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Skeleton.cpp
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Skeleton.cpp
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/*
* Copyright (c) 2011-2016, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Sehoon Ha <sehoon.ha@gmail.com>,
* Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
* 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.
*/
#include "dart/dynamics/Skeleton.hpp"
#include <algorithm>
#include <queue>
#include <string>
#include <vector>
#include "dart/common/Console.hpp"
#include "dart/common/Deprecated.hpp"
#include "dart/common/StlHelpers.hpp"
#include "dart/math/Geometry.hpp"
#include "dart/math/Helpers.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/DegreeOfFreedom.hpp"
#include "dart/dynamics/Joint.hpp"
#include "dart/dynamics/ShapeNode.hpp"
#include "dart/dynamics/EndEffector.hpp"
#include "dart/dynamics/InverseKinematics.hpp"
#include "dart/dynamics/Marker.hpp"
#include "dart/dynamics/PointMass.hpp"
#include "dart/dynamics/SoftBodyNode.hpp"
#define SET_ALL_FLAGS( X ) for(auto& cache : mTreeCache) cache.mDirty. X = true;\
mSkelCache.mDirty. X = true;
#define SET_FLAG( Y, X ) mTreeCache[ Y ].mDirty. X = true; \
mSkelCache.mDirty. X = true;
#define ON_ALL_TREES( X ) for(std::size_t i=0; i < mTreeCache.size(); ++i) X (i);
#define CHECK_CONFIG_VECTOR_SIZE( V ) \
if( V .size() > 0 ) \
{ \
if(nonzero_size != INVALID_INDEX \
&& V .size() != static_cast<int>(nonzero_size)) \
{ \
dterr << "[Skeleton::Configuration] Mismatch in size of vector [" << #V \
<< "] (expected " << nonzero_size << " | found " << V . size() \
<< "\n"; \
assert(false); \
} \
else if(nonzero_size == INVALID_INDEX) \
nonzero_size = V .size(); \
}
namespace dart {
namespace dynamics {
namespace detail {
//==============================================================================
/// Templated function for passing each entry in a std::vector<Data> into each
/// member of an array of Objects belonging to some Owner class.
///
/// The ObjectBase argument should be the base class of Object in which the
/// setData function is defined. In many cases, ObjectBase may be the same as
/// Object, but it is not always.
//
// TODO(MXG): Consider putting this in an accessible header if it might be
// useful in other places.
template <class Owner, class Object, class ObjectBase, class Data,
std::size_t (Owner::*getNumObjects)() const,
Object* (Owner::*getObject)(std::size_t),
void (ObjectBase::*setData)(const Data&)>
void setAllMemberObjectData(Owner* owner, const std::vector<Data>& data)
{
if(!owner)
{
dterr << "[setAllMemberObjectData] Attempting to set ["
<< typeid(Data).name() << "] of every [" << typeid(Object).name()
<< "] in a nullptr [" << typeid(Owner).name() << "]. Please report "
<< "this as a bug!\n";
assert(false);
return;
}
std::size_t numObjects = (owner->*getNumObjects)();
if(data.size() != numObjects)
{
dtwarn << "[setAllMemberObjectData] Mismatch between the number of ["
<< typeid(Object).name() << "] member objects (" << numObjects
<< ") in the [" << typeid(Owner).name() << "] named ["
<< owner->getName() << "] (" << owner << ") and the number of ["
<< typeid(Object).name() << "] which is (" << data.size()
<< ") while setting [" << typeid(Data).name() << "]\n"
<< " -- We will set (" << std::min(numObjects, data.size())
<< ") of them.\n";
numObjects = std::min(numObjects, data.size());
}
for(std::size_t i=0; i < numObjects; ++i)
((owner->*getObject)(i)->*setData)(data[i]);
}
//==============================================================================
/// Templated function for aggregating a std::vector<Data> out of each member of
/// an array of Objects belonging to some Owner class.
///
/// The ObjectBase argument should be the base class of Object in which the
/// getData function is defined. In many cases, ObjectBase may be the same as
/// Object, but it is not always.
