overte-HifiExperiments/libraries/animation/src/Flow.cpp

//
//  Flow.cpp
//
//  Created by Luis Cuenca on 1/21/2019.
//  Copyright 2019 High Fidelity, Inc.
//
//  Distributed under the Apache License, Version 2.0.
//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//

#include "Flow.h"
#include "Rig.h"
#include "AnimSkeleton.h"

const std::map<QString, FlowPhysicsSettings> PRESET_FLOW_DATA = { { "hair", FlowPhysicsSettings() },
{ "skirt", FlowPhysicsSettings(true, 1.0f, DEFAULT_GRAVITY, 0.65f, 0.8f, 0.45f, 0.01f) },
{ "breast", FlowPhysicsSettings(true, 1.0f, DEFAULT_GRAVITY, 0.65f, 0.8f, 0.45f, 0.01f) } };

const std::map<QString, FlowCollisionSettings> PRESET_COLLISION_DATA = {
    { "Spine2", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, 0.2f, 0.0f), 0.14f) },
    { "LeftArm", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, 0.02f, 0.0f), 0.05f) },
    { "RightArm", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, 0.02f, 0.0f), 0.05f) },
    { "HeadTop_End", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, -0.15f, 0.0f), 0.09f) }
};

FlowCollisionSphere::FlowCollisionSphere(const int& jointIndex, const FlowCollisionSettings& settings, bool isTouch) {
    _jointIndex = jointIndex;
    _radius = _initialRadius = settings._radius;
    _offset = _initialOffset = settings._offset;
    _entityID = settings._entityID;
    _isTouch = isTouch;
}

FlowCollisionResult FlowCollisionSphere::computeSphereCollision(const glm::vec3& point, float radius) const {
    FlowCollisionResult result;
    auto centerToJoint = point - _position;
    result._distance = glm::length(centerToJoint) - radius;
    result._offset = _radius - result._distance;
    result._normal = glm::normalize(centerToJoint);
    result._radius = _radius;
    result._position = _position;
    return result;
}

FlowCollisionResult FlowCollisionSphere::checkSegmentCollision(const glm::vec3& point1, const glm::vec3& point2, const FlowCollisionResult& collisionResult1, const FlowCollisionResult& collisionResult2) {
    FlowCollisionResult result;
    auto segment = point2 - point1;
    auto segmentLength = glm::length(segment);
    auto maxDistance = glm::sqrt(powf(collisionResult1._radius, 2.0f) + powf(segmentLength, 2.0f));
    if (collisionResult1._distance < maxDistance && collisionResult2._distance < maxDistance) {
        float segmentPercentage = collisionResult1._distance / (collisionResult1._distance + collisionResult2._distance);
        glm::vec3 collisionPoint = point1 + segment * segmentPercentage;
        glm::vec3 centerToSegment = collisionPoint - _position;
        float distance = glm::length(centerToSegment);
        if (distance < _radius) {
            result._offset = _radius - distance;
            result._position = _position;
            result._radius = _radius;
            result._normal = glm::normalize(centerToSegment);
            result._distance = distance;
        }
    }
    return result;
}

void FlowCollisionSystem::addCollisionSphere(int jointIndex, const FlowCollisionSettings& settings, const glm::vec3& position, bool isSelfCollision, bool isTouch) {
    auto collision = FlowCollisionSphere(jointIndex, settings, isTouch);
    collision.setPosition(position);
    if (isSelfCollision) {
        if (!isTouch) {
            _selfCollisions.push_back(collision);
        } else {
            _selfTouchCollisions.push_back(collision);
        }
    } else {
        _othersCollisions.push_back(collision);
    }
};

void FlowCollisionSystem::resetCollisions() {
    _allCollisions.clear();
    _othersCollisions.clear();
    _selfTouchCollisions.clear();
    _selfCollisions.clear();
}

