Mirrors/overte-HifiExperiments
3
0
Fork 0
mirror of https://github.com/HifiExperiments/overte.git synced 2025-08-09 15:49:33 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Allow threads with only one joint, remove dummy joints and unused constants

Browse source
This commit is contained in:
luiscuenca 2019-02-21 12:00:19 -07:00
parent bea7680864
commit ec4d069011
3 changed files with 54 additions and 83 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

79
libraries/animation/src/Flow.cpp
View file

@ -252,6 +252,7 @@ void FlowJoint::setInitialData(const glm::vec3& initialPosition, const glm::vec3
_previousPosition = initialPosition; _previousPosition = initialPosition;
_currentPosition = initialPosition; _currentPosition = initialPosition;
_initialTranslation = initialTranslation; _initialTranslation = initialTranslation;
_currentRotation = initialRotation;
_initialRotation = initialRotation; _initialRotation = initialRotation;
_translationDirection = glm::normalize(_initialTranslation); _translationDirection = glm::normalize(_initialTranslation);
_parentPosition = parentPosition; _parentPosition = parentPosition;
@ -280,7 +281,7 @@ void FlowJoint::update(float deltaTime) {
} }
FlowNode::update(deltaTime, accelerationOffset); FlowNode::update(deltaTime, accelerationOffset);
if (_anchored) { if (_anchored) {
if (!_isDummy) { if (!_isHelper) {
_currentPosition = _updatedPosition; _currentPosition = _updatedPosition;
} else { } else {
_currentPosition = _parentPosition; _currentPosition = _parentPosition;
@ -301,19 +302,10 @@ void FlowJoint::solve(const FlowCollisionResult& collision) {
FlowNode::solve(_parentPosition, _length, collision); FlowNode::solve(_parentPosition, _length, collision);
}; };
FlowDummyJoint::FlowDummyJoint(const glm::vec3& initialPosition, int index, int parentIndex, int childIndex, FlowPhysicsSettings settings) : void FlowJoint::toHelperJoint(const glm::vec3& initialPosition, float length) {
FlowJoint(index, parentIndex, childIndex, DUMMY_KEYWORD + "_" + index, DUMMY_KEYWORD, settings) {
_isDummy = true;
_initialPosition = initialPosition; _initialPosition = initialPosition;
_length = DUMMY_JOINT_DISTANCE; _isHelper = true;
}
void FlowDummyJoint::toIsolatedJoint(float length, int childIndex, const QString& group) {
_isDummy = false;
_length = length; _length = length;
_childIndex = childIndex;
_group = group;
} }
FlowThread::FlowThread(int rootIndex, std::map<int, FlowJoint>* joints) { FlowThread::FlowThread(int rootIndex, std::map<int, FlowJoint>* joints) {
@ -344,6 +336,7 @@ void FlowThread::computeFlowThread(int rootIndex) {
break; break;
} }
} }
_length = 0.0f;
for (size_t i = 0; i < indexes.size(); i++) { for (size_t i = 0; i < indexes.size(); i++) {
int index = indexes[i]; int index = indexes[i];
_joints.push_back(index); _joints.push_back(index);
@ -456,6 +449,7 @@ FlowThread& FlowThread::operator=(const FlowThread& otherFlowThread) {
myJoint._updatedPosition = joint._updatedPosition; myJoint._updatedPosition = joint._updatedPosition;
myJoint._updatedRotation = joint._updatedRotation; myJoint._updatedRotation = joint._updatedRotation;
myJoint._updatedTranslation = joint._updatedTranslation; myJoint._updatedTranslation = joint._updatedTranslation;
myJoint._isHelper = joint._isHelper;
} }
return *this; return *this;
} }
@ -532,9 +526,9 @@ void Flow::calculateConstraints(const std::shared_ptr<AnimSkeleton>& skeleton,
glm::vec3 jointPosition, parentPosition, jointTranslation; glm::vec3 jointPosition, parentPosition, jointTranslation;
glm::quat jointRotation; glm::quat jointRotation;
getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation); getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation);
getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation);
getJointTranslation(relativePoses, jointIndex, jointTranslation); getJointTranslation(relativePoses, jointIndex, jointTranslation);
getJointRotation(relativePoses, jointIndex, jointRotation); getJointRotation(relativePoses, jointIndex, jointRotation);
getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation);
jointData.second.setInitialData(jointPosition, jointTranslation, jointRotation, parentPosition); jointData.second.setInitialData(jointPosition, jointTranslation, jointRotation, parentPosition);
} }
@ -549,47 +543,36 @@ void Flow::calculateConstraints(const std::shared_ptr<AnimSkeleton>& skeleton,
_flowJointData[joint.second.getParentIndex()].setChildIndex(joint.first); _flowJointData[joint.second.getParentIndex()].setChildIndex(joint.first);
} }
} }
int extraIndex = -1;
for (size_t i = 0; i < roots.size(); i++) { for (size_t i = 0; i < roots.size(); i++) {