//
// TODO(MXG): Consider putting this in an accessible header if it might be
// useful in other places.
template <class Owner, class Object, class ObjectBase, class Data,
std::size_t (Owner::*getNumObjects)() const,
const Object* (Owner::*getObject)(std::size_t) const,
Data (ObjectBase::*getData)() const>
std::vector<Data> getAllMemberObjectData(const Owner* owner)
{
if(!owner)
{
dterr << "[getAllMemberObjectData] Attempting to get the ["
<< typeid(Data).name() << "] from every [" << typeid(Object).name()
<< "] in a nullptr [" << typeid(Owner).name() << "]. Please report "
<< "this as a bug!\n";
assert(false);
return std::vector<Data>();
}
const std::size_t numObjects = (owner->*getNumObjects)();
std::vector<Data> data;
data.reserve(numObjects);
for(std::size_t i=0; i < numObjects; ++i)
data.push_back(((owner->*getObject)(i)->*getData)());
return data;
}
//==============================================================================
SkeletonAspectProperties::SkeletonAspectProperties(
const std::string& _name,
bool _isMobile,
const Eigen::Vector3d& _gravity,
double _timeStep,
bool _enabledSelfCollisionCheck,
bool _enableAdjacentBodyCheck)
: mName(_name),
mIsMobile(_isMobile),
mGravity(_gravity),
mTimeStep(_timeStep),
mEnabledSelfCollisionCheck(_enabledSelfCollisionCheck),
mEnabledAdjacentBodyCheck(_enableAdjacentBodyCheck)
{
// Do nothing
}
//==============================================================================
void setAllBodyNodeStates(Skeleton* skel, const BodyNodeStateVector& states)
{
setAllMemberObjectData<
Skeleton, BodyNode, common::Composite, common::Composite::State,
&Skeleton::getNumBodyNodes, &Skeleton::getBodyNode,
&common::Composite::setCompositeState>(skel, states);
}
//==============================================================================
BodyNodeStateVector getAllBodyNodeStates(const Skeleton* skel)
{
return getAllMemberObjectData<
Skeleton, BodyNode, common::Composite, common::Composite::State,
&Skeleton::getNumBodyNodes, &Skeleton::getBodyNode,
&common::Composite::getCompositeState>(skel);
}
//==============================================================================
void setAllBodyNodeProperties(
Skeleton* skel, const BodyNodePropertiesVector& properties)
{
setAllMemberObjectData<
Skeleton, BodyNode, common::Composite, common::Composite::Properties,
&Skeleton::getNumBodyNodes, &Skeleton::getBodyNode,
&common::Composite::setCompositeProperties>(skel, properties);
}
//==============================================================================
BodyNodePropertiesVector getAllBodyNodeProperties(const Skeleton* skel)
{
return getAllMemberObjectData<
Skeleton, BodyNode, common::Composite, common::Composite::Properties,
&Skeleton::getNumBodyNodes, &Skeleton::getBodyNode,
&common::Composite::getCompositeProperties>(skel);
}
//==============================================================================
void setAllJointStates(Skeleton* skel, const BodyNodeStateVector& states)
{
setAllMemberObjectData<
Skeleton, Joint, common::Composite, common::Composite::State,
&Skeleton::getNumJoints, &Skeleton::getJoint,
&common::Composite::setCompositeState>(skel, states);
}
//==============================================================================
BodyNodeStateVector getAllJointStates(const Skeleton* skel)
{
return getAllMemberObjectData<
Skeleton, Joint, common::Composite, common::Composite::State,
&Skeleton::getNumJoints, &Skeleton::getJoint,
&common::Composite::getCompositeState>(skel);
}
//==============================================================================
void setAllJointProperties(
Skeleton* skel, const BodyNodePropertiesVector& properties)
{
setAllMemberObjectData<
Skeleton, Joint, common::Composite, common::Composite::Properties,
&Skeleton::getNumJoints, &Skeleton::getJoint,
&common::Composite::setCompositeProperties>(skel, properties);
}
//==============================================================================
BodyNodePropertiesVector getAllJointProperties(const Skeleton* skel)
{
return getAllMemberObjectData<
Skeleton, Joint, common::Composite, common::Composite::Properties,
&Skeleton::getNumJoints, &Skeleton::getJoint,
&common::Composite::getCompositeProperties>(skel);
}
} // namespace detail
//==============================================================================
Skeleton::Configuration::Configuration(
const Eigen::VectorXd& positions,
const Eigen::VectorXd& velocities,
const Eigen::VectorXd& accelerations,
const Eigen::VectorXd& forces,
const Eigen::VectorXd& commands)
: mPositions(positions),
mVelocities(velocities),
mAccelerations(accelerations),
mForces(forces),
mCommands(commands)
{
std::size_t nonzero_size = INVALID_INDEX;