FlowCollisionResult FlowCollisionSystem::computeCollision(const std::vector<FlowCollisionResult> collisions) {
    FlowCollisionResult result;
    if (collisions.size() > 1) {
        for (size_t i = 0; i < collisions.size(); i++) {
            result._offset += collisions[i]._offset;
            result._normal = result._normal + collisions[i]._normal * collisions[i]._distance;
            result._position = result._position + collisions[i]._position;
            result._radius += collisions[i]._radius;
            result._distance += collisions[i]._distance;
        }
        result._offset = result._offset / collisions.size();
        result._radius = 0.5f * glm::length(result._normal);
        result._normal = glm::normalize(result._normal);
        result._position = result._position / (float)collisions.size();
        result._distance = result._distance / collisions.size();
    } else if (collisions.size() == 1) {
        result = collisions[0];
    }
    result._count = (int)collisions.size();
    return result;
};

void FlowCollisionSystem::setScale(float scale) {
    _scale = scale;
    for (size_t j = 0; j < _selfCollisions.size(); j++) {
        _selfCollisions[j]._radius = _selfCollisions[j]._initialRadius * scale;
        _selfCollisions[j]._offset = _selfCollisions[j]._initialOffset * scale;
    }
    for (size_t j = 0; j < _selfTouchCollisions.size(); j++) {
        _selfTouchCollisions[j]._radius = _selfTouchCollisions[j]._initialRadius * scale;
        _selfTouchCollisions[j]._offset = _selfTouchCollisions[j]._initialOffset * scale;
    }
};

std::vector<FlowCollisionResult> FlowCollisionSystem::checkFlowThreadCollisions(FlowThread* flowThread) {
    std::vector<std::vector<FlowCollisionResult>> FlowThreadResults;
    FlowThreadResults.resize(flowThread->_joints.size());
    for (size_t j = 0; j < _allCollisions.size(); j++) {
        FlowCollisionSphere &sphere = _allCollisions[j];
        FlowCollisionResult rootCollision = sphere.computeSphereCollision(flowThread->_positions[0], flowThread->_radius);
        std::vector<FlowCollisionResult> collisionData = { rootCollision };
        bool tooFar = rootCollision._distance >(flowThread->_length + rootCollision._radius);
        FlowCollisionResult nextCollision;
        if (!tooFar) {
            if (sphere._isTouch) {
                for (size_t i = 1; i < flowThread->_joints.size(); i++) {
                    auto prevCollision = collisionData[i - 1];
                    nextCollision = _allCollisions[j].computeSphereCollision(flowThread->_positions[i], flowThread->_radius);
                    collisionData.push_back(nextCollision);
                    if (prevCollision._offset > 0.0f) {
                        if (i == 1) {
                            FlowThreadResults[i - 1].push_back(prevCollision);
                        }
                    } else if (nextCollision._offset > 0.0f) {
                        FlowThreadResults[i].push_back(nextCollision);
                    } else {
                        FlowCollisionResult segmentCollision = _allCollisions[j].checkSegmentCollision(flowThread->_positions[i - 1], flowThread->_positions[i], prevCollision, nextCollision);
                        if (segmentCollision._offset > 0) {
                            FlowThreadResults[i - 1].push_back(segmentCollision);
                            FlowThreadResults[i].push_back(segmentCollision);
                        }
                    }
                }
            } else {
                if (rootCollision._offset > 0.0f) {
                    FlowThreadResults[0].push_back(rootCollision);
                }
                for (size_t i = 1; i < flowThread->_joints.size(); i++) {
                    nextCollision = _allCollisions[j].computeSphereCollision(flowThread->_positions[i], flowThread->_radius);
                    if (nextCollision._offset > 0.0f) {
                        FlowThreadResults[i].push_back(nextCollision);
                    }
                }
            }
        }
    }

    std::vector<FlowCollisionResult> results;
    for (size_t i = 0; i < flowThread->_joints.size(); i++) {
        results.push_back(computeCollision(FlowThreadResults[i]));
    }
    return results;
};

FlowCollisionSettings FlowCollisionSystem::getCollisionSettingsByJoint(int jointIndex) {
    for (auto &collision : _selfCollisions) {
        if (collision._jointIndex == jointIndex) {
            return FlowCollisionSettings(collision._entityID, FlowCollisionType::CollisionSphere, collision._initialOffset, collision._initialRadius);
        }
    }
    return FlowCollisionSettings();
}
void FlowCollisionSystem::setCollisionSettingsByJoint(int jointIndex, const FlowCollisionSettings& settings) {
    for (auto &collision : _selfCollisions) {
        if (collision._jointIndex == jointIndex) {
            collision._initialRadius = settings._radius;
            collision._initialOffset = settings._offset;
            collision._radius = _scale * settings._radius;
            collision._offset = _scale * settings._offset;
        }
    }
}
void FlowCollisionSystem::prepareCollisions() {
    _allCollisions.clear();
    _allCollisions.insert(_allCollisions.end(), _selfCollisions.begin(), _selfCollisions.end());
    _allCollisions.insert(_allCollisions.end(), _othersCollisions.begin(), _othersCollisions.end());
    _allCollisions.insert(_allCollisions.end(), _selfTouchCollisions.begin(), _selfTouchCollisions.end());
    _othersCollisions.clear();
}

