Struct skelly::Posture [−][src]
Collection of bones transformations that represent a skelly posture.
It’s primary usecase is to be used instead
of transformations contained in the Skelly
.
Multiple postures to be processed for the same Skelly
.
Allowing running animations, IK algorithms etc,
and then blend them to get final posture.
Implementations
impl<T> Posture<T> where
T: Scalar,
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T: Scalar,
pub fn new<D>(skelly: &Skelly<T, D>) -> Self where
T: RealField,
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T: RealField,
Returns new Posture
instance for skelly
.
Copies current skelly
transformations.
Example
let mut skelly = Skelly::<f32>::new(); let root = skelly.add_root(Point3::origin()); let bone = skelly.attach(Vector3::x(), root); let mut posture = Posture::new(&skelly);
pub fn is_compatible<D>(&self, skelly: &Skelly<T, D>) -> bool
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pub fn append_rotation(&mut self, bone: usize, rotation: UnitQuaternion<T>) where
T: RealField,
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T: RealField,
Rotates bone with specified id.
Does not affect relative position to the parent and global position for root bones. Affects global position of all descendant bones.
Example
let mut skelly = Skelly::<f32>::new(); let root = skelly.add_root(Point3::origin()); let bone = skelly.attach(Vector3::x(), root); let mut posture = Posture::new(&skelly); let mut globals = [Isometry3::identity(); 2]; posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_old = globals[bone]; // Ensure that bone is placed correctly in global space at (1, 0, 0). assert!((bone_global_old.translation.vector - Vector3::x()).magnitude() < EPSILON); // Rotate root bone. It is still at origin. // Yet global position of the `bone` attached to `root` has changed accordingly. posture.append_rotation(root, UnitQuaternion::from_euler_angles(0.0, 0.0, PI / 2.0)); posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_new = globals[bone]; // Ensure that bone is placed correctly in global space after root rotation at (0, 1, 0). assert!((bone_global_new.translation.vector - Vector3::y()).magnitude() < EPSILON);
Panics
This method panics if bone
index is out of bounds.
pub fn prepend_rotation(&mut self, bone: usize, rotation: UnitQuaternion<T>) where
T: RealField,
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T: RealField,
Rotates bone with specified id.
Does not affect relative position to the parent and global position for root bones. Affects global position of all descendant bones.
Example
let mut skelly = Skelly::<f32>::new(); let root = skelly.add_root(Point3::origin()); let bone = skelly.attach(Vector3::x(), root); let mut posture = Posture::new(&skelly); let mut globals = [Isometry3::identity(); 2]; posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_old = globals[bone]; // Ensure that bone is placed correctly in global space at (1, 0, 0). assert!((bone_global_old.translation.vector - Vector3::x()).magnitude() < EPSILON); // Rotate the bone. It is still at origin. // Yet global position of the `bone` attached to `root` has changed accordingly. posture.prepend_rotation(bone, UnitQuaternion::from_euler_angles(0.0, 0.0, PI / 2.0)); posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_new = globals[bone]; // Ensure that bone is placed correctly in global space after root rotation at (0, 1, 0). assert!((bone_global_new.translation.vector - Vector3::y()).magnitude() < EPSILON);
Panics
This method panics if bone
index is out of bounds.
pub fn append_translation(&mut self, bone: usize, translation: Translation3<T>) where
T: RealField,
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T: RealField,
Translates bone with specified id.
Affects relative position to the parent and global position for root bones. Affects global position of all descendant bones.
Example
let mut skelly = Skelly::<f32>::new(); let root = skelly.add_root(Point3::origin()); let bone = skelly.attach(Vector3::x(), root); let mut posture = Posture::new(&skelly); let mut globals = [Isometry3::identity(); 2]; posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_old = globals[bone]; // Ensure that bone is placed correctly in global space at (1, 0, 0). assert!((bone_global_old.translation.vector - Vector3::x()).magnitude() < EPSILON); // Translate root bone. // Global position of the `bone` attached to `root` has changed accordingly. posture.append_translation(root, Vector3::z().into()); posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_new = globals[bone]; // Ensure that bone is placed correctly in global space after root translation at (1, 0, 1). assert!((bone_global_new.translation.vector - (Vector3::x() + Vector3::z())).magnitude() < EPSILON);
Panics
This method panics if bone
index is out of bounds.
pub fn set_position(&mut self, bone: usize, position: Vector3<T>)
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Sets relative position for bone with specified id. Affects global position of all descendant bones.
