSphere (rows, segments, radius);
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} else if (visual_table["geometry"]["capsule"].exists()) {
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int rows = static_cast<int>(
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visual_table["geometry"]["capsule"]["radius"].getDefault (16.f)
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);
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int segments = static_cast<int>(
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visual_table["geometry"]["capsule"]["segments"].getDefault (16.f)
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);
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float radius = visual_table["geometry"]["capsule"]["radius"].getDefault (1.f);
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float length = visual_table["geometry"]["capsule"]["length"].getDefault (1.f);
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mesh = Mesh::sCreateCapsule (rows, segments, length, radius);
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}
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}
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}
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return load_result;
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}
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@ -0,0 +1,353 @@
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/*
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* Puppeteer - A Motion Capture Mapping Tool
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* Copyright (c) 2013-2015 Martin Felis <martin.felis@iwr.uni-heidelberg.de>.
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* All rights reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
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* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE*
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*/
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#ifndef MARKER_MODEL_LUA_TYPES
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#define MARKER_MODEL_LUA_TYPES
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#include <rbdl/addons/luamodel/luatables.h>
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// SimpleMath Vector3f
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template<> Vector3f LuaTableNode::getDefault<Vector3f>(const Vector3f &default_value) {
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Vector3f result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 3) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 3d vector!" << std::endl;
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abort();
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}
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result[0] = static_cast<float>(vector_table[1].get<double>());
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result[1] = static_cast<float>(vector_table[2].get<double>());
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result[2] = static_cast<float>(vector_table[3].get<double>());
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}
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stackRestore();
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return result;
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}
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template<>
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void LuaTableNode::set<Vector3f>(const Vector3f &value) {
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LuaTable custom_table = stackCreateLuaTable();
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custom_table[1] = static_cast<double>(value[0]);
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custom_table[2] = static_cast<double>(value[1]);
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custom_table[3] = static_cast<double>(value[2]);
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stackRestore();
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}
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// SimpleMath Vector4f
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template<> Vector4f LuaTableNode::getDefault<Vector4f>(const Vector4f &default_value) {
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Vector4f result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 4) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 4d vector!" << std::endl;
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abort();
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}
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result[0] = static_cast<float>(vector_table[1].get<double>());
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result[1] = static_cast<float>(vector_table[2].get<double>());
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result[2] = static_cast<float>(vector_table[3].get<double>());
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result[3] = static_cast<float>(vector_table[4].get<double>());
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}
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stackRestore();
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return result;
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}
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// SimpleMath Matrix33f
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template<> SimpleMath::Fixed::Matrix<float, 3, 3> LuaTableNode::getDefault<SimpleMath::Fixed::Matrix<float, 3, 3> >(const SimpleMath::Fixed::Matrix<float, 3, 3> &default_value) {
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SimpleMath::Fixed::Matrix<float, 3, 3> result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 3) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 3d matrix!" << std::endl;
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abort();
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}
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if (vector_table[1].length() != 3
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|| vector_table[2].length() != 3
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|| vector_table[3].length() != 3) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 3d matrix!" << std::endl;
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abort();
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}
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result(0,0) = static_cast<float>(vector_table[1][1].get<double>());
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result(0,1) = static_cast<float>(vector_table[1][2].get<double>());
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result(0,2) = static_cast<float>(vector_table[1][3].get<double>());
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result(1,0) = static_cast<float>(vector_table[2][1].get<double>());
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result(1,1) = static_cast<float>(vector_table[2][2].get<double>());
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result(1,2) = static_cast<float>(vector_table[2][3].get<double>());
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result(2,0) = static_cast<float>(vector_table[3][1].get<double>());
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result(2,1) = static_cast<float>(vector_table[3][2].get<double>());
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result(2,2) = static_cast<float>(vector_table[3][3].get<double>());
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}
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stackRestore();
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return result;
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}
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template<>
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void LuaTableNode::set<SimpleMath::Fixed::Matrix<float, 3, 3> >(const SimpleMath::Fixed::Matrix<float, 3, 3> &value) {
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LuaTable custom_table = stackCreateLuaTable();
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custom_table[1][1] = static_cast<double>(value(0,0));
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custom_table[1][2] = static_cast<double>(value(0,1));