FlowNode::FlowNode(const glm::vec3& initialPosition, FlowPhysicsSettings settings) {
    _initialPosition = _previousPosition = _currentPosition = initialPosition;
    _initialRadius = settings._radius;
}

void FlowNode::update(float deltaTime, const glm::vec3& accelerationOffset) {
    _acceleration = glm::vec3(0.0f, _settings._gravity, 0.0f);
    _previousVelocity = _currentVelocity;
    _currentVelocity = _currentPosition - _previousPosition;
    _previousPosition = _currentPosition;
    if (!_anchored) {
        // Add inertia
        const float FPS = 60.0f;
        float timeRatio = _scale * (FPS * deltaTime);
        float invertedTimeRatio = timeRatio > 0.0f ? 1.0f / timeRatio : 1.0f;
        auto deltaVelocity = _previousVelocity - _currentVelocity;
        auto centrifugeVector = glm::length(deltaVelocity) != 0.0f ? glm::normalize(deltaVelocity) : glm::vec3();
        _acceleration = _acceleration + centrifugeVector * _settings._inertia * glm::length(_currentVelocity) * invertedTimeRatio;

        // Add offset
        _acceleration += accelerationOffset;
        float accelerationFactor = powf(_settings._delta, 2.0f) * timeRatio;
        glm::vec3 deltaAcceleration = _acceleration * accelerationFactor;
        // Calculate new position        
        _currentPosition = _currentPosition + (_currentVelocity * _settings._damping) + deltaAcceleration;
    } else {
        _acceleration = glm::vec3(0.0f);
        _currentVelocity = glm::vec3(0.0f);
    }
};


void FlowNode::solve(const glm::vec3& constrainPoint, float maxDistance, const FlowCollisionResult& collision) {
    solveConstraints(constrainPoint, maxDistance);
    solveCollisions(collision);
};

void FlowNode::solveConstraints(const glm::vec3& constrainPoint, float maxDistance) {
    glm::vec3 constrainVector = _currentPosition - constrainPoint;
    float difference = maxDistance / glm::length(constrainVector);
    _currentPosition = difference < 1.0f ? constrainPoint + constrainVector * difference : _currentPosition;
};

void FlowNode::solveCollisions(const FlowCollisionResult& collision) {
    _colliding = collision._offset > 0.0f;
    _collision = collision;
    if (_colliding) {
        _currentPosition = _currentPosition + collision._normal * collision._offset;
        _previousCollision = collision;
    } else {
        _previousCollision = FlowCollisionResult();
    }
};

FlowJoint::FlowJoint(int jointIndex, int parentIndex, int childIndex, const QString& name, const QString& group, const FlowPhysicsSettings& settings) {
    _index = jointIndex;
    _name = name;
    _group = group;
    _childIndex = childIndex;
    _parentIndex = parentIndex;
    FlowNode(glm::vec3(), settings);
};

void FlowJoint::setInitialData(const glm::vec3& initialPosition, const glm::vec3& initialTranslation, const glm::quat& initialRotation, const glm::vec3& parentPosition) {
    _initialPosition = initialPosition;
    _previousPosition = initialPosition;
    _currentPosition = initialPosition;
    _initialTranslation = initialTranslation;
    _currentRotation = initialRotation;
    _initialRotation = initialRotation;
    _translationDirection = glm::normalize(_initialTranslation);
    _parentPosition = parentPosition;
    _initialLength = _length = glm::length(_initialPosition - parentPosition);
}

