add "visible" transforms to JointState

also stubbery for using them in Model and SkeletonModel

interface/src/avatar/SkeletonModel.cpp

@@ -539,6 +539,11 @@ void SkeletonModel::buildRagdollConstraints() {
     }
 }
 
+void SkeletonModel::updateVisibleJointStates() {
+    Model::updateVisibleJointStates();
+    // TODO: implement this to move visible joints to agree with joint shape positions
+}
+
 // virtual 
 void SkeletonModel::stepRagdollForward(float deltaTime) {
     const float RAGDOLL_FOLLOWS_JOINTS_TIMESCALE = 0.03f;
@@ -699,7 +704,7 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
     _boundingRadius = 0.5f * glm::length(diagonal);
 }
 
-void SkeletonModel::resetShapePositions() {
+void SkeletonModel::resetShapePositionsToDefaultPose() {
     // DEBUG method.
     // Moves shapes to the joint default locations for debug visibility into
     // how the bounding shape is computed.

interface/src/avatar/SkeletonModel.h

@@ -93,6 +93,8 @@ public:
     /// Retrieve the positions of up to two eye meshes.
     /// \return whether or not both eye meshes were found
     bool getEyePositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const;
+
+    virtual void updateVisibleJointStates();
     
     // virtual overrride from Ragdoll
     virtual void stepRagdollForward(float deltaTime);
@@ -104,7 +106,7 @@ public:
     float getBoundingShapeRadius() const { return _boundingShape.getRadius(); }
     const CapsuleShape& getBoundingShape() const { return _boundingShape; }
 
-    void resetShapePositions(); // DEBUG method
+    void resetShapePositionsToDefaultPose(); // DEBUG method
 
     void renderRagdoll();
 protected:

interface/src/renderer/JointState.cpp

@@ -11,7 +11,6 @@
 
 #include <glm/gtx/norm.hpp>
 
-//#include <GeometryUtil.h>
 #include <SharedUtil.h>
 
 #include "JointState.h"
@@ -26,6 +25,10 @@ void JointState::copyState(const JointState& state) {
     _transform = state._transform;
     _rotation = extractRotation(_transform);
     _rotationInParentFrame = state._rotationInParentFrame;
+
+    _visibleTransform = state._visibleTransform;
+    _visibleRotation = extractRotation(_visibleTransform);
+    _visibleRotationInParentFrame = state._visibleRotationInParentFrame;
     // DO NOT copy _fbxJoint
 }
 
@@ -43,6 +46,13 @@ void JointState::computeTransform(const glm::mat4& parentTransform) {
     _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;
+    _visibleTransform = parentTransform * glm::translate(_fbxJoint->translation) * modifiedTransform;
+    _visibleRotation = extractRotation(_visibleTransform);
+}
+
 glm::quat JointState::getRotationFromBindToModelFrame() const {
     return _rotation * _fbxJoint->inverseBindRotation;
 }
@@ -68,6 +78,9 @@ void JointState::clearTransformTranslation() {
     _transform[3][0] = 0.0f;
     _transform[3][1] = 0.0f;
     _transform[3][2] = 0.0f;
+    _visibleTransform[3][0] = 0.0f;
+    _visibleTransform[3][1] = 0.0f;
+    _visibleTransform[3][2] = 0.0f;
 }
 
 void JointState::setRotation(const glm::quat& rotation, bool constrain, float priority) {
@@ -99,3 +112,9 @@ const glm::vec3& JointState::getDefaultTranslationInParentFrame() const {
     assert(_fbxJoint != NULL);
     return _fbxJoint->translation;
 }
+
+void JointState::slaveVisibleTransform() {
+    _visibleTransform = _transform;
+    _visibleRotation = _rotation;
+    _visibleRotationInParentFrame = _rotationInParentFrame;
+}

interface/src/renderer/JointState.h

@@ -27,8 +27,13 @@ public:
     void setFBXJoint(const FBXJoint* joint); 
     const FBXJoint& getFBXJoint() const { return *_fbxJoint; }
 
+
     void computeTransform(const glm::mat4& parentTransform);
 
+    void computeVisibleTransform(const glm::mat4& parentTransform);
+    const glm::mat4& getVisibleTransform() const { return _visibleTransform; }
+    glm::quat getVisibleRotation() const { return _visibleRotation; }
+    glm::vec3 getVisiblePosition() const { return extractTranslation(_visibleTransform); }
 
     const glm::mat4& getTransform() const { return _transform; }
 
@@ -59,6 +64,8 @@ public:
 
     void clearTransformTranslation();
 
+    void slaveVisibleTransform();
+
     float _animationPriority; // the priority of the animation affecting this joint
 
 private:
@@ -66,6 +73,10 @@ private:
     glm::quat _rotation;  // joint- to model-frame
     glm::quat _rotationInParentFrame; // joint- to parentJoint-frame
 
+    glm::mat4 _visibleTransform;
+    glm::quat _visibleRotation;
+    glm::quat _visibleRotationInParentFrame;
+
     const FBXJoint* _fbxJoint; // JointState does NOT own its FBXJoint
 };
 

interface/src/renderer/Model.cpp

@@ -39,8 +39,8 @@ Model::Model(QObject* parent) :
     _scaledToFit(false),
     _snapModelToCenter(false),
     _snappedToCenter(false),
+    _showTrueJointTransforms(false),
     _rootIndex(-1),
-    //_enableCollisionShapes(false),
     _lodDistance(0.0f),
     _pupilDilation(0.0f),
     _url("http://invalid.com") {
@@ -571,6 +571,9 @@ void Model::setJointStates(QVector<JointState> states) {
             radius = distance;
         }
     }
+    for (int i = 0; i < _jointStates.size(); i++) {
+        _jointStates[i].slaveVisibleTransform();
+    }
     _boundingRadius = radius;
 }
 
