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disable mid joint when not valid. more work on this tomorrow

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amantley 2019-01-28 17:49:46 -08:00
parent dffd41ecb0
commit 1919cc3b1a
2 changed files with 49 additions and 38 deletions
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2
interface/resources/avatar/avatar-animation_withSplineIKNode.json
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@ -182,7 +182,7 @@
"enabled": false, "enabled": false,
"interpDuration": 15, "interpDuration": 15,
"baseJointName": "Hips", "baseJointName": "Hips",
"midJointName": "Spine2", "midJointName": "none",
"tipJointName": "Head", "tipJointName": "Head",
"basePositionVar": "hipsPosition", "basePositionVar": "hipsPosition",
"baseRotationVar": "hipsRotation", "baseRotationVar": "hipsRotation",

85
libraries/animation/src/AnimSplineIK.cpp
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@ -163,40 +163,48 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
jointChain.buildDirtyAbsolutePoses(); jointChain.buildDirtyAbsolutePoses();
jointChain.outputRelativePoses(_poses); jointChain.outputRelativePoses(_poses);
// initialize the middle joint target
IKTarget midTarget; IKTarget midTarget;
midTarget.setType((int)IKTarget::Type::Spline); if (_midJointIndex != -1) {
midTarget.setIndex(_midJointIndex);
// set the middle joint to the position that was just determined by the base-tip spline.
AnimPose afterSolveMidTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
// use the rotation from the ik target value, if there is one.
glm::quat midTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveMidTarget.rot());
AnimPose updatedMidTarget = AnimPose(midTargetRotation, afterSolveMidTarget.trans());
midTarget.setPose(updatedMidTarget.rot(), updatedMidTarget.trans());
midTarget.setWeight(1.0f);
midTarget.setFlexCoefficients(_numMidTargetFlexCoefficients, _midTargetFlexCoefficients);
AnimChain midJointChain; // initialize the middle joint target
// Find the pose of the middle target's child. This is to correct the mid to tip midTarget.setType((int)IKTarget::Type::Spline);
// after the base to mid spline is set. midTarget.setIndex(_midJointIndex);
int childOfMiddleJointIndex = -1; // set the middle joint to the position that was just determined by the base-tip spline.
AnimPose childOfMiddleJointAbsolutePoseAfterBaseTipSpline; AnimPose afterSolveMidTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
childOfMiddleJointIndex = _tipJointIndex; // use the rotation from the ik target value, if there is one.
while (_skeleton->getParentIndex(childOfMiddleJointIndex) != _midJointIndex) { glm::quat midTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveMidTarget.rot());
childOfMiddleJointIndex = _skeleton->getParentIndex(childOfMiddleJointIndex); AnimPose updatedMidTarget = AnimPose(midTargetRotation, afterSolveMidTarget.trans());
midTarget.setPose(updatedMidTarget.rot(), updatedMidTarget.trans());
midTarget.setWeight(1.0f);
midTarget.setFlexCoefficients(_numMidTargetFlexCoefficients, _midTargetFlexCoefficients);
AnimChain midJointChain;
// Find the pose of the middle target's child. This is to correct the mid to tip
// after the base to mid spline is set.
int childOfMiddleJointIndex = -1;
AnimPose childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
childOfMiddleJointIndex = _tipJointIndex;
while ((_skeleton->getParentIndex(childOfMiddleJointIndex) != _midJointIndex) && (childOfMiddleJointIndex != -1)) {
childOfMiddleJointIndex = _skeleton->getParentIndex(childOfMiddleJointIndex);
}
// if the middle joint is not actually between the base and the tip then don't create spline for it
if (childOfMiddleJointIndex != -1) {
childOfMiddleJointAbsolutePoseAfterBaseTipSpline = _skeleton->getAbsolutePose(childOfMiddleJointIndex, _poses);
AnimPoseVec absolutePosesAfterBaseTipSpline;
absolutePosesAfterBaseTipSpline.resize(_poses.size());
computeAbsolutePoses(absolutePosesAfterBaseTipSpline);
midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
solveTargetWithSpline(context, midTarget, absolutePosesAfterBaseTipSpline, context.getEnableDebugDrawIKChains(), midJointChain);
midJointChain.outputRelativePoses(_poses);
// set the mid to tip segment to match the absolute rotation of the tip target.
AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation());
_poses[childOfMiddleJointIndex] = midTargetPose.inverse() * childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
}
} }
childOfMiddleJointAbsolutePoseAfterBaseTipSpline = _skeleton->getAbsolutePose(childOfMiddleJointIndex, _poses);
AnimPoseVec absolutePosesAfterBaseTipSpline;
absolutePosesAfterBaseTipSpline.resize(_poses.size());
computeAbsolutePoses(absolutePosesAfterBaseTipSpline);
midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
solveTargetWithSpline(context, midTarget, absolutePosesAfterBaseTipSpline, context.getEnableDebugDrawIKChains(), midJointChain);
midJointChain.outputRelativePoses(_poses);
// set the mid to tip segment to match the absolute rotation of the target.
AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation());
_poses[childOfMiddleJointIndex] = midTargetPose.inverse() * childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
// compute chain // compute chain
AnimChain ikChain; AnimChain ikChain;
@ -249,11 +257,12 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
QString name = QString("ikTargetSplineTip"); QString name = QString("ikTargetSplineTip");
DebugDraw::getInstance().addMyAvatarMarker(name, glmExtractRotation(avatarTargetMat), extractTranslation(avatarTargetMat), WHITE); DebugDraw::getInstance().addMyAvatarMarker(name, glmExtractRotation(avatarTargetMat), extractTranslation(avatarTargetMat), WHITE);
glm::mat4 geomTargetMat2 = createMatFromQuatAndPos(midTarget.getRotation(), midTarget.getTranslation()); if (_midJointIndex != -1) {
glm::mat4 avatarTargetMat2 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat2; glm::mat4 geomTargetMat2 = createMatFromQuatAndPos(midTarget.getRotation(), midTarget.getTranslation());
QString name2 = QString("ikTargetSplineMid"); glm::mat4 avatarTargetMat2 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat2;
DebugDraw::getInstance().addMyAvatarMarker(name2, glmExtractRotation(avatarTargetMat2), extractTranslation(avatarTargetMat2), WHITE); QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().addMyAvatarMarker(name2, glmExtractRotation(avatarTargetMat2), extractTranslation(avatarTargetMat2), WHITE);
}
glm::mat4 geomTargetMat3 = createMatFromQuatAndPos(baseTargetAbsolutePose.rot(), baseTargetAbsolutePose.trans()); glm::mat4 geomTargetMat3 = createMatFromQuatAndPos(baseTargetAbsolutePose.rot(), baseTargetAbsolutePose.trans());
glm::mat4 avatarTargetMat3 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat3; glm::mat4 avatarTargetMat3 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat3;
@ -266,8 +275,10 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
QString name = QString("ikTargetSplineTip"); QString name = QString("ikTargetSplineTip");
DebugDraw::getInstance().removeMyAvatarMarker(name); DebugDraw::getInstance().removeMyAvatarMarker(name);
QString name2 = QString("ikTargetSplineMid"); if (_midJointIndex != -1) {
DebugDraw::getInstance().removeMyAvatarMarker(name2); QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().removeMyAvatarMarker(name2);
}
QString name3 = QString("ikTargetSplineBase"); QString name3 = QString("ikTargetSplineBase");
DebugDraw::getInstance().removeMyAvatarMarker(name3); DebugDraw::getInstance().removeMyAvatarMarker(name3);