void FlowJoint::setUpdatedData(const glm::vec3& updatedPosition, const glm::vec3& updatedTranslation, const glm::quat& updatedRotation, const glm::vec3& parentPosition, const glm::quat& parentWorldRotation) {
    _updatedPosition = updatedPosition;
    _updatedRotation = updatedRotation;
    _updatedTranslation = updatedTranslation;
    _parentPosition = parentPosition;
    _parentWorldRotation = parentWorldRotation;
}

void FlowJoint::setRecoveryPosition(const glm::vec3& recoveryPosition) {
    _recoveryPosition = recoveryPosition;
    _applyRecovery = true;
}

void FlowJoint::update(float deltaTime) {
    if (_settings._active) {
        glm::vec3 accelerationOffset = glm::vec3(0.0f);
        if (_settings._stiffness > 0.0f) {
            glm::vec3 recoveryVector = _recoveryPosition - _currentPosition;
            float recoveryFactor = powf(_settings._stiffness, 3.0f);
            accelerationOffset = recoveryVector * recoveryFactor;
        }
        FlowNode::update(deltaTime, accelerationOffset);
        if (_anchored) {
            if (!_isHelper) {
                _currentPosition = _updatedPosition;
            } else {
                _currentPosition = _parentPosition;
            }
        }
    }
};

void FlowJoint::setScale(float scale, bool initScale) {
    if (initScale) {
        _initialLength = _length / scale;
    }
    _settings._radius = _initialRadius * scale;
    _length = _initialLength * scale;
    _scale = scale;
}

void FlowJoint::solve(const FlowCollisionResult& collision) {
    FlowNode::solve(_parentPosition, _length, collision);
};

void FlowJoint::toHelperJoint(const glm::vec3& initialPosition, float length) {
    _initialPosition = initialPosition;
    _isHelper = true;
    _length = length;
}

FlowThread::FlowThread(int rootIndex, std::map<int, FlowJoint>* joints) {
    _jointsPointer = joints;
    computeFlowThread(rootIndex);
}

void FlowThread::resetLength() {
    _length = 0.0f;
    for (size_t i = 1; i < _joints.size(); i++) {
        int index = _joints[i];
        _length += _jointsPointer->at(index)._length;
    }
}

void FlowThread::computeFlowThread(int rootIndex) {
    int parentIndex = rootIndex;
    if (_jointsPointer->size() == 0) {
        return;
    }
    int childIndex = _jointsPointer->at(parentIndex)._childIndex;
    std::vector<int> indexes = { parentIndex };
    for (size_t i = 0; i < _jointsPointer->size(); i++) {
        if (childIndex > -1) {
            indexes.push_back(childIndex);
            childIndex = _jointsPointer->at(childIndex)._childIndex;
        } else {
            break;
        }
    }
    _length = 0.0f;
    for (size_t i = 0; i < indexes.size(); i++) {
        int index = indexes[i];
        _joints.push_back(index);
        if (i > 0) {
            _length += _jointsPointer->at(index)._length;
        }
    }
};

void FlowThread::computeRecovery() {
    int parentIndex = _joints[0];
    auto parentJoint = _jointsPointer->at(parentIndex);
    _jointsPointer->at(parentIndex)._recoveryPosition = parentJoint._recoveryPosition = parentJoint._currentPosition;
    glm::quat parentRotation = parentJoint._parentWorldRotation * parentJoint._initialRotation;
    for (size_t i = 1; i < _joints.size(); i++) {
        auto joint = _jointsPointer->at(_joints[i]);
        _jointsPointer->at(_joints[i])._recoveryPosition = joint._recoveryPosition = parentJoint._recoveryPosition + (parentRotation * (joint._initialTranslation * 0.01f));
        parentJoint = joint;
    }
};

void FlowThread::update(float deltaTime) {
    _positions.clear();
    auto &firstJoint = _jointsPointer->at(_joints[0]);
    _radius = firstJoint._settings._radius;
    computeRecovery();
    for (size_t i = 0; i < _joints.size(); i++) {
        auto &joint = _jointsPointer->at(_joints[i]);
        joint.update(deltaTime);
        _positions.push_back(joint._currentPosition);
    }
};

void FlowThread::solve(FlowCollisionSystem& collisionSystem) {
    if (collisionSystem.getActive()) {
        auto bodyCollisions = collisionSystem.checkFlowThreadCollisions(this);
        for (size_t i = 0; i < _joints.size(); i++) {
            int index = _joints[i];
            _jointsPointer->at(index).solve(bodyCollisions[i]);
        }
    } else {
        for (size_t i = 0; i < _joints.size(); i++) {
            int index = _joints[i];
            _jointsPointer->at(index).solve(FlowCollisionResult());
        }
    }
};

