Mirrors/overte-Armored-Dragon
3
0
Fork 0
mirror of https://github.com/Armored-Dragon/overte.git synced 2025-03-11 16:13:16 +01:00
Code Issues Projects Releases Packages Wiki Activity Actions

rename: ParentFrame --> ConstrainedFrame

Browse source
This commit is contained in:
Andrew Meadows 2014-07-09 16:43:46 -07:00
parent af6704a83c
commit 8fa7bf4fa0
5 changed files with 41 additions and 41 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

8
interface/src/avatar/FaceModel.cpp
View file

@ -49,9 +49,9 @@ void FaceModel::simulate(float deltaTime, bool fullUpdate) {
void FaceModel::maybeUpdateNeckRotation(const JointState& parentState, const FBXJoint& joint, JointState& state) {
// get the rotation axes in joint space and use them to adjust the rotation
glm::mat3 axes = glm::mat3_cast(glm::quat());
glm::mat3 inverse = glm::mat3(glm::inverse(parentState.getTransform() * glm::translate(state.getDefaultTranslationInParentFrame()) *
glm::mat3 inverse = glm::mat3(glm::inverse(parentState.getTransform() * glm::translate(state.getDefaultTranslationInConstrainedFrame()) *
joint.preTransform * glm::mat4_cast(joint.preRotation)));
state.setRotationInParentFrame(glm::angleAxis(- RADIANS_PER_DEGREE * _owningHead->getFinalRoll(), glm::normalize(inverse * axes[2]))
state.setRotationInConstrainedFrame(glm::angleAxis(- RADIANS_PER_DEGREE * _owningHead->getFinalRoll(), glm::normalize(inverse * axes[2]))
* glm::angleAxis(RADIANS_PER_DEGREE * _owningHead->getFinalYaw(), glm::normalize(inverse * axes[1]))
* glm::angleAxis(- RADIANS_PER_DEGREE * _owningHead->getFinalPitch(), glm::normalize(inverse * axes[0]))
* joint.rotation);
@ -61,14 +61,14 @@ void FaceModel::maybeUpdateEyeRotation(const JointState& parentState, const FBXJ
// likewise with the eye joints
// NOTE: at the moment we do the math in the world-frame, hence the inverse transform is more complex than usual.
glm::mat4 inverse = glm::inverse(glm::mat4_cast(_rotation) * parentState.getTransform() *
glm::translate(state.getDefaultTranslationInParentFrame()) *
glm::translate(state.getDefaultTranslationInConstrainedFrame()) *
joint.preTransform * glm::mat4_cast(joint.preRotation * joint.rotation));
glm::vec3 front = glm::vec3(inverse * glm::vec4(_owningHead->getFinalOrientationInWorldFrame() * IDENTITY_FRONT, 0.0f));
glm::vec3 lookAt = glm::vec3(inverse * glm::vec4(_owningHead->getLookAtPosition() +
_owningHead->getSaccade() - _translation, 1.0f));
glm::quat between = rotationBetween(front, lookAt);
const float MAX_ANGLE = 30.0f * RADIANS_PER_DEGREE;
state.setRotationInParentFrame(glm::angleAxis(glm::clamp(glm::angle(between), -MAX_ANGLE, MAX_ANGLE), glm::axis(between)) *
state.setRotationInConstrainedFrame(glm::angleAxis(glm::clamp(glm::angle(between), -MAX_ANGLE, MAX_ANGLE), glm::axis(between)) *
joint.rotation);
}