CHECK_CONFIG_VECTOR_SIZE(positions);
CHECK_CONFIG_VECTOR_SIZE(velocities);
CHECK_CONFIG_VECTOR_SIZE(accelerations);
CHECK_CONFIG_VECTOR_SIZE(forces);
CHECK_CONFIG_VECTOR_SIZE(commands);
if(nonzero_size != INVALID_INDEX)
{
for(std::size_t i=0; i < nonzero_size; ++i)
mIndices.push_back(i);
}
}
//==============================================================================
Skeleton::Configuration::Configuration(
const std::vector<std::size_t>& indices,
const Eigen::VectorXd& positions,
const Eigen::VectorXd& velocities,
const Eigen::VectorXd& accelerations,
const Eigen::VectorXd& forces,
const Eigen::VectorXd& commands)
: mIndices(indices),
mPositions(positions),
mVelocities(velocities),
mAccelerations(accelerations),
mForces(forces),
mCommands(commands)
{
std::size_t nonzero_size = indices.size();
CHECK_CONFIG_VECTOR_SIZE(positions);
CHECK_CONFIG_VECTOR_SIZE(velocities);
CHECK_CONFIG_VECTOR_SIZE(accelerations);
CHECK_CONFIG_VECTOR_SIZE(forces);
CHECK_CONFIG_VECTOR_SIZE(commands);
}
//==============================================================================
#define RETURN_IF_CONFIG_VECTOR_IS_INEQ( V ) \
if( V .size() != other. V .size() ) \
return false; \
if( V != other. V ) \
return false;
//==============================================================================
bool Skeleton::Configuration::operator==(const Configuration& other) const
{
if(mIndices != other.mIndices)
return false;
RETURN_IF_CONFIG_VECTOR_IS_INEQ(mPositions);
RETURN_IF_CONFIG_VECTOR_IS_INEQ(mVelocities);
RETURN_IF_CONFIG_VECTOR_IS_INEQ(mAccelerations);
RETURN_IF_CONFIG_VECTOR_IS_INEQ(mForces);
RETURN_IF_CONFIG_VECTOR_IS_INEQ(mCommands);
return true;
}
//==============================================================================
bool Skeleton::Configuration::operator!=(const Configuration& other) const
{
return !(*this == other);
}
//==============================================================================
SkeletonPtr Skeleton::create(const std::string& _name)
{
return create(AspectPropertiesData(_name));
}
//==============================================================================
SkeletonPtr Skeleton::create(const AspectPropertiesData& properties)
{
SkeletonPtr skel(new Skeleton(properties));
skel->setPtr(skel);
return skel;
}
//==============================================================================
SkeletonPtr Skeleton::getPtr()
{
return mPtr.lock();
}
//==============================================================================
ConstSkeletonPtr Skeleton::getPtr() const
{
return mPtr.lock();
}
//==============================================================================
SkeletonPtr Skeleton::getSkeleton()
{
return mPtr.lock();
}
//==============================================================================
ConstSkeletonPtr Skeleton::getSkeleton() const
{
return mPtr.lock();
}
//==============================================================================
std::mutex& Skeleton::getMutex() const
{
return mMutex;
}
//==============================================================================
Skeleton::~Skeleton()
{
for (BodyNode* bn : mSkelCache.mBodyNodes)
delete bn;
}
//==============================================================================
SkeletonPtr Skeleton::clone() const
{
return clone(getName());
}
//==============================================================================
SkeletonPtr Skeleton::clone(const std::string& cloneName) const
{
SkeletonPtr skelClone = Skeleton::create(cloneName);
for(std::size_t i=0; i<getNumBodyNodes(); ++i)
{
// Create a clone of the parent Joint
Joint* joint = getJoint(i)->clone();
// Identify the original parent BodyNode
const BodyNode* originalParent = getBodyNode(i)->getParentBodyNode();
// Grab the parent BodyNode clone (using its name, which is guaranteed to be
// unique), or use nullptr if this is a root BodyNode
BodyNode* parentClone = (originalParent == nullptr)? nullptr :
skelClone->getBodyNode(originalParent->getName());
if( (nullptr != originalParent) && (nullptr == parentClone) )
{
dterr << "[Skeleton::clone] Failed to find a clone of BodyNode named ["
<< originalParent->getName() << "] which is needed as the parent "
<< "of the BodyNode named [" << getBodyNode(i)->getName()
<< "] and should already have been created. Please report this as "
<< "a bug!\n";
}
BodyNode* newBody = getBodyNode(i)->clone(parentClone, joint, false);
// The IK module gets cloned by the Skeleton and not by the BodyNode,
// because IK modules rely on the Skeleton's structure and indexing. If the
// IK was cloned by the BodyNode into a Skeleton that has a different
// structure, then there is no guarantee that it will continue to work
// correctly.