void FlowThread::computeJointRotations() {

    auto pos0 = _rootFramePositions[0];
    auto pos1 = _rootFramePositions[1];

    auto joint0 = _jointsPointer->at(_joints[0]);
    auto joint1 = _jointsPointer->at(_joints[1]);

    auto initial_pos1 = pos0 + (joint0._initialRotation * (joint1._initialTranslation * 0.01f));

    auto vec0 = initial_pos1 - pos0;
    auto vec1 = pos1 - pos0;

    auto delta = rotationBetween(vec0, vec1);

    joint0._currentRotation = _jointsPointer->at(_joints[0])._currentRotation = delta * joint0._initialRotation;
    
    for (size_t i = 1; i < _joints.size() - 1; i++) {
        auto nextJoint = _jointsPointer->at(_joints[i + 1]);
        for (size_t j = i; j < _joints.size(); j++) {
            _rootFramePositions[j] = glm::inverse(joint0._currentRotation) * _rootFramePositions[j] - (joint0._initialTranslation * 0.01f);
        }
        pos0 = _rootFramePositions[i];
        pos1 = _rootFramePositions[i + 1];
        initial_pos1 = pos0 + joint1._initialRotation * (nextJoint._initialTranslation * 0.01f);

        vec0 = initial_pos1 - pos0;
        vec1 = pos1 - pos0;

        delta = rotationBetween(vec0, vec1);

        joint1._currentRotation = _jointsPointer->at(joint1._index)._currentRotation = delta * joint1._initialRotation;
        joint0 = joint1;
        joint1 = nextJoint;
    }
    
}

void FlowThread::setScale(float scale, bool initScale) {
    for (size_t i = 0; i < _joints.size(); i++) {
        auto &joint = _jointsPointer->at(_joints[i]);
        joint.setScale(scale, initScale);
    }
    resetLength();
}

FlowThread& FlowThread::operator=(const FlowThread& otherFlowThread) {
    for (int jointIndex: otherFlowThread._joints) {
        auto& joint = otherFlowThread._jointsPointer->at(jointIndex);
        auto& myJoint = _jointsPointer->at(jointIndex);
        myJoint._acceleration = joint._acceleration;
        myJoint._currentPosition = joint._currentPosition;
        myJoint._currentRotation = joint._currentRotation;
        myJoint._currentVelocity = joint._currentVelocity;
        myJoint._length = joint._length;
        myJoint._parentPosition = joint._parentPosition;
        myJoint._parentWorldRotation = joint._parentWorldRotation;
        myJoint._previousPosition = joint._previousPosition;
        myJoint._previousVelocity = joint._previousVelocity;
        myJoint._scale = joint._scale;
        myJoint._translationDirection = joint._translationDirection;
        myJoint._updatedPosition = joint._updatedPosition;
        myJoint._updatedRotation = joint._updatedRotation;
        myJoint._updatedTranslation = joint._updatedTranslation;
        myJoint._isHelper = joint._isHelper;
    }
    return *this;
}

void Flow::calculateConstraints(const std::shared_ptr<AnimSkeleton>& skeleton, 
                                AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses) {
    cleanUp();
    if (!skeleton) {
        return;
    }
    auto flowPrefix = FLOW_JOINT_PREFIX.toUpper();
    auto simPrefix = SIM_JOINT_PREFIX.toUpper();
    std::vector<int> handsIndices;
    _groupSettings.clear();