6
interface/src/avatar/SkeletonModel.cpp
View file

@ -219,7 +219,7 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
JointState& parentState = _jointStates[parentJointIndex];
parentState.setRotationFromBindFrame(palmRotation, PALM_PRIORITY);
// lock hand to forearm by slamming its rotation (in parent-frame) to identity
_jointStates[jointIndex].setRotationInParentFrame(glm::quat());
_jointStates[jointIndex].setRotationInConstrainedFrame(glm::quat());
} else {
inverseKinematics(jointIndex, palmPosition, palmRotation, PALM_PRIORITY);
}
@ -255,9 +255,9 @@ void SkeletonModel::maybeUpdateLeanRotation(const JointState& parentState, const
}
// get the rotation axes in joint space and use them to adjust the rotation
glm::mat3 axes = glm::mat3_cast(glm::quat());
glm::mat3 inverse = glm::mat3(glm::inverse(parentState.getTransform() * glm::translate(state.getDefaultTranslationInParentFrame()) *
glm::mat3 inverse = glm::mat3(glm::inverse(parentState.getTransform() * glm::translate(state.getDefaultTranslationInConstrainedFrame()) *
joint.preTransform * glm::mat4_cast(joint.preRotation * joint.rotation)));
state.setRotationInParentFrame(glm::angleAxis(- RADIANS_PER_DEGREE * _owningAvatar->getHead()->getFinalLeanSideways(),
state.setRotationInConstrainedFrame(glm::angleAxis(- RADIANS_PER_DEGREE * _owningAvatar->getHead()->getFinalLeanSideways(),
glm::normalize(inverse * axes[2])) * glm::angleAxis(- RADIANS_PER_DEGREE * _owningAvatar->getHead()->getFinalLeanForward(),
glm::normalize(inverse * axes[0])) * joint.rotation);
}

