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<div class="WordSection1">
<p class="MsoNormal">Dick, does the following CD1 specification change match our planned response in Mantis 1116 for HAnimJoint llimit, ulimit and stiffness?<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<ul style="margin-top:0in" type="disc">
<li class="MsoListParagraph" style="margin-left:0in;mso-list:l2 level1 lfo7">X3D4 architecture, clause 26 Humanoid Animation (HAnim) component, 26.3.3 HAnimJoint<o:p></o:p></li><li class="MsoListParagraph" style="margin-left:0in;mso-list:l2 level1 lfo7">https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/hanim.html#HAnimJoint<o:p></o:p></li></ul>
<p class="MsoNormal"><o:p> </o:p></p>
<ul style="margin-top:0in" type="disc">
<li class="MsoListParagraph" style="margin-left:0in;mso-list:l2 level1 lfo7">Mantis
<span style="font-size:10.0pt;font-family:"Verdana",sans-serif;color:black;background:#F3F3F3">
1116: 26.3.3 HAnimJoint - confirm type and defaults for llimit/ulimit/stiffness fields</span><o:p></o:p></li><li class="MsoListParagraph" style="margin-left:0in;mso-list:l2 level1 lfo7">https://www.web3d.org/member-only/mantis/view.php?id=1116<o:p></o:p></li></ul>
<div style="mso-element:para-border-div;border:none;border-bottom:solid windowtext 1.5pt;padding:0in 0in 1.0pt 0in">
<p class="MsoNormal" style="border:none;padding:0in"><o:p> </o:p></p>
<p class="MsoNormal" style="border:none;padding:0in">I have applied, checked in, deployed and tested corresponding changes to X3D XML Schema, DTD, X3DUOM, Java X3DJSAIL, Python X3DPSAIL, X3D Ontology and X3D Tooltips to their regular locations.<o:p></o:p></p>
<p class="MsoNormal" style="border:none;padding:0in"><o:p> </o:p></p>
</div>
<h2>26.3.3 HAnimJoint<o:p></o:p></h2>
<pre>HAnimJoint : X3DGroupingNode {<o:p></o:p></pre>
<pre> MFNode [in] addChildren [HAnimJoint,HAnimSegment,HAnimSite]<o:p></o:p></pre>
<pre> MFNode [in] removeChildren [HAnimJoint,HAnimSegment,HAnimSite]<o:p></o:p></pre>
<pre> SFVec3f [in,out] center 0 0 0 (-∞,∞)`<o:p></o:p></pre>
<pre> MFNode [in,out] children [] [HAnimJoint,HAnimSegment,HAnimSite]<o:p></o:p></pre>
<pre> SFString [in,out] description ""<o:p></o:p></pre>
<pre> MFNode [in,out] displacers [] [HAnimDisplacer]<o:p></o:p></pre>
<pre> SFBool [in,out] bboxDisplay FALSE<o:p></o:p></pre>
<pre> SFBool [in,out] visible TRUE<o:p></o:p></pre>
<pre> SFRotation [in,out] limitOrientation 0 0 1 0 (-∞,∞)|[-1,1]<o:p></o:p></pre>
<pre> <span class="proposeddeletion"><s><span style="background:red;mso-highlight:red">MFVec3f</span></s></span><span class="proposed"><span style="background:yellow;mso-highlight:yellow">MFFloat</span></span> [in,out] llimit [] (-∞,∞)<o:p></o:p></pre>
<pre> SFNode [in,out] metadata NULL [X3DMetadataObject]<o:p></o:p></pre>
<pre> SFString [in,out] name ""<o:p></o:p></pre>
<pre> SFRotation [in,out] rotation 0 0 1 0 (-∞,∞)|[-1,1]<o:p></o:p></pre>
<pre> SFVec3f [in,out] scale 1 1 1 (0,∞)<o:p></o:p></pre>
<pre> SFRotation [in,out] scaleOrientation 0 0 1 0 (-∞,∞)|[-1,1]<o:p></o:p></pre>
<pre> MFInt32 [in,out] skinCoordIndex [] <span class="proposed">[0,∞)</span><o:p></o:p></pre>
<pre> MFFloat [in,out] skinCoordWeight [] <span class="proposed">[0,1]</span><o:p></o:p></pre>
<pre> MFFloat [in,out] stiffness [0 0 0] [0,1]<o:p></o:p></pre>
<pre> SFVec3f [in,out] translation 0 0 0 (-∞,∞)<o:p></o:p></pre>
<pre> <span class="proposeddeletion"><s><span style="background:red;mso-highlight:red">MFVec3f</span></s></span><span class="proposed"><span style="background:yellow;mso-highlight:yellow">MFFloat</span></span> [in,out] ulimit [] (-∞,∞)<o:p></o:p></pre>
<pre> SFVec3f [] bboxCenter 0 0 0 (-∞,∞)<o:p></o:p></pre>
<pre> SFVec3f [] bboxSize -1 -1 -1 [0,∞) or −1 −1 −1<o:p></o:p></pre>
<pre>}<o:p></o:p></pre>
<p>Each joint in the body is represented by an HAnimJoint node, which is used to define the relationship of each body segment to its immediate parent.