if(getBodyNode(i)->getIK())
newBody->mIK = getBodyNode(i)->getIK()->clone(newBody);
skelClone->registerBodyNode(newBody);
}
// Clone over the nodes in such a way that their indexing will match up with
// the original
for(const auto& nodeType : mNodeMap)
{
for(const auto& node : nodeType.second)
{
const BodyNode* originalBn = node->getBodyNodePtr();
BodyNode* newBn = skelClone->getBodyNode(originalBn->getName());
node->cloneNode(newBn)->attach();
}
}
skelClone->setProperties(getAspectProperties());
skelClone->setName(cloneName);
skelClone->setState(getState());
return skelClone;
}
//==============================================================================
#define SET_CONFIG_VECTOR( V ) \
if(configuration.m ## V . size() > 0) \
{ \
if(static_cast<int>(configuration.mIndices.size()) != \
configuration.m ## V .size()) \
{ \
dterr << "[Skeleton::setConfiguration] Mismatch in size of vector [" \
<< #V << "] (expected " << configuration.mIndices.size() \
<< " | found " << configuration.m ## V .size() << "\n"; \
assert(false); \
} \
else \
set ## V ( configuration.mIndices, configuration.m ## V ); \
}
//==============================================================================
void Skeleton::setConfiguration(const Configuration& configuration)
{
SET_CONFIG_VECTOR(Positions);
SET_CONFIG_VECTOR(Velocities);
SET_CONFIG_VECTOR(Accelerations);
SET_CONFIG_VECTOR(Forces);
SET_CONFIG_VECTOR(Commands);
}
//==============================================================================
Skeleton::Configuration Skeleton::getConfiguration(int flags) const
{
std::vector<std::size_t> indices;
for(std::size_t i=0; i < getNumDofs(); ++i)
indices.push_back(i);
return getConfiguration(indices, flags);
}
//==============================================================================
Skeleton::Configuration Skeleton::getConfiguration(
const std::vector<std::size_t>& indices, int flags) const
{
Configuration config(indices);
if(flags == CONFIG_NOTHING)
return config;
if( (flags & CONFIG_POSITIONS) == CONFIG_POSITIONS )
config.mPositions = getPositions(indices);
if( (flags & CONFIG_VELOCITIES) == CONFIG_VELOCITIES )
config.mVelocities = getVelocities(indices);
if( (flags & CONFIG_ACCELERATIONS) == CONFIG_ACCELERATIONS )
config.mAccelerations = getAccelerations(indices);
if( (flags & CONFIG_FORCES) == CONFIG_FORCES )
config.mForces = getForces(indices);
if( (flags & CONFIG_COMMANDS) == CONFIG_COMMANDS )
config.mCommands = getCommands(indices);
return config;
}
//==============================================================================
void Skeleton::setState(const State& state)
{
setCompositeState(state);
}
//==============================================================================
Skeleton::State Skeleton::getState() const
{
return getCompositeState();
}
//==============================================================================
void Skeleton::setProperties(const Properties& properties)
{
setCompositeProperties(properties);
}
//==============================================================================
Skeleton::Properties Skeleton::getProperties() const
{
return getCompositeProperties();
}
//==============================================================================
void Skeleton::setProperties(const AspectProperties& properties)
{
setAspectProperties(properties);
}
//==============================================================================
void Skeleton::setAspectProperties(const AspectProperties& properties)
{
setName(properties.mName);
setMobile(properties.mIsMobile);
setGravity(properties.mGravity);
setTimeStep(properties.mTimeStep);
setSelfCollisionCheck(properties.mEnabledSelfCollisionCheck);
setAdjacentBodyCheck(properties.mEnabledAdjacentBodyCheck);
}
//==============================================================================
const Skeleton::AspectProperties& Skeleton::getSkeletonProperties() const
{
return mAspectProperties;
}
//==============================================================================
const std::string& Skeleton::setName(const std::string& _name)
{
if(_name == mAspectProperties.mName && !_name.empty())
return mAspectProperties.mName;
const std::string oldName = mAspectProperties.mName;
mAspectProperties.mName = _name;
mNameMgrForBodyNodes.setManagerName(
"Skeleton::BodyNode | "+mAspectProperties.mName);
