hmi.elckerlyc.animationengine.procanimation
Class ProcAnimationMU

java.lang.Object
  hmi.xml.XMLStructureAdapter
      hmi.elckerlyc.animationengine.procanimation.ProcAnimationMU

All Implemented Interfaces:

KeyPositionManager, MotionUnit, XMLStructure

public class ProcAnimationMU
extends XMLStructureAdapter
implements MotionUnit

Generic procedural animation package Animation is described as end effector path, joint rotation path and/or joint positions at key times Typical program flow:
1. load proc animation through XML
2. setup an IKBody
3. link the IKBody to the proc animation through the setup function
4. animate using the play function

Author:

welberge, Mark ter Maat

Nested Class Summary

(package private) static class

ProcAnimationMU.IKParameter

Field Summary

private IKBody	body
private Set<String>	bodyPartFilter
private Set<VJoint>	bodyParts
private ArrayList<EndEffector>	endeffector
private float[]	goal
Id	id
private List<KeyframeMU>	keyFrameMUs
private HashMap<String,Keyframes>	keyframes
private KeyPositionManager	keyPositionManager
private EndEffector	leftFootEff
private EndEffector	leftHandEff
private float[]	lf
private float[]	lh
private double	maxDuration
private double	minDuration
private ArrayList<ProcAnimationMU.IKParameter>	parameters
private org.lsmp.djep.xjep.XJep	parser
private double	prefDuration
private float[]	q
private float[]	rf
private float[]	rh
private EndEffector	rightFootEff
private EndEffector	rightHandEff
private float[]	ro
private EndEffector	rootEff
private HashMap<String,Rotation>	rotations
private org.nfunk.jep.Variable	tVar

Fields inherited from class hmi.xml.XMLStructureAdapter

ATTRIBUTE_TOKEN_DELIMITERS, COMMA_SEPARATOR, DECODEDARRAYSIZE, DEFAULT_RECOVER_MODE, NEWLINE, SYSTEMNEWLINE, TAB, TAB_STRING

