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skeleton.cpp @ 6

Last change on this file since 6 was 6, checked in by anonymous, 18 years ago
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1	////////////////////////////////////////////////////////////////////////////////
2	// skeleton.cpp
3	// Author : Francesco Giordana
4	// Start Date : January 13, 2005
5	// Copyright : (C) 2006 by Francesco Giordana
6	// Email : fra.giordana@tiscali.it
7	////////////////////////////////////////////////////////////////////////////////
8
9	/*********************************************************************************
10	* *
11	* This program is free software; you can redistribute it and/or modify *
12	* it under the terms of the GNU Lesser General Public License as published by *
13	* the Free Software Foundation; either version 2 of the License, or *
14	* (at your option) any later version. *
15	* *
16	**********************************************************************************/
17
18	#include "skeleton.h"
19	#include "submesh.h"
20	#include <maya/MFnMatrixData.h>
21
22	namespace OgreMayaExporter
23	{
24	// Constructor
25	Skeleton::Skeleton()
26	{
27	m_joints.clear();
28	m_animations.clear();
29	m_restorePose = "";
30	}
31
32
33	// Destructor
34	Skeleton::~Skeleton()
35	{
36	clear();
37	}
38
39
40	// Clear skeleton data
41	void Skeleton::clear()
42	{
43	m_joints.clear();
44	m_animations.clear();
45	m_restorePose = "";
46	}
47
48
49	// Load skeleton data from given skin cluster
50	MStatus Skeleton::load(MFnSkinCluster* pSkinCluster,ParamList& params)
51	{
52	MStatus stat;
53	//check for valid skin cluster pointer
54	if (!pSkinCluster)
55	{
56	std::cout << "Could not load skeleton data, no skin cluster specified\n";
57	std::cout.flush();
58	return MS::kFailure;
59	}
60	//retrieve and load joints from the skin cluster
61	MDagPath jointDag,rootDag;
62	MDagPathArray influenceDags;
63	int numInfluenceObjs = pSkinCluster->influenceObjects(influenceDags,&stat);
64	std::cout << "num influence objects: " << numInfluenceObjs << "\n";
65	std::cout.flush();
66	for (int i=0; i<numInfluenceObjs; i++)
67	{
68	jointDag = influenceDags[i];
69	if (influenceDags[i].hasFn(MFn::kJoint))
70	{
71	//retrieve root joint
72	rootDag = jointDag;
73	while (jointDag.length()>0)
74	{
75	jointDag.pop();
76	if (jointDag.hasFn(MFn::kJoint) && jointDag.length()>0)
77	rootDag = jointDag;
78	}
79	//check if skeleton has already been loaded
80	bool skip = false;
81	for (int j=0; j<m_joints.size() && !skip; j++)
82	{
83	//skip skeleton if already loaded
84	if (rootDag.partialPathName() == m_joints[j].name)
85	{
86	skip = true;
87	}
88	}
89	//load joints data from root
90	if (!skip)
91	{
92	// load the skeleton
93	std::cout << "Loading skeleton with root: " << rootDag.fullPathName().asChar() << "...\n";
94	std::cout.flush();
95	// save current selection list
96	MSelectionList selectionList;
97	MGlobal::getActiveSelectionList(selectionList);
98	// select the root joint dag
99	MGlobal::selectByName(rootDag.fullPathName(),MGlobal::kReplaceList);
100	//save current pose (if no pose has been saved yet)
101	if (m_restorePose == "")
102	{
103	MString poseName;
104	MGlobal::executeCommand("dagPose -s",poseName,true);
105	m_restorePose = poseName;
106	}
107	//set the skeleton to the desired neutral pose
108	if (params.neutralPoseType == NPT_BINDPOSE)
109	{
110	//disable constraints, IK, etc...