FlowThread thread = FlowThread(roots[i], &_flowJointData); FlowThread thread = FlowThread(roots[i], &_flowJointData);
// add threads with at least 2 joints // add threads with at least 2 joints
if (thread._joints.size() > 0) { if (thread._joints.size() > 0) {
if (thread._joints.size() == 1) { if (thread._joints.size() == 1) {
int jointIndex = roots[i]; int jointIndex = roots[i];
auto joint = _flowJointData[jointIndex]; auto &joint = _flowJointData[jointIndex];
auto jointPosition = joint.getUpdatedPosition(); auto &jointPosition = joint.getUpdatedPosition();
auto newSettings = FlowPhysicsSettings(joint.getSettings()); auto newSettings = joint.getSettings();
newSettings._stiffness = ISOLATED_JOINT_STIFFNESS; extraIndex = extraIndex > -1 ? extraIndex + 1 : skeleton->getNumJoints();
int extraIndex = (int)_flowJointData.size(); joint.setChildIndex(extraIndex);
auto newJoint = FlowDummyJoint(jointPosition, extraIndex, jointIndex, -1, newSettings); auto newJoint = FlowJoint(extraIndex, jointIndex, -1, joint.getName(), joint.getGroup(), newSettings);
newJoint.toIsolatedJoint(ISOLATED_JOINT_LENGTH, extraIndex, _flowJointData[jointIndex].getGroup()); newJoint.toHelperJoint(jointPosition, HELPER_JOINT_LENGTH);
thread = FlowThread(jointIndex, &_flowJointData); glm::vec3 translation = glm::vec3(0.0f, HELPER_JOINT_LENGTH, 0.0f);
newJoint.setInitialData(jointPosition + translation, 100.0f * translation , Quaternions::IDENTITY, jointPosition);
_flowJointData.insert(std::pair<int, FlowJoint>(extraIndex, newJoint));
FlowThread newThread = FlowThread(jointIndex, &_flowJointData);
if (newThread._joints.size() > 1) {
_jointThreads.push_back(newThread);
}
} else {
_jointThreads.push_back(thread);
} }
_jointThreads.push_back(thread);
} }
} }
if (_jointThreads.size() == 0) { if (_jointThreads.size() == 0) {
onCleanup(); onCleanup();
} }
if (SHOW_DUMMY_JOINTS && rightHandIndex > -1) {
int jointCount = (int)_flowJointData.size();
int extraIndex = (int)_flowJointData.size();
glm::vec3 rightHandPosition;
getJointPositionInWorldFrame(absolutePoses, rightHandIndex, rightHandPosition, _entityPosition, _entityRotation);
int parentIndex = rightHandIndex;
for (int i = 0; i < DUMMY_JOINT_COUNT; i++) {
int childIndex = (i == (DUMMY_JOINT_COUNT - 1)) ? -1 : extraIndex + 1;
auto newJoint = FlowDummyJoint(rightHandPosition, extraIndex, parentIndex, childIndex, DEFAULT_JOINT_SETTINGS);
_flowJointData.insert(std::pair<int, FlowJoint>(extraIndex, newJoint));
parentIndex = extraIndex;
extraIndex++;
}
_flowJointData[jointCount].setAnchored(true);
auto extraThread = FlowThread(jointCount, &_flowJointData);
_jointThreads.push_back(extraThread);
}
if (handsIndices.size() > 0) { if (handsIndices.size() > 0) {
FlowCollisionSettings handSettings; FlowCollisionSettings handSettings;
handSettings._radius = HAND_COLLISION_RADIUS; handSettings._radius = HAND_COLLISION_RADIUS;
@ -699,10 +682,16 @@ void Flow::updateJoints(AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses)
int jointIndex = jointData.first; int jointIndex = jointData.first;
glm::vec3 jointPosition, parentPosition, jointTranslation; glm::vec3 jointPosition, parentPosition, jointTranslation;
glm::quat jointRotation, parentWorldRotation; glm::quat jointRotation, parentWorldRotation;
getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation); if (!jointData.second.isHelper()) {
getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation);
getJointTranslation(relativePoses, jointIndex, jointTranslation);
getJointRotation(relativePoses, jointIndex, jointRotation);
} else {
jointPosition = jointData.second.getCurrentPosition();
jointTranslation = jointData.second.getCurrentTranslation();
jointRotation = jointData.second.getCurrentRotation();
}
getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation); getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation);
getJointTranslation(relativePoses, jointIndex, jointTranslation);
getJointRotation(relativePoses, jointIndex, jointRotation);
getJointRotationInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentWorldRotation, _entityRotation); getJointRotationInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentWorldRotation, _entityRotation);
jointData.second.setUpdatedData(jointPosition, jointTranslation, jointRotation, parentPosition, parentWorldRotation); jointData.second.setUpdatedData(jointPosition, jointTranslation, jointRotation, parentPosition, parentWorldRotation);
} }
@ -753,7 +742,7 @@ bool Flow::getJointPositionInWorldFrame(const AnimPoseVec& absolutePoses, int jo
} else { } else {
position = glm::vec3(0.0f); position = glm::vec3(0.0f);
} }
} }
return false; return false;
} }