Constructor Summary

ProcAnimationMU()
Constructor

Method Summary

void	addEndEffector(EndEffector eff) Adds an endeffector
void	addKeyframes(Keyframes kf) Adds a keyframe
void	addKeyPosition(KeyPosition kp)
void	addParameter(Parameter p) Adds a parameter
void	addSkeletonInterpolator(SkeletonInterpolator ski)
StringBuilder	appendAttributeString(StringBuilder buf) Appends a String to buf that encodes the attributes for the XML encoding.
StringBuilder	appendContent(StringBuilder buf, XMLFormatting fmt) Appends a String to buf that encodes the contents for the XML encoding.
private boolean	containsOnlyLetters(String str) Checks if the given String only contains letters
MotionUnit	copy(AnimationPlayer p) Create a copy of this motion unit and link it to the animationplayer
MotionUnit	copy(VJoint v) Creates a copy of this ProcAnimation and links is to VJoint v
TimedMotionUnit	createTMU(BMLBlockPeg bbPeg, String i, String bmlId) Creates the TimedMotionUnit corresponding to this motion unit
boolean	decodeAttribute(String attrName, String attrValue) decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized.
boolean	decodeAttribute(String attrName, String attrValue, XMLTokenizer tokenizer) decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized.
void	decodeContent(XMLTokenizer tokenizer) decodes the XML contents, i.e. the XML between the STag and ETag of the encoding.
ProcAnimationMU	deepCopy() Creates a copy of this ProcAnimation.
private void	filterBodyParts()
private void	findMissingParameters()
List<EndEffector>	getAllEndEffectors() Returns the complete arraylist with EndEffectors
Set<VJoint>	getControlledJoints() Gets the joints steered with this ProcAnimation
EndEffector	getEndEffector(String target) Get the EndEffector with sid target
private ProcAnimationMU.IKParameter	getIKParameter(String paramId)
KeyPosition	getKeyPosition(String name)
List<KeyPosition>	getKeyPositions() Gets a sorted view of the list of keypositions
EndEffector	getLeftFootEff()
EndEffector	getLeftHandEff()
double	getMaxDuration()
double	getMinDuration()
Collection<Parameter>	getParameters() Gets the parameters
String	getParameterValue(String name)
void	getPositions(float[] lf, float[] rf, float[] lh, float[] rh, float[] root, double[] swivels) Get the current endeffector IK info
MotionUnit	getPredictor(VJoint predict) Creates a copy of this ProcAnimation, but links the parameters of the copy directly to this animation.
double	getPrefDuration()
double	getPreferedDuration()
String	getReplacementGroup() Get the motionunit replacement group (=typically the BML behavior) Used to determine the currently active persistent TMU for this group in the player Only one group is active at a time
EndEffector	getRightFootEff()
EndEffector	getRightHandEff()
EndEffector	getRootEff()
Rotation	getRotation(String target) Returns the Rotation of the given target
HashMap<String,Rotation>	getRotations()
String	getXMLTag() returns the XML tag that is used to encode this type of XMLStructure.
private boolean	isConstantParameter(String str)
void	mirror()
private boolean	parameterExists(String str) Checks if a parameter exists with the given name
void	play(double t) Play the IKAnimation at time 0 < t < 1 First plays all skeletoninterpolators, then sets the joints starting at the root as specified by IK and keyframes
private void	play(double t, VJoint v)
void	removeEndEffector(String name) Removes all endeffectors with target name
void	removeKeyPosition(String id)
void	removeRotation(String name) Removes a rotation
void	set(ProcAnimationMU ani) Sets to ani, copies over all of ani's properties
void	setEffectors(ProcAnimationMU ik) Set the endeffectors of another ProcAnimation into this animation.
void	setEndEffector(String name, String xForm, String yForm, String zForm, String sForm, boolean isLocal) Sets a end effector to a certain formula, adds it to the endeffector list if it does not exist yet
void	setEndEffectors(ArrayList<EndEffector> newEndEffectors) Set a new set of EndEffectors
void	setKeyframes(HashMap<String,Keyframes> frs) Set the keyframes to frs
void	setKeyPositions(List<KeyPosition> p)
void	setMaxDuration(double maxDuration)
void	setMinDuration(double minDuration)
void	setParameters(Collection<Parameter> ps) Sets the parameters the parameters in ps, retaining the 'old' parameters that not are part of ps
void	setParameterValue(String sid, float value) Sets the parameter value for parameter sid.
void	setParameterValue(String name, String value)
private void	setParameterValues()
void	setPrefDuration(double prefDuration)
void	setRotation(String name, String xForm, String yForm, String zForm) Sets a rotation to a certain formula, adds it to the rotation list if it does not exist yet
void	setRotations(HashMap<String,Rotation> rots) Set the rotations
void	setRotations(ProcAnimationMU ik) Copies the rotations from another ProcAnimation Rotations that occur in ik but not in this ProcAnimation are ignored
void	setup(Collection<Parameter> params, IKBody b) Links the ProcAnimation to a body and a set of parameters Filters out the joints to animate based on the set Rotations, end effectors, keyframes and skeletoninterpolators
private void	setupEndEffectors()
private void	setupParser()
String	toString() Get the id string

Methods inherited from class hmi.xml.XMLStructureAdapter

appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttribute, appendAttributes, appendAttributes, appendAttributeString, appendBooleans, appendCloseEmptyTag, appendCloseSTag, appendComment, appendContent, appendDoubleElement, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendEmptyTag, appendETag, appendETag, appendFloatArrayElement, appendFloatElement, appendFloats, appendIntArrayElement, appendIntElement, appendInts, appendLongElement, appendNewLine, appendNewLine, appendNewLine, appendOpenSTag, appendOptionalDoubleElement, appendOptionalFloatElement, appendOptionalIntElement, appendOptionalLongElement, appendSpaces, appendSpaces, appendSTag, appendSTag, appendSTag, appendStringArrayElement, appendStrings, appendSystemNewLine, appendTab, appendTextElement, appendXML, appendXML, appendXML, appendXML, appendXML, appendXMLStructure, appendXMLStructureList, appendXMLTextElementList, countTokens, countTokens, decodeAttributes, decodeBoolean, decodeBooleanArray, decodeBooleanArray, decodeBooleanArray, decodeBooleanArray, decodeDouble, decodeDoubleArray, decodeDoubleArray, decodeDoubleArray, decodeDoubleArray, decodeFloat, decodeFloatArray, decodeFloatArray, decodeFloatArray, decodeFloatArray, decodeInt, decodeIntArray, decodeIntArray, decodeIntArray, decodeIntArray, decodeLong, decodeStringArray, decodeStringArray, decodeStringArray, decodeStringArray, decodeXMLStructureList, decodeXMLValueElement, getNamespace, getOptionalAttribute, getOptionalAttribute, getOptionalBooleanAttribute, getOptionalDoubleAttribute, getOptionalFloatAttribute, getOptionalIntAttribute, getOptionalLongAttribute, getRequiredAttribute, getRequiredBooleanAttribute, getRequiredDoubleAttribute, getRequiredFloatAttribute, getRequiredIntAttribute, getRequiredLongAttribute, getTagLine, hasContent, parseXMLElement, postProcess, preProcess, readXML, readXML, readXML, setConsoleAttributeEnabled, setDefaultRecoverMode, setRecoverMode, spaces, toXMLString, toXMLString, toXMLString, toXMLString, toXMLString, toXMLString, writeXML, writeXML, writeXML, writeXML, xmlTag

