17 #ifndef GAZEBO_PHYSICS_ACTOR_HH_
18 #define GAZEBO_PHYSICS_ACTOR_HH_
25 #include <ignition/math/Color.hh>
53 public:
unsigned int id;
81 public:
typedef std::map<std::string, common::SkeletonAnimation *>
93 public:
void Load(sdf::ElementPtr _sdf);
99 const std::map<std::string, std::string> &_skelMap);
126 public:
virtual const sdf::ElementPtr
GetSDF();
202 private:
void AddSphereInertia(
const sdf::ElementPtr &_linkSdf,
203 const ignition::math::Pose3d &_pose,
204 const double _mass,
const double _radius);
212 private:
void AddSphereCollision(
const sdf::ElementPtr &_linkSdf,
213 const std::string &_name,
214 const ignition::math::Pose3d &_pose,
215 const double _radius);
223 private:
void AddBoxCollision(
const sdf::ElementPtr &_linkSdf,
224 const std::string &_name,
225 const ignition::math::Pose3d &_pose,
226 const ignition::math::Vector3d &_size);
235 private:
void AddSphereVisual(
const sdf::ElementPtr &_linkSdf,
236 const std::string &_name,
237 const ignition::math::Pose3d &_pose,
const double _radius,
238 const std::string &_material,
239 const ignition::math::Color &_ambient);
248 private:
void AddBoxVisual(
const sdf::ElementPtr &_linkSdf,
249 const std::string &_name,
250 const ignition::math::Pose3d &_pose,
251 const ignition::math::Vector3d &_size,
252 const std::string &_material,
253 const ignition::math::Color &_ambient);
259 private:
void AddActorVisual(
const sdf::ElementPtr &_linkSdf,
260 const std::string &_name,
261 const ignition::math::Pose3d &_pose);
267 private:
bool LoadSkin(sdf::ElementPtr _sdf);
274 private:
void LoadAnimation(sdf::ElementPtr _sdf);
278 private:
void LoadScript(sdf::ElementPtr _sdf);
285 private:
void SetPose(
286 std::map<std::string, ignition::math::Matrix4d> _frame,
287 std::map<std::string, std::string> _skelMap,
331 protected: std::map<unsigned int, common::PoseAnimation *>
trajectories;
353 protected: std::map<std::string, std::map<std::string, std::string> >
383 private:
double scriptTime;
390 private: std::unique_ptr<ActorPrivate> dataPtr;
common
Definition: FuelModelDatabase.hh:42
A 3D mesh.
Definition: Mesh.hh:43
A skeleton.
Definition: Skeleton.hh:53
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:48
Actor class enables GPU based mesh model / skeleton scriptable animation.
Definition: Actor.hh:79
bool active
True if the actor is being updated.
Definition: Actor.hh:313
uint32_t visualId
ID for the visual representing the skin.
Definition: Actor.hh:376
double ScriptTime() const
Get the current script time.
void SetCustomTrajectory(TrajectoryInfoPtr &_trajInfo)
Set a custom trajectory for the actor, using one of the existing animations.
virtual bool GetSelfCollide() const
Get whether the links in the actor can collide with each other.
void AlignBvh(common::Skeleton *_skel, const std::map< std::string, std::string > &_skelMap)
Align BVH to DAE skin.
LinkPtr mainLink
Pointer to the actor's canonical link.
Definition: Actor.hh:320
TrajectoryInfoPtr CustomTrajectory() const
Get the custom trajectory.
virtual void Fini()
Finalize the actor.
void Reset()
Reset the actor.
virtual void Init()
Initialize the actor.
bool autoStart
True if the actor should start running automatically, otherwise it will only start once Play is calle...
Definition: Actor.hh:317
std::string visualName
Name of the visual representing the skin.
Definition: Actor.hh:373
std::map< std::string, std::map< std::string, std::string > > skelNodesMap
Skeleton to node map:
Definition: Actor.hh:354
std::map< unsigned int, common::PoseAnimation * > trajectories
Map of all the trajectories (pose animations) and their indices.
Definition: Actor.hh:331
const common::Mesh * Mesh() const
Returns the actor's mesh.
common::Time prevFrameTime
Time of the previous frame.
Definition: Actor.hh:323
double startDelay
Time to wait before starting the script.
Definition: Actor.hh:304
std::string skinFile
Filename for the skin.
Definition: Actor.hh:297
void ResetCustomTrajectory()
Reset custom trajectory of the actor.
SkeletonAnimation_M skelAnimation
Map of skeleton animations, indexed by their names.
Definition: Actor.hh:343
void SetScriptTime(const double _time)
Set the current script time.
bool loop
True if the animation should loop.
Definition: Actor.hh:310
virtual const sdf::ElementPtr GetSDF()
Get the SDF values for the actor.
unsigned int lastTraj
Id of the last trajectory.
Definition: Actor.hh:370
ignition::math::Vector3d lastPos
Last position of the actor.
Definition: Actor.hh:364
transport::PublisherPtr bonePosePub
Publisher to send bone info.
Definition: Actor.hh:379
virtual bool IsActive() const
Returns true when actor is playing animation.
std::vector< TrajectoryInfo > trajInfo
A vector of trajectory information, which contains information such as their durations,...
Definition: Actor.hh:337
virtual void SetSelfCollide(bool _selfCollide)
Override set self collide method to make it impossible to set it to true for actors.
virtual bool WindMode() const
Get whether the links in the actor are affected by wind.
double pathLength
Length of the actor's path.
Definition: Actor.hh:367
std::map< std::string, common::SkeletonAnimation * > SkeletonAnimation_M
Typedef the skeleton animation map, indexed by their names.
Definition: Actor.hh:82
common::Time playStartTime
Time when the animation was started.
Definition: Actor.hh:326
const SkeletonAnimation_M & SkeletonAnimations() const
Returns a dictionary of all the skeleton animations associated with the actor.
virtual void SetWindMode(const bool _enabled)
Override set wind mode method to make it impossible to set it to true for actors.
double skinScale
Scaling factor to apply to the skin.
Definition: Actor.hh:300
void Load(sdf::ElementPtr _sdf)
Load the actor.
virtual void Play()
Start playing the script.
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
double scriptLength
Total time length of the script, in seconds.
Definition: Actor.hh:307
std::map< std::string, bool > interpolateX
Map of animation types (the same name as in skelAnimation and skelNodesMap) and whether they should b...
Definition: Actor.hh:361
void Update()
Update the actor.
Actor(BasePtr _parent)
Constructor.
virtual void Stop()
Stop playing the script.
virtual ~Actor()
Destructor.
A model is a collection of links, joints, and plugins.
Definition: Model.hh:60
void Reset() override
Reset the model.
Information about a trajectory for an Actor.
Definition: Actor.hh:48
double startTime
Start time of this keyframe within the trajectory, in seconds.
Definition: Actor.hh:63
TrajectoryInfo()
Constructor.
double endTime
End time of this keyframe within the trajectory, in seconds.
Definition: Actor.hh:66
std::string type
Type of trajectory.
Definition: Actor.hh:57
bool translated
True if the trajectory is translated.
Definition: Actor.hh:69
unsigned int id
ID of the trajectory.
Definition: Actor.hh:53
double duration
Duration of this keyframe in seconds.
Definition: Actor.hh:60
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition: PhysicsTypes.hh:102
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
Forward declarations for the common classes.
Definition: Animation.hh:27