BVHJoint.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
*                                                                             *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
*                                                                             *
* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                              SOFA :: Framework                              *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_HELPER_IO_BVH_BVHJOINT_H
#define SOFA_HELPER_IO_BVH_BVHJOINT_H

#include <sofa/helper/io/bvh/BVHChannels.h>
#include <sofa/helper/io/bvh/BVHOffset.h>
#include <sofa/helper/io/bvh/BVHMotion.h>
#include <cstdio>
#include <string.h>

namespace sofa
{

namespace helper
{

namespace io
{

namespace bvh
{

class BVHJoint
{
public:
    BVHJoint(const char *_name, bool _endSite=false, BVHJoint *_parent=NULL);
    virtual ~BVHJoint();
    
    void addChild(BVHJoint *j){children.push_back(j);}
    std::vector<BVHJoint *> &getChildren(void){return children;}

    void setOffset(BVHOffset *o){offset = o;}
    BVHOffset *setOffset(void){return offset;}

    void setChannels(BVHChannels *c){channels = c;}
    BVHChannels *getChannels(void){return channels;}

    bool isEndSite(void){return endSite;}
    void setEndSite(bool isEndSite){endSite = isEndSite;}

    void setMotion(BVHMotion *m){motion = m;}
    BVHMotion *getMotion(void)
    {   
        if (motion == NULL)
            motion = new BVHMotion();
        return motion;
    }
    void initMotion(double fTime, unsigned int fCount);

    // Debug Text display
    void debug(int tab=0);

    void display(int);
    void displayInGlobalFrame(void);

    // .dat File creation for each frame
    // Christian Duriez PHD Articulated Rigids File Format
    void dump(char *fName, char *rootJointName=NULL);
    void dumpPosition(FILE *f, char *s=NULL);
    void dumpSegment(FILE *f, char *s=NULL);
    void dumpRotation(FILE *f, char *s=NULL);
    void dumpRotationLimit(FILE *f, char *s=NULL);
    void dumpRotationStiffness(FILE *f, char *s=NULL);
    void dumpPosition(FILE *f, int beginIndex);
    void dumpSegment(FILE *f, int &cpt, int beginIndex);
    void dumpRotation(FILE *f, int &cpt, int beginIndex);
    void dumpRotationLimit(FILE *f, int &cpt);
    void dumpRotationStiffness(FILE *f, int &cpt);

    int getNumJoints(char *s=NULL);
    int accumulateNumJoints(void);
    int getNumSegments(char *s=NULL);
    int getId();
    char* getName();
    BVHOffset* getOffset();


private:
    BVHOffset *offset;
    BVHChannels* channels;
    BVHMotion* motion;

    BVHJoint* parent;
    std::vector<BVHJoint *> children;

    char name[128];
    bool endSite;
    int id;
    static int lastId;
    
    // Transformation matrix in the global frame
    double matrix[16];
};

} // namespace bvh

} // namespace io

} // namespace helper

} // namespace sofa

#endif