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Merge pull request #1066 from vircadia/fix/crash-avi-ik

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Fix AnimInverseKinematics crash
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Kalila 2021-03-02 06:02:04 -05:00 committed by GitHub
commit 3f97b4da13
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3 changed files with 38 additions and 35 deletions
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53
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -22,6 +22,7 @@
#include "AnimationLogging.h" #include "AnimationLogging.h"
#include "CubicHermiteSpline.h" #include "CubicHermiteSpline.h"
#include "AnimUtil.h" #include "AnimUtil.h"
#include "AnimSkeleton.h"
static const int MAX_TARGET_MARKERS = 30; static const int MAX_TARGET_MARKERS = 30;
static const float JOINT_CHAIN_INTERP_TIME = 0.5f; static const float JOINT_CHAIN_INTERP_TIME = 0.5f;
@ -66,7 +67,7 @@ AnimInverseKinematics::IKTargetVar::IKTargetVar(const QString& jointNameIn, cons
poleVectorVar(poleVectorVarIn), poleVectorVar(poleVectorVarIn),
weight(weightIn), weight(weightIn),
numFlexCoefficients(flexCoefficientsIn.size()), numFlexCoefficients(flexCoefficientsIn.size()),
jointIndex(-1) jointIndex(AnimSkeleton::INVALID_JOINT_INDEX)
{ {
numFlexCoefficients = std::min(numFlexCoefficients, (size_t)MAX_FLEX_COEFFICIENTS); numFlexCoefficients = std::min(numFlexCoefficients, (size_t)MAX_FLEX_COEFFICIENTS);
for (size_t i = 0; i < numFlexCoefficients; i++) { for (size_t i = 0; i < numFlexCoefficients; i++) {
@ -172,14 +173,14 @@ bool debounceJointWarnings() {
void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) { void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) {
_hipsTargetIndex = -1; _hipsTargetIndex = AnimSkeleton::INVALID_JOINT_INDEX;
targets.reserve(_targetVarVec.size()); targets.reserve(_targetVarVec.size());
for (auto& targetVar : _targetVarVec) { for (auto& targetVar : _targetVarVec) {
// update targetVar jointIndex cache // update targetVar jointIndex cache
if (targetVar.jointIndex == -1) { if (targetVar.jointIndex == AnimSkeleton::INVALID_JOINT_INDEX) {
int jointIndex = _skeleton->nameToJointIndex(targetVar.jointName); int jointIndex = _skeleton->nameToJointIndex(targetVar.jointName);
if (jointIndex >= 0) { if (jointIndex >= 0) {
// this targetVar has a valid joint --> cache the indices // this targetVar has a valid joint --> cache the indices
@ -190,7 +191,7 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
} }
IKTarget target; IKTarget target;
if (targetVar.jointIndex != -1) { if (targetVar.jointIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition)); target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition));
target.setIndex(targetVar.jointIndex); target.setIndex(targetVar.jointIndex);
if (target.getType() != IKTarget::Type::Unknown) { if (target.getType() != IKTarget::Type::Unknown) {
@ -329,7 +330,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// update the absolutePoses // update the absolutePoses
for (int i = 0; i < (int)_relativePoses.size(); ++i) { for (int i = 0; i < (int)_relativePoses.size(); ++i) {
auto parentIndex = _skeleton->getParentIndex((int)i); auto parentIndex = _skeleton->getParentIndex((int)i);
if (parentIndex != -1) { if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i]; absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i];
} }
} }
@ -351,12 +352,12 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// finally set the relative rotation of each tip to agree with absolute target rotation // finally set the relative rotation of each tip to agree with absolute target rotation
for (auto& target: targets) { for (auto& target: targets) {
int tipIndex = target.getIndex(); int tipIndex = target.getIndex();
int parentIndex = (tipIndex >= 0) ? _skeleton->getParentIndex(tipIndex) : -1; int parentIndex = (tipIndex >= 0) ? _skeleton->getParentIndex(tipIndex) : AnimSkeleton::INVALID_JOINT_INDEX;
int chainIndex = targetToChainMap[tipIndex]; int chainIndex = targetToChainMap[tipIndex];
bool needsInterpolation = _prevJointChainInfoVec[chainIndex].timer > 0.0f; bool needsInterpolation = _prevJointChainInfoVec[chainIndex].timer > 0.0f;
float alpha = needsInterpolation ? getInterpolationAlpha(_prevJointChainInfoVec[chainIndex].timer) : 0.0f; float alpha = needsInterpolation ? getInterpolationAlpha(_prevJointChainInfoVec[chainIndex].timer) : 0.0f;
// update rotationOnly targets that don't lie on the ik chain of other ik targets. // update rotationOnly targets that don't lie on the ik chain of other ik targets.