111	MGlobal::executeCommand("doEnableNodeItems false all",true);
112	// Note: we reset to the bind pose
113	MGlobal::executeCommand("dagPose -r -g -bp",true);
114	}
115	//load joints data
116	stat = loadJoint(rootDag,NULL,params,pSkinCluster);
117	if (MS::kSuccess == stat)
118	{
119	std::cout << "OK\n";
120	std::cout.flush();
121	}
122	else
123	{
124	std::cout << "Failed\n";
125	std::cout.flush();
126	}
127	//restore selection list
128	MGlobal::setActiveSelectionList(selectionList,MGlobal::kReplaceList);
129	}
130	}
131	}
132
133	return MS::kSuccess;
134	}
135
136
137	// Load a joint
138	MStatus Skeleton::loadJoint(MDagPath& jointDag,joint* parent,ParamList& params,MFnSkinCluster* pSkinCluster)
139	{
140	MStatus stat;
141	int i;
142	joint newJoint;
143	joint* parentJoint = parent;
144	// if it is a joint node translate it and then proceed to child nodes, otherwise skip it
145	// and proceed directly to child nodes
146	if (jointDag.hasFn(MFn::kJoint))
147	{
148	MFnIkJoint jointFn(jointDag);
149	// Display info
150	std::cout << "Loading joint: " << jointFn.fullPathName().asChar();
151	std::cout.flush();
152	if (parent)
153	{
154	std::cout << " (parent: " << parent->name.asChar() << ")\n";
155	std::cout.flush();
156	}
157	else
158	{
159	std::cout << "\n";
160	std::cout.flush();
161	}
162	// Get parent index
163	int idx=-1;
164	if (parent)
165	{
166	for (i=0; i<m_joints.size() && idx<0; i++)
167	{
168	if (m_joints[i].name == parent->name)
169	idx=i;
170	}
171	}
172	// Get world bind matrix
173	MMatrix bindMatrix = jointDag.inclusiveMatrix();;
174	// Calculate local bind matrix
175	MMatrix localMatrix;
176	if (parent)
177	localMatrix = bindMatrix * parent->bindMatrix.inverse();
178	else
179	{ // root node of skeleton
180	localMatrix = bindMatrix;
181	}
182	// Get translation
183	MVector translation = ((MTransformationMatrix)localMatrix).translation(MSpace::kPostTransform);
184	if (fabs(translation.x) < PRECISION)
185	translation.x = 0;
186	if (fabs(translation.y) < PRECISION)
187	translation.y = 0;
188	if (fabs(translation.z) < PRECISION)
189	translation.z = 0;
190	// Calculate rotation data
191	double qx,qy,qz,qw;
192	((MTransformationMatrix)localMatrix).getRotationQuaternion(qx,qy,qz,qw);
193	MQuaternion rotation(qx,qy,qz,qw);
194	MVector axis;
195	double theta;
196	rotation.getAxisAngle(axis,theta);
197	if (fabs(axis.x) < PRECISION)
198	axis.x = 0;
199	if (fabs(axis.y) < PRECISION)
200	axis.y = 0;
201	if (fabs(axis.z) < PRECISION)
202	axis.z = 0;
203	axis.normalize();
204	if (fabs(theta) < PRECISION)
205	theta = 0;
206	if (axis.length() < 0.5)
207	{
208	axis.x = 0;
209	axis.y = 1;
210	axis.z = 0;
211	theta = 0;
212	}
213	// Get joint scale
214	double scale[3];
215	((MTransformationMatrix)localMatrix).getScale(scale,MSpace::kPostTransform);
216	if (fabs(scale[0]) < PRECISION)
217	scale[0] = 0;
218	if (fabs(scale[1]) < PRECISION)
219	scale[1] = 0;
220	if (fabs(scale[2]) < PRECISION)
221	scale[2] = 0;
222	// Set joint info
223	newJoint.name = jointFn.partialPathName();
224	newJoint.id = m_joints.size();
225	newJoint.parentIndex = idx;
226	newJoint.bindMatrix = bindMatrix;
227	newJoint.localMatrix = localMatrix;
228	newJoint.posx = translation.x * params.lum;
229	newJoint.posy = translation.y * params.lum;
230	newJoint.posz = translation.z * params.lum;
231	newJoint.angle = theta;
232	newJoint.axisx = axis.x;
233	newJoint.axisy = axis.y;
234	newJoint.axisz = axis.z;
235	newJoint.scalex = scale[0];
236	newJoint.scaley = scale[1];
237	newJoint.scalez = scale[2];
238	newJoint.jointDag = jointDag;
239	m_joints.push_back(newJoint);
240	// If root is a root joint, save it's index in the roots list
241	if (idx < 0)
242	{
243	m_roots.push_back(m_joints.size() - 1);
244	}
245	// Get pointer to newly created joint
246	parentJoint = &newJoint;
247	}
248	// Load child joints
249	for (i=0; i<jointDag.childCount();i++)
250	{
251	MObject child;
252	child = jointDag.child(i);
253	MDagPath childDag = jointDag;
254	childDag.push(child);
255	loadJoint(childDag,parentJoint,params,pSkinCluster);
256	}
257	return MS::kSuccess;
258	}
259
260
261	// Load animations
262	MStatus Skeleton::loadAnims(ParamList& params)
263	{
264	//enable constraints, IK, etc...