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custom_table[1][3] = static_cast<double>(value(0,2));
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custom_table[2][1] = static_cast<double>(value(1,0));
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custom_table[2][2] = static_cast<double>(value(1,1));
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custom_table[2][3] = static_cast<double>(value(1,2));
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custom_table[3][1] = static_cast<double>(value(2,0));
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custom_table[3][2] = static_cast<double>(value(2,1));
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custom_table[3][3] = static_cast<double>(value(2,2));
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stackRestore();
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}
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template<> RigidBodyDynamics::Math::Vector3d LuaTableNode::getDefault<RigidBodyDynamics::Math::Vector3d>(const RigidBodyDynamics::Math::Vector3d &default_value) {
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RigidBodyDynamics::Math::Vector3d result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 3) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 3d vector!" << std::endl;
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abort();
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}
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result[0] = vector_table[1];
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result[1] = vector_table[2];
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result[2] = vector_table[3];
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}
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stackRestore();
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return result;
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}
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template<> RigidBodyDynamics::Math::SpatialVector LuaTableNode::getDefault<RigidBodyDynamics::Math::SpatialVector>(const RigidBodyDynamics::Math::SpatialVector &default_value) {
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RigidBodyDynamics::Math::SpatialVector result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 6) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 6d vector!" << std::endl;
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abort();
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}
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result[0] = vector_table[1];
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result[1] = vector_table[2];
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result[2] = vector_table[3];
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result[3] = vector_table[4];
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result[4] = vector_table[5];
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result[5] = vector_table[6];
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}
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stackRestore();
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return result;
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}
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template<> RigidBodyDynamics::Math::Matrix3d LuaTableNode::getDefault<RigidBodyDynamics::Math::Matrix3d>(const RigidBodyDynamics::Math::Matrix3d &default_value) {
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RigidBodyDynamics::Math::Matrix3d result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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if (vector_table.length() != 3) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 3d matrix!" << std::endl;
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abort();
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}
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if (vector_table[1].length() != 3
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|| vector_table[2].length() != 3
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|| vector_table[3].length() != 3) {
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std::cerr << "LuaModel Error at " << keyStackToString() << " : invalid 3d matrix!" << std::endl;
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abort();
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}
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result(0,0) = vector_table[1][1];
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result(0,1) = vector_table[1][2];
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result(0,2) = vector_table[1][3];
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result(1,0) = vector_table[2][1];
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result(1,1) = vector_table[2][2];
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result(1,2) = vector_table[2][3];
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result(2,0) = vector_table[3][1];
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result(2,1) = vector_table[3][2];
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result(2,2) = vector_table[3][3];
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}
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stackRestore();
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return result;
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}
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template<> RigidBodyDynamics::Math::SpatialTransform LuaTableNode::getDefault<RigidBodyDynamics::Math::SpatialTransform>(const RigidBodyDynamics::Math::SpatialTransform &default_value) {
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RigidBodyDynamics::Math::SpatialTransform result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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result.r = vector_table["r"].getDefault<RigidBodyDynamics::Math::Vector3d>(RigidBodyDynamics::Math::Vector3d::Zero(3));
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result.E = vector_table["E"].getDefault<RigidBodyDynamics::Math::Matrix3d>(RigidBodyDynamics::Math::Matrix3d::Identity (3,3));
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}
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stackRestore();
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return result;
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}
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template<> RigidBodyDynamics::Joint LuaTableNode::getDefault<RigidBodyDynamics::Joint>(const RigidBodyDynamics::Joint &default_value) {
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using namespace RigidBodyDynamics;
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using namespace RigidBodyDynamics::Math;
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Joint result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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int joint_dofs = vector_table.length();
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if (joint_dofs == 1) {
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std::string dof_string = vector_table[1].getDefault<std::string>("");
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if (dof_string == "JointTypeSpherical") {
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stackRestore();
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return Joint(JointTypeSpherical);
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} else if (dof_string == "JointTypeEulerZYX") {
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stackRestore();
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return Joint(JointTypeEulerZYX);
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}
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if (dof_string == "JointTypeEulerXYZ") {
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stackRestore();
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return Joint(JointTypeEulerXYZ);
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}
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if (dof_string == "JointTypeEulerYXZ") {
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stackRestore();
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return Joint(JointTypeEulerYXZ);
