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Fixed pole vectors on straight limbs by using reference vector

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This commit is contained in:
Anthony J. Thibault 2017-06-14 11:35:53 -07:00
parent 03a6f7082e
commit 10f94c2d60
6 changed files with 48 additions and 37 deletions
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6
interface/resources/avatar/avatar-animation.json
View file

@ -87,7 +87,8 @@
"weightVar": "rightFootWeight", "weightVar": "rightFootWeight",
"weight": 1.0, "weight": 1.0,
"flexCoefficients": [1, 0.45, 0.45], "flexCoefficients": [1, 0.45, 0.45],
"poleJointNameVar": "rightFootPoleJointName", "poleVectorEnabledVar": "rightFootPoleVectorEnabled",
"poleReferenceVectorVar": "rightFootPoleReferenceVector",
"poleVectorVar": "rightFootPoleVector" "poleVectorVar": "rightFootPoleVector"
}, },
{ {
@ -98,7 +99,8 @@
"weightVar": "leftFootWeight", "weightVar": "leftFootWeight",
"weight": 1.0, "weight": 1.0,
"flexCoefficients": [1, 0.45, 0.45], "flexCoefficients": [1, 0.45, 0.45],
"poleJointNameVar": "leftFootPoleJointName", "poleVectorEnabledVar": "leftFootPoleVectorEnabled",
"poleReferenceVectorVar": "leftFootPoleReferenceVector",
"poleVectorVar": "leftFootPoleVector" "poleVectorVar": "leftFootPoleVector"
}, },
{ {

