Skeleton class. More...

#include <Skeleton.h>

Public Types
typedef std::map< unsigned short, MapMetadata >	JointMetadataMap
	Joint metadata map.

typedef std::vector< FootStruct >	FeetVector
	Vector of pair foot-foot root.

Public Member Functions
	Skeleton (unsigned short numberOfJoints=1)
	Constructor. More...

	Skeleton (const Skeleton &rhs)
	Copy constructor.

	~Skeleton ()
	Destructor.

Skeleton &	operator= (const Skeleton &rhs)
	Assign operator.

unsigned short	numJoints () const
	Gets the number of joints. More...

void	setNumJoints (unsigned int numJoints)
	Sets the number of joints. More...

Joint &	operator[] (unsigned short index)
	Gets the joint. More...

const Joint &	operator[] (unsigned short index) const
	Gets the joint. More...

Joint &	joint (unsigned short index)
	Gets the joint. More...

const Joint &	joint (unsigned short index) const
	Gets the joint. More...

JointCPtr	root () const
	Gets the root joint. More...

JointPtr	root ()
	Gets the root joint. More...

void	setRoot (unsigned short id)
	Sets the root joint. More...

unsigned short	numFeet () const
	Gets the number of feet. More...

void	clearFeet ()
	Clears all the feet.

void	addFoot (unsigned short footIK, unsigned short footRoot, unsigned short footTip)
	Adds a foot. More...

JointPtr	footIK (unsigned short id)
	Gets the foot IK. More...

JointCPtr	footIK (unsigned short id) const
	Gets the foot IK. More...

bool	isFootIK (unsigned short id) const
	Check if a joint is a foot ik. More...

JointPtr	footRoot (unsigned short id)
	Get foot root. More...

JointCPtr	footRoot (unsigned short id) const
	Get foot root. More...

bool	isFootRoot (unsigned short id) const
	Check if a joint is a foot root. More...

JointPtr	footTip (unsigned short id)
	Get foot tip. More...

JointCPtr	footTip (unsigned short id) const
	Get foot tip. More...

bool	isFootTip (unsigned short id) const
	Check if a joint is a foot tip. More...

bool	footHasPoleVector (unsigned short id) const
	Returns true if the foot at the given id has a pole vector.

AtomsCore::Vector3	footPoleVector (unsigned short id) const
	Returns the foot pole vector.

void	setFootPoleVector (unsigned short id, const AtomsCore::Vector3 &value)
	Set the foto pole vector.

unsigned short	footPelvis (unsigned short id) const
	Get foot pelvis. More...

const std::vector< unsigned short > &	midJoints (unsigned short id) const
	Get leg mid joints. More...

const std::vector< unsigned short > &	legJoints (unsigned short id) const
	Get leg joints. More...

unsigned short	numPelvises () const
	Gets the number of pelvises. More...

void	clearPelvises ()
	Clears all pelvises.

void	addPelvis (unsigned short pelvisJoint)
	Adds a pelvis. More...

JointPtr	pelvis (unsigned short id)
	Gets a pelvis. More...

JointCPtr	pelvis (unsigned short id) const
	Get pelvis. More...

bool	isPelvis (unsigned short id) const
	Check if a joint is a pelvis. More...

unsigned int	numPelvisChains (unsigned int id) const
	Get number of pelvis chains. More...

PelvisChain *	pelvisChain (unsigned int id, unsigned int chain)
	Get a palvis chain. More...

const PelvisChain *	pelvisChain (unsigned int id, unsigned int chain) const
	Get a palvis chain. More...

const std::vector< unsigned short > &	detachedJoints () const
	Get joints without a parent. More...

void	buildIkData ()
	Build Ik data. More...

void	buildJointNameMap ()
	Build Joint name -> id map.

void	buildDetachedJointsList ()
	Build detached joints list.

int	jointId (const std::string &name) const
	Gets the joint id. More...

void	clear ()
	Clears all joints and metadatas.

size_t	memSize () const
	Get the memory size.

std::vector< unsigned short >	jointMetadataIds () const
	Gets the ids of the joints having some metadatas.

bool	jointHasMetadata (unsigned short index)
	Check if a joint has some metadata. More...

bool	jointHasMetadata (unsigned short index) const
	Check if a joint has some metadata. More...

