#include <NiJointsTool.h>

Public Member Functions
	CNiJoints (void)

	CNiJoints (NiSDK_Lib lib)

virtual	~CNiJoints (void)

void	clear (void)

void	init (void)

void	clearNiJointsData (void)

void	connectJointsData (Vector< double > vct, Quaternion< double > qut, Vector< int > crd, double agl, CRingBuffer vrg, CRingBuffer qrg)

void	copyJoints2NiJoints (BOOL mirror)

Public Attributes
NiSDK_Lib	sdk_lib

Vector< double > *	posVect

Quaternion< double > *	rotQuat

Vector< int > *	crdVect

double *	jntAngl

CRingBuffer *	posRing

CRingBuffer *	rotRing

Vector< double >	niPosVect [NI_TOTAL_JOINT_NUM]

Quaternion< double >	niRotQuat [NI_TOTAL_JOINT_NUM]

double	niJntAngl [NI_TOTAL_JOINT_NUM]

Detailed Description

Definition at line 234 of file NiJointsTool.h.

Constructor & Destructor Documentation

◆ CNiJoints() [1/2]

CNiJoints ( void )

inline

Definition at line 237 of file NiJointsTool.h.

237{ init();}

jbxwl::CNiJoints::init

void init(void)

Definition NiJointsTool.cpp:624

References CNiJoints::init().

Here is the call graph for this function:

◆ CNiJoints() [2/2]

CNiJoints ( NiSDK_Lib lib )

inline

Definition at line 238 of file NiJointsTool.h.

238{ init(); sdk_lib = lib;}

jbxwl::CNiJoints::sdk_lib

NiSDK_Lib sdk_lib

Definition NiJointsTool.h:244

References CNiJoints::init(), and CNiJoints::sdk_lib.

Here is the call graph for this function:

◆ ~CNiJoints()

virtual ~CNiJoints ( void )

inlinevirtual

Definition at line 239 of file NiJointsTool.h.

239{}

Member Function Documentation

◆ clear()

void clear ( void )

inline

Definition at line 241 of file NiJointsTool.h.

241{ init();}

References CNiJoints::init().

Here is the call graph for this function:

◆ clearNiJointsData()

void clearNiJointsData ( void )

Definition at line 640 of file NiJointsTool.cpp.

{
    //
    for (int j=0; j<NI_TOTAL_JOINT_NUM; j++) {
        //
        niPosVect[j].init(-1.0);
        niRotQuat[j].init(-1.0);
        niJntAngl[j] = 0.0;
    }
 
    return;
}

References NI_TOTAL_JOINT_NUM, CNiJoints::niJntAngl, CNiJoints::niPosVect, and CNiJoints::niRotQuat.

Referenced by CNiJoints::init().

Here is the caller graph for this function:

◆ connectJointsData()

void connectJointsData	(	Vector< double > *	vct,
		Quaternion< double > *	qut,
		Vector< int > *	crd,
		double *	agl,
		CRingBuffer *	vrg,
		CRingBuffer *	qrg )

Definition at line 655 of file NiJointsTool.cpp.

{
    posVect = vct;
    rotQuat = qut;
    jntAngl = agl;
    crdVect = crd;
    posRing = vrg;
    rotRing = qrg;
}

References CNiJoints::crdVect, CNiJoints::jntAngl, CNiJoints::posRing, CNiJoints::posVect, CNiJoints::rotQuat, and CNiJoints::rotRing.

◆ copyJoints2NiJoints()

void copyJoints2NiJoints ( BOOL mirror )

Definition at line 668 of file NiJointsTool.cpp.

{
    if (posVect!=NULL) {
        for (int j=0; j<NI_TOTAL_JOINT_NUM; j++) {
            int n = Ni2SDKPosJointNum(j, sdk_lib);
            if (n>=0) {
                niPosVect[j] = posVect[n];
            }
        }
    }
 
    if (rotQuat!=NULL) {
        for (int j=0; j<NI_TOTAL_JOINT_NUM; j++) {
            int n = Ni2SDKRotJointNum(j, sdk_lib);
            if (n>=0) {
                niRotQuat[j] = rotQuat[n];
            }
        }
    }
 
    if (jntAngl!=NULL) {
        for (int j=0; j<NI_TOTAL_JOINT_NUM; j++) {
            int n = Ni2SDKRotJointNum(j, sdk_lib);
            if (n>=0) {
                //if (mirror) n = NiSDKMirrorJointNum(n, sdk_lib);
                niJntAngl[j] = jntAngl[n];
            }
        }
    }
    
    return;
}

References CNiJoints::jntAngl, jbxwl::Ni2SDKPosJointNum(), jbxwl::Ni2SDKRotJointNum(), NI_TOTAL_JOINT_NUM, CNiJoints::niJntAngl, CNiJoints::niPosVect, CNiJoints::niRotQuat, CNiJoints::posVect, CNiJoints::rotQuat, and CNiJoints::sdk_lib.

Here is the call graph for this function:

◆ init()

void init ( void )

Definition at line 624 of file NiJointsTool.cpp.

{
    sdk_lib     = NiSDK_None;
 
    posVect     = NULL;
    rotQuat     = NULL;
    jntAngl     = NULL;
 
    posRing     = NULL;
    rotRing     = NULL;
 
    clearNiJointsData();
}