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358 lines
17 KiB
C++
358 lines
17 KiB
C++
//
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// Created by Bradley Austin Davis on 2017/04/27
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// Copyright 2013-2017 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#include "MySkeletonModel.h"
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#include <avatars-renderer/Avatar.h>
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#include <DebugDraw.h>
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#include "Application.h"
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#include "InterfaceLogging.h"
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#include "AnimUtil.h"
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MySkeletonModel::MySkeletonModel(Avatar* owningAvatar, QObject* parent) : SkeletonModel(owningAvatar, parent) {
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}
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Rig::CharacterControllerState convertCharacterControllerState(CharacterController::State state) {
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switch (state) {
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default:
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case CharacterController::State::Ground:
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return Rig::CharacterControllerState::Ground;
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case CharacterController::State::Takeoff:
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return Rig::CharacterControllerState::Takeoff;
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case CharacterController::State::InAir:
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return Rig::CharacterControllerState::InAir;
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case CharacterController::State::Hover:
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return Rig::CharacterControllerState::Hover;
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};
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}
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static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
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glm::mat4 worldToSensorMat = glm::inverse(myAvatar->getSensorToWorldMatrix());
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// check for pinned hips.
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auto hipsIndex = myAvatar->getJointIndex("Hips");
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if (myAvatar->isJointPinned(hipsIndex)) {
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Transform avatarTransform = myAvatar->getTransform();
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AnimPose result = AnimPose(worldToSensorMat * avatarTransform.getMatrix() * Matrices::Y_180);
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result.scale() = glm::vec3(1.0f, 1.0f, 1.0f);
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return result;
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}
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glm::mat4 hipsMat = myAvatar->deriveBodyFromHMDSensor();
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glm::vec3 hipsPos = extractTranslation(hipsMat);
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glm::quat hipsRot = glmExtractRotation(hipsMat);
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glm::mat4 avatarToWorldMat = myAvatar->getTransform().getMatrix();
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glm::mat4 avatarToSensorMat = worldToSensorMat * avatarToWorldMat;
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// dampen hips rotation, by mixing it with the avatar orientation in sensor space
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const float MIX_RATIO = 0.5f;
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hipsRot = safeLerp(glmExtractRotation(avatarToSensorMat), hipsRot, MIX_RATIO);
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if (isFlying) {
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// rotate the hips back to match the flying animation.
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const float TILT_ANGLE = 0.523f;
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const glm::quat tiltRot = glm::angleAxis(TILT_ANGLE, transformVectorFull(avatarToSensorMat, -Vectors::UNIT_X));
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glm::vec3 headPos;
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int headIndex = myAvatar->getJointIndex("Head");
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if (headIndex != -1) {
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headPos = transformPoint(avatarToSensorMat, myAvatar->getAbsoluteJointTranslationInObjectFrame(headIndex));
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} else {
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headPos = transformPoint(myAvatar->getSensorToWorldMatrix(), myAvatar->getHMDSensorPosition());
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}
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hipsRot = tiltRot * hipsRot;
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hipsPos = headPos + tiltRot * (hipsPos - headPos);
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}
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return AnimPose(hipsRot * Quaternions::Y_180, hipsPos);
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}
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// Called within Model::simulate call, below.
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void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
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const FBXGeometry& geometry = getFBXGeometry();
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Head* head = _owningAvatar->getHead();
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// make sure lookAt is not too close to face (avoid crosseyes)
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glm::vec3 lookAt = head->getLookAtPosition();
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glm::vec3 focusOffset = lookAt - _owningAvatar->getHead()->getEyePosition();
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float focusDistance = glm::length(focusOffset);
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const float MIN_LOOK_AT_FOCUS_DISTANCE = 1.0f;
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if (focusDistance < MIN_LOOK_AT_FOCUS_DISTANCE && focusDistance > EPSILON) {
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lookAt = _owningAvatar->getHead()->getEyePosition() + (MIN_LOOK_AT_FOCUS_DISTANCE / focusDistance) * focusOffset;
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}
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MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
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assert(myAvatar);
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Rig::ControllerParameters params;
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AnimPose avatarToRigPose(glm::vec3(1.0f), Quaternions::Y_180, glm::vec3(0.0f));
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// input action is the highest priority source for head orientation.
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auto avatarHeadPose = myAvatar->getControllerPoseInAvatarFrame(controller::Action::HEAD);
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if (avatarHeadPose.isValid()) {
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AnimPose pose(avatarHeadPose.getRotation(), avatarHeadPose.getTranslation());
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params.primaryControllerPoses[Rig::PrimaryControllerType_Head] = avatarToRigPose * pose;
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params.primaryControllerFlags[Rig::PrimaryControllerType_Head] = (uint8_t)Rig::ControllerFlags::Enabled;
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} else {
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// even though full head IK is disabled, the rig still needs the head orientation to rotate the head up and
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// down in desktop mode.
