Revision: 6423
http://sourceforge.net/p/smartbody/code/6423
Author: arishapiro
Date: 2016-06-14 17:29:57 +0000 (Tue, 14 Jun 2016)
Log Message:
-----------
Fixed for Perception Neuron puppeteering via the SBRealtimeManager.
Works in non-displacement, non-reference mode.
Sample setup:
scene.getRealtimeManager().setStringAttribute("perceptionNeuronIP",
"172.16.33.27")
class MyController (PythonController):
def init(self, pawn):
# setup rig nodes
print "Setting up Perception Neuron control..."
def evaluate(self):
retarget =
scene.getRetargetManager().getRetarget("perceptionneuron.bvh","Evan.dae")
perceptionNeuronMap =
scene.getJointMapManager().getJointMap("perceptionneuron")
zebra2Map = scene.getJointMapManager().getJointMap("zebra2")
# every time step, get the value from one channel and then
modify another
realtimeManager = scene.getRealtimeManager()
if
(realtimeManager.getAttribute("perceptionNeuronStatus").getValue() ==
"Connected"):
skel = scene.getCharacter("ChrBrad").getSkeleton()
numJoints = skel.getNumJoints()
for j in range(0, numJoints):
joint = skel.getJoint(j)
name = joint.getName()
# get the original source name
zebra2Name = zebra2Map.getMapTarget(name)
perceptionNeuronJointName =
perceptionNeuronMap.getMapSource(zebra2Name)
if perceptionNeuronJointName == "":
continue
#print "MAPPED NAME" + name + " " +
perceptionNeuronJointName
# get any current data
if (perceptionNeuronJointName == "Hips"):
pos =
realtimeManager.getDataVec(perceptionNeuronJointName + "/pos")
scaledPos = SrVec()
scaledPos.setData(0, pos.getData(0) *
.01)
scaledPos.setData(1, pos.getData(1) *
.01)
scaledPos.setData(2, pos.getData(2) *
.01)
self.setChannelPos(zebra2Name,
scaledPos)
rot =
realtimeManager.getDataQuat(perceptionNeuronJointName)
retargetedRot =
retarget.applyRetargetJointRotation(zebra2Name, rot)
#print "QUAT" + str(rot.getData(0)) + " " +
str(rot.getData(1)) + " " + str(rot.getData(2)) + " " + str(rot.getData(3))
self.setChannelQuat(zebra2Name, rot)
Modified Paths:
--------------
trunk/core/smartbody/SmartBody/src/sb/SBRealtimeManager.cpp
trunk/core/smartbody/SmartBody/src/sb/SBRealtimeManager.h
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