if (parentIndex != -1 && !_rotationAccumulators[tipIndex].isDirty() && if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX && !_rotationAccumulators[tipIndex].isDirty() &&
(target.getType() == IKTarget::Type::RotationOnly || target.getType() == IKTarget::Type::Unknown)) { (target.getType() == IKTarget::Type::RotationOnly || target.getType() == IKTarget::Type::Unknown)) {
if (target.getType() == IKTarget::Type::RotationOnly) { if (target.getType() == IKTarget::Type::RotationOnly) {
const glm::quat& targetRotation = target.getRotation(); const glm::quat& targetRotation = target.getRotation();
@ -434,11 +435,11 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
int tipIndex = target.getIndex(); int tipIndex = target.getIndex();
int pivotIndex = _skeleton->getParentIndex(tipIndex); int pivotIndex = _skeleton->getParentIndex(tipIndex);
if (pivotIndex == -1 || pivotIndex == _hipsIndex) { if (pivotIndex == AnimSkeleton::INVALID_JOINT_INDEX || pivotIndex == _hipsIndex) {
return; return;
} }
int pivotsParentIndex = _skeleton->getParentIndex(pivotIndex); int pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
if (pivotsParentIndex == -1) { if (pivotsParentIndex == AnimSkeleton::INVALID_JOINT_INDEX) {
// TODO?: handle case where tip's parent is root? // TODO?: handle case where tip's parent is root?
return; return;
} }
@ -485,7 +486,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
chainDepth++; chainDepth++;
// descend toward root, pivoting each joint to get tip closer to target position // descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) { while (pivotIndex != _hipsIndex && pivotsParentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
assert(chainDepth < jointChainInfoOut.jointInfoVec.size()); assert(chainDepth < jointChainInfoOut.jointInfoVec.size());
@ -579,12 +580,12 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
if (target.getPoleVectorEnabled()) { if (target.getPoleVectorEnabled()) {
int topJointIndex = target.getIndex(); int topJointIndex = target.getIndex();
int midJointIndex = _skeleton->getParentIndex(topJointIndex); int midJointIndex = _skeleton->getParentIndex(topJointIndex);
if (midJointIndex != -1) { if (midJointIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
int baseJointIndex = _skeleton->getParentIndex(midJointIndex); int baseJointIndex = _skeleton->getParentIndex(midJointIndex);
if (baseJointIndex != -1) { if (baseJointIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
int baseParentJointIndex = _skeleton->getParentIndex(baseJointIndex); int baseParentJointIndex = _skeleton->getParentIndex(baseJointIndex);
AnimPose topPose, midPose, basePose; AnimPose topPose, midPose, basePose;
int topChainIndex = -1, baseChainIndex = -1; int topChainIndex = AnimSkeleton::INVALID_JOINT_INDEX, baseChainIndex = AnimSkeleton::INVALID_JOINT_INDEX;
const size_t MAX_CHAIN_DEPTH = 30; const size_t MAX_CHAIN_DEPTH = 30;
AnimPose postAbsPoses[MAX_CHAIN_DEPTH]; AnimPose postAbsPoses[MAX_CHAIN_DEPTH];
AnimPose accum = absolutePoses[_hipsIndex]; AnimPose accum = absolutePoses[_hipsIndex];
@ -756,7 +757,7 @@ void AnimInverseKinematics::computeAndCacheSplineJointInfosForIKTarget(const Ani
int index = target.getIndex(); int index = target.getIndex();
int endIndex = _skeleton->getParentIndex(_hipsIndex); int endIndex = _skeleton->getParentIndex(_hipsIndex);