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// preMult 180 is necessary to convert from avatar to rig coordinates.
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// postMult 180 is necessary to convert head from -z forward to z forward.
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glm::quat headRot = Quaternions::Y_180 * head->getFinalOrientationInLocalFrame() * Quaternions::Y_180;
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params.primaryControllerPoses[Rig::PrimaryControllerType_Head] = AnimPose(glm::vec3(1.0f), headRot, glm::vec3(0.0f));
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params.primaryControllerFlags[Rig::PrimaryControllerType_Head] = 0;
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}
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//
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// primary controller poses, control IK targets directly.
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//
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static const std::vector<std::pair<controller::Action, Rig::PrimaryControllerType>> primaryControllers = {
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{ controller::Action::LEFT_HAND, Rig::PrimaryControllerType_LeftHand },
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{ controller::Action::RIGHT_HAND, Rig::PrimaryControllerType_RightHand },
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{ controller::Action::HIPS, Rig::PrimaryControllerType_Hips },
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{ controller::Action::LEFT_FOOT, Rig::PrimaryControllerType_LeftFoot },
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{ controller::Action::RIGHT_FOOT, Rig::PrimaryControllerType_RightFoot },
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{ controller::Action::SPINE2, Rig::PrimaryControllerType_Spine2 }
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};
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for (auto pair : primaryControllers) {
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auto controllerPose = myAvatar->getControllerPoseInAvatarFrame(pair.first);
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if (controllerPose.isValid()) {
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AnimPose pose(controllerPose.getRotation(), controllerPose.getTranslation());
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params.primaryControllerPoses[pair.second] = avatarToRigPose * pose;
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params.primaryControllerFlags[pair.second] = (uint8_t)Rig::ControllerFlags::Enabled;
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} else {
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params.primaryControllerPoses[pair.second] = AnimPose::identity;
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params.primaryControllerFlags[pair.second] = 0;
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}
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}
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//
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// secondary controller poses, influence the pose of the skeleton indirectly.
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//
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static const std::vector<std::pair<controller::Action, Rig::SecondaryControllerType>> secondaryControllers = {
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{ controller::Action::LEFT_SHOULDER, Rig::SecondaryControllerType_LeftShoulder },
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{ controller::Action::RIGHT_SHOULDER, Rig::SecondaryControllerType_RightShoulder },
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{ controller::Action::LEFT_ARM, Rig::SecondaryControllerType_LeftArm },
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{ controller::Action::RIGHT_ARM, Rig::SecondaryControllerType_RightArm },
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{ controller::Action::LEFT_FORE_ARM, Rig::SecondaryControllerType_LeftForeArm },
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{ controller::Action::RIGHT_FORE_ARM, Rig::SecondaryControllerType_RightForeArm },
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{ controller::Action::LEFT_UP_LEG, Rig::SecondaryControllerType_LeftUpLeg },
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{ controller::Action::RIGHT_UP_LEG, Rig::SecondaryControllerType_RightUpLeg },
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{ controller::Action::LEFT_LEG, Rig::SecondaryControllerType_LeftLeg },
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{ controller::Action::RIGHT_LEG, Rig::SecondaryControllerType_RightLeg },
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{ controller::Action::LEFT_TOE_BASE, Rig::SecondaryControllerType_LeftToeBase },
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{ controller::Action::RIGHT_TOE_BASE, Rig::SecondaryControllerType_RightToeBase }
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};
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for (auto pair : secondaryControllers) {
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auto controllerPose = myAvatar->getControllerPoseInAvatarFrame(pair.first);
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if (controllerPose.isValid()) {
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AnimPose pose(controllerPose.getRotation(), controllerPose.getTranslation());
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params.secondaryControllerPoses[pair.second] = avatarToRigPose * pose;
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params.secondaryControllerFlags[pair.second] = (uint8_t)Rig::ControllerFlags::Enabled;
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} else {
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params.secondaryControllerPoses[pair.second] = AnimPose::identity;
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params.secondaryControllerFlags[pair.second] = 0;
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}
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}
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// if hips are not under direct control, estimate the hips position.
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if (avatarHeadPose.isValid() && !(params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] & (uint8_t)Rig::ControllerFlags::Enabled)) {
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bool isFlying = (myAvatar->getCharacterController()->getState() == CharacterController::State::Hover || myAvatar->getCharacterController()->computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS);
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if (!_prevHipsValid) {
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AnimPose hips = computeHipsInSensorFrame(myAvatar, isFlying);
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_prevHips = hips;
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}
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AnimPose hips = computeHipsInSensorFrame(myAvatar, isFlying);
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// smootly lerp hips, in sensorframe, with different coeff for horiz and vertical translation.