265	MGlobal::executeCommand("doEnableNodeItems true all",true);
266	MStatus stat;
267	int i;
268	// save current time for later restore
269	MTime curTime = MAnimControl::currentTime();
270	std::cout << "Loading joint animations...\n";
271	std::cout.flush();
272	// clear animations list
273	m_animations.clear();
274	// load skeleton animation clips for the whole skeleton
275	for (i=0; i<params.skelClipList.size(); i++)
276	{
277	stat = loadClip(params.skelClipList[i].name,params.skelClipList[i].start,
278	params.skelClipList[i].stop,params.skelClipList[i].rate,params);
279	if (stat == MS::kSuccess)
280	{
281	std::cout << "Clip successfully loaded\n";
282	std::cout.flush();
283	}
284	else
285	{
286	std::cout << "Failed loading clip\n";
287	std::cout.flush();
288	}
289	}
290	//restore current time
291	MAnimControl::setCurrentTime(curTime);
292	return MS::kSuccess;
293	}
294
295	// Load an animation clip
296	MStatus Skeleton::loadClip(MString clipName,float start,float stop,float rate,ParamList& params)
297	{
298	MStatus stat;
299	int i,j,k;
300	MString msg;
301	std::vector<float> times;
302	// if skeleton has no joints we can't load the clip
303	if (m_joints.size() < 0)
304	return MS::kFailure;
305	// display clip name
306	std::cout << "clip \"" << clipName.asChar() << "\"\n";
307	std::cout.flush();
308	// calculate times from clip sample rate
309	times.clear();
310	if (rate <= 0)
311	{
312	std::cout << "invalid sample rate for the clip (must be >0), we skip it\n";
313	std::cout.flush();
314	return MS::kFailure;
315	}
316	for (float t=start; t<stop; t+=rate)
317	times.push_back(t);
318	times.push_back(stop);
319	// get animation length
320	float length=0;
321	if (times.size() >= 0)
322	length = times[times.size()-1] - times[0];
323	if (length < 0)
324	{
325	std::cout << "invalid time range for the clip, we skip it\n";
326	std::cout.flush();
327	return MS::kFailure;
328	}
329	// create the animation
330	Animation a;
331	a.m_name = clipName.asChar();
332	a.m_tracks.clear();
333	a.m_length = length;
334	m_animations.push_back(a);
335	int animIdx = m_animations.size() - 1;
336	// create a track for current clip for all joints
337	std::vector<Track> animTracks;
338	for (i=0; i<m_joints.size(); i++)
339	{
340	Track t;
341	t.m_type = TT_SKELETON;
342	t.m_bone = m_joints[i].name;
343	t.m_skeletonKeyframes.clear();
344	animTracks.push_back(t);
345	}
346	// evaluate animation curves at selected times
347	for (i=0; i<times.size(); i++)
348	{
349	//set time to wanted sample time
350	MAnimControl::setCurrentTime(MTime(times[i],MTime::kSeconds));
351	//load a keyframe for every joint at current time
352	for (j=0; j<m_joints.size(); j++)
353	{
354	skeletonKeyframe key = loadKeyframe(m_joints[j],times[i]-times[0],params);
355	//add keyframe to joint track
356	animTracks[j].addSkeletonKeyframe(key);
357	}
358	if (params.skelBB)
359	{
360	// Update bounding boxes of loaded submeshes
361	for (j=0; j<params.loadedSubmeshes.size(); j++)
362	{
363	MFnMesh mesh(params.loadedSubmeshes[j]->m_dagPath);
364	MPoint min = mesh.boundingBox().min();
365	MPoint max = mesh.boundingBox().max();
366	MBoundingBox bbox(min,max);
367	if (params.exportWorldCoords)
368	bbox.transformUsing(params.loadedSubmeshes[j]->m_dagPath.inclusiveMatrix());
369	min = bbox.min() * params.lum;
370	max = bbox.max() * params.lum;
371	MBoundingBox newbbox(min,max);
372	params.loadedSubmeshes[j]->m_boundingBox.expand(newbbox);
373	}
374	}
375	}
376	// add created tracks to current clip