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}
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if (dof_string == "JointTypeTranslationXYZ") {
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stackRestore();
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return Joint(JointTypeTranslationXYZ);
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}
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}
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if (joint_dofs > 0) {
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if (vector_table[1].length() != 6) {
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std::cerr << "LuaModel Error: invalid joint motion subspace description at " << this->keyStackToString() << std::endl;
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abort();
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}
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}
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switch (joint_dofs) {
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case 0: result = Joint(JointTypeFixed);
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break;
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case 1: result = Joint (vector_table[1].get<SpatialVector>());
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break;
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case 2: result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>()
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);
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break;
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case 3: result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>()
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);
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break;
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case 4: result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>(),
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vector_table[4].get<SpatialVector>()
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);
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break;
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case 5: result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>(),
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vector_table[4].get<SpatialVector>(),
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vector_table[5].get<SpatialVector>()
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);
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break;
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case 6: result = Joint(
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vector_table[1].get<SpatialVector>(),
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vector_table[2].get<SpatialVector>(),
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vector_table[3].get<SpatialVector>(),
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vector_table[4].get<SpatialVector>(),
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vector_table[5].get<SpatialVector>(),
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vector_table[6].get<SpatialVector>()
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);
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break;
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default:
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std::cerr << "Invalid number of DOFs for joint." << std::endl;
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abort();
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}
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}
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stackRestore();
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return result;
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}
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template<> RigidBodyDynamics::Body LuaTableNode::getDefault<RigidBodyDynamics::Body>(const RigidBodyDynamics::Body &default_value) {
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RigidBodyDynamics::Body result = default_value;
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if (stackQueryValue()) {
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LuaTable vector_table = LuaTable::fromLuaState (luaTable->L);
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double mass = 0.;
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RigidBodyDynamics::Math::Vector3d com (RigidBodyDynamics::Math::Vector3d::Zero(3));
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RigidBodyDynamics::Math::Matrix3d inertia (RigidBodyDynamics::Math::Matrix3d::Identity(3,3));
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mass = vector_table["mass"];
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com = vector_table["com"].getDefault<RigidBodyDynamics::Math::Vector3d>(com);
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inertia = vector_table["inertia"].getDefault<RigidBodyDynamics::Math::Matrix3d>(inertia);
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result = RigidBodyDynamics::Body (mass, com, inertia);
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}
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stackRestore();
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||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/* MARKER_MODEL_LUA_TYPES */
|
||||
#endif
|
||||
|
|
@ -1176,3 +1176,84 @@ Mesh* Mesh::sCreateCylinder (int segments) {
|
|||
|
||||
return result;
|
||||
}
|
||||
|
||||
Mesh* Mesh::sCreateCapsule (int rows, int segments, float length, float radius) {
|
||||
Mesh* result = new Mesh();
|
||||
|
||||
// work arrays that we fill with data
|
||||
std::vector<Vector4f> &vertices = result->mVertices;
|
||||
std::vector<Vector3f> &normals = result->mNormals;
|
||||
std::vector<Vector4f> &colors = result->mColors;
|
||||
|
||||
float delta = 2. * M_PI / static_cast<float>(segments);
|
||||
for (unsigned int i = 0; i < segments; i++) {
|
||||
float r0 = (i - 0.5) * delta;
|
||||
float r1 = (i + 0.5) * delta;
|
||||
|
||||
float c0 = cos (r0);
|
||||
float s0 = sin (r0);
|
||||
|
||||
float c1 = cos (r1);
|
||||
float s1 = sin (r1);
|
||||
|
||||
Vector3f normal0 (-c0, -s0, 0.f);
|
||||
Vector3f normal1 (-c1, -s1, 0.f);
|
||||
|
||||
Vector4f normal0_4 (-c0, -s0, 0.f, 0.f);
|
||||
Vector4f normal1_4 (-c1, -s1, 0.f, 0.f);
|
||||
|
||||
Vector4f p0 = normal0_4 + Vector4f (0., 0., 0.5f, 1.0f);
|
||||
Vector4f p1 = normal0_4 + Vector4f (0., 0., -0.5f, 1.0f);
|
||||
Vector4f p2 = normal1_4 + Vector4f (0., 0., 0.5f, 1.0f);
|
||||
Vector4f p3 = normal1_4 + Vector4f (0., 0., -0.5f, 1.0f);
|
||||
|
||||
// side triangle 1
|
||||
vertices.push_back(p0);
|
||||
normals.push_back(normal0);
|
||||
|
||||
vertices.push_back(p1);
|
||||
normals.push_back(normal0);
|
||||
|
||||
vertices.push_back(p2);
|
||||
normals.push_back(normal1);
|
||||
|
||||
// side triangle 2
|
||||
vertices.push_back(p2);
|
||||
normals.push_back(normal1);
|
||||
|
||||
vertices.push_back(p1);
|
||||
normals.push_back(normal0);
|
||||
|
||||
vertices.push_back(p3);
|
||||
normals.push_back(normal1);
|
||||
|
||||
// upper end triangle
|
||||
Vector3f normal (0.f, 0.f, 1.f);
|
||||
|
||||
vertices.push_back(p0);
|
||||
normals.push_back(normal);
|
||||
|
||||
vertices.push_back(p2);
|
||||
normals.push_back(normal);
|
||||
|
||||
vertices.push_back(Vector4f (0.f, 0.f, 0.5f, 1.0f));
|
||||
normals.push_back(normal);
|
||||
|
||||
// lower end triangle
|
||||
normal = Vector3f(0.f, 0.f, -1.f);
|
||||
|
||||
vertices.push_back(p3);
|
||||
normals.push_back(normal);
|
||||
|
||||
vertices.push_back(p1);
|
||||
normals.push_back(normal);
|
||||
|
||||
vertices.push_back(Vector4f (0.f, 0.f, -0.5f, 1.0f));
|
||||
normals.push_back(normal);
|
||||
}
|
||||
|
||||
result->Update();
|
||||
|
||||
return result;
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -26,6 +26,7 @@ struct Mesh {
|
|||
static Mesh *sCreateCuboid (float width, float height, float depth);
|
||||
static Mesh *sCreateUVSphere (int rows, int segments, float radius = 1.0f);
|
||||
static Mesh *sCreateCylinder (int segments);
|
||||
static Mesh *sCreateCapsule (int rows, int segments, float length, float radius);
|
||||
};
|
||||
|
||||
namespace bgfxutils {
|
||||
|
|
|
|||
Loading…
Reference in New Issue