37
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -48,13 +48,14 @@ float easeOutExpo(float t) {
AnimInverseKinematics::IKTargetVar::IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn, AnimInverseKinematics::IKTargetVar::IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn, const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn,
const QString& poleJointNameVarIn, const QString& poleVectorVarIn) : const QString& poleVectorEnabledVarIn, const QString& poleReferenceVectorVarIn, const QString& poleVectorVarIn) :
jointName(jointNameIn), jointName(jointNameIn),
positionVar(positionVarIn), positionVar(positionVarIn),
rotationVar(rotationVarIn), rotationVar(rotationVarIn),
typeVar(typeVarIn), typeVar(typeVarIn),
weightVar(weightVarIn), weightVar(weightVarIn),
poleJointNameVar(poleJointNameVarIn), poleVectorEnabledVar(poleVectorEnabledVarIn),
poleReferenceVectorVar(poleReferenceVectorVarIn),
poleVectorVar(poleVectorVarIn), poleVectorVar(poleVectorVarIn),
weight(weightIn), weight(weightIn),
numFlexCoefficients(flexCoefficientsIn.size()), numFlexCoefficients(flexCoefficientsIn.size()),
@ -72,7 +73,8 @@ AnimInverseKinematics::IKTargetVar::IKTargetVar(const IKTargetVar& orig) :
rotationVar(orig.rotationVar), rotationVar(orig.rotationVar),
typeVar(orig.typeVar), typeVar(orig.typeVar),
weightVar(orig.weightVar), weightVar(orig.weightVar),
poleJointNameVar(orig.poleJointNameVar), poleVectorEnabledVar(orig.poleVectorEnabledVar),
poleReferenceVectorVar(orig.poleReferenceVectorVar),
poleVectorVar(orig.poleVectorVar), poleVectorVar(orig.poleVectorVar),
weight(orig.weight), weight(orig.weight),
numFlexCoefficients(orig.numFlexCoefficients), numFlexCoefficients(orig.numFlexCoefficients),
@ -128,8 +130,8 @@ void AnimInverseKinematics::computeAbsolutePoses(AnimPoseVec& absolutePoses) con
void AnimInverseKinematics::setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar, void AnimInverseKinematics::setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients, const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients,
const QString& poleJointNameVar, const QString& poleVectorVar) { const QString& poleVectorEnabledVar, const QString& poleReferenceVectorVar, const QString& poleVectorVar) {
IKTargetVar targetVar(jointName, positionVar, rotationVar, typeVar, weightVar, weight, flexCoefficients, poleJointNameVar, poleVectorVar); IKTargetVar targetVar(jointName, positionVar, rotationVar, typeVar, weightVar, weight, flexCoefficients, poleVectorEnabledVar, poleReferenceVectorVar, poleVectorVar);
// if there are dups, last one wins. // if there are dups, last one wins.
bool found = false; bool found = false;
@ -177,14 +179,15 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
target.setWeight(weight); target.setWeight(weight);
target.setFlexCoefficients(targetVar.numFlexCoefficients, targetVar.flexCoefficients); target.setFlexCoefficients(targetVar.numFlexCoefficients, targetVar.flexCoefficients);
// AJT: TODO: cache the pole joint index. bool poleVectorEnabled = animVars.lookup(targetVar.poleVectorEnabledVar, false);
QString poleJointName = animVars.lookup(targetVar.poleJointNameVar, QString("")); target.setPoleVectorEnabled(poleVectorEnabled);
int poleJointIndex = _skeleton->nameToJointIndex(poleJointName);
target.setPoleIndex(poleJointIndex);
glm::vec3 poleVector = animVars.lookupRigToGeometryVector(targetVar.poleVectorVar, Vectors::UNIT_Z); glm::vec3 poleVector = animVars.lookupRigToGeometryVector(targetVar.poleVectorVar, Vectors::UNIT_Z);
target.setPoleVector(glm::normalize(poleVector)); target.setPoleVector(glm::normalize(poleVector));
glm::vec3 poleReferenceVector = animVars.lookupRigToGeometryVector(targetVar.poleReferenceVectorVar, Vectors::UNIT_Z);
target.setPoleReferenceVector(glm::normalize(poleReferenceVector));
targets.push_back(target); targets.push_back(target);
if (targetVar.jointIndex > _maxTargetIndex) { if (targetVar.jointIndex > _maxTargetIndex) {
@ -488,9 +491,8 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
chainDepth++; chainDepth++;
} }
if (target.getPoleIndex() != -1) { if (target.getPoleVectorEnabled()) {
int topJointIndex = target.getIndex();
int topJointIndex = target.getPoleIndex();
int midJointIndex = _skeleton->getParentIndex(topJointIndex); int midJointIndex = _skeleton->getParentIndex(topJointIndex);
if (midJointIndex != -1) { if (midJointIndex != -1) {
int baseJointIndex = _skeleton->getParentIndex(midJointIndex); int baseJointIndex = _skeleton->getParentIndex(midJointIndex);
@ -525,17 +527,16 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
float dLen = glm::length(d); float dLen = glm::length(d);
if (dLen > EPSILON) { if (dLen > EPSILON) {
glm::vec3 dUnit = d / dLen; glm::vec3 dUnit = d / dLen;
glm::vec3 e = midPose.trans() - basePose.trans(); glm::vec3 e = midPose.xformVector(target.getPoleReferenceVector());
glm::vec3 p = target.getPoleVector(); glm::vec3 p = target.getPoleVector();
glm::vec3 eProj = e - glm::dot(e, dUnit) * dUnit; glm::vec3 eProj = e - glm::dot(e, dUnit) * dUnit;
glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit; glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit;
float eProjLen = glm::length(eProj); float eProjLen = glm::length(eProj);
float pProjLen = glm::length(pProj); float pProjLen = glm::length(pProj);
const float MIN_E_PROJ_LEN = 0.2f; // cm if (eProjLen > EPSILON && pProjLen > EPSILON) {
if (eProjLen > MIN_E_PROJ_LEN && pProjLen > EPSILON) {
// as eProjLen and pProjLen become orthognal to d, reduce the amount of rotation. // as pProjLen become orthognal to d, reduce the amount of rotation.
float magnitude = easeOutExpo(glm::min(eProjLen, pProjLen)); float magnitude = easeOutExpo(pProjLen);
float dot = glm::clamp(glm::dot(eProj / eProjLen, pProj / pProjLen), 0.0f, 1.0f); float dot = glm::clamp(glm::dot(eProj / eProjLen, pProj / pProjLen), 0.0f, 1.0f);
float theta = acosf(dot); float theta = acosf(dot);
@ -558,7 +559,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix()); AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix());
glm::vec3 dUnit = d / dLen; glm::vec3 dUnit = d / dLen;
glm::vec3 e = midPose.trans() - basePose.trans(); glm::vec3 e = midPose.xformVector(target.getPoleReferenceVector());
glm::vec3 p = target.getPoleVector(); glm::vec3 p = target.getPoleVector();
glm::vec3 eProj = e - glm::dot(e, dUnit) * dUnit; glm::vec3 eProj = e - glm::dot(e, dUnit) * dUnit;
glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit; glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit;

