RobWorkProject
24.8.23-
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renders skin using vertice weights in relation to the bone structure. More...
#include <RenderSmoothSkin.hpp>
Inherits Render.
Additional Inherited Members | |
Public Types inherited from Render | |
typedef rw::core::Ptr< Render > | Ptr |
smart pointer type to this class | |
typedef DrawableNode::DrawType | DrawType |
when calling render on the draw mode or type can be specified. See DrawableNode::DrawType | |
Public Member Functions inherited from Render | |
virtual | ~Render () |
destructor | |
Protected Member Functions inherited from Render | |
Render () | |
Only instances of classes inheriting Render is allowed. | |
renders skin using vertice weights in relation to the bone structure.
Each vertice has a number of bones attached. These attached bones influence the position of the vertice.
The transformation of each vertice is weighted against the transformation of each attached bone. Such that the vertice position is defined by \( v' = \sum w_i v . M_{[i]} \) where M is the transform from Base frame to the the i'th attached bone (which is not the i'th bone).