Replace std::vector<Affine3> with std::vector<Transform>

momentum/character/blend_shape_skinning.cpp

@@ -88,8 +88,7 @@ void skinWithBlendShapes(
   // first create a list of transformations from bindpose to final output pose
   std::vector<Eigen::Matrix4<T>> transformations(state.jointState.size());
   for (size_t i = 0; i < state.jointState.size(); i++) {
-    transformations[i] =
-        (state.jointState[i].transformation * inverseBindPose[i].cast<T>()).matrix();
+    transformations[i] = (state.jointState[i].transform * inverseBindPose[i].cast<T>()).toMatrix();
   }
 
   MT_CHECK(

momentum/character/character.cpp

@@ -37,7 +37,7 @@ CharacterT<T>::CharacterT(
     BlendShape_const_p blendShapes,
     BlendShapeBase_const_p faceExpressionBlendShapes,
     const std::string& nameIn,
-    const momentum::TransformationList& inverseBindPose_in,
+    const momentum::TransformList& inverseBindPose_in,
     const SkinnedLocatorList& skinnedLocators)
     : skeleton(s),
       parameterTransform(pt),
@@ -262,7 +262,7 @@ CharacterT<T> CharacterT<T>::simplifySkeleton(const std::vector<bool>& activeJoi
       }
       // calculate the new offset of the joint in the new parent space
       if (sIndex != kInvalidIndex) {
-        offset = referenceState.jointState[sIndex].transformation.inverse() *
+        offset = referenceState.jointState[sIndex].transform.inverse() *
             referenceState.jointState[aIndex].translation();
       } else {
         offset = referenceState.jointState[aIndex].translation();
@@ -356,8 +356,9 @@ CharacterT<T> CharacterT<T>::simplifySkeleton(const std::vector<bool>& activeJoi
     for (auto&& c : *result.collision) {
       const auto oldParent = c.parent;
       c.parent = result.jointMap[c.parent];
-      c.transformation = targetBindState.jointState[c.parent].transformation.inverse() *
-          sourceBindState.jointState[oldParent].transformation * c.transformation;
+      c.transformation =
+          (targetBindState.jointState[c.parent].transform.inverse() *
+           sourceBindState.jointState[oldParent].transform * c.transformation);
     }
   }
 
@@ -496,15 +497,15 @@ ParameterLimits CharacterT<T>::remapParameterLimits(
       data.parent = targetParent;
 
       const auto targetTransformationInverse =
-          targetBindState.jointState[targetParent].transformation.inverse();
-      const auto sourceTransformation = sourceBindState.jointState[sourceParent].transformation;
+          targetBindState.jointState[targetParent].transform.inverse();
+      const auto sourceTransformation = sourceBindState.jointState[sourceParent].transform;
       data.offset = targetTransformationInverse * sourceTransformation * data.offset;
 
       const auto sourceEllipsoidParent = data.ellipsoidParent;
       data.ellipsoidParent = jointMap[data.ellipsoidParent];
       const auto targetEllipsoidInverse =
-          targetBindState.jointState[data.ellipsoidParent].transformation.inverse();
-      const auto sourceEllipsoid = sourceBindState.jointState[sourceEllipsoidParent].transformation;
+          targetBindState.jointState[data.ellipsoidParent].transform.inverse();
+      const auto sourceEllipsoid = sourceBindState.jointState[sourceEllipsoidParent].transform;
       data.ellipsoid = targetEllipsoidInverse * sourceEllipsoid * data.ellipsoid;
       data.ellipsoidInv = data.ellipsoid.inverse();
     }
@@ -597,8 +598,8 @@ LocatorList CharacterT<T>::remapLocators(
     result.emplace_back(sourceLocator);
     auto& loc = result.back();
     loc.parent = jointMap[loc.parent];
-    loc.offset = targetBindState.jointState[loc.parent].transformation.inverse() *
-        sourceBindState.jointState[sourceLocator.parent].transformation * sourceLocator.offset;
+    loc.offset = targetBindState.jointState[loc.parent].transform.inverse() *
+        sourceBindState.jointState[sourceLocator.parent].transform * sourceLocator.offset;
   }
 
   return result;
@@ -634,7 +635,7 @@ void CharacterT<T>::initInverseBindPose() {
   }
   inverseBindPose.reserve(bindState.jointState.size());
   for (const auto& t : bindState.jointState) {
-    inverseBindPose.push_back(t.transformation.inverse());
+    inverseBindPose.push_back(t.transform.inverse());
   }
 }
 

momentum/character/character.h

@@ -62,7 +62,7 @@ struct CharacterT {
   BlendShapeBase_const_p faceExpressionBlendShape;
 