MapMetadata &	jointMetadata (unsigned short index)
	Gets joint metadata. More...

const MapMetadata &	jointMetadata (unsigned short index) const
	Gets joint metadata. More...

void	setJointMetadata (unsigned short index, const MapMetadata &data)
	Adds joint metadata. More...

void	addJointMetadata (unsigned short index, const std::string &key, Metadata *data)
	Adds joint metadata. More...

void	addJointMetadata (unsigned short index, const std::string &key, const AtomsPtr< Metadata > data)
	Adds joint metadata. More...

void	clearJointMetadata (unsigned short index)
	Clears joint metadata. More...

void	clearJointsMetadata ()
	Clears all joint metadata.

void	hash (MurmurHash3 &hash) const
	Hash.

std::vector< SkeletonLod > &	lods ()
	Get sim lod info.

const std::vector< SkeletonLod > &	lods () const
	Get sim lod info.

void	sanitizeJointNames ()
	Sanitize joint names.

Detailed Description

Skeleton class.

The skeleton class stores an array of joints. This array is initialized by the constructor. It's not possible to add other joints after the constructor. This class contains an array of joint ids that represent the skeleton pelvises. A pelvis is defined as a joint connecting two opposite legs. For example in a human there is just one pelvis, while in an horse there are 2 pelvises joint, one for the back legs and one for the front legs. The concept of multiple pelvises is used by the motion blending engine in order to bend the spine when a character with multiple pelvises turns. This class contains also a list of feet joints. For every foot, a foot root (usually corresponding to the hip joint), ik and tip must be defined. The three joints are used by the motion engine to compute the leg IKs during the simulation.

Constructor & Destructor Documentation

◆ Skeleton()

AtomsCore::Skeleton::Skeleton ( unsigned short numberOfJoints = 1 )

Constructor.

Initializes the skeleton with a fixed number of joints.

Parameters

numberOfJoints Number of joints

Member Function Documentation

◆ addFoot()

void AtomsCore::Skeleton::addFoot	(	unsigned short	footIK,
		unsigned short	footRoot,
		unsigned short	footTip
	)

inline

Adds a foot.

Adds a foot. In addition to the foot root joint, Atoms also need the joint index where the ik system will be attached and the foot tip.

Parameters

footIK	Foot IK joint
footRoot	Foot root joint
footTip	Foot tip joint

◆ addJointMetadata() [1/2]

void AtomsCore::Skeleton::addJointMetadata	(	unsigned short	index,
		const std::string &	key,
		const AtomsPtr< Metadata >	data
	)

inline

Adds joint metadata.

Parameters

index	Joint index
key	metadata map key
data	metadata

◆ addJointMetadata() [2/2]

void AtomsCore::Skeleton::addJointMetadata	(	unsigned short	index,
		const std::string &	key,
		Metadata *	data
	)

inline

Adds joint metadata.

Parameters

index	Joint index
key	metadata map key
data	metadata

◆ addPelvis()

void AtomsCore::Skeleton::addPelvis ( unsigned short pelvisJoint )

inline

Adds a pelvis.

Parameters

pelvisJoint Pelvis joint

◆ buildIkData()

void AtomsCore::Skeleton::buildIkData ( )

Build Ik data.

It parse all the feet and fill the metadata with the parent pelvis and the midjoint list

◆ clearJointMetadata()

void AtomsCore::Skeleton::clearJointMetadata ( unsigned short index )

Clears joint metadata.

Parameters

index Joint index

◆ detachedJoints()

const std::vector< unsigned short > & AtomsCore::Skeleton::detachedJoints ( ) const

inline

Get joints without a parent.

Returns: Indices of the joints without a parent

◆ footIK() [1/2]

JointPtr AtomsCore::Skeleton::footIK ( unsigned short id )

inline

Gets the foot IK.

Get the foot ik joint at the given index.

Parameters

id Foot id

◆ footIK() [2/2]

JointCPtr AtomsCore::Skeleton::footIK ( unsigned short id ) const

inline

Gets the foot IK.

Get the foot ik joint at the given index.

Parameters

id Foot id

Returns: Foot IK joint

◆ footPelvis()

unsigned short AtomsCore::Skeleton::footPelvis ( unsigned short id ) const

inline

Get foot pelvis.

Return the pelvis for the given foot.

Parameters

id Foot id

Returns: Pelvis index inside the pelvises array

◆ footRoot() [1/2]

JointPtr AtomsCore::Skeleton::footRoot ( unsigned short id )

inline

Get foot root.

