75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
#pragma once
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/*
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* Nom: William Nolin
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* Code permanent : NOLW76060101
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* Email : william.nolin.1@ens.etsmtl.ca
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*/
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#include "Math3D.h"
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#include <vector>
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namespace gti320
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{
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class Link
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{
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public:
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// Constructor.
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// @a _parent = the parent link
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// @a _eulerAng = the initial rotation
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// @a _trans = the position relative to the parent
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//
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Link(Link* _parent, const Vector3f& _eulerAng, const Vector3f& _trans);
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// Return true if this link is the root, false otherwise.
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//
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inline bool isRoot() const { return (parent == nullptr); }
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// Return true if this link is an endEffector, false otherwise.
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//
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inline bool isEndEffector() const { return (enfants.size() == 0); }
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// Compute the forward kinematics.
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//
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void forward();
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// NOUVELLE FONCTION
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// Gets the position of the link from the global rigid transformation matrix.
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Vector3f globalPosition();
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Vector3f eulerAng; // Euler angles giving rotation relative to the parent.
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Vector3f trans; // Translation giving position relative to the parent.
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Matrix4f M; // Global rigid transformation of the link, computed in forward().
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Link* parent; // Parent of this link (if the root, nullptr)
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std::vector<Link*> enfants; // Child links.
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};
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class Armature
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{
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public:
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// Constructor.
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//
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Armature();
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// Destructor.
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//
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~Armature();
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// Forward kinematics to update the global transforms of all links.
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//
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void updateKinematics();
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// Extract the Euler angles of all links and put them in the dense vector @a theta.
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//
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void pack(Vector<float, Dynamic>& theta);
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// Update the Euler angles of all links on the armature from the vector @a theta.
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//
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void unpack(const Vector<float, Dynamic>& theta);
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std::vector<Link*> links; // All of the articulated links that make-up the armature.
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Link* root; // The root link.
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};
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}
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