    for (int i = 0; i < skeleton->getNumJoints(); i++) {
        auto name = skeleton->getJointName(i);
        if (std::find(HAND_COLLISION_JOINTS.begin(), HAND_COLLISION_JOINTS.end(), name) != HAND_COLLISION_JOINTS.end()) {
            handsIndices.push_back(i);
        }
        auto parentIndex = skeleton->getParentIndex(i);
        if (parentIndex == -1) {
            continue;
        }
        auto jointChildren = skeleton->getChildrenOfJoint(i);
        // auto childIndex = jointChildren.size() > 0 ? jointChildren[0] : -1;
        auto group = QStringRef(&name, 0, 3).toString().toUpper();
        auto split = name.split("_");
        bool isSimJoint = (group == simPrefix);
        bool isFlowJoint = split.size() > 2 && split[0].toUpper() == flowPrefix;
        if (isFlowJoint || isSimJoint) {
            group = "";
            if (isSimJoint) {
                for (int j = 1; j < name.size() - 1; j++) {
                    bool toFloatSuccess;
                    QStringRef(&name, (int)(name.size() - j), 1).toString().toFloat(&toFloatSuccess);
                    if (!toFloatSuccess && (name.size() - j) > (int)simPrefix.size()) {
                        group = QStringRef(&name, (int)simPrefix.size(), (int)(name.size() - j + 1) - (int)simPrefix.size()).toString();
                        break;
                    }
                }
                if (group.isEmpty()) {
                    group = QStringRef(&name, (int)simPrefix.size(), name.size() - (int)simPrefix.size()).toString();
                }
                qCDebug(animation) << "Sim joint added to flow: " << name;
            } else {
                group = split[1];
            }
            if (!group.isEmpty()) {
                _flowJointKeywords.push_back(group);
                FlowPhysicsSettings jointSettings;
                if (PRESET_FLOW_DATA.find(group) != PRESET_FLOW_DATA.end()) {
                    jointSettings = PRESET_FLOW_DATA.at(group);
                } else {
                    jointSettings = DEFAULT_JOINT_SETTINGS;
                }
                if (_flowJointData.find(i) ==  _flowJointData.end()) {
                    auto flowJoint = FlowJoint(i, parentIndex, -1, name, group, jointSettings);
                    _flowJointData.insert(std::pair<int, FlowJoint>(i, flowJoint));
                }
                updateGroupSettings(group, jointSettings);
            }
        } else {
            if (PRESET_COLLISION_DATA.find(name) != PRESET_COLLISION_DATA.end()) {
                _collisionSystem.addCollisionSphere(i, PRESET_COLLISION_DATA.at(name));
            }
        }
    }

    for (auto &jointData : _flowJointData) {
        int jointIndex = jointData.first;
        glm::vec3 jointPosition, parentPosition, jointTranslation;
        glm::quat jointRotation;
        getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation);
        getJointTranslation(relativePoses, jointIndex, jointTranslation);
        getJointRotation(relativePoses, jointIndex, jointRotation);
        getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation);

        jointData.second.setInitialData(jointPosition, jointTranslation, jointRotation, parentPosition);
    }

    std::vector<int> roots;

    for (auto &joint :_flowJointData) {
        if (_flowJointData.find(joint.second.getParentIndex()) == _flowJointData.end()) {
            joint.second.setAnchored(true);
            roots.push_back(joint.first);
        } else {
            _flowJointData[joint.second.getParentIndex()].setChildIndex(joint.first);
        }
    }
    int extraIndex = -1;
    for (size_t i = 0; i < roots.size(); i++) {
        FlowThread thread = FlowThread(roots[i], &_flowJointData);
        // add threads with at least 2 joints
        if (thread._joints.size() > 0) {
            if (thread._joints.size() == 1) {
                int jointIndex = roots[i];
                auto &joint = _flowJointData[jointIndex];
                auto &jointPosition = joint.getUpdatedPosition();
                auto newSettings = joint.getSettings();
                extraIndex = extraIndex > -1 ? extraIndex + 1 : skeleton->getNumJoints();
                joint.setChildIndex(extraIndex);
                auto newJoint = FlowJoint(extraIndex, jointIndex, -1, joint.getName(), joint.getGroup(), newSettings);
                newJoint.toHelperJoint(jointPosition, HELPER_JOINT_LENGTH);
                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);
            }
        }
    }
    
    if (_jointThreads.size() == 0) {
        onCleanup();
    }
    if (handsIndices.size() > 0) {
        FlowCollisionSettings handSettings;
        handSettings._radius = HAND_COLLISION_RADIUS;
        for (size_t i = 0; i < handsIndices.size(); i++) {
            _collisionSystem.addCollisionSphere(handsIndices[i], handSettings, glm::vec3(), true, true);
        }
    }
    _initialized = _jointThreads.size() > 0;
}