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

@ -43,7 +43,7 @@ public:
void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar, void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients, const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients,
const QString& poleJointNameVar, const QString& poleVectorVar); const QString& poleVectorEnabledVar, const QString& poleReferenceVectorVar, const QString& poleVectorVar);
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimNode::Triggers& triggersOut) override; virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimNode::Triggers& triggersOut) override;
virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override; virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
@ -110,7 +110,7 @@ protected:
struct IKTargetVar { struct IKTargetVar {
IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn, IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn, const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn,
const QString& poleJointNameVar, const QString& poleVectorVar); const QString& poleVectorEnabledVar, const QString& poleReferenceVectorVar, const QString& poleVectorVar);
IKTargetVar(const IKTargetVar& orig); IKTargetVar(const IKTargetVar& orig);
QString jointName; QString jointName;
@ -118,7 +118,8 @@ protected:
QString rotationVar; QString rotationVar;
QString typeVar; QString typeVar;
QString weightVar; QString weightVar;
QString poleJointNameVar; QString poleVectorEnabledVar;
QString poleReferenceVectorVar;
QString poleVectorVar; QString poleVectorVar;
float weight; float weight;
float flexCoefficients[MAX_FLEX_COEFFICIENTS]; float flexCoefficients[MAX_FLEX_COEFFICIENTS];

5
libraries/animation/src/AnimNodeLoader.cpp
View file

@ -479,7 +479,8 @@ AnimNode::Pointer loadInverseKinematicsNode(const QJsonObject& jsonObj, const QS
READ_OPTIONAL_STRING(typeVar, targetObj); READ_OPTIONAL_STRING(typeVar, targetObj);
READ_OPTIONAL_STRING(weightVar, targetObj); READ_OPTIONAL_STRING(weightVar, targetObj);
READ_OPTIONAL_FLOAT(weight, targetObj, 1.0f); READ_OPTIONAL_FLOAT(weight, targetObj, 1.0f);
READ_OPTIONAL_STRING(poleJointNameVar, targetObj); READ_OPTIONAL_STRING(poleVectorEnabledVar, targetObj);
READ_OPTIONAL_STRING(poleReferenceVectorVar, targetObj);
READ_OPTIONAL_STRING(poleVectorVar, targetObj); READ_OPTIONAL_STRING(poleVectorVar, targetObj);
auto flexCoefficientsValue = targetObj.value("flexCoefficients"); auto flexCoefficientsValue = targetObj.value("flexCoefficients");
@ -493,7 +494,7 @@ AnimNode::Pointer loadInverseKinematicsNode(const QJsonObject& jsonObj, const QS
flexCoefficients.push_back((float)value.toDouble()); flexCoefficients.push_back((float)value.toDouble());
} }
node->setTargetVars(jointName, positionVar, rotationVar, typeVar, weightVar, weight, flexCoefficients, poleJointNameVar, poleVectorVar); node->setTargetVars(jointName, positionVar, rotationVar, typeVar, weightVar, weight, flexCoefficients, poleVectorEnabledVar, poleReferenceVectorVar, poleVectorVar);
}; };
READ_OPTIONAL_STRING(solutionSource, jsonObj); READ_OPTIONAL_STRING(solutionSource, jsonObj);