while (index != endIndex) { while (index != endIndex && index != AnimSkeleton::INVALID_JOINT_INDEX) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index); AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
float ratio = glm::dot(defaultPose.trans() - basePose.trans(), baseToTipNormal) / baseToTipLength; float ratio = glm::dot(defaultPose.trans() - basePose.trans(), baseToTipNormal) / baseToTipLength;
@ -1460,7 +1461,7 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
// invalidate all targetVars // invalidate all targetVars
for (auto& targetVar: _targetVarVec) { for (auto& targetVar: _targetVarVec) {
targetVar.jointIndex = -1; targetVar.jointIndex = AnimSkeleton::INVALID_JOINT_INDEX;
} }
for (auto& accumulator: _rotationAccumulators) { for (auto& accumulator: _rotationAccumulators) {
@ -1480,18 +1481,18 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
if (_hipsIndex >= 0) { if (_hipsIndex >= 0) {
_hipsParentIndex = _skeleton->getParentIndex(_hipsIndex); _hipsParentIndex = _skeleton->getParentIndex(_hipsIndex);
} else { } else {
_hipsParentIndex = -1; _hipsParentIndex = AnimSkeleton::INVALID_JOINT_INDEX;
} }
_leftHandIndex = _skeleton->nameToJointIndex("LeftHand"); _leftHandIndex = _skeleton->nameToJointIndex("LeftHand");
_rightHandIndex = _skeleton->nameToJointIndex("RightHand"); _rightHandIndex = _skeleton->nameToJointIndex("RightHand");
} else { } else {
clearConstraints(); clearConstraints();
_headIndex = -1; _headIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_hipsIndex = -1; _hipsIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_hipsParentIndex = -1; _hipsParentIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_leftHandIndex = -1; _leftHandIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_rightHandIndex = -1; _rightHandIndex = AnimSkeleton::INVALID_JOINT_INDEX;
} }
} }
@ -1531,7 +1532,7 @@ void AnimInverseKinematics::debugDrawRelativePoses(const AnimContext& context) c
// draw line to parent // draw line to parent
int parentIndex = _skeleton->getParentIndex(i); int parentIndex = _skeleton->getParentIndex(i);
if (parentIndex != -1) { if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans()); glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans());
DebugDraw::getInstance().drawRay(pos, parentPos, GRAY); DebugDraw::getInstance().drawRay(pos, parentPos, GRAY);
} }
@ -1580,7 +1581,7 @@ void AnimInverseKinematics::debugDrawIKChain(const JointChainInfo& jointChainInf
DebugDraw::getInstance().drawRay(pos, pos + AXIS_LENGTH * zAxis, BLUE); DebugDraw::getInstance().drawRay(pos, pos + AXIS_LENGTH * zAxis, BLUE);
// draw line to parent // draw line to parent
if (parentIndex != -1) { if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans()); glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans());
glm::vec4 color = GRAY; glm::vec4 color = GRAY;
@ -1629,13 +1630,13 @@ void AnimInverseKinematics::debugDrawConstraints(const AnimContext& context) con
// draw line to parent // draw line to parent
int parentIndex = _skeleton->getParentIndex(i); int parentIndex = _skeleton->getParentIndex(i);
if (parentIndex != -1) { if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans()); glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans());
DebugDraw::getInstance().drawRay(pos, parentPos, GRAY); DebugDraw::getInstance().drawRay(pos, parentPos, GRAY);