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

id

public Id id

endeffector

private ArrayList<EndEffector> endeffector

keyFrameMUs

private List<KeyframeMU> keyFrameMUs

rotations

private HashMap<String,Rotation> rotations

keyframes

private HashMap<String,Keyframes> keyframes

bodyParts

private Set<VJoint> bodyParts

bodyPartFilter

private Set<String> bodyPartFilter

rootEff

private EndEffector rootEff

rightFootEff

private EndEffector rightFootEff

leftFootEff

private EndEffector leftFootEff

rightHandEff

private EndEffector rightHandEff

leftHandEff

private EndEffector leftHandEff

minDuration

private double minDuration

maxDuration

private double maxDuration

prefDuration

private double prefDuration

parser

private org.lsmp.djep.xjep.XJep parser

tVar

private org.nfunk.jep.Variable tVar

parameters

private ArrayList<ProcAnimationMU.IKParameter> parameters

body

private IKBody body

keyPositionManager

private KeyPositionManager keyPositionManager

lf

private float[] lf

rf

private float[] rf

lh

private float[] lh

rh

private float[] rh

goal

private float[] goal

q

private float[] q

ro

private float[] ro

Constructor Detail

ProcAnimationMU

public ProcAnimationMU()

Constructor

Method Detail

addSkeletonInterpolator

public void addSkeletonInterpolator(SkeletonInterpolator ski)

getControlledJoints

public Set<VJoint> getControlledJoints()

Gets the joints steered with this ProcAnimation

getKeyPosition

public KeyPosition getKeyPosition(String name)

Specified by:

getKeyPosition in interface KeyPositionManager

addKeyPosition

public void addKeyPosition(KeyPosition kp)

Specified by:

addKeyPosition in interface KeyPositionManager

removeKeyPosition

public void removeKeyPosition(String id)

Specified by:

removeKeyPosition in interface KeyPositionManager

getKeyPositions

public List<KeyPosition> getKeyPositions()

Description copied from interface: KeyPositionManager

Gets a sorted view of the list of keypositions

Specified by:

getKeyPositions in interface KeyPositionManager

setKeyPositions

public void setKeyPositions(List<KeyPosition> p)

Specified by:

setKeyPositions in interface KeyPositionManager

mirror

public void mirror()

deepCopy

public ProcAnimationMU deepCopy()

Creates a copy of this ProcAnimation. The copy is not linked to an ikbody

getPreferedDuration

public double getPreferedDuration()

Specified by:

getPreferedDuration in interface MotionUnit

Returns:

Prefered duration (in seconds) of this motion unit, 0 means not determined/infinite

set

public void set(ProcAnimationMU ani)

Sets to ani, copies over all of ani's properties

removeRotation

public void removeRotation(String name)

Removes a rotation

setRotation

public void setRotation(String name,
                        String xForm,
                        String yForm,
                        String zForm)
                 throws org.nfunk.jep.ParseException

Sets a rotation to a certain formula, adds it to the rotation list if it does not exist yet

Parameters:

name - name of the target

xForm - x formula

yForm - y formula

zForm - z formula

Throws:

org.nfunk.jep.ParseException

setEndEffector

public void setEndEffector(String name,
                           String xForm,
                           String yForm,
                           String zForm,
                           String sForm,
                           boolean isLocal)

Sets a end effector to a certain formula, adds it to the endeffector list if it does not exist yet

Parameters:

name - name of the target

xForm - x formula

yForm - y formula

zForm - z formula

setRotations

public void setRotations(HashMap<String,Rotation> rots)

Set the rotations

Parameters:

rotations - The rotations to set.

setParameterValue

public void setParameterValue(String sid,
                              float value)

Sets the parameter value for parameter sid. Ignores parameter sids that are not used in this ProcAnimation.

