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Merge pull request #12317 from hyperlogic/feature/remove-ik-hips-offset

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Removal of hips offset shifting from AnimInverseKinematics node
This commit is contained in:
John Conklin II 2018-02-01 15:30:08 -08:00 committed by GitHub
commit cbdbf51ccd
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6 changed files with 0 additions and 138 deletions
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8
interface/src/avatar/MyAvatar.cpp
View file

@ -3238,8 +3238,6 @@ bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& o
slamPosition(position);
setWorldOrientation(orientation);
_skeletonModel->getRig().setMaxHipsOffsetLength(0.05f);
auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
if (it == _pinnedJoints.end()) {
_pinnedJoints.push_back(index);
@ -3259,12 +3257,6 @@ bool MyAvatar::clearPinOnJoint(int index) {
auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
if (it != _pinnedJoints.end()) {
_pinnedJoints.erase(it);
auto hipsIndex = getJointIndex("Hips");
if (index == hipsIndex) {
_skeletonModel->getRig().setMaxHipsOffsetLength(FLT_MAX);
}
return true;
}
return false;

2
interface/src/avatar/MySkeletonModel.cpp
View file

@ -43,8 +43,6 @@ static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
AnimPose result = AnimPose(worldToSensorMat * avatarTransform.getMatrix() * Matrices::Y_180);
result.scale() = glm::vec3(1.0f, 1.0f, 1.0f);
return result;
} else {
DebugDraw::getInstance().removeMarker("pinnedHips");
}
glm::mat4 hipsMat = myAvatar->deriveBodyFromHMDSensor();

108
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -880,25 +880,6 @@ const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVar
return _relativePoses;
}
AnimPose AnimInverseKinematics::applyHipsOffset() const {
glm::vec3 hipsOffset = _hipsOffset;
AnimPose relHipsPose = _relativePoses[_hipsIndex];
float offsetLength = glm::length(hipsOffset);
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH) {
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
glm::vec3 scaledHipsOffset = scaleFactor * hipsOffset;
if (_hipsParentIndex == -1) {
relHipsPose.trans() = _relativePoses[_hipsIndex].trans() + scaledHipsOffset;
} else {
AnimPose absHipsPose = _skeleton->getAbsolutePose(_hipsIndex, _relativePoses);
absHipsPose.trans() += scaledHipsOffset;
relHipsPose = _skeleton->getAbsolutePose(_hipsParentIndex, _relativePoses).inverse() * absHipsPose;
}
}
return relHipsPose;
}
//virtual
const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
// allows solutionSource to be overridden by an animVar
@ -996,27 +977,6 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
_relativePoses[_hipsIndex] = parentAbsPose.inverse() * absPose;
_relativePoses[_hipsIndex].scale() = glm::vec3(1.0f);
_hipsOffset = Vectors::ZERO;
} else if (_hipsIndex >= 0) {
// if there is no hips target, shift hips according to the _hipsOffset from the previous frame
AnimPose relHipsPose = applyHipsOffset();
// determine if we should begin interpolating the hips.
for (size_t i = 0; i < targets.size(); i++) {
if (_prevJointChainInfoVec[i].target.getIndex() == _hipsIndex) {
if (_prevJointChainInfoVec[i].timer > 0.0f) {
// smoothly lerp in hipsOffset
float alpha = (JOINT_CHAIN_INTERP_TIME - _prevJointChainInfoVec[i].timer) / JOINT_CHAIN_INTERP_TIME;
AnimPose prevRelHipsPose(_prevJointChainInfoVec[i].jointInfoVec[0].rot, _prevJointChainInfoVec[i].jointInfoVec[0].trans);
::blend(1, &prevRelHipsPose, &relHipsPose, alpha, &relHipsPose);
}
break;
}
}
_relativePoses[_hipsIndex] = relHipsPose;
}
// if there is an active jointChainInfo for the hips store the post shifted hips into it.
@ -1084,11 +1044,6 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
solve(context, targets, dt, jointChainInfoVec);
}
if (_hipsTargetIndex < 0) {
PROFILE_RANGE_EX(simulation_animation, "ik/measureHipsOffset", 0xffff00ff, 0);
_hipsOffset = computeHipsOffset(targets, underPoses, dt, _hipsOffset);
}
}
if (context.getEnableDebugDrawIKConstraints()) {
@ -1099,69 +1054,6 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
return _relativePoses;
}
glm::vec3 AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt, glm::vec3 prevHipsOffset) const {
// measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
glm::vec3 hipsOffset = prevHipsOffset;
glm::vec3 newHipsOffset = Vectors::ZERO;
for (auto& target: targets) {
int targetIndex = target.getIndex();
if (targetIndex == _headIndex && _headIndex != -1) {
// special handling for headTarget
if (target.getType() == IKTarget::Type::RotationOnly) {
// we want to shift the hips to bring the underPose closer
// to where the head happens to be (overpose)
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans();
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
} else if (target.getType() == IKTarget::Type::HmdHead) {
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
hipsOffset += target.getTranslation() - actual;
// and ignore all other targets
newHipsOffset = hipsOffset;
break;
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
// Add downward pressure on the hips
const float PRESSURE_SCALE_FACTOR = 0.95f;
const float PRESSURE_TRANSLATION_OFFSET = 1.0f;
newHipsOffset *= PRESSURE_SCALE_FACTOR;
newHipsOffset -= PRESSURE_TRANSLATION_OFFSET;
}
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
}
}
// smooth transitions by relaxing hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
hipsOffset += (newHipsOffset - hipsOffset) * tau;
// clamp the hips offset
float hipsOffsetLength = glm::length(hipsOffset);
if (hipsOffsetLength > _maxHipsOffsetLength) {
hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
}
return hipsOffset;
}
void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
// manually adjust scale here
const float METERS_TO_CENTIMETERS = 100.0f;
_maxHipsOffsetLength = METERS_TO_CENTIMETERS * maxLength;
}
void AnimInverseKinematics::clearIKJointLimitHistory() {
for (auto& pair : _constraints) {
pair.second->clearHistory();