} }
glm::quat parentAbsRot; glm::quat parentAbsRot;
if (parentIndex != -1) { if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
parentAbsRot = poses[parentIndex].rot(); parentAbsRot = poses[parentIndex].rot();
} }
@ -1733,7 +1734,7 @@ void AnimInverseKinematics::preconditionRelativePosesToAvoidLimbLock(const AnimC
const float MIN_AXIS_LENGTH = 1.0e-4f; const float MIN_AXIS_LENGTH = 1.0e-4f;
for (auto& target : targets) { for (auto& target : targets) {
if (target.getIndex() != -1 && target.getType() == IKTarget::Type::RotationAndPosition) { if (target.getIndex() != AnimSkeleton::INVALID_JOINT_INDEX && target.getType() == IKTarget::Type::RotationAndPosition) {
for (int i = 0; i < NUM_LIMBS; i++) { for (int i = 0; i < NUM_LIMBS; i++) {
if (limbs[i].first == target.getIndex()) { if (limbs[i].first == target.getIndex()) {
int tipIndex = limbs[i].first; int tipIndex = limbs[i].first;

18
libraries/animation/src/AnimSkeleton.cpp
View file

@ -66,7 +66,7 @@ int AnimSkeleton::nameToJointIndex(const QString& jointName) const {
if (_jointIndicesByName.end() != itr) { if (_jointIndicesByName.end() != itr) {
return itr.value(); return itr.value();
} }
return -1; return INVALID_JOINT_INDEX;
} }
int AnimSkeleton::getNumJoints() const { int AnimSkeleton::getNumJoints() const {
@ -80,7 +80,7 @@ int AnimSkeleton::getChainDepth(int jointIndex) const {
do { do {
chainDepth++; chainDepth++;
index = _parentIndices[index]; index = _parentIndices[index];
} while (index != -1); } while (index != INVALID_JOINT_INDEX);
return chainDepth; return chainDepth;
} else { } else {
return 0; return 0;
@ -108,7 +108,7 @@ const AnimPose& AnimSkeleton::getPostRotationPose(int jointIndex) const {
std::vector<int> AnimSkeleton::getChildrenOfJoint(int jointIndex) const { std::vector<int> AnimSkeleton::getChildrenOfJoint(int jointIndex) const {
// Children and grandchildren, etc. // Children and grandchildren, etc.
std::vector<int> result; std::vector<int> result;
if (jointIndex != -1) { if (jointIndex != INVALID_JOINT_INDEX) {
for (int i = jointIndex + 1; i < (int)_parentIndices.size(); i++) { for (int i = jointIndex + 1; i < (int)_parentIndices.size(); i++) {
if (_parentIndices[i] == jointIndex || (std::find(result.begin(), result.end(), _parentIndices[i]) != result.end())) { if (_parentIndices[i] == jointIndex || (std::find(result.begin(), result.end(), _parentIndices[i]) != result.end())) {
result.push_back(i); result.push_back(i);
@ -135,7 +135,7 @@ void AnimSkeleton::convertRelativePosesToAbsolute(AnimPoseVec& poses) const {
int lastIndex = std::min((int)poses.size(), _jointsSize); int lastIndex = std::min((int)poses.size(), _jointsSize);
for (int i = 0; i < lastIndex; ++i) { for (int i = 0; i < lastIndex; ++i) {
int parentIndex = _parentIndices[i]; int parentIndex = _parentIndices[i];
if (parentIndex != -1) { if (parentIndex != INVALID_JOINT_INDEX) {
poses[i] = poses[parentIndex] * poses[i]; poses[i] = poses[parentIndex] * poses[i];
} }
} }
@ -146,7 +146,7 @@ void AnimSkeleton::convertAbsolutePosesToRelative(AnimPoseVec& poses) const {
int lastIndex = std::min((int)poses.size(), _jointsSize); int lastIndex = std::min((int)poses.size(), _jointsSize);
for (int i = lastIndex - 1; i >= 0; --i) { for (int i = lastIndex - 1; i >= 0; --i) {
int parentIndex = _parentIndices[i]; int parentIndex = _parentIndices[i];