9
libraries/animation/src/IKTarget.h
View file

@ -31,13 +31,15 @@ public:
const glm::quat& getRotation() const { return _pose.rot(); } const glm::quat& getRotation() const { return _pose.rot(); }
const AnimPose& getPose() const { return _pose; } const AnimPose& getPose() const { return _pose; }
glm::vec3 getPoleVector() const { return _poleVector; } glm::vec3 getPoleVector() const { return _poleVector; }
int getPoleIndex() const { return _poleIndex; } glm::vec3 getPoleReferenceVector() const { return _poleReferenceVector; }
bool getPoleVectorEnabled() const { return _poleVectorEnabled; }
int getIndex() const { return _index; } int getIndex() const { return _index; }
Type getType() const { return _type; } Type getType() const { return _type; }
void setPose(const glm::quat& rotation, const glm::vec3& translation); void setPose(const glm::quat& rotation, const glm::vec3& translation);
void setPoleVector(const glm::vec3& poleVector) { _poleVector = poleVector; } void setPoleVector(const glm::vec3& poleVector) { _poleVector = poleVector; }
void setPoleIndex(int poleIndex) { _poleIndex = poleIndex; } void setPoleReferenceVector(const glm::vec3& poleReferenceVector) { _poleReferenceVector = poleReferenceVector; }
void setPoleVectorEnabled(bool poleVectorEnabled) { _poleVectorEnabled = poleVectorEnabled; }
void setIndex(int index) { _index = index; } void setIndex(int index) { _index = index; }
void setType(int); void setType(int);
void setFlexCoefficients(size_t numFlexCoefficientsIn, const float* flexCoefficientsIn); void setFlexCoefficients(size_t numFlexCoefficientsIn, const float* flexCoefficientsIn);
@ -51,7 +53,8 @@ public:
private: private:
AnimPose _pose; AnimPose _pose;
glm::vec3 _poleVector; glm::vec3 _poleVector;
int _poleIndex { -1 }; glm::vec3 _poleReferenceVector;
bool _poleVectorEnabled { false };
int _index { -1 }; int _index { -1 };
Type _type { Type::RotationAndPosition }; Type _type { Type::RotationAndPosition };
float _weight; float _weight;