void Flow::cleanUp() {
    _flowJointData.clear();
    _jointThreads.clear();
    _flowJointKeywords.clear();
    _collisionSystem.resetCollisions();
    _initialized = false;
    _isScaleSet = false;
    onCleanup();
 }

void Flow::setTransform(float scale, const glm::vec3& position, const glm::quat& rotation) {
    _scale = scale;
    _entityPosition = position;
    _entityRotation = rotation;
}

void Flow::setScale(float scale) {
    _collisionSystem.setScale(_scale);
    for (size_t i = 0; i < _jointThreads.size(); i++) {
        _jointThreads[i].setScale(_scale, !_isScaleSet);
    }
    if (_lastScale != _scale) {
        _lastScale = _scale;
        _isScaleSet = true;
    }
    
}

void Flow::update(float deltaTime, AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses, const std::vector<bool>& overrideFlags) {
    if (_initialized && _active) {
        uint64_t startTime = usecTimestampNow();
        uint64_t updateExpiry = startTime + MAX_UPDATE_FLOW_TIME_BUDGET;
        if (_scale != _lastScale) {
            setScale(_scale);
        }
        for (size_t i = 0; i < _jointThreads.size(); i++) {
            size_t index = _invertThreadLoop ? _jointThreads.size() - 1 - i : i;
            auto &thread = _jointThreads[index];
            thread.update(deltaTime);
            thread.solve(_collisionSystem);
            if (!updateRootFramePositions(absolutePoses, index)) {
                return;
            }
            thread.computeJointRotations();
            if (usecTimestampNow() > updateExpiry) {
                break;
                qWarning(animation) << "Flow Bones ran out of time while updating threads";
            }
        }
        setJoints(relativePoses, overrideFlags);
        updateJoints(relativePoses, absolutePoses);
        _invertThreadLoop = !_invertThreadLoop;
    }    
}

void Flow::updateAbsolutePoses(const AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses) {
    for (auto &joint : _flowJointData) {
        int index = joint.second.getIndex();
        int parentIndex = joint.second.getParentIndex();
        if (index >= 0 && index < (int)relativePoses.size() &&
            parentIndex >= 0 && parentIndex < (int)absolutePoses.size()) {
            absolutePoses[index] = absolutePoses[parentIndex] * relativePoses[index];
        }
    }
}

bool Flow::worldToJointPoint(const AnimPoseVec& absolutePoses, const glm::vec3& position, const int jointIndex, glm::vec3& jointSpacePosition) const {
    glm::vec3 jointPos;
    glm::quat jointRot;
    if (getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPos, _entityPosition, _entityRotation) && 
        getJointRotationInWorldFrame(absolutePoses, jointIndex, jointRot, _entityRotation)) {
        glm::vec3 modelOffset = position - jointPos;
        jointSpacePosition = glm::inverse(jointRot) * modelOffset;
        return true;
    }
    return false;
}

bool Flow::updateRootFramePositions(const AnimPoseVec& absolutePoses, size_t threadIndex) {
    auto &joints = _jointThreads[threadIndex]._joints;
    int rootIndex = _flowJointData[joints[0]].getParentIndex();
    _jointThreads[threadIndex]._rootFramePositions.clear();
    for (size_t j = 0; j < joints.size(); j++) {
        glm::vec3 jointPos;
        if (worldToJointPoint(absolutePoses, _flowJointData[joints[j]].getCurrentPosition(), rootIndex, jointPos)) {
            _jointThreads[threadIndex]._rootFramePositions.push_back(jointPos);
        } else {
            return false;
        }
    }
    return true;
}

void Flow::updateCollisionJoint(FlowCollisionSphere& collision, AnimPoseVec& absolutePoses) {
    glm::quat jointRotation;
    getJointPositionInWorldFrame(absolutePoses, collision._jointIndex, collision._position, _entityPosition, _entityRotation);
    getJointRotationInWorldFrame(absolutePoses, collision._jointIndex, jointRotation, _entityRotation);
    glm::vec3 worldOffset = jointRotation * collision._offset;
    collision._position = collision._position + worldOffset;
}