7
libraries/animation/src/AnimInverseKinematics.h
View file

@ -57,8 +57,6 @@ public:
void clearIKJointLimitHistory();
void setMaxHipsOffsetLength(float maxLength);
float getMaxErrorOnLastSolve() { return _maxErrorOnLastSolve; }
enum class SolutionSource {
@ -92,7 +90,6 @@ protected:
void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor);
void preconditionRelativePosesToAvoidLimbLock(const AnimContext& context, const std::vector<IKTarget>& targets);
void setSecondaryTargets(const AnimContext& context);
AnimPose applyHipsOffset() const;
// used to pre-compute information about each joint influeced by a spline IK target.
struct SplineJointInfo {
@ -111,7 +108,6 @@ protected:
void clearConstraints();
void initConstraints();
void initLimitCenterPoses();
glm::vec3 computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt, glm::vec3 prevHipsOffset) const;
// no copies
AnimInverseKinematics(const AnimInverseKinematics&) = delete;
@ -150,9 +146,6 @@ protected:
mutable std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap;
// experimental data for moving hips during IK
glm::vec3 _hipsOffset { Vectors::ZERO };
float _maxHipsOffsetLength{ FLT_MAX };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _hipsParentIndex { -1 };

12
libraries/animation/src/Rig.cpp
View file

@ -372,18 +372,6 @@ void Rig::clearIKJointLimitHistory() {
}
}
void Rig::setMaxHipsOffsetLength(float maxLength) {
_maxHipsOffsetLength = maxLength;
auto ikNode = getAnimInverseKinematicsNode();
if (ikNode) {
ikNode->setMaxHipsOffsetLength(_maxHipsOffsetLength);
}
}
float Rig::getMaxHipsOffsetLength() const {
return _maxHipsOffsetLength;
}
float Rig::getIKErrorOnLastSolve() const {
float result = 0.0f;

1
libraries/animation/src/Rig.h
View file

@ -346,7 +346,6 @@ protected:
bool _enabledAnimations { true };
mutable uint32_t _jointNameWarningCount { 0 };
float _maxHipsOffsetLength { 1.0f };
bool _enableDebugDrawIKTargets { false };
bool _enableDebugDrawIKConstraints { false };