mNameMgrForSoftBodyNodes.setManagerName(
"Skeleton::SoftBodyNode | "+mAspectProperties.mName);
mNameMgrForJoints.setManagerName(
"Skeleton::Joint | "+mAspectProperties.mName);
mNameMgrForDofs.setManagerName(
"Skeleton::DegreeOfFreedom | "+mAspectProperties.mName);
for(auto& mgr : mNodeNameMgrMap)
mgr.second.setManagerName( std::string("Skeleton::") + mgr.first.name()
+ " | " + mAspectProperties.mName );
ConstMetaSkeletonPtr me = mPtr.lock();
mNameChangedSignal.raise(me, oldName, mAspectProperties.mName);
return mAspectProperties.mName;
}
//==============================================================================
const std::string& Skeleton::getName() const
{
return mAspectProperties.mName;
}
//==============================================================================
const std::string& Skeleton::addEntryToBodyNodeNameMgr(BodyNode* _newNode)
{
_newNode->BodyNode::mAspectProperties.mName =
mNameMgrForBodyNodes.issueNewNameAndAdd(_newNode->getName(), _newNode);
return _newNode->BodyNode::mAspectProperties.mName;
}
//==============================================================================
const std::string& Skeleton::addEntryToJointNameMgr(Joint* _newJoint,
bool _updateDofNames)
{
_newJoint->mAspectProperties.mName =
mNameMgrForJoints.issueNewNameAndAdd(_newJoint->getName(), _newJoint);
if(_updateDofNames)
_newJoint->updateDegreeOfFreedomNames();
return _newJoint->mAspectProperties.mName;
}
//==============================================================================
void Skeleton::addEntryToSoftBodyNodeNameMgr(SoftBodyNode* _newNode)
{
// Note: This doesn't need the same checks as BodyNode and Joint, because
// its name has already been resolved against all the BodyNodes, which includes
// all SoftBodyNodes.
mNameMgrForSoftBodyNodes.addName(_newNode->getName(), _newNode);
}
//==============================================================================
void Skeleton::enableSelfCollision(bool enableAdjacentBodyCheck)
{
mAspectProperties.mEnabledSelfCollisionCheck = true;
mAspectProperties.mEnabledAdjacentBodyCheck = enableAdjacentBodyCheck;
}
//==============================================================================
void Skeleton::disableSelfCollision()
{
mAspectProperties.mEnabledSelfCollisionCheck = false;
mAspectProperties.mEnabledAdjacentBodyCheck = false;
}
//==============================================================================
void Skeleton::setSelfCollisionCheck(bool enable)
{
mAspectProperties.mEnabledSelfCollisionCheck = enable;
}
//==============================================================================
bool Skeleton::getSelfCollisionCheck() const
{
return mAspectProperties.mEnabledSelfCollisionCheck;
}
//==============================================================================
void Skeleton::enableSelfCollisionCheck()
{
setSelfCollisionCheck(true);
}
//==============================================================================
void Skeleton::disableSelfCollisionCheck()
{
setSelfCollisionCheck(false);
}
//==============================================================================
bool Skeleton::isEnabledSelfCollisionCheck() const
{
return getSelfCollisionCheck();
}
//==============================================================================
void Skeleton::setAdjacentBodyCheck(bool enable)
{
mAspectProperties.mEnabledAdjacentBodyCheck = enable;
}
//==============================================================================
bool Skeleton::getAdjacentBodyCheck() const
{
return mAspectProperties.mEnabledAdjacentBodyCheck;
}
//==============================================================================
void Skeleton::enableAdjacentBodyCheck()
{
setAdjacentBodyCheck(true);
}
//==============================================================================
void Skeleton::disableAdjacentBodyCheck()
{
setAdjacentBodyCheck(false);
}
//==============================================================================
bool Skeleton::isEnabledAdjacentBodyCheck() const
{
return getAdjacentBodyCheck();
}
//==============================================================================
void Skeleton::setMobile(bool _isMobile)
{
mAspectProperties.mIsMobile = _isMobile;
}
//==============================================================================
bool Skeleton::isMobile() const
