obstacle.hpp

/*
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*/

#ifndef OBSTACLE_HPP
#define OBSTACLE_HPP

#include "mesh.hpp"
#include "spline.hpp"
#include "util.hpp"
#include <unsupported/Eigen/CXX11/Tensor>
#include <Eigen/Eigen>
#include <opencv2/core/eigen.hpp>
#include "tensor.h"
#include "smpl.h"

// A class which holds both moving and static meshes.
// Note that moving meshes MUST retain their structure across frames with only
// positions changing.
struct Obstacle {
public:
    double start_time, end_time;
    bool activated;
    // Gets the last-returned mesh or its transformation
    Mesh& get_mesh();
    const Mesh& get_mesh() const;

    // Gets the state of the mesh at a given time, and updates the internal
    // meshes
    Mesh& get_mesh(double time_sec);

    // lerp with previous mesh at time t - dt
    void blend_with_previous (double t, double dt, double blend);
    void smpl_blend_with_previous (double t, double dt, double blend);

    const Motion *transform_spline;

    // Create smpl model 
    SMPL* smpl; 

    // Get SMPL mesh from shape, pose parameters 
    Mesh& get_smpl_mesh(double time_sec); 

    // motion parameters for smpl 
    // notice that smpl shares the same data structure 
    const Motion *smpl_motion;

    // smpl related
    bool gender;
     
    // Shape parameters for smpl
    Eigen::MatrixXf betas; 

    // A mesh containing the original, untransformed object
    Mesh base_mesh;
    // A mesh containing the correct mesh structure
    Mesh curr_state_mesh;

    Obstacle (): start_time(0), end_time(infinity), activated(false) {}
};

// // Default arguments imply it's a static obstacle
// // An obstacle mesh may have multiple parts, so when you read one in,
// // you get a vector of obstacles back, each representing one part.
// std::vector<Obstacle> make_obstacle
//     (std::string filename, Transformation overall_transform = identity(),
//      std::vector<Transformation> global_transforms = std::vector<Transformation>(),
//      double fps = 1, double start_time = 0, double pause_time = 0);

#endif