This method ignores current relative position of the bone.
To apply translation to current relative poistion see Skelly::append_translation
.
Example
let mut skelly = Skelly::<f32>::new(); let root = skelly.add_root(Point3::origin()); let bone = skelly.attach(Vector3::x(), root); let mut posture = Posture::new(&skelly); let mut globals = [Isometry3::identity(); 2]; posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_old = globals[bone]; // Ensure that bone is placed correctly in global space at (1, 0, 0). assert!((bone_global_old.translation.vector - Vector3::x()).magnitude() < EPSILON); // Set new relative position for the `bone`. posture.set_position(bone, Vector3::z()); posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_new = globals[bone]; // Ensure that bone is placed correctly in global space at new position (0, 0, 1). assert!((bone_global_new.translation.vector - Vector3::z()).magnitude() < EPSILON);
Panics
This method panics if bone
index is out of bounds.
pub fn get_position(&mut self, bone: usize) -> Vector3<T> where
T: RealField,
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T: RealField,
Returns current bone position relative to parent.
pub fn set_orientation(&mut self, bone: usize, orientation: UnitQuaternion<T>)
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Sets relative orientation for bone with specified id. Affects global position of all descendant bones.
This method ignores current relative position of the bone.
To apply translation to current relative poistion see Skelly::append_translation
.
Example
let mut skelly = Skelly::<f32>::new(); let root = skelly.add_root(Point3::origin()); let bone = skelly.attach(Vector3::x(), root); let mut posture = Posture::new(&skelly); let mut globals = [Isometry3::identity(); 2]; posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_old = globals[bone]; // Ensure that bone is placed correctly in global space at (1, 0, 0). assert!((bone_global_old.translation.vector - Vector3::x()).magnitude() < EPSILON); // Set new relative orientation for the `bone`. posture.set_orientation(root, UnitQuaternion::from_euler_angles(0.0, 0.0, PI / 2.0)); posture.write_globals(&skelly, &Isometry3::identity(), &mut globals); let bone_global_new = globals[bone]; // Ensure that bone is placed correctly in global space at new position (0, 0, 1). assert!((bone_global_new.translation.vector - Vector3::y()).magnitude() < EPSILON);
Panics
This method panics if bone
index is out of bounds.
pub fn get_orientation(&mut self, bone: usize) -> UnitQuaternion<T> where
T: RealField,
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T: RealField,
Returns current bone orientation relative to parent.
pub fn get_isometry(&mut self, bone: usize) -> Isometry3<T> where
T: RealField,
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T: RealField,
Returns current bone isometry relative to parent.
pub fn write_globals<D>(
&self,
skelly: &Skelly<T, D>,
skelly_global: &Isometry3<T>,
globals: &mut [Isometry3<T>]
) where
T: RealField,
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&self,
skelly: &Skelly<T, D>,
skelly_global: &Isometry3<T>,
globals: &mut [Isometry3<T>]
) where
T: RealField,
Fills slice of Isometry3
with global isometries
for each bone of the skelly
in this posture.
Example
let mut skelly = Skelly::<f32>::new(); let root = skelly.add_root(Point3::origin()); let bone = skelly.attach(Vector3::x(), root); let mut posture = Posture::new(&skelly); // Animate the skelly by modifying posture iteratively. let mut globals = [Isometry3::identity(); 2]; posture.write_globals(&skelly, &Isometry3::identity(), &mut globals);
Panics
Panics if this posture is not compatible with the skelly
.
To check for compatibility use Posture::is_compatible
.
One may use Posture
with Skelly
used to create that Posture
(see Posture::new
) as it is guaranteed to be compatible
until new bone is added.
Auto Trait Implementations
impl<T> RefUnwindSafe for Posture<T> where
T: RefUnwindSafe,
T: RefUnwindSafe,
impl<T> Send for Posture<T> where
T: Send,
T: Send,
impl<T> Sync for Posture<T> where
T: Sync,
T: Sync,
impl<T> Unpin for Posture<T> where
T: Unpin,
T: Unpin,
impl<T> UnwindSafe for Posture<T> where
T: UnwindSafe,
T: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,