{
return mAspectProperties.mIsMobile;
}
//==============================================================================
void Skeleton::setTimeStep(double _timeStep)
{
assert(_timeStep > 0.0);
mAspectProperties.mTimeStep = _timeStep;
for(std::size_t i=0; i<mTreeCache.size(); ++i)
notifyArticulatedInertiaUpdate(i);
}
//==============================================================================
double Skeleton::getTimeStep() const
{
return mAspectProperties.mTimeStep;
}
//==============================================================================
void Skeleton::setGravity(const Eigen::Vector3d& _gravity)
{
mAspectProperties.mGravity = _gravity;
SET_ALL_FLAGS(mGravityForces);
SET_ALL_FLAGS(mCoriolisAndGravityForces);
ON_ALL_TREES(notifySupportUpdate);
}
//==============================================================================
const Eigen::Vector3d& Skeleton::getGravity() const
{
return mAspectProperties.mGravity;
}
//==============================================================================
std::size_t Skeleton::getNumBodyNodes() const
{
return mSkelCache.mBodyNodes.size();
}
//==============================================================================
std::size_t Skeleton::getNumRigidBodyNodes() const
{
return mSkelCache.mBodyNodes.size() - mSoftBodyNodes.size();
}
//==============================================================================
std::size_t Skeleton::getNumSoftBodyNodes() const
{
return mSoftBodyNodes.size();
}
//==============================================================================
std::size_t Skeleton::getNumTrees() const
{
return mTreeCache.size();
}
//==============================================================================
BodyNode* Skeleton::getRootBodyNode(std::size_t _treeIdx)
{
if( mTreeCache.size() > _treeIdx)
return mTreeCache[_treeIdx].mBodyNodes[0];
if(mTreeCache.size() == 0)
{
dterr << "[Skeleton::getRootBodyNode] Requested a root BodyNode from a "
<< "Skeleton with no BodyNodes!\n";
assert(false);
}
else
{
dterr << "[Skeleton::getRootBodyNode] Requested invalid root BodyNode "
<< "index (" << _treeIdx << ")! Must be less than "
<< mTreeCache.size() << ".\n";
assert(false);
}
return nullptr;
}
//==============================================================================
const BodyNode* Skeleton::getRootBodyNode(std::size_t _treeIdx) const
{
return const_cast<Skeleton*>(this)->getRootBodyNode(_treeIdx);
}
//==============================================================================
BodyNode* Skeleton::getBodyNode(std::size_t _idx)
{
return common::getVectorObjectIfAvailable<BodyNode*>(
_idx, mSkelCache.mBodyNodes);
}
//==============================================================================
const BodyNode* Skeleton::getBodyNode(std::size_t _idx) const
{
return common::getVectorObjectIfAvailable<BodyNode*>(
_idx, mSkelCache.mBodyNodes);
}
//==============================================================================
SoftBodyNode* Skeleton::getSoftBodyNode(std::size_t _idx)
{
return common::getVectorObjectIfAvailable<SoftBodyNode*>(
_idx, mSoftBodyNodes);
}
//==============================================================================
const SoftBodyNode* Skeleton::getSoftBodyNode(std::size_t _idx) const
{
return common::getVectorObjectIfAvailable<SoftBodyNode*>(
_idx, mSoftBodyNodes);
}
//==============================================================================
BodyNode* Skeleton::getBodyNode(const std::string& _name)
{
return mNameMgrForBodyNodes.getObject(_name);
}
//==============================================================================
const BodyNode* Skeleton::getBodyNode(const std::string& _name) const
{
return mNameMgrForBodyNodes.getObject(_name);
}
//==============================================================================
SoftBodyNode* Skeleton::getSoftBodyNode(const std::string& _name)
{
return mNameMgrForSoftBodyNodes.getObject(_name);
}
//==============================================================================
const SoftBodyNode* Skeleton::getSoftBodyNode(const std::string& _name) const
{
return mNameMgrForSoftBodyNodes.getObject(_name);
}
//==============================================================================
template <class T>
static std::vector<const T*>& convertToConstPtrVector(