void Flow::updateJoints(AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses) {
    updateAbsolutePoses(relativePoses, absolutePoses);
    for (auto &jointData : _flowJointData) {
        int jointIndex = jointData.first;
        glm::vec3 jointPosition, parentPosition, jointTranslation;
        glm::quat jointRotation, parentWorldRotation;
        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);
        getJointRotationInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentWorldRotation, _entityRotation);
        jointData.second.setUpdatedData(jointPosition, jointTranslation, jointRotation, parentPosition, parentWorldRotation);
    }
    auto &selfCollisions = _collisionSystem.getSelfCollisions();
    for (auto &collision : selfCollisions) {
        updateCollisionJoint(collision, absolutePoses);
    }
    auto &selfTouchCollisions = _collisionSystem.getSelfTouchCollisions();
    for (auto &collision : selfTouchCollisions) {
        updateCollisionJoint(collision, absolutePoses);
    }
    _collisionSystem.prepareCollisions();
}

void Flow::setJoints(AnimPoseVec& relativePoses, const std::vector<bool>& overrideFlags) {
    for (auto &thread : _jointThreads) {
        auto &joints = thread._joints;
        for (int jointIndex : joints) {
            auto &joint = _flowJointData[jointIndex];
            if (jointIndex >= 0 && jointIndex < (int)relativePoses.size() && !overrideFlags[jointIndex]) {
                relativePoses[jointIndex].rot() = joint.getSettings()._active ? joint.getCurrentRotation() : joint.getInitialRotation();
            }            
        }
    }
}

void Flow::setOthersCollision(const QUuid& otherId, int jointIndex, const glm::vec3& position) {
    FlowCollisionSettings settings;
    settings._entityID = otherId;
    settings._radius = HAND_COLLISION_RADIUS;
    _collisionSystem.addCollisionSphere(jointIndex, settings, position, false, true);
}

void Flow::setPhysicsSettingsForGroup(const QString& group, const FlowPhysicsSettings& settings) {
    for (auto &joint : _flowJointData) {
        if (joint.second.getGroup().toUpper() == group.toUpper()) {
            joint.second.setSettings(settings);
        }
    }
    updateGroupSettings(group, settings);
}

bool Flow::getJointPositionInWorldFrame(const AnimPoseVec& absolutePoses, int jointIndex, glm::vec3& position, glm::vec3 translation, glm::quat rotation) const {
    if (jointIndex >= 0 && jointIndex < (int)absolutePoses.size()) {
        glm::vec3 poseSetTrans = absolutePoses[jointIndex].trans();
        position = (rotation * poseSetTrans) + translation;
        if (!isNaN(position)) {
            return true;
        } else {
            position = glm::vec3(0.0f);
        }
    }
    return false;
}

bool Flow::getJointRotationInWorldFrame(const AnimPoseVec& absolutePoses, int jointIndex, glm::quat& result, const glm::quat& rotation) const {
    if (jointIndex >= 0 && jointIndex < (int)absolutePoses.size()) {
        result = rotation * absolutePoses[jointIndex].rot();
        return true;
    } else {
        return false;
    }
}

bool Flow::getJointRotation(const AnimPoseVec& relativePoses, int jointIndex, glm::quat& rotation) const {
    if (jointIndex >= 0 && jointIndex < (int)relativePoses.size()) {
        rotation = relativePoses[jointIndex].rot();
        return true;
    } else {
        return false;
    }
}

bool Flow::getJointTranslation(const AnimPoseVec& relativePoses, int jointIndex, glm::vec3& translation) const {
    if (jointIndex >= 0 && jointIndex < (int)relativePoses.size()) {
        translation = relativePoses[jointIndex].trans();
        return true;
    } else {
        return false;
    }
}

Flow& Flow::operator=(const Flow& otherFlow) {
    _active = otherFlow.getActive();
    _scale = otherFlow.getScale();
    _isScaleSet = true;
    auto &threads = otherFlow.getThreads();
    if (threads.size() == _jointThreads.size()) {
        for (size_t i = 0; i < _jointThreads.size(); i++) {
            _jointThreads[i] = threads[i];
        }
    }
    return *this;
}

void Flow::updateGroupSettings(const QString& group, const FlowPhysicsSettings& settings) {
    if (_groupSettings.find(group) == _groupSettings.end()) {
        _groupSettings.insert(std::pair<QString, FlowPhysicsSettings>(group, settings));
    } else {
        _groupSettings[group] = settings;
    }
}