377	for (i=0; i<animTracks.size(); i++)
378	{
379	m_animations[animIdx].addTrack(animTracks[i]);
380	}
381	// display info
382	std::cout << "length: " << m_animations[animIdx].m_length << "\n";
383	std::cout << "num keyframes: " << animTracks[0].m_skeletonKeyframes.size() << "\n";
384	std::cout.flush();
385	// clip successfully loaded
386	return MS::kSuccess;
387	}
388
389	// Load a keyframe for a given joint at current time
390	skeletonKeyframe Skeleton::loadKeyframe(joint& j,float time,ParamList& params)
391	{
392	MVector position;
393	int parentIdx = j.parentIndex;
394	// Get joint matrix
395	MMatrix worldMatrix = j.jointDag.inclusiveMatrix();
396	// Calculate Local Matrix
397	MMatrix localMatrix;
398	if (parentIdx >= 0)
399	{
400	// Get parent joint
401	MDagPath parentDag = m_joints[parentIdx].jointDag;
402	localMatrix = worldMatrix * parentDag.inclusiveMatrixInverse();
403	}
404	else
405	{ // Root node of skeleton
406	if (params.exportWorldCoords)
407	localMatrix = worldMatrix;
408	else
409	localMatrix = worldMatrix * j.jointDag.exclusiveMatrixInverse();
410	}
411	// Get relative transformation matrix
412	MMatrix relMatrix = localMatrix * j.localMatrix.inverse();
413	// Get relative translation
414	MVector translation = ((MTransformationMatrix)localMatrix).translation(MSpace::kPostTransform) -
415	((MTransformationMatrix)j.localMatrix).translation(MSpace::kPostTransform);
416	if (fabs(translation.x) < PRECISION)
417	translation.x = 0;
418	if (fabs(translation.y) < PRECISION)
419	translation.y = 0;
420	if (fabs(translation.z) < PRECISION)
421	translation.z = 0;
422	// Get relative rotation
423	double qx,qy,qz,qw;
424	((MTransformationMatrix)relMatrix).getRotationQuaternion(qx,qy,qz,qw);
425	MQuaternion rotation(qx,qy,qz,qw);
426	MVector axis;
427	double theta;
428	rotation.getAxisAngle(axis,theta);
429	if (fabs(axis.x) < PRECISION)
430	axis.x = 0;
431	if (fabs(axis.y) < PRECISION)
432	axis.y = 0;
433	if (fabs(axis.z) < PRECISION)
434	axis.z = 0;
435	axis.normalize();
436	if (fabs(theta) < PRECISION)
437	theta = 0;
438	if (axis.length() < 0.5)
439	{
440	axis.x = 0;
441	axis.y = 1;
442	axis.z = 0;
443	theta = 0;
444	}
445	// Get relative scale
446	double scale[3];
447	((MTransformationMatrix)relMatrix).getScale(scale,MSpace::kPostTransform);
448	if (fabs(scale[0]) < PRECISION)
449	scale[0] = 0;
450	if (fabs(scale[1]) < PRECISION)
451	scale[1] = 0;
452	if (fabs(scale[2]) < PRECISION)
453	scale[2] = 0;
454	//create keyframe
455	skeletonKeyframe key;
456	key.time = time;
457	key.tx = translation.x * params.lum;
458	key.ty = translation.y * params.lum;
459	key.tz = translation.z * params.lum;
460	key.angle = theta;
461	key.axis_x = axis.x;
462	key.axis_y = axis.y;
463	key.axis_z = axis.z;
464	key.sx = scale[0];
465	key.sy = scale[1];
466	key.sz = scale[2];
467	return key;
468	}
469
470
471	// Restore skeleton pose
472	void Skeleton::restorePose()
473	{
474	// save current selection list
475	MSelectionList selectionList;
476	MGlobal::getActiveSelectionList(selectionList);
477	int i;
478	for (i=0; i<m_roots.size(); i++)
479	{
480	MDagPath rootDag = m_joints[m_roots[i]].jointDag;
481	// select the root joint dag
482	MGlobal::selectByName(rootDag.fullPathName(),MGlobal::kReplaceList);
483	// restore pose
484	MString cmd = "dagPose -r -g -n \""+ m_restorePose;
485	cmd += "\"";
486	MGlobal::executeCommand(cmd,true);
487	}
488	//restore selection list
489	MGlobal::setActiveSelectionList(selectionList,MGlobal::kReplaceList);
490	//enable constraints, IK, etc...