47
libraries/animation/src/Flow.h
View file

@ -23,11 +23,6 @@
class Rig; class Rig;
class AnimSkeleton; class AnimSkeleton;
const bool SHOW_DUMMY_JOINTS = false;
const int LEFT_HAND = 0;
const int RIGHT_HAND = 1;
const float HAPTIC_TOUCH_STRENGTH = 0.25f; const float HAPTIC_TOUCH_STRENGTH = 0.25f;
const float HAPTIC_TOUCH_DURATION = 10.0f; const float HAPTIC_TOUCH_DURATION = 10.0f;
const float HAPTIC_SLOPE = 0.18f; const float HAPTIC_SLOPE = 0.18f;
@ -38,19 +33,8 @@ const QString SIM_JOINT_PREFIX = "sim";
const std::vector<QString> HAND_COLLISION_JOINTS = { "RightHandMiddle1", "RightHandThumb3", "LeftHandMiddle1", "LeftHandThumb3", "RightHandMiddle3", "LeftHandMiddle3" }; const std::vector<QString> HAND_COLLISION_JOINTS = { "RightHandMiddle1", "RightHandThumb3", "LeftHandMiddle1", "LeftHandThumb3", "RightHandMiddle3", "LeftHandMiddle3" };
const QString JOINT_COLLISION_PREFIX = "joint_";
const QString HAND_COLLISION_PREFIX = "hand_";
const float HAND_COLLISION_RADIUS = 0.03f; const float HAND_COLLISION_RADIUS = 0.03f;
const float HAND_TOUCHING_DISTANCE = 2.0f; const float HELPER_JOINT_LENGTH = 0.05f;
const int COLLISION_SHAPES_LIMIT = 4;
const QString DUMMY_KEYWORD = "Extra";
const int DUMMY_JOINT_COUNT = 8;
const float DUMMY_JOINT_DISTANCE = 0.05f;
const float ISOLATED_JOINT_STIFFNESS = 0.0f;
const float ISOLATED_JOINT_LENGTH = 0.05f;
const float DEFAULT_STIFFNESS = 0.0f; const float DEFAULT_STIFFNESS = 0.0f;
const float DEFAULT_GRAVITY = -0.0096f; const float DEFAULT_GRAVITY = -0.0096f;
@ -212,6 +196,7 @@ public:
FlowJoint(): FlowNode() {}; FlowJoint(): FlowNode() {};
FlowJoint(int jointIndex, int parentIndex, int childIndex, const QString& name, const QString& group, const FlowPhysicsSettings& settings); FlowJoint(int jointIndex, int parentIndex, int childIndex, const QString& name, const QString& group, const FlowPhysicsSettings& settings);
void toHelperJoint(const glm::vec3& initialPosition, float length);
void setInitialData(const glm::vec3& initialPosition, const glm::vec3& initialTranslation, const glm::quat& initialRotation, const glm::vec3& parentPosition); void setInitialData(const glm::vec3& initialPosition, const glm::vec3& initialTranslation, const glm::quat& initialRotation, const glm::vec3& parentPosition);
void setUpdatedData(const glm::vec3& updatedPosition, const glm::vec3& updatedTranslation, const glm::quat& updatedRotation, const glm::vec3& parentPosition, const glm::quat& parentWorldRotation); void setUpdatedData(const glm::vec3& updatedPosition, const glm::vec3& updatedTranslation, const glm::quat& updatedRotation, const glm::vec3& parentPosition, const glm::quat& parentWorldRotation);
void setRecoveryPosition(const glm::vec3& recoveryPosition); void setRecoveryPosition(const glm::vec3& recoveryPosition);
@ -219,19 +204,23 @@ public:
void solve(const FlowCollisionResult& collision); void solve(const FlowCollisionResult& collision);
void setScale(float scale, bool initScale); void setScale(float scale, bool initScale);
bool isAnchored() { return _anchored; } bool isAnchored() const { return _anchored; }