if (parentIndex != -1) { if (parentIndex != INVALID_JOINT_INDEX) {
poses[i] = poses[parentIndex].inverse() * poses[i]; poses[i] = poses[parentIndex].inverse() * poses[i];
} }
} }
@ -157,7 +157,7 @@ void AnimSkeleton::convertRelativeRotationsToAbsolute(std::vector<glm::quat>& ro
int lastIndex = std::min((int)rotations.size(), _jointsSize); int lastIndex = std::min((int)rotations.size(), _jointsSize);
for (int i = 0; i < lastIndex; ++i) { for (int i = 0; i < lastIndex; ++i) {
int parentIndex = _parentIndices[i]; int parentIndex = _parentIndices[i];
if (parentIndex != -1) { if (parentIndex != INVALID_JOINT_INDEX) {
rotations[i] = rotations[parentIndex] * rotations[i]; rotations[i] = rotations[parentIndex] * rotations[i];
} }
} }
@ -168,7 +168,7 @@ void AnimSkeleton::convertAbsoluteRotationsToRelative(std::vector<glm::quat>& ro
int lastIndex = std::min((int)rotations.size(), _jointsSize); int lastIndex = std::min((int)rotations.size(), _jointsSize);
for (int i = lastIndex - 1; i >= 0; --i) { for (int i = lastIndex - 1; i >= 0; --i) {
int parentIndex = _parentIndices[i]; int parentIndex = _parentIndices[i];
if (parentIndex != -1) { if (parentIndex != INVALID_JOINT_INDEX) {
rotations[i] = glm::inverse(rotations[parentIndex]) * rotations[i]; rotations[i] = glm::inverse(rotations[parentIndex]) * rotations[i];
} }
} }
@ -280,7 +280,7 @@ void AnimSkeleton::buildSkeletonFromJoints(const std::vector<HFMJoint>& joints,
// so we can restore them after a future mirror operation // so we can restore them after a future mirror operation
_nonMirroredIndices.push_back(i); _nonMirroredIndices.push_back(i);
} }
int mirrorJointIndex = -1; int mirrorJointIndex = INVALID_JOINT_INDEX;
if (_joints[i].name.startsWith("Left")) { if (_joints[i].name.startsWith("Left")) {
QString mirrorJointName = QString(_joints[i].name).replace(0, 4, "Right"); QString mirrorJointName = QString(_joints[i].name).replace(0, 4, "Right");
mirrorJointIndex = nameToJointIndex(mirrorJointName); mirrorJointIndex = nameToJointIndex(mirrorJointName);
@ -350,7 +350,7 @@ std::vector<int> AnimSkeleton::lookUpJointIndices(const std::vector<QString>& jo
result.reserve(jointNames.size()); result.reserve(jointNames.size());
for (auto& name : jointNames) { for (auto& name : jointNames) {
int index = nameToJointIndex(name); int index = nameToJointIndex(name);
if (index == -1) { if (index == INVALID_JOINT_INDEX) {
qWarning(animation) << "AnimSkeleton::lookUpJointIndices(): could not find bone with name " << name; qWarning(animation) << "AnimSkeleton::lookUpJointIndices(): could not find bone with name " << name;
} }
result.push_back(index); result.push_back(index);

2
libraries/animation/src/AnimSkeleton.h
View file

@ -31,6 +31,8 @@ public:
int getNumJoints() const; int getNumJoints() const;
int getChainDepth(int jointIndex) const; int getChainDepth(int jointIndex) const;
static const int INVALID_JOINT_INDEX { -1 };
// the default poses are the orientations of the joints on frame 0. // the default poses are the orientations of the joints on frame 0.
const AnimPose& getRelativeDefaultPose(int jointIndex) const; const AnimPose& getRelativeDefaultPose(int jointIndex) const;
const AnimPoseVec& getRelativeDefaultPoses() const { return _relativeDefaultPoses; } const AnimPoseVec& getRelativeDefaultPoses() const { return _relativeDefaultPoses; }