SkeletonLoader.h

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#pragma once
#include "Node.h"
 
#include "Primitive/Primitive3D.h"
#include "Topology/DiscreteElements.h"
#include "Topology/JointTree.h"
 
#include "FilePath.h"
 
#include "ofbx.h"
 
namespace dyno
{
    template<typename TDataType>
    class SkeletonLoader : public Node
    {
        DECLARE_TCLASS(SkeletonLoader, TDataType)
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
 
        typedef std::vector<std::shared_ptr<JointTree<typename TDataType>>> JointList;
 
        SkeletonLoader();
        virtual ~SkeletonLoader();
 
        void setJointMap(JointList &jointMap) { m_jointMap = jointMap; }
        JointList getJointMap() { return m_jointMap; }
        void getCenterQuat(Coord v0, Coord v1, Quat<Real> &T, Quat<Real> &R);
        // DEF_VAR(std::string, FileName, "", "");
 
        bool translate(Coord t);
        bool scale(Real s);
 
        void loadFBX();
        bool initFBX(const char* filepath);
        void getNodes(const ofbx::IScene& scene);
 
        void getModelProperties(const ofbx::Object& object, std::shared_ptr<JointTree<TDataType>> cur);
        void getAnimationCurve(const ofbx::Object& object, std::shared_ptr<JointTree<TDataType>> parent);
        void getLimbNode(const ofbx::Object& object, std::shared_ptr<JointTree<TDataType>> parent);
        
        // 需要根据模型与骨骼的坐标关系来改变
        void copyVec(Coord &dest, ofbx::Vec3 src){dest = Coord(src.x, src.y, src.z);}
        void copyVecR(Coord &dest, ofbx::Vec3 src){dest = Coord(src.x, src.y, src.z);}
        void copyVecT(Coord &dest, ofbx::Vec3 src){dest = Coord(src.x, src.y, src.z);}
 
    public:
        DEF_VAR(Real, Radius, 0.0075 , " Radius of Capsule")
        DEF_INSTANCE_STATE(TopologyModule, Topology, "Topology");
 
        DEF_ARRAY_OUT(JCapsule, Capsule, DeviceType::GPU, "Capsule <V, U> Detail");
 
        // DEF_ARRAY_OUT(Coord, Velocity, DeviceType::GPU, "Capsule Velocity");
        // DEF_ARRAY_OUT(Coord, AngularVelocity, DeviceType::GPU, "Capsule AngularVelocity");
        DEF_ARRAY_OUT(Quat<Real>, Rotate, DeviceType::GPU, "Capsule Rotate");
        DEF_ARRAY_OUT(Quat<Real>, Translate, DeviceType::GPU, "Capsule Translate");
 
        // 动画插值的骨骼位置
        DEF_ARRAY_OUT(Coord, PosV, DeviceType::GPU, "Capsule <V, U> V position");
        DEF_ARRAY_OUT(Coord, PosU, DeviceType::GPU, "Capsule <V, U> U position");
 
        DEF_VAR(FilePath, FileName, "", "");
 
        JointList m_jointMap;
 
 
        std::vector<JCapsule> m_capLists;
        std::vector<Quat<Real>> m_T;
        std::vector<Quat<Real>> m_R;
 
        std::vector<Capsule3D> mHostCap3D;
        // DArray<Capsule3D> mDeviceCaps;
        
 
        int m_numCaps = 0;
        int m_numjoints = 0;
        
    protected:
        void resetStates() override;
        void updateTopology() override;
 
        ofbx::IScene* g_scene = nullptr;
    };
}