491	MGlobal::executeCommand("doEnableNodeItems true all",true);
492	}
493
494
495
496	// Get joint list
497	std::vector<joint>& Skeleton::getJoints()
498	{
499	return m_joints;
500	}
501
502
503
504	// Get animations
505	std::vector<Animation>& Skeleton::getAnimations()
506	{
507	return m_animations;
508	}
509
510
511
512	// Write to an OGRE binary skeleton
513	MStatus Skeleton::writeOgreBinary(ParamList &params)
514	{
515	MStatus stat;
516	// Construct skeleton
517	MString name = "mayaExport";
518	Ogre::SkeletonPtr pSkeleton = Ogre::SkeletonManager::getSingleton().create(name.asChar(),
519	Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
520	// Create skeleton bones
521	stat = createOgreBones(pSkeleton,params);
522	if (stat != MS::kSuccess)
523	{
524	std::cout << "Error writing skeleton binary file\n";
525	std::cout.flush();
526	}
527	// Create skeleton animation
528	if (params.exportSkelAnims)
529	{
530	stat = createOgreSkeletonAnimations(pSkeleton,params);
531	if (stat != MS::kSuccess)
532	{
533	std::cout << "Error writing ogre skeleton animations\n";
534	std::cout.flush();
535	}
536	}
537	pSkeleton->setBindingPose();
538	// Optimise animations
539	pSkeleton->optimiseAllAnimations();
540	// Export skeleton binary
541	Ogre::SkeletonSerializer serializer;
542	serializer.exportSkeleton(pSkeleton.getPointer(),params.skeletonFilename.asChar());
543	pSkeleton.setNull();
544	// Skeleton successfully exported
545	return MS::kSuccess;
546	}
547
548	// Write joints to an Ogre skeleton
549	MStatus Skeleton::createOgreBones(Ogre::SkeletonPtr pSkeleton,ParamList& params)
550	{
551	int i;
552	// Create the bones
553	for (i=0; i<m_joints.size(); i++)
554	{
555	joint* j = &m_joints[i];
556	// Create a new bone
557	Ogre::Bone* pBone = pSkeleton->createBone(m_joints[i].name.asChar(), m_joints[i].id);
558	// Set bone position (relative to it's parent)
559	pBone->setPosition(j->posx,j->posy,j->posz);
560	// Set bone orientation (relative to it's parent)
561	Ogre::Quaternion orient;
562	orient.FromAngleAxis(Ogre::Radian(j->angle),Ogre::Vector3(j->axisx,j->axisy,j->axisz));
563	pBone->setOrientation(orient);
564	// Set bone scale (relative to it's parent
565	pBone->setScale(j->scalex,j->scaley,j->scalez);
566	}
567	// Create the hierarchy
568	for (i=0; i<m_joints.size(); i++)
569	{
570	int parentIdx = m_joints[i].parentIndex;
571	if (parentIdx >= 0)
572	{
573	// Get the parent joint
574	Ogre::Bone* pParent = pSkeleton->getBone(m_joints[parentIdx].id);
575	// Get current joint from skeleton
576	Ogre::Bone* pBone = pSkeleton->getBone(m_joints[i].id);
577	// Place current bone in the parent's child list
578	pParent->addChild(pBone);
579	}
580	}
581	return MS::kSuccess;
582	}
583
584
585	// Write skeleton animations to an Ogre skeleton
586	MStatus Skeleton::createOgreSkeletonAnimations(Ogre::SkeletonPtr pSkeleton,ParamList& params)
587	{
588	int i,j,k;
589	// Read loaded skeleton animations
590	for (i=0; i<m_animations.size(); i++)
591	{
592	// Create a new animation
593	Ogre::Animation* pAnimation = pSkeleton->createAnimation(m_animations[i].m_name.asChar(),
594	m_animations[i].m_length);
595	// Create tracks for current animation
596	for (j=0; j<m_animations[i].m_tracks.size(); j++)
597	{
598	Track* t = &m_animations[i].m_tracks[j];
599	// Create a new track
600	Ogre::NodeAnimationTrack* pTrack = pAnimation->createNodeTrack(j,
601	pSkeleton->getBone(t->m_bone.asChar()));
602	// Create keyframes for current track
603	for (k=0; k<t->m_skeletonKeyframes.size(); k++)
604	{
605	skeletonKeyframe* keyframe = &t->m_skeletonKeyframes[k];
606	// Create a new keyframe
607	Ogre::TransformKeyFrame* pKeyframe = pTrack->createNodeKeyFrame(keyframe->time);
608	// Set translation
609	pKeyframe->setTranslate(Ogre::Vector3(keyframe->tx,keyframe->ty,keyframe->tz));
610	// Set rotation
611	Ogre::Quaternion rot;
612	rot.FromAngleAxis(Ogre::Radian(keyframe->angle),
613	Ogre::Vector3(keyframe->axis_x,keyframe->axis_y,keyframe->axis_z));
614	pKeyframe->setRotation(rot);
615	// Set scale
616	pKeyframe->setScale(Ogre::Vector3(keyframe->sx,keyframe->sy,keyframe->sz));
617	}
618	}
619	}
620	return MS::kSuccess;
621	}
622
623
624	}; //end namespace

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