Get the foot root joint at the given index.

Parameters

id Foot id

Returns: Foot root joint of the n'th foot

◆ footRoot() [2/2]

JointCPtr AtomsCore::Skeleton::footRoot ( unsigned short id ) const

inline

Get foot root.

Get the foot root joint at the given index.

Parameters

id Foot id

Returns: Foot root joint of the n'th foot

◆ footTip() [1/2]

JointPtr AtomsCore::Skeleton::footTip ( unsigned short id )

inline

Get foot tip.

Get the foot tip joint at the given index. The foot tip represents the joint which remains attach on the ground upon contact.

Parameters

id Foot id

Returns: Foot tip joint of the n'th foot

◆ footTip() [2/2]

JointCPtr AtomsCore::Skeleton::footTip ( unsigned short id ) const

inline

Get foot tip.

Get the foot tip joint at the given index. The foot tip represents the joint which remains attach on the ground upon contact.

Parameters

id Foot id

Returns: Foot tip joint of the n'th foot

◆ isFootIK()

bool AtomsCore::Skeleton::isFootIK ( unsigned short id ) const

Check if a joint is a foot ik.

Returns: true if the joint with the given id is a foot ik

◆ isFootRoot()

bool AtomsCore::Skeleton::isFootRoot ( unsigned short id ) const

Check if a joint is a foot root.

Returns: true if the joint with the given id is a foot root

◆ isFootTip()

bool AtomsCore::Skeleton::isFootTip ( unsigned short id ) const

Check if a joint is a foot tip.

Returns: true if the joint with the given id is a foot tip

◆ isPelvis()

bool AtomsCore::Skeleton::isPelvis ( unsigned short id ) const

Check if a joint is a pelvis.

Returns: true if the joint with the given id is a pelvis

◆ joint() [1/2]

Joint& AtomsCore::Skeleton::joint ( unsigned short index )

Gets the joint.

The function automatically checks whether the given index is within the valid bounds, throwing an out_of_range exception if it is not.

Parameters

index Index of the joint

Returns: Joint

◆ joint() [2/2]

const Joint& AtomsCore::Skeleton::joint ( unsigned short index ) const

Gets the joint.

The function automatically checks whether the given index is within the valid bounds, throwing an out_of_range exception if it is not.

Parameters

index Index of the joint

Returns: Joint

◆ jointHasMetadata() [1/2]

bool AtomsCore::Skeleton::jointHasMetadata ( unsigned short index )

Check if a joint has some metadata.

Parameters

index Joint index

Returns: Return true if joint has some metadata

◆ jointHasMetadata() [2/2]

bool AtomsCore::Skeleton::jointHasMetadata ( unsigned short index ) const

Check if a joint has some metadata.

Parameters

index Joint index

Returns: Return true if joint has some metadata

◆ jointId()

int AtomsCore::Skeleton::jointId ( const std::string & name ) const

inline

Gets the joint id.

Parameters

name	Joint name

Returns: Joint id

◆ jointMetadata() [1/2]

MapMetadata & AtomsCore::Skeleton::jointMetadata ( unsigned short index )

inline

Gets joint metadata.

Parameters

index Joint index

Returns: Joint metadata map

◆ jointMetadata() [2/2]

const MapMetadata& AtomsCore::Skeleton::jointMetadata ( unsigned short index ) const

Gets joint metadata.

Parameters

index Joint index

Returns: Joint metadata map

◆ legJoints()

const std::vector< unsigned short > & AtomsCore::Skeleton::legJoints ( unsigned short id ) const

inline

Get leg joints.

Return the leg joints

Parameters

id	Foot tip id

Returns: A list of joint indices.

◆ midJoints()

const std::vector< unsigned short > & AtomsCore::Skeleton::midJoints ( unsigned short id ) const

inline

Get leg mid joints.

Return the leg mid joints. The mid joints are the joints betweek the foot root and ik joints.

Parameters

id	Foot tip id

Returns: A list of joint indices.

◆ numFeet()

unsigned short AtomsCore::Skeleton::numFeet ( ) const

inline

Gets the number of feet.

Returns: Number of feet

◆ numJoints()

unsigned short AtomsCore::Skeleton::numJoints ( ) const

inline

Gets the number of joints.