Specified by:

setParameterValue in interface MotionUnit

setKeyframes

public void setKeyframes(HashMap<String,Keyframes> frs)

Set the keyframes to frs

setRotations

public void setRotations(ProcAnimationMU ik)

Copies the rotations from another ProcAnimation Rotations that occur in ik but not in this ProcAnimation are ignored

Parameters:

ik - the IKAnimation to copy from

setParameterValues

private void setParameterValues()

setParameters

public void setParameters(Collection<Parameter> ps)

Sets the parameters the parameters in ps, retaining the 'old' parameters that not are part of ps

Parameters:

parameters - - the list of parameters to set

getIKParameter

private ProcAnimationMU.IKParameter getIKParameter(String paramId)

addKeyframes

public void addKeyframes(Keyframes kf)

Adds a keyframe

addParameter

public void addParameter(Parameter p)

Adds a parameter

setEffectors

public void setEffectors(ProcAnimationMU ik)

Set the endeffectors of another ProcAnimation into this animation. EndEffectors that occur only in ik are ignored.

setEndEffectors

public void setEndEffectors(ArrayList<EndEffector> newEndEffectors)

Set a new set of EndEffectors

Parameters:

the - new list of EndEffectors

getEndEffector

public EndEffector getEndEffector(String target)

Get the EndEffector with sid target

Parameters:

target - the sid of the endeffector to obtain

Returns:

the endeffector, null if not found

getAllEndEffectors

public List<EndEffector> getAllEndEffectors()

Returns the complete arraylist with EndEffectors

Returns:

the EndEffectors

addEndEffector

public void addEndEffector(EndEffector eff)

Adds an endeffector

Parameters:

eff - endeffector to add

removeEndEffector

public void removeEndEffector(String name)

Removes all endeffectors with target name

Parameters:

name - the target

getRotations

public HashMap<String,Rotation> getRotations()

Returns:

Returns the rotations.

getRotation

public Rotation getRotation(String target)

Returns the Rotation of the given target

Parameters:

the - target

Returns:

the rotation.

getPositions

public void getPositions(float[] lf,
                         float[] rf,
                         float[] lh,
                         float[] rh,
                         float[] root,
                         double[] swivels)

Get the current endeffector IK info

Parameters:

lf - output: left foot vector

rf - output: right foot position

lh - output: left hand position

rh - output: right hand position

root - output: root position

swivels - output: swivel rotations of respectively left foot, rightfoot, lefthand, right hand

getParameters

public Collection<Parameter> getParameters()

Gets the parameters

Returns:

the parameters

setupEndEffectors

private void setupEndEffectors()

setup

public void setup(Collection<Parameter> params,
                  IKBody b)

Links the ProcAnimation to a body and a set of parameters Filters out the joints to animate based on the set Rotations, end effectors, keyframes and skeletoninterpolators

filterBodyParts

private void filterBodyParts()

findMissingParameters

private void findMissingParameters()

containsOnlyLetters

private boolean containsOnlyLetters(String str)

Checks if the given String only contains letters

isConstantParameter

private boolean isConstantParameter(String str)

parameterExists

private boolean parameterExists(String str)

Checks if a parameter exists with the given name

play

private void play(double t,
                  VJoint v)

play

public void play(double t)

Play the IKAnimation at time 0 < t < 1 First plays all skeletoninterpolators, then sets the joints starting at the root as specified by IK and keyframes

Specified by:

play in interface MotionUnit

Parameters:

t - 0 <= t <= 1 the time position

getMaxDuration

public double getMaxDuration()

Returns:

Returns the maxDuration in seconds

setMaxDuration

public void setMaxDuration(double maxDuration)

Parameters:

maxDuration - The new maxDuration in seconds

getMinDuration

public double getMinDuration()

Returns:

Returns the minDuration in seconds

setMinDuration

public void setMinDuration(double minDuration)

Parameters:

minDuration - The minDuration to set, in seconds

getPrefDuration

public double getPrefDuration()

Returns:

Returns the prefered duration (in seconds) of this ProcAnimation

setPrefDuration

public void setPrefDuration(double prefDuration)

Parameters:

prefDuration - the prefered duration (in seconds) of this ProcAnimation

toString

public String toString()

Get the id string

Overrides:

toString in class XMLStructureAdapter

setupParser

private void setupParser()

getLeftFootEff

public EndEffector getLeftFootEff()

Returns:

the left foot endeffector, null if not used

getLeftHandEff

public EndEffector getLeftHandEff()

Returns:

the left hand endeffector, null if not used

getRightFootEff

public EndEffector getRightFootEff()