   /// Inverse of the bind pose transformations for each joint
-  TransformationList inverseBindPose;
+  TransformList inverseBindPose;
 
   /// Maps from original joint indices to simplified joint indices
   std::vector<size_t> jointMap;
@@ -104,7 +104,7 @@ struct CharacterT {
       BlendShape_const_p blendShapes = {},
       BlendShapeBase_const_p faceExpressionBlendShapes = {},
       const std::string& nameIn = "",
-      const momentum::TransformationList& inverseBindPose = {},
+      const momentum::TransformList& inverseBindPose = {},
       const SkinnedLocatorList& skinnedLocators = {});
 
   /// Copy constructor

momentum/character/character_utility.cpp

@@ -71,21 +71,19 @@ std::unique_ptr<CollisionGeometry> scale(
 
   auto result = std::make_unique<CollisionGeometry>(*geom);
   for (auto& capsule : (*result)) {
-    capsule.transformation.translation() *= scale;
+    capsule.transformation.translation *= scale;
     capsule.radius *= scale;
     capsule.length *= scale;
   }
 
   return result;
 }
 
-TransformationList scaleInverseBindPose(
-    const TransformationList& transformations,
-    const float scale) {
-  TransformationList result = transformations;
+TransformList scaleInverseBindPose(const TransformList& transformations, const float scale) {
+  TransformList result = transformations;
   MT_CHECK(scale > 0.0f);
   for (auto& t : result) {
-    t.translation() *= scale;
+    t.translation *= scale;
   }
   return result;
 }
@@ -326,16 +324,16 @@ Character scaleCharacter(const Character& character, float s) {
 
 namespace {
 
-Skeleton transformSkeleton(const Skeleton& skeleton, const Eigen::Affine3f& xform) {
-  const Eigen::Vector3f singularValues = xform.linear().jacobiSvd().singularValues();
+Skeleton transformSkeleton(const Skeleton& skeleton, const Transform& xform) {
+  const Eigen::Vector3f singularValues = xform.toLinear().jacobiSvd().singularValues();
   for (Eigen::Index i = 0; i < 3; ++i) {
     MT_CHECK(
         singularValues(i) > 0.99 && singularValues(i) < 1.01,
         "Transform should not include scale or shear.");
   }
 
-  const Eigen::Quaternionf rotation(xform.linear());
-  const Eigen::Vector3f translation(xform.translation());
+  const Eigen::Quaternionf rotation(xform.toLinear());
+  const Eigen::Vector3f translation(xform.translation);
 
   Skeleton result(skeleton);
   MT_CHECK(!result.joints.empty());
@@ -389,7 +387,7 @@ BlendShape_const_p transformBlendShape(
   return blendShapeTransformed;
 }
 
-std::unique_ptr<Mesh> transformMesh(const std::unique_ptr<Mesh>& mesh, const Eigen::Affine3f& xf) {
+std::unique_ptr<Mesh> transformMesh(const std::unique_ptr<Mesh>& mesh, const Transform& xf) {
   if (!mesh) {
     return {};
   }
@@ -400,18 +398,16 @@ std::unique_ptr<Mesh> transformMesh(const std::unique_ptr<Mesh>& mesh, const Eig
   }
 
   for (auto& v : result->normals) {
-    v = xf.linear() * v;
+    v = xf.toLinear() * v;
   }
 
   return result;
 }
 
-TransformationList transformInverseBindPose(
-    const TransformationList& inverseBindPose,
-    const Eigen::Affine3f& xf) {
-  TransformationList result;
+TransformList transformInverseBindPose(const TransformList& inverseBindPose, const Transform& xf) {
+  TransformList result;
   result.reserve(inverseBindPose.size());
-  const Eigen::Affine3f xfInv = xf.inverse();
+  const Transform xfInv = xf.inverse();
   for (const auto& m : inverseBindPose) {
     result.push_back(m * xfInv);
   }
@@ -420,7 +416,7 @@ TransformationList transformInverseBindPose(
 