48
interface/src/renderer/JointState.cpp
View file

@ -26,7 +26,7 @@ JointState::JointState() :
JointState::JointState(const JointState& other) : _constraint(NULL) {
_transform = other._transform;
_rotation = other._rotation;
_rotationInParentFrame = other._rotationInParentFrame;
_rotationInConstrainedFrame = other._rotationInConstrainedFrame;
_animationPriority = other._animationPriority;
_fbxJoint = other._fbxJoint;
// DO NOT copy _constraint
@ -43,7 +43,7 @@ JointState::~JointState() {
void JointState::setFBXJoint(const FBXJoint* joint) {
assert(joint != NULL);
_rotationInParentFrame = joint->rotation;
_rotationInConstrainedFrame = joint->rotation;
// NOTE: JointState does not own the FBXJoint to which it points.
_fbxJoint = joint;
if (_constraint) {
@ -68,24 +68,24 @@ void JointState::copyState(const JointState& state) {
_animationPriority = state._animationPriority;
_transform = state._transform;
_rotation = extractRotation(_transform);
_rotationInParentFrame = state._rotationInParentFrame;
_rotationInConstrainedFrame = state._rotationInConstrainedFrame;
_visibleTransform = state._visibleTransform;
_visibleRotation = extractRotation(_visibleTransform);
_visibleRotationInParentFrame = state._visibleRotationInParentFrame;
_visibleRotationInConstrainedFrame = state._visibleRotationInConstrainedFrame;
// DO NOT copy _fbxJoint or _constraint
}
void JointState::computeTransform(const glm::mat4& parentTransform) {
glm::quat modifiedRotation = _fbxJoint->preRotation * _rotationInParentFrame * _fbxJoint->postRotation;
glm::mat4 modifiedTransform = _fbxJoint->preTransform * glm::mat4_cast(modifiedRotation) * _fbxJoint->postTransform;
glm::quat rotationInConstrainedFrame = _fbxJoint->preRotation * _rotationInConstrainedFrame * _fbxJoint->postRotation;
glm::mat4 modifiedTransform = _fbxJoint->preTransform * glm::mat4_cast(rotationInConstrainedFrame) * _fbxJoint->postTransform;
_transform = parentTransform * glm::translate(_fbxJoint->translation) * modifiedTransform;
_rotation = extractRotation(_transform);
}
void JointState::computeVisibleTransform(const glm::mat4& parentTransform) {
glm::quat modifiedRotation = _fbxJoint->preRotation * _visibleRotationInParentFrame * _fbxJoint->postRotation;
glm::mat4 modifiedTransform = _fbxJoint->preTransform * glm::mat4_cast(modifiedRotation) * _fbxJoint->postTransform;
glm::quat rotationInConstrainedFrame = _fbxJoint->preRotation * _visibleRotationInConstrainedFrame * _fbxJoint->postRotation;
glm::mat4 modifiedTransform = _fbxJoint->preTransform * glm::mat4_cast(rotationInConstrainedFrame) * _fbxJoint->postTransform;
_visibleTransform = parentTransform * glm::translate(_fbxJoint->translation) * modifiedTransform;
_visibleRotation = extractRotation(_visibleTransform);
}
@ -97,7 +97,7 @@ glm::quat JointState::getRotationFromBindToModelFrame() const {
void JointState::restoreRotation(float fraction, float priority) {
assert(_fbxJoint != NULL);
if (priority == _animationPriority || _animationPriority == 0.0f) {
setRotationInParentFrame(safeMix(_rotationInParentFrame, _fbxJoint->rotation, fraction));
setRotationInConstrainedFrame(safeMix(_rotationInConstrainedFrame, _fbxJoint->rotation, fraction));
_animationPriority = 0.0f;
}
}
@ -106,11 +106,11 @@ void JointState::setRotationFromBindFrame(const glm::quat& rotation, float prior
// rotation is from bind- to model-frame
assert(_fbxJoint != NULL);
if (priority >= _animationPriority) {
glm::quat targetRotation = _rotationInParentFrame * glm::inverse(_rotation) * rotation * glm::inverse(_fbxJoint->inverseBindRotation);
glm::quat targetRotation = _rotationInConstrainedFrame * glm::inverse(_rotation) * rotation * glm::inverse(_fbxJoint->inverseBindRotation);
if (constrain && _constraint) {
_constraint->softClamp(targetRotation, _rotationInParentFrame, 0.5f);
_constraint->softClamp(targetRotation, _rotationInConstrainedFrame, 0.5f);
}
setRotationInParentFrame(targetRotation);
setRotationInConstrainedFrame(targetRotation);
_animationPriority = priority;
}
}
@ -137,12 +137,12 @@ void JointState::applyRotationDelta(const glm::quat& delta, bool constrain, floa
_animationPriority = priority;
if (!constrain || _constraint == NULL) {
// no constraints
_rotationInParentFrame = _rotationInParentFrame * glm::inverse(_rotation) * delta * _rotation;
_rotationInConstrainedFrame = _rotationInConstrainedFrame * glm::inverse(_rotation) * delta * _rotation;
_rotation = delta * _rotation;
return;
}
glm::quat targetRotation = _rotationInParentFrame * glm::inverse(_rotation) * delta * _rotation;
setRotationInParentFrame(targetRotation);
glm::quat targetRotation = _rotationInConstrainedFrame * glm::inverse(_rotation) * delta * _rotation;
setRotationInConstrainedFrame(targetRotation);
}
/// Applies delta rotation to joint but mixes a little bit of the default pose as well.
@ -154,30 +154,30 @@ void JointState::mixRotationDelta(const glm::quat& delta, float mixFactor, float
return;
}
_animationPriority = priority;
glm::quat targetRotation = _rotationInParentFrame * glm::inverse(_rotation) * delta * _rotation;
glm::quat targetRotation = _rotationInConstrainedFrame * glm::inverse(_rotation) * delta * _rotation;
if (mixFactor > 0.0f && mixFactor <= 1.0f) {
targetRotation = safeMix(targetRotation, _fbxJoint->rotation, mixFactor);
}
if (_constraint) {
_constraint->softClamp(targetRotation, _rotationInParentFrame, 0.5f);
_constraint->softClamp(targetRotation, _rotationInConstrainedFrame, 0.5f);
}
setRotationInParentFrame(targetRotation);
setRotationInConstrainedFrame(targetRotation);
}
glm::quat JointState::computeParentRotation() const {
// R = Rp * Rpre * r * Rpost
// Rp = R * (Rpre * r * Rpost)^
return _rotation * glm::inverse(_fbxJoint->preRotation * _rotationInParentFrame * _fbxJoint->postRotation);
return _rotation * glm::inverse(_fbxJoint->preRotation * _rotationInConstrainedFrame * _fbxJoint->postRotation);
}
void JointState::setRotationInParentFrame(const glm::quat& targetRotation) {
void JointState::setRotationInConstrainedFrame(const glm::quat& targetRotation) {
glm::quat parentRotation = computeParentRotation();
_rotationInParentFrame = targetRotation;
_rotationInConstrainedFrame = targetRotation;
// R' = Rp * Rpre * r' * Rpost
_rotation = parentRotation * _fbxJoint->preRotation * _rotationInParentFrame * _fbxJoint->postRotation;
_rotation = parentRotation * _fbxJoint->preRotation * _rotationInConstrainedFrame * _fbxJoint->postRotation;
}
const glm::vec3& JointState::getDefaultTranslationInParentFrame() const {
const glm::vec3& JointState::getDefaultTranslationInConstrainedFrame() const {
assert(_fbxJoint != NULL);
return _fbxJoint->translation;
}
@ -185,5 +185,5 @@ const glm::vec3& JointState::getDefaultTranslationInParentFrame() const {
void JointState::slaveVisibleTransform() {
_visibleTransform = _transform;
_visibleRotation = _rotation;
_visibleRotationInParentFrame = _rotationInParentFrame;
_visibleRotationInConstrainedFrame = _rotationInConstrainedFrame;
}

