JointTree.h

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#pragma once
#include "Module/TopologyModule.h"
 
#include "AnimationCurve.h"
#include <iterator>
#include <random>
 
#include "Quat.h"
namespace dyno
{
 
    struct JCapsule
    {
        typedef typename DataType3f::Coord Coord;
        int id_joint;
        int id_cap;
        Coord v0, v1;
 
        DYN_FUNC JCapsule(){};
        DYN_FUNC JCapsule(int id1, int id2, Coord a0, Coord a1): 
        id_joint(id1), id_cap(id2), v0(a0), v1(a1){};
        DYN_FUNC ~JCapsule(){};
    };
    
    template<typename TDataType>
    class JointTree : public TopologyModule
    { 
        DECLARE_TCLASS(JointTree, TDataType)
    private:
        std::default_random_engine generator;
        std::normal_distribution<double> dist;
        
 
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
        typedef typename TDataType::Matrix Matrix; 
        typedef typename ::dyno::Mat4f Mat;
        
        JointTree();
        ~JointTree();
 
        void copyFrom(JointTree<TDataType> jointTree);
 
        void scale(Real s);
        void translate(Coord t);
        void getGlobalTransform();
        Mat getTransform(Coord & T, Coord& R, Coord& S);
        void getQuat(Coord &T, Coord &R, float &S);
        void getGlobalQuat();
        Coord getCoordByMatrix(Coord X);
        Coord getCoordByQuat(Coord X);
        
        void getGlobalCoord();
 
        void setAnimTranslation(std::shared_ptr<AnimationCurve<TDataType>> t) {
            AnimTranslation = t;
            AnimTranslation->setInitVal(LclTranslation);
        }
        void setAnimRotation(std::shared_ptr<AnimationCurve<TDataType>> r) {
            AnimRotation = r;
            AnimTranslation->setInitVal(LclRotation);
        }
        void setAnimScaling(std::shared_ptr<AnimationCurve<TDataType>> s) {
            AnimScaling = s;
            AnimScaling->setInitVal(LclScaling);
        }
 
        // 更新动画
        void applyAnimationByOne(Coord& init, Coord& cur, std::shared_ptr<AnimationCurve<TDataType>>& anim, Real ptime);
        void applyAnimationAll(Real ptime);
 
        unsigned long long id;
        // 用于对整个模型进行调整
        Coord PreRotation;
        Coord PreScaling;
        Coord PreTranslation;
 
        Coord tmp;
 
        Coord LclTranslation;   // Local Joint's coord
        Coord LclRotation;
        Coord LclScaling; 
 
        std::shared_ptr<AnimationCurve<TDataType>> AnimTranslation;    // Local Animation
        std::shared_ptr<AnimationCurve<TDataType>> AnimRotation;
        std::shared_ptr<AnimationCurve<TDataType>> AnimScaling;
 
        Coord CurTranslation;   // Current Joint's Transform (Animation)
        Coord CurRotation;
        Coord CurScaling; 
 
        Coord GlCoord;          // Global Joint's coord 
        Coord LastCoord;
        Mat GlobalTransform;
        bool RotationActive;
 
        Quat<Real> GlT;
        Quat<Real> GlR;
        Real GlS;
        std::vector<std::shared_ptr<JointTree>> children;
        std::shared_ptr<JointTree> parent;
    };
}