<o:p></o:p></p>
<p>An HAnimJoint may only be a child of another HAnimJoint node or a child within the
<i>skeleton</i> field in the case of the HAnimJoint used as a humanoid root ( <i>
i.e.</i>, an HAnimJoint may not be a child of an <a href="file:///C:/x3d-github/Web3dConsortiumMember/X3D/ISO-IEC19775/ISO-IEC19775-1/ISO-IEC19775-1v4.0/ISO-IEC19775-1v4-CD1/Part01/components/hanim.html#HAnimSegment">
HAnimSegment</a>).<o:p></o:p></p>
<p>The HAnimJoint node is also used to store other joint-specific information. In particular, a joint
<i>name</i> is provided so that applications can identify each HAnimJoint node at run-time. The HAnimJoint node may contain hints for inverse-kinematics systems that wish to control the HAnim figure. These hints include the upper and lower joint limits, the
orientation of the joint limits, and a <i>stiffness</i> (resistance) value. <o:p>
</o:p></p>
<p><span class="proposed"><span style="background:yellow;mso-highlight:yellow">The
<i>llimit</i>, <i>ulimit</i>, and <i>stiffness</i> fields shall contain three values or else be an empty array. An empty
<i>llimit,</i> <i>ulimit</i>, or <i>stiffness</i> array is equivalent to 0 0 0. Behavior is undefined when array length is 1, 2, or greater than 3.</span></span>
<o:p></o:p></p>
<p class="example">NOTE These limits are not enforced by any mechanism within the scene graph of the humanoid, and are provided for information purposes only. Use of this information and enforcement of the joint limits is up to the application.
<o:p></o:p></p>
<p>Humanoid authors and tools are free to implement the HAnimJoint node however they choose. In particular, they may choose to use a single polygonal mesh to represent a humanoid, rather than having a separate
<a href="file:///C:/x3d-github/Web3dConsortiumMember/X3D/ISO-IEC19775/ISO-IEC19775-1/ISO-IEC19775-1v4.0/ISO-IEC19775-1v4-CD1/Part01/components/geometry3D.html#IndexedFaceSet">
IndexedFaceSet</a> for each body segment. In such a case, an HAnimJoint would be responsible for moving the vertices that correspond to a particular body segment and all the segments descended from it.
<o:p></o:p></p>
<div style="mso-element:para-border-div;border:none;border-bottom:solid windowtext 1.5pt;padding:0in 0in 1.0pt 0in">
<p style="border:none;padding:0in">Each field is described in <a href="file:///C:/x3d-github/Web3dConsortiumMember/X3D/ISO-IEC19775/ISO-IEC19775-1/ISO-IEC19775-1v4.0/ISO-IEC19775-1v4-CD1/Part01/references.html#I19774">
ISO/IEC 19774</a>.<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">all the best, Don<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">-- <o:p>
</o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">Don Brutzman Naval Postgraduate School, Code USW/Br brutzman@nps.edu<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">X3D graphics, virtual worlds, navy robotics https://</span>
<span style="font-size:10.0pt;font-family:"Courier New"">faculty.nps.edu/brutzman<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><b>From:</b> Brutzman, Donald (Don) (CIV) <br>
<b>Sent:</b> Thursday, January 6, 2022 9:36 PM<br>
<b>To:</b> X3D Public Mailing List (x3d-public@web3d.org) <x3d-public@web3d.org><br>
<b>Cc:</b> brutzman@nps.edu<br>
<b>Subject:</b> X3D Working Group agenda 7 JAN 2022: welcome back<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Resuming our weekly meetings 10-1100 pacific time Friday. Agenda this week:<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">[…]<o:p></o:p></p>
<ol style="margin-top:0in" start="6" type="1">
<li class="MsoListParagraph" style="margin-left:-.25in;mso-list:l0 level1 lfo8">Mantis issues highlight: HAnim Joint fields llimit, ulimit, stiffness to remain MFFloat for backwards compatibility<o:p></o:p></li></ol>
<ol style="margin-top:0in" start="1" type="1">
<ul style="margin-top:0in" type="disc">
<li class="MsoListParagraph" style="margin-left:-.25in;mso-list:l4 level2 lfo3">Mantis
<span style="font-size:10.0pt;font-family:"Verdana",sans-serif;color:black;background:#F3F3F3">
1116: 26.3.3 HAnimJoint - confirm type and defaults for llimit/ulimit/stiffness fields</span><o:p></o:p></li><li class="MsoListParagraph" style="margin-left:-.25in;mso-list:l4 level2 lfo3"><a href="https://www.web3d.org/member-only/mantis/view.php?id=1116">https://www.web3d.org/member-only/mantis/view.php?id=1116</a><o:p></o:p></li></ul>
</ol>
<p class="MsoNormal">[…] <o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">have fun with X3D! 8)<o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New""><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">all the best, Don<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">-- <o:p>
</o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">Don Brutzman Naval Postgraduate School, Code USW/Br
<a href="mailto:brutzman@nps.edu">brutzman@nps.edu</a><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New"">X3D graphics, virtual worlds, navy robotics https://</span>
<span style="font-size:10.0pt;font-family:"Courier New"">faculty.nps.edu/brutzman<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
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