Returns:

the right foot endeffector, null if not used

getRightHandEff

public EndEffector getRightHandEff()

Returns:

the right hand endeffector, null if not used

getRootEff

public EndEffector getRootEff()

Returns:

the root end effector, null if not used

copy

public MotionUnit copy(AnimationPlayer p)

Description copied from interface: MotionUnit

Create a copy of this motion unit and link it to the animationplayer

Specified by:

copy in interface MotionUnit

copy

public MotionUnit copy(VJoint v)

Creates a copy of this ProcAnimation and links is to VJoint v

getPredictor

public MotionUnit getPredictor(VJoint predict)

Creates a copy of this ProcAnimation, but links the parameters of the copy directly to this animation.

Specified by:

getPredictor in interface MotionUnit

Parameters:

predict - VJoint to execute the prediction on

Returns:

predictor motion unit

decodeAttribute

public boolean decodeAttribute(String attrName,
                               String attrValue)

Description copied from class: XMLStructureAdapter

decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized. Might throw a RuntimeException when an attribute has been recognized, but is ill formatted. MUST BE OVERWRITTEN BY IMPLEMENTATIONS.

Overrides:

decodeAttribute in class XMLStructureAdapter

decodeAttribute

public boolean decodeAttribute(String attrName,
                               String attrValue,
                               XMLTokenizer tokenizer)

Description copied from class: XMLStructureAdapter

decodes the value from an attribute value String returns true if succesful, returns false for attribute names that are not recognized. Might throw a RuntimeException when an attribute has been recognized, but is ill formatted. Moreover, an XMLTokenizer reference is available which can be queried for attributes, like getTokenLine() or getTokenCharPos(), which might be helpful to produce error messages referring to lines/positions within the XML document The default implementation simply calls decodeAttribute(attrName, attrValue) SHOUL BE OVERWRITTEN BY IMPLEMENTATIONS.

Overrides:

decodeAttribute in class XMLStructureAdapter

decodeContent

public void decodeContent(XMLTokenizer tokenizer)
                   throws IOException

Description copied from class: XMLStructureAdapter

decodes the XML contents, i.e. the XML between the STag and ETag of the encoding. MUST BE OVERWRITTEN BY IMPLEMENTATIONS.

Overrides:

decodeContent in class XMLStructureAdapter

Throws:

IOException

appendContent

public StringBuilder appendContent(StringBuilder buf,
                                   XMLFormatting fmt)

Description copied from class: XMLStructureAdapter

Appends a String to buf that encodes the contents for the XML encoding. MUST BE OVERWRITTEN BY IMPLEMENTATIONS. (The default implementation appends nothing). The encoding should start on a new line, using indentation equal to tab. There should be no newline after the encoding.

Overrides:

appendContent in class XMLStructureAdapter

appendAttributeString

public StringBuilder appendAttributeString(StringBuilder buf)

Description copied from class: XMLStructureAdapter

Appends a String to buf that encodes the attributes for the XML encoding. When non empty, the attribute string should start with a space character. Hint: call the appendAttribute(StringBuilder buf, String attrName, String attrValue) for every relevant attribute; this takes care of the leading space as well as spaces in between the attributes) MUST BE OVERWRITTEN BY IMPLEMENTATIONS. (The default implementation appends nothing). The encoding should preferably not add newline characters.

Overrides:

appendAttributeString in class XMLStructureAdapter

getXMLTag

public String getXMLTag()

Description copied from class: XMLStructureAdapter

returns the XML tag that is used to encode this type of XMLStructure. The default returns null.

Specified by:

getXMLTag in interface XMLStructure

Overrides:

getXMLTag in class XMLStructureAdapter

setParameterValue

public void setParameterValue(String name,
                              String value)

Specified by:

setParameterValue in interface MotionUnit

getParameterValue

public String getParameterValue(String name)

Specified by:

getParameterValue in interface MotionUnit

createTMU

public TimedMotionUnit createTMU(BMLBlockPeg bbPeg,
                                 String i,
                                 String bmlId)

Description copied from interface: MotionUnit

Creates the TimedMotionUnit corresponding to this motion unit

Specified by:

createTMU in interface MotionUnit

i - behaviour id

bmlId - BML block id

Returns:

the TMU

getReplacementGroup

public String getReplacementGroup()

Description copied from interface: MotionUnit

Get the motionunit replacement group (=typically the BML behavior) Used to determine the currently active persistent TMU for this group in the player Only one group is active at a time

Specified by:

getReplacementGroup in interface MotionUnit