const std::vector<T*>& vec, std::vector<const T*>& const_vec)
{
const_vec.resize(vec.size());
for(std::size_t i=0; i<vec.size(); ++i)
const_vec[i] = vec[i];
return const_vec;
}
//==============================================================================
const std::vector<BodyNode*>& Skeleton::getBodyNodes()
{
return mSkelCache.mBodyNodes;
}
//==============================================================================
const std::vector<const BodyNode*>& Skeleton::getBodyNodes() const
{
return convertToConstPtrVector<BodyNode>(
mSkelCache.mBodyNodes, mSkelCache.mConstBodyNodes);
}
//==============================================================================
template <class ObjectT, std::size_t (ObjectT::*getIndexInSkeleton)() const>
static std::size_t templatedGetIndexOf(const Skeleton* _skel, const ObjectT* _obj,
const std::string& _type, bool _warning)
{
if(nullptr == _obj)
{
if(_warning)
{
dterr << "[Skeleton::getIndexOf] Requesting the index of a nullptr "
<< _type << " within the Skeleton [" << _skel->getName() << "] ("
<< _skel << ")!\n";
assert(false);
}
return INVALID_INDEX;
}
if(_skel == _obj->getSkeleton().get())
return (_obj->*getIndexInSkeleton)();
if(_warning)
{
dterr << "[Skeleton::getIndexOf] Requesting the index of a " << _type << " ["
<< _obj->getName() << "] (" << _obj << ") from a Skeleton that it does "
<< "not belong to!\n";
assert(false);
}
return INVALID_INDEX;
}
//==============================================================================
std::size_t Skeleton::getIndexOf(const BodyNode* _bn, bool _warning) const
{
return templatedGetIndexOf<BodyNode, &BodyNode::getIndexInSkeleton>(
this, _bn, "BodyNode", _warning);
}
//==============================================================================
const std::vector<BodyNode*>& Skeleton::getTreeBodyNodes(std::size_t _treeIdx)
{
if(_treeIdx >= mTreeCache.size())
{
std::size_t count = mTreeCache.size();
dterr << "[Skeleton::getTreeBodyNodes] Requesting an invalid tree ("
<< _treeIdx << ") "
<< (count > 0? (std::string("when the max tree index is (") + std::to_string(count-1) + ")\n" ) :
std::string("when there are no trees in this Skeleton\n") );
assert(false);
}
return mTreeCache[_treeIdx].mBodyNodes;
}
//==============================================================================
std::vector<const BodyNode*> Skeleton::getTreeBodyNodes(std::size_t _treeIdx) const
{
return convertToConstPtrVector<BodyNode>(
mTreeCache[_treeIdx].mBodyNodes, mTreeCache[_treeIdx].mConstBodyNodes);
}
//==============================================================================
std::size_t Skeleton::getNumJoints() const
{
// The number of joints and body nodes are identical
return getNumBodyNodes();
}
//==============================================================================
Joint* Skeleton::getJoint(std::size_t _idx)
{
BodyNode* bn = common::getVectorObjectIfAvailable<BodyNode*>(
_idx, mSkelCache.mBodyNodes);
if (bn)
return bn->getParentJoint();
return nullptr;
}
//==============================================================================
const Joint* Skeleton::getJoint(std::size_t _idx) const
{
return const_cast<Skeleton*>(this)->getJoint(_idx);
}
//==============================================================================
Joint* Skeleton::getJoint(const std::string& _name)
{
return mNameMgrForJoints.getObject(_name);
}
//==============================================================================
const Joint* Skeleton::getJoint(const std::string& _name) const
{
return mNameMgrForJoints.getObject(_name);
}
//==============================================================================
std::size_t Skeleton::getIndexOf(const Joint* _joint, bool _warning) const
{
return templatedGetIndexOf<Joint, &Joint::getJointIndexInSkeleton>(
this, _joint, "Joint", _warning);
}
//==============================================================================
std::size_t Skeleton::getNumDofs() const
{
return mSkelCache.mDofs.size();
}
//==============================================================================
DegreeOfFreedom* Skeleton::getDof(std::size_t _idx)
{
return common::getVectorObjectIfAvailable<DegreeOfFreedom*>(
_idx, mSkelCache.mDofs);
}
//==============================================================================
const DegreeOfFreedom* Skeleton::getDof(std::size_t _idx) const
{