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Compute defaultSpineSplineto defaultPose offset

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This commit is contained in:
Anthony J. Thibault 2017-05-30 14:22:03 -07:00
parent 39c23bfe2f
commit d4dbd94a35
2 changed files with 92 additions and 29 deletions
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110
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -576,12 +576,12 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
_hipsOffset = Vectors::ZERO;
}
}
}
if (context.getEnableDebugDrawIKConstraints()) {
debugDrawConstraints(context);
if (context.getEnableDebugDrawIKConstraints()) {
debugDrawConstraints(context);
}
debugDrawSpineSpline(context, targets);
}
debugDrawSpineSpline(context);
return _relativePoses;
}
@ -1319,14 +1319,77 @@ void AnimInverseKinematics::initRelativePosesFromSolutionSource(SolutionSource s
}
}
struct SplineJointInfo {
int index;
float ratio;
AnimPose defaultPose;
AnimPose offsetPose;
};
void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext& context, int targetIndex, const IKTarget& target) {
std::vector<SplineJointInfo> splineJointInfoVec;
// build default spline
AnimPose geomToRigPose(context.getGeometryToRigMatrix());
AnimPose tipPose = geomToRigPose * _skeleton->getAbsoluteDefaultPose(target.getIndex());
AnimPose basePose = geomToRigPose * _skeleton->getAbsoluteDefaultPose(_hipsIndex);
const float BASE_GAIN = 0.5f;
const float TIP_GAIN = 1.0f;
float d = glm::length(basePose.trans() - tipPose.trans());
glm::vec3 p0 = basePose.trans();
glm::vec3 m0 = BASE_GAIN * d * (basePose.rot() * Vectors::UNIT_Y);
glm::vec3 p1 = tipPose.trans();
glm::vec3 m1 = TIP_GAIN * d * (tipPose.rot() * Vectors::UNIT_Y);
// AJT: FIXME: TODO: this won't work for horizontal splines...
float baseToTipHeight = tipPose.trans().y - basePose.trans().y;
CubicHermiteSplineFunctorWithArcLength spline(p0, m0, p1, m1);
float totalArcLength = spline.arcLength(1.0f);
int index = _headIndex;
int endIndex = _skeleton->getParentIndex(_hipsIndex);
while (index != endIndex) {
AnimPose defaultPose = geomToRigPose * _skeleton->getAbsoluteDefaultPose(index);
// AJT: FIXME: TODO: this wont work for horizontal splines...
float ratio = (defaultPose.trans().y - basePose.trans().y) / baseToTipHeight;
// compute offset from default spline pose to default pose.
float t = spline.arcLengthInverse(ratio * totalArcLength);
AnimPose pose(glm::vec3(1.0f), glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), t)), spline(t));
AnimPose offset = pose.inverse() * defaultPose;
SplineJointInfo splineJointInfo = { index, ratio, defaultPose, offset };
splineJointInfoVec.push_back(splineJointInfo);
index = _skeleton->getParentIndex(index);
}
_splineJointInfoMap[targetIndex] = splineJointInfoVec;
}
void AnimInverseKinematics::debugDrawSpineSpline(const AnimContext& context, const std::vector<IKTarget>& targets) {
// find head target
int headTargetIndex = -1;
for (int i = 0; i < (int)targets.size(); i++) {
if (targets[i].getIndex() == _headIndex) {
headTargetIndex = i;
break;
}
}
// find or create splineJointInfo for the head target
const std::vector<SplineJointInfo>* splineJointInfoVec = nullptr;
if (headTargetIndex != -1) {
auto iter = _splineJointInfoMap.find(headTargetIndex);
if (iter != _splineJointInfoMap.end()) {
splineJointInfoVec = &(iter->second);
} else {
computeSplineJointInfosForIKTarget(context, headTargetIndex, targets[headTargetIndex]);
auto iter = _splineJointInfoMap.find(headTargetIndex);
if (iter != _splineJointInfoMap.end()) {
splineJointInfoVec = &(iter->second);
}
}
}
// AJT: TODO: render using splineJointInfoVec offset
void AnimInverseKinematics::debugDrawSpineSpline(const AnimContext& context) const {
AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix());
AnimPose hipsPose = geomToWorldPose * _skeleton->getAbsolutePose(_hipsIndex, _relativePoses);
@ -1365,23 +1428,14 @@ void AnimInverseKinematics::debugDrawSpineSpline(const AnimContext& context) con
AnimPose defaultHeadPose = _skeleton->getAbsoluteDefaultPose(_headIndex);
float hipsToHeadHeight = defaultHeadPose.trans().y - defaultHipsPose.trans().y;
// iterate down the chain and build the splineJointInfoVec
std::vector<SplineJointInfo> splineJointInfoVec;
int index = _headIndex;
int endIndex = _skeleton->getParentIndex(_hipsIndex);
while (index != endIndex) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
float ratio = (defaultPose.trans().y - defaultHipsPose.trans().y) / hipsToHeadHeight;
SplineJointInfo splineJointInfo = { index, ratio, defaultPose, AnimPose() };
splineJointInfoVec.push_back(splineJointInfo);
index = _skeleton->getParentIndex(index);
}
for (auto& splineJointInfo : splineJointInfoVec) {
float t = hermiteFunc.arcLengthInverse(splineJointInfo.ratio * totalArcLength);
glm::vec3 trans = hermiteFunc(t);
glm::quat rot = glm::normalize(glm::lerp(hipsPose.rot(), headPose.rot(), t));
DebugDraw::getInstance().addMarker(QString("splineJoint%1").arg(splineJointInfo.index), rot, trans, BLUE);
if (splineJointInfoVec) {
for (auto& splineJointInfo : *splineJointInfoVec) {
float t = hermiteFunc.arcLengthInverse(splineJointInfo.ratio * totalArcLength);
glm::vec3 trans = hermiteFunc(t);
glm::quat rot = glm::normalize(glm::lerp(hipsPose.rot(), headPose.rot(), t));
AnimPose pose = AnimPose(glm::vec3(1.0f), rot, trans) * splineJointInfo.offsetPose;
DebugDraw::getInstance().addMarker(QString("splineJoint%1").arg(splineJointInfo.jointIndex), pose.rot(), pose.trans(), BLUE);
}
}
}

11
libraries/animation/src/AnimInverseKinematics.h
View file

@ -70,7 +70,8 @@ protected:
void debugDrawIKChain(std::map<int, DebugJoint>& debugJointMap, const AnimContext& context) const;
void debugDrawRelativePoses(const AnimContext& context) const;
void debugDrawConstraints(const AnimContext& context) const;
void debugDrawSpineSpline(const AnimContext& context) const;
void debugDrawSpineSpline(const AnimContext& context, const std::vector<IKTarget>& targets);
void computeSplineJointInfosForIKTarget(const AnimContext& context, int targetIndex, const IKTarget& target);
void initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPose);
void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor);
@ -112,6 +113,14 @@ protected:
AnimPoseVec _relativePoses; // current relative poses
AnimPoseVec _limitCenterPoses; // relative
struct SplineJointInfo {
int jointIndex;
float ratio;
AnimPose defaultPose;
AnimPose offsetPose;
};
std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap;
// experimental data for moving hips during IK
glm::vec3 _hipsOffset { Vectors::ZERO };
float _maxHipsOffsetLength{ FLT_MAX };