12
interface/src/renderer/JointState.h
View file

@ -66,14 +66,14 @@ public:
void restoreRotation(float fraction, float priority);
/// \param rotation is from bind- to model-frame
/// computes and sets new _rotationInParentFrame
/// computes and sets new _rotationInConstrainedFrame
/// NOTE: the JointState's model-frame transform/rotation are NOT updated!
void setRotationFromBindFrame(const glm::quat& rotation, float priority, bool constrain = false);
void setRotationInParentFrame(const glm::quat& targetRotation);
const glm::quat& getRotationInParentFrame() const { return _rotationInParentFrame; }
void setRotationInConstrainedFrame(const glm::quat& targetRotation);
const glm::quat& getRotationInConstrainedFrame() const { return _rotationInConstrainedFrame; }
const glm::vec3& getDefaultTranslationInParentFrame() const;
const glm::vec3& getDefaultTranslationInConstrainedFrame() const;
void clearTransformTranslation();
@ -92,11 +92,11 @@ private:
glm::mat4 _transform; // joint- to model-frame
glm::quat _rotation; // joint- to model-frame
glm::quat _rotationInParentFrame; // joint- to parentJoint-frame
glm::quat _rotationInConstrainedFrame; // rotation in frame where angular constraints would be applied
glm::mat4 _visibleTransform;
glm::quat _visibleRotation;
glm::quat _visibleRotationInParentFrame;
glm::quat _visibleRotationInConstrainedFrame;
const FBXJoint* _fbxJoint; // JointState does NOT own its FBXJoint
AngularConstraint* _constraint; // JointState owns its AngularConstraint

8
interface/src/renderer/Model.cpp
View file

@ -460,7 +460,7 @@ void Model::reset() {
}
const FBXGeometry& geometry = _geometry->getFBXGeometry();
for (int i = 0; i < _jointStates.size(); i++) {
_jointStates[i].setRotationInParentFrame(geometry.joints.at(i).rotation);
_jointStates[i].setRotationInConstrainedFrame(geometry.joints.at(i).rotation);
}
}
@ -688,7 +688,7 @@ bool Model::getJointState(int index, glm::quat& rotation) const {
if (index == -1 || index >= _jointStates.size()) {
return false;
}
rotation = _jointStates.at(index).getRotationInParentFrame();
rotation = _jointStates.at(index).getRotationInConstrainedFrame();
const glm::quat& defaultRotation = _geometry->getFBXGeometry().joints.at(index).rotation;
return glm::abs(rotation.x - defaultRotation.x) >= EPSILON ||
glm::abs(rotation.y - defaultRotation.y) >= EPSILON ||
@ -701,7 +701,7 @@ void Model::setJointState(int index, bool valid, const glm::quat& rotation, floa
JointState& state = _jointStates[index];
if (priority >= state._animationPriority) {
if (valid) {
state.setRotationInParentFrame(rotation);
state.setRotationInConstrainedFrame(rotation);
state._animationPriority = priority;
} else {
state.restoreRotation(1.0f, priority);
@ -1787,7 +1787,7 @@ void AnimationHandle::applyFrame(float frameIndex) {
if (mapping != -1) {
JointState& state = _model->_jointStates[mapping];
if (_priority >= state._animationPriority) {
state.setRotationInParentFrame(safeMix(floorFrame.rotations.at(i), ceilFrame.rotations.at(i), frameFraction));
state.setRotationInConstrainedFrame(safeMix(floorFrame.rotations.at(i), ceilFrame.rotations.at(i), frameFraction));
state._animationPriority = _priority;
}
}