21
libraries/animation/src/Rig.cpp
View file

@ -1261,6 +1261,8 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
} }
} }
const float POLE_VECTOR_BLEND_FACTOR = 0.9f;
if (params.isLeftFootEnabled) { if (params.isLeftFootEnabled) {
_animVars.set("leftFootPosition", params.leftFootPosition); _animVars.set("leftFootPosition", params.leftFootPosition);
_animVars.set("leftFootRotation", params.leftFootOrientation); _animVars.set("leftFootRotation", params.leftFootOrientation);
@ -1274,16 +1276,16 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_prevLeftFootPoleVectorValid = true; _prevLeftFootPoleVectorValid = true;
_prevLeftFootPoleVector = poleVector; _prevLeftFootPoleVector = poleVector;
} }
const float POLE_VECTOR_BLEND_FACTOR = 0.9f;
_prevLeftFootPoleVector = lerp(poleVector, _prevLeftFootPoleVector, POLE_VECTOR_BLEND_FACTOR); _prevLeftFootPoleVector = lerp(poleVector, _prevLeftFootPoleVector, POLE_VECTOR_BLEND_FACTOR);
_animVars.set("leftFootPoleVectorEnabled", true);
_animVars.set("leftFootPoleReferenceVector", Vectors::UNIT_Z);
_animVars.set("leftFootPoleVector", _prevLeftFootPoleVector); _animVars.set("leftFootPoleVector", _prevLeftFootPoleVector);
_animVars.set("leftFootPoleJointName", QString("LeftFoot"));
} else { } else {
_animVars.unset("leftFootPosition"); _animVars.unset("leftFootPosition");
_animVars.unset("leftFootRotation"); _animVars.unset("leftFootRotation");
_animVars.set("leftFootType", (int)IKTarget::Type::RotationAndPosition); _animVars.set("leftFootType", (int)IKTarget::Type::RotationAndPosition);
_animVars.set("leftFootPoleVectorEnabled", false);
_prevLeftFootPoleVectorValid = false; _prevLeftFootPoleVectorValid = false;
} }
@ -1300,14 +1302,15 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_prevRightFootPoleVectorValid = true; _prevRightFootPoleVectorValid = true;
_prevRightFootPoleVector = poleVector; _prevRightFootPoleVector = poleVector;
} }
const float POLE_VECTOR_BLEND_FACTOR = 0.9f;
_prevRightFootPoleVector = lerp(poleVector, _prevRightFootPoleVector, POLE_VECTOR_BLEND_FACTOR); _prevRightFootPoleVector = lerp(poleVector, _prevRightFootPoleVector, POLE_VECTOR_BLEND_FACTOR);
_animVars.set("rightFootPoleVectorEnabled", true);
_animVars.set("rightFootPoleReferenceVector", Vectors::UNIT_Z);
_animVars.set("rightFootPoleVector", _prevRightFootPoleVector); _animVars.set("rightFootPoleVector", _prevRightFootPoleVector);
_animVars.set("rightFootPoleJointName", QString("RightFoot"));
} else { } else {
_animVars.unset("rightFootPosition"); _animVars.unset("rightFootPosition");
_animVars.unset("rightFootRotation"); _animVars.unset("rightFootRotation");
_animVars.set("rightFootPoleVectorEnabled", false);
_animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition); _animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition);
} }
} }
@ -1497,16 +1500,16 @@ void Rig::computeAvatarBoundingCapsule(
ikNode.setTargetVars("LeftHand", "leftHandPosition", "leftHandRotation", ikNode.setTargetVars("LeftHand", "leftHandPosition", "leftHandRotation",
"leftHandType", "leftHandWeight", 1.0f, {}, "leftHandType", "leftHandWeight", 1.0f, {},
"leftHandPoleJointName", "leftHandPoleVector"); QString(), QString(), QString());
ikNode.setTargetVars("RightHand", "rightHandPosition", "rightHandRotation", ikNode.setTargetVars("RightHand", "rightHandPosition", "rightHandRotation",
"rightHandType", "rightHandWeight", 1.0f, {}, "rightHandType", "rightHandWeight", 1.0f, {},
"rightHandPoleJointName", "rightHandPoleVector"); QString(), QString(), QString());
ikNode.setTargetVars("LeftFoot", "leftFootPosition", "leftFootRotation", ikNode.setTargetVars("LeftFoot", "leftFootPosition", "leftFootRotation",
"leftFootType", "leftFootWeight", 1.0f, {}, "leftFootType", "leftFootWeight", 1.0f, {},
"leftFootPoleJointName", "leftFootPoleVector"); QString(), QString(), QString());
ikNode.setTargetVars("RightFoot", "rightFootPosition", "rightFootRotation", ikNode.setTargetVars("RightFoot", "rightFootPosition", "rightFootRotation",
"rightFootType", "rightFootWeight", 1.0f, {}, "rightFootType", "rightFootWeight", 1.0f, {},
"rightFootPoleJointName", "rightFootPoleVector"); QString(), QString(), QString());
AnimPose geometryToRig = _modelOffset * _geometryOffset; AnimPose geometryToRig = _modelOffset * _geometryOffset;