void setAnchored(bool anchored) { _anchored = anchored; } void setAnchored(bool anchored) { _anchored = anchored; }
bool isHelper() const { return _isHelper; }
const FlowPhysicsSettings& getSettings() { return _settings; } const FlowPhysicsSettings& getSettings() { return _settings; }
void setSettings(const FlowPhysicsSettings& settings) { _settings = settings; } void setSettings(const FlowPhysicsSettings& settings) { _settings = settings; }
const glm::vec3& getCurrentPosition() { return _currentPosition; } const glm::vec3& getCurrentPosition() const { return _currentPosition; }
int getIndex() { return _index; } int getIndex() const { return _index; }
int getParentIndex() { return _parentIndex; } int getParentIndex() const { return _parentIndex; }
void setChildIndex(int index) { _childIndex = index; } void setChildIndex(int index) { _childIndex = index; }
const glm::vec3& getUpdatedPosition() { return _updatedPosition; } const glm::vec3& getUpdatedPosition() const { return _updatedPosition; }
const QString& getGroup() { return _group; } const QString& getGroup() const { return _group; }
const glm::quat& getCurrentRotation() { return _currentRotation; } const QString& getName() const { return _name; }
const glm::quat& getCurrentRotation() const { return _currentRotation; }
const glm::vec3& getCurrentTranslation() const { return _initialTranslation; }
const glm::vec3& getInitialPosition() const { return _initialPosition; }
protected: protected:
@ -240,7 +229,8 @@ protected:
int _childIndex{ -1 }; int _childIndex{ -1 };
QString _name; QString _name;
QString _group; QString _group;
bool _isDummy{ false };
bool _isHelper{ false };
glm::vec3 _initialTranslation; glm::vec3 _initialTranslation;
glm::quat _initialRotation; glm::quat _initialRotation;
@ -262,13 +252,6 @@ protected:
bool _applyRecovery { false }; bool _applyRecovery { false };
}; };
class FlowDummyJoint : public FlowJoint {
public:
FlowDummyJoint(const glm::vec3& initialPosition, int index, int parentIndex, int childIndex, FlowPhysicsSettings settings);
void toIsolatedJoint(float length, int childIndex, const QString& group);
};
class FlowThread { class FlowThread {
public: public:
FlowThread() {}; FlowThread() {};

11
libraries/animation/src/Rig.cpp
View file

@ -1911,14 +1911,12 @@ void Rig::initAnimGraph(const QUrl& url) {
qCritical(animation) << "Error loading: code = " << error << "str =" << str; qCritical(animation) << "Error loading: code = " << error << "str =" << str;
}); });
/*
connect(this, &Rig::onLoadComplete, [&]() { connect(this, &Rig::onLoadComplete, [&]() {
if (_internalFlow.getActive()) { _internalFlow.setActive(false);
_internalFlow.calculateConstraints(_animSkeleton, _internalPoseSet._relativePoses, _internalPoseSet._absolutePoses); _internalFlow.cleanUp();
_networkFlow.calculateConstraints(_animSkeleton, _internalPoseSet._relativePoses, _internalPoseSet._absolutePoses); _networkFlow.setActive(false);
} _networkFlow.cleanUp();
}); });
*/
} }
} }
@ -2136,5 +2134,6 @@ void Rig::initFlow(bool isActive) {
} }
} else { } else {
_internalFlow.cleanUp(); _internalFlow.cleanUp();
_networkFlow.cleanUp();
} }
} }