Skeleton.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_COMMON_SKELETON_HH_
#define IGNITION_COMMON_SKELETON_HH_

#include <vector>
#include <string>
#include <map>
#include <utility>

#include <ignition/math/Matrix4.hh>

#include <ignition/utils/ImplPtr.hh>

#include <ignition/common/SkeletonNode.hh>
#include <ignition/common/graphics/Export.hh>

namespace ignition
{
  namespace common
  {
    class SkeletonAnimation;

    class IGNITION_COMMON_GRAPHICS_VISIBLE Skeleton
    {
      public: Skeleton();

      public: explicit Skeleton(SkeletonNode *_root);

      public: virtual ~Skeleton();

      public: void RootNode(SkeletonNode *_node);

      public: SkeletonNode *RootNode() const;

      public: SkeletonNode *NodeByName(const std::string &_name) const;

      public: SkeletonNode *NodeById(const std::string &_id) const;

      public: SkeletonNode *NodeByHandle(const unsigned int _handle) const;

      public: unsigned int NodeCount() const;

      public: unsigned int JointCount() const;

      public: void Scale(const double _scale);

      public: void SetBindShapeTransform(const math::Matrix4d &_trans);

      public: math::Matrix4d BindShapeTransform() const;

      public: void PrintTransforms() const;

      public: const SkeletonNodeMap &Nodes() const;

      public: void SetNumVertAttached(const unsigned int _vertices);

      public: void AddVertNodeWeight(const unsigned int _vertex,
                  const std::string &_node, const double _weight);

      public: unsigned int VertNodeWeightCount(
                  const unsigned int _vertex) const;

      public: std::pair<std::string, double> VertNodeWeight(
                  const unsigned int _v, const unsigned int _i) const;

      public: unsigned int AnimationCount() const;

      public: SkeletonAnimation *Animation(const unsigned int _i) const;

      public: void AddAnimation(SkeletonAnimation *_anim);

      public: bool AddBvhAnimation(const std::string &_bvhFile, double _scale);

      public: std::string NodeNameAnimToSkin(unsigned int _index,
                  const std::string &_animNodeName);

      public: math::Matrix4d AlignTranslation(unsigned int _index,
                  const std::string &_animNodeName);

      public: math::Matrix4d AlignRotation(unsigned int _index,
                  const std::string &_animNodeName);

      private: void BuildNodeMap();

      IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
    };
  }
}
#endif