Returns: Number of joints

◆ numPelvisChains()

unsigned int AtomsCore::Skeleton::numPelvisChains ( unsigned int id ) const

inline

Get number of pelvis chains.

Get the number of pelvis chains connected to a pelvis

Parameters

id	Index of the pelvis

Returns: Number of pelvis chains

◆ numPelvises()

unsigned short AtomsCore::Skeleton::numPelvises ( ) const

inline

Gets the number of pelvises.

Returns: Number of pelvises

◆ operator[]() [1/2]

Joint & AtomsCore::Skeleton::operator[] ( unsigned short index )

inline

Gets the joint.

Parameters

index Index of the joint

Returns: Joint

◆ operator[]() [2/2]

const Joint & AtomsCore::Skeleton::operator[] ( unsigned short index ) const

inline

Gets the joint.

Parameters

index Index of the joint

Returns: Joint

◆ pelvis() [1/2]

JointPtr AtomsCore::Skeleton::pelvis ( unsigned short id )

inline

Gets a pelvis.

Returns: Index of the pelvis

◆ pelvis() [2/2]

JointCPtr AtomsCore::Skeleton::pelvis ( unsigned short id ) const

inline

Get pelvis.

Returns: Index of the pelvis

◆ pelvisChain() [1/2]

PelvisChain* AtomsCore::Skeleton::pelvisChain	(	unsigned int	id,
		unsigned int	chain
	)

Get a palvis chain.

A pelvis chain in a list of joint between two pelvises

Parameters

id	Index of the pelvis
id	Index of the chain

Returns: Pelvis chain

◆ pelvisChain() [2/2]

const PelvisChain* AtomsCore::Skeleton::pelvisChain	(	unsigned int	id,
		unsigned int	chain
	)		const

Get a palvis chain.

A pelvis chain in a list of joint between two pelvises

Parameters

id	Index of the pelvis
id	Index of the chain

Returns: Pelvis chain

◆ root() [1/2]

JointPtr AtomsCore::Skeleton::root ( )

inline

Gets the root joint.

By default it's the joint at 0 index, otherwise is the joint set by the setRootJoint member function

Returns: Root joint

◆ root() [2/2]

JointCPtr AtomsCore::Skeleton::root ( ) const

inline

Gets the root joint.

By default it's the joint at 0 index, otherwise is the joint set by the setRootJoint member function

Returns: Root joint

◆ setJointMetadata()

void AtomsCore::Skeleton::setJointMetadata	(	unsigned short	index,
		const MapMetadata &	data
	)

inline

Adds joint metadata.

Parameters

index	Joint index
data	Joint metadata map

◆ setNumJoints()

void AtomsCore::Skeleton::setNumJoints ( unsigned int numJoints )

Sets the number of joints.

Parameters

numJoints Number of joints

◆ setRoot()

void AtomsCore::Skeleton::setRoot ( unsigned short id )

inline

Sets the root joint.

Parameters

id	Root joint

The documentation for this class was generated from the following files:

C:/projects/atomsCrowd/AtomsCore/include/AtomsCore/Skeleton.h
C:/projects/atomsCrowd/AtomsCore/include/AtomsCore/Skeleton.impl.h

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Skeleton()

Member Function Documentation

◆ addFoot()

◆ addJointMetadata() [1/2]

◆ addJointMetadata() [2/2]

◆ addPelvis()

◆ buildIkData()

◆ clearJointMetadata()

◆ detachedJoints()

◆ footIK() [1/2]

◆ footIK() [2/2]

◆ footPelvis()

◆ footRoot() [1/2]

◆ footRoot() [2/2]

◆ footTip() [1/2]

◆ footTip() [2/2]

◆ isFootIK()

◆ isFootRoot()

◆ isFootTip()

◆ isPelvis()

◆ joint() [1/2]

◆ joint() [2/2]

◆ jointHasMetadata() [1/2]

◆ jointHasMetadata() [2/2]

◆ jointId()

◆ jointMetadata() [1/2]

◆ jointMetadata() [2/2]

◆ legJoints()

◆ midJoints()

◆ numFeet()

◆ numJoints()

◆ numPelvisChains()

◆ numPelvises()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ pelvis() [1/2]

◆ pelvis() [2/2]

◆ pelvisChain() [1/2]

◆ pelvisChain() [2/2]

◆ root() [1/2]

◆ root() [2/2]

◆ setJointMetadata()

◆ setNumJoints()

◆ setRoot()