 } // namespace
 
-Character transformCharacter(const Character& character, const Affine3f& xform) {
+Character transformCharacter(const Character& character, const Transform& xform) {
   return {
       transformSkeleton(character.skeleton, xform),
       character.parameterTransform,
@@ -430,7 +426,7 @@ Character transformCharacter(const Character& character, const Affine3f& xform)
       character.skinWeights.get(),
       character.collision.get(),
       character.poseShapes.get(),
-      transformBlendShape(character.blendShape, xform),
+      transformBlendShape(character.blendShape, xform.toAffine3()),
       character.faceExpressionBlendShape,
       character.name,
       transformInverseBindPose(character.inverseBindPose, xform)};

momentum/character/character_utility.h

@@ -32,7 +32,7 @@ namespace momentum {
 /// @param[in] character Character to be transformed
 /// @param[in] xform Transformation to apply
 /// @return A new Character object that has been transformed
-[[nodiscard]] Character transformCharacter(const Character& character, const Affine3f& xform);
+[[nodiscard]] Character transformCharacter(const Character& character, const Transform& xform);
 
 /// Replaces the part of target_character's skeleton rooted at target_root with the part of
 /// source_character's skeleton rooted at source_root.

momentum/character/collision_geometry.h

@@ -10,6 +10,7 @@
 #include <momentum/character/types.h>
 #include <momentum/common/memory.h>
 #include <momentum/math/constants.h>
+#include <momentum/math/transform.h>
 #include <momentum/math/utility.h>
 
 namespace momentum {
@@ -24,7 +25,7 @@ struct TaperedCapsuleT {
 
   /// Transformation defining the orientation and starting point relative to the parent coordinate
   /// system.
-  Affine3<S> transformation;
+  TransformT<S> transformation;
 
   /// Radii at the two endpoints of the capsule.
   Vector2<S> radius;
@@ -36,7 +37,7 @@ struct TaperedCapsuleT {
   S length;
 
   TaperedCapsuleT()
-      : transformation(Affine3<S>::Identity()),
+      : transformation(TransformT<S>()),
         radius(Vector2<S>::Zero()),
         parent(kInvalidIndex),
         length(S(0)) {

momentum/character/collision_geometry_state.cpp

@@ -26,10 +26,10 @@ void CollisionGeometryStateT<T>::update(
   for (size_t i = 0; i < numElements; ++i) {
     const auto& tc = collisionGeometry[i];
     const auto& js = skeletonState.jointState[tc.parent];
-    const Affine3<T> transform = js.transformation * tc.transformation.cast<T>();
-    origin[i] = transform.translation();
-    direction[i].noalias() = transform.linear().col(0) * tc.length;
-    radius[i].noalias() = tc.radius.cast<T>() * js.scale();
+    const TransformT<T> transform = js.transform * tc.transformation.cast<T>();
+    origin[i] = transform.translation;
+    direction[i].noalias() = transform.getAxisX() * transform.scale * tc.length;
+    radius[i].noalias() = tc.radius.cast<T>() * js.transform.scale;
     delta[i] = radius[i][1] - radius[i][0];
   }
 }

momentum/character/joint_state.cpp

@@ -38,7 +38,7 @@ void JointStateT<T>::set(
   // calculate state based on parameters and parent transform
   if (computeDeriv) {
     if (parentState != nullptr) {
-      translationAxis = parentState->transformation.linear();
+      translationAxis = parentState->transform.toLinear();
     } else {
       translationAxis.setIdentity();
     }
@@ -65,9 +65,6 @@ void JointStateT<T>::set(
 
   // set global transformation
   transform = parent * localTransform;
-
-  // TODO: Remove
-  transformation = transform.toAffine3();
 }
 
 template <typename T>
@@ -90,9 +87,6 @@ Vector3<T> JointStateT<T>::getScaleDerivative(const Vector3<T>& ref) const noexc
 template <typename T>
 template <typename T2>
 void JointStateT<T>::set(const JointStateT<T2>& rhs) {
-  // TODO: Remove
-  transformation = rhs.transformation.template cast<T>();
-
   localTransform = rhs.localTransform.template cast<T>();
   transform = rhs.transform.template cast<T>();
 

momentum/character/joint_state.h

@@ -28,11 +28,6 @@ namespace momentum {
 /// Each joint has 7 parameters: 3 translation, 3 rotation, and 1 scale.
 template <typename T>
 struct JointStateT {
-  using Affine3 = Eigen::Transform<T, 3, Eigen::Affine>;
-
-  /// Complete transformation matrix from local to global space (legacy, to be removed)
-  Affine3 transformation; // TODO: Remove
-
   /// Local transformation relative to parent joint
   ///
   /// Defined by the joint parameters (translation, rotation, scale)