@@ -765,6 +768,23 @@ bool Model::getJointCombinedRotation(int jointIndex, glm::quat& rotation) const
     return true;
 }
 
+bool Model::getVisibleJointPositionInWorldFrame(int jointIndex, glm::vec3& position) const {
+    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
+        return false;
+    }
+    // position is in world-frame
+    position = _translation + _rotation * _jointStates[jointIndex].getVisiblePosition();
+    return true;
+}
+
+bool Model::getVisibleJointRotationInWorldFrame(int jointIndex, glm::quat& rotation) const {
+    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
+        return false;
+    }
+    rotation = _rotation * _jointStates[jointIndex].getVisibleRotation();
+    return true;
+}
+
 QStringList Model::getJointNames() const {
     if (QThread::currentThread() != thread()) {
         QStringList result;
@@ -918,6 +938,8 @@ void Model::simulateInternal(float deltaTime) {
     for (int i = 0; i < _jointStates.size(); i++) {
         updateJointState(i);
     }
+    updateVisibleJointStates();
+
     _shapesAreDirty = ! _shapes.isEmpty();
     
     // update the attachment transforms and simulate them
@@ -928,8 +950,13 @@ void Model::simulateInternal(float deltaTime) {
         
         glm::vec3 jointTranslation = _translation;
         glm::quat jointRotation = _rotation;
-        getJointPositionInWorldFrame(attachment.jointIndex, jointTranslation);
-        getJointRotationInWorldFrame(attachment.jointIndex, jointRotation);
+        if (_showTrueJointTransforms) {
+            getJointPositionInWorldFrame(attachment.jointIndex, jointTranslation);
+            getJointRotationInWorldFrame(attachment.jointIndex, jointRotation);
+        } else {
+            getVisibleJointPositionInWorldFrame(attachment.jointIndex, jointTranslation);
+            getVisibleJointRotationInWorldFrame(attachment.jointIndex, jointRotation);
+        }
         
         model->setTranslation(jointTranslation + jointRotation * attachment.translation * _scale);
         model->setRotation(jointRotation * attachment.rotation);
@@ -944,9 +971,16 @@ void Model::simulateInternal(float deltaTime) {
     for (int i = 0; i < _meshStates.size(); i++) {
         MeshState& state = _meshStates[i];
         const FBXMesh& mesh = geometry.meshes.at(i);
-        for (int j = 0; j < mesh.clusters.size(); j++) {
-            const FBXCluster& cluster = mesh.clusters.at(j);
-            state.clusterMatrices[j] = modelToWorld * _jointStates[cluster.jointIndex].getTransform() * cluster.inverseBindMatrix;
+        if (_showTrueJointTransforms) {
+            for (int j = 0; j < mesh.clusters.size(); j++) {
+                const FBXCluster& cluster = mesh.clusters.at(j);
+                state.clusterMatrices[j] = modelToWorld * _jointStates[cluster.jointIndex].getTransform() * cluster.inverseBindMatrix;
+            }
+        } else {
+            for (int j = 0; j < mesh.clusters.size(); j++) {
+                const FBXCluster& cluster = mesh.clusters.at(j);
+                state.clusterMatrices[j] = modelToWorld * _jointStates[cluster.jointIndex].getVisibleTransform() * cluster.inverseBindMatrix;
+            }
         }
     }
     
@@ -972,6 +1006,14 @@ void Model::updateJointState(int index) {
     }
 }
 
+void Model::updateVisibleJointStates() {
+    if (!_showTrueJointTransforms) {
+        for (int i = 0; i < _jointStates.size(); i++) {
+            _jointStates[i].slaveVisibleTransform();
+        }
+    }
+}
+
 bool Model::setJointPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation, bool useRotation,
        int lastFreeIndex, bool allIntermediatesFree, const glm::vec3& alignment, float priority) {
     if (jointIndex == -1 || _jointStates.isEmpty()) {

interface/src/renderer/Model.h

@@ -120,6 +120,9 @@ public:
     bool getJointRotationInWorldFrame(int jointIndex, glm::quat& rotation) const;
     bool getJointCombinedRotation(int jointIndex, glm::quat& rotation) const;
 
+    bool getVisibleJointPositionInWorldFrame(int jointIndex, glm::vec3& position) const;
+    bool getVisibleJointRotationInWorldFrame(int jointIndex, glm::quat& rotation) const;
+
     /// \param jointIndex index of joint in model structure
     /// \param position[out] position of joint in model-frame
     /// \return true if joint exists
@@ -152,6 +155,7 @@ protected:
 
     bool _snapModelToCenter; /// is the model's offset automatically adjusted to center around 0,0,0 in model space
     bool _snappedToCenter; /// are we currently snapped to center
+    bool _showTrueJointTransforms;
     int _rootIndex;
     
     QVector<JointState> _jointStates;
@@ -176,6 +180,8 @@ protected:
 
     /// Updates the state of the joint at the specified index.
     virtual void updateJointState(int index);
+
+    virtual void updateVisibleJointStates();
     
     /// \param jointIndex index of joint in model structure
     /// \param position position of joint in model-frame