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const float ROT_ALPHA = 0.9f;
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const float TRANS_HORIZ_ALPHA = 0.9f;
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const float TRANS_VERT_ALPHA = 0.1f;
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float hipsY = hips.trans().y;
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hips.trans() = lerp(hips.trans(), _prevHips.trans(), TRANS_HORIZ_ALPHA);
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hips.trans().y = lerp(hipsY, _prevHips.trans().y, TRANS_VERT_ALPHA);
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hips.rot() = safeLerp(hips.rot(), _prevHips.rot(), ROT_ALPHA);
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_prevHips = hips;
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_prevHipsValid = true;
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glm::mat4 invRigMat = glm::inverse(myAvatar->getTransform().getMatrix() * Matrices::Y_180);
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AnimPose sensorToRigPose(invRigMat * myAvatar->getSensorToWorldMatrix());
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params.primaryControllerPoses[Rig::PrimaryControllerType_Hips] = sensorToRigPose * hips;
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params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
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} else {
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_prevHipsValid = false;
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}
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params.isTalking = head->getTimeWithoutTalking() <= 1.5f;
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// pass detailed torso k-dops to rig.
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int hipsJoint = _rig.indexOfJoint("Hips");
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if (hipsJoint >= 0) {
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params.hipsShapeInfo = geometry.joints[hipsJoint].shapeInfo;
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}
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int spineJoint = _rig.indexOfJoint("Spine");
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if (spineJoint >= 0) {
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params.spineShapeInfo = geometry.joints[spineJoint].shapeInfo;
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}
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int spine1Joint = _rig.indexOfJoint("Spine1");
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if (spine1Joint >= 0) {
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params.spine1ShapeInfo = geometry.joints[spine1Joint].shapeInfo;
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}
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int spine2Joint = _rig.indexOfJoint("Spine2");
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if (spine2Joint >= 0) {
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params.spine2ShapeInfo = geometry.joints[spine2Joint].shapeInfo;
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}
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_rig.updateFromControllerParameters(params, deltaTime);
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Rig::CharacterControllerState ccState = convertCharacterControllerState(myAvatar->getCharacterController()->getState());
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auto velocity = myAvatar->getLocalVelocity() / myAvatar->getSensorToWorldScale();
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auto position = myAvatar->getLocalPosition();
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auto orientation = myAvatar->getLocalOrientation();
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_rig.computeMotionAnimationState(deltaTime, position, velocity, orientation, ccState);
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// evaluate AnimGraph animation and update jointStates.
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Model::updateRig(deltaTime, parentTransform);
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Rig::EyeParameters eyeParams;
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eyeParams.eyeLookAt = lookAt;
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eyeParams.eyeSaccade = head->getSaccade();
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eyeParams.modelRotation = getRotation();
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eyeParams.modelTranslation = getTranslation();
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eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
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eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
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_rig.updateFromEyeParameters(eyeParams);
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updateFingers();
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}
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void MySkeletonModel::updateFingers() {
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MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
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static std::vector<std::vector<std::pair<controller::Action, QString>>> fingerChains = {
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{
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{ controller::Action::LEFT_HAND, "LeftHand" },
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{ controller::Action::LEFT_HAND_THUMB1, "LeftHandThumb1" },
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{ controller::Action::LEFT_HAND_THUMB2, "LeftHandThumb2" },
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{ controller::Action::LEFT_HAND_THUMB3, "LeftHandThumb3" },
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{ controller::Action::LEFT_HAND_THUMB4, "LeftHandThumb4" }
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},
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{
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{ controller::Action::LEFT_HAND, "LeftHand" },
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{ controller::Action::LEFT_HAND_INDEX1, "LeftHandIndex1" },
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{ controller::Action::LEFT_HAND_INDEX2, "LeftHandIndex2" },
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{ controller::Action::LEFT_HAND_INDEX3, "LeftHandIndex3" },
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{ controller::Action::LEFT_HAND_INDEX4, "LeftHandIndex4" }
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},
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{
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{ controller::Action::LEFT_HAND, "LeftHand" },
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{ controller::Action::LEFT_HAND_MIDDLE1, "LeftHandMiddle1" },
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{ controller::Action::LEFT_HAND_MIDDLE2, "LeftHandMiddle2" },
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{ controller::Action::LEFT_HAND_MIDDLE3, "LeftHandMiddle3" },
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{ controller::Action::LEFT_HAND_MIDDLE4, "LeftHandMiddle4" }
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},
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{
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{ controller::Action::LEFT_HAND, "LeftHand" },
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{ controller::Action::LEFT_HAND_RING1, "LeftHandRing1" },
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{ controller::Action::LEFT_HAND_RING2, "LeftHandRing2" },
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{ controller::Action::LEFT_HAND_RING3, "LeftHandRing3" },
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{ controller::Action::LEFT_HAND_RING4, "LeftHandRing4" }
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},
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{
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{ controller::Action::LEFT_HAND, "LeftHand" },
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{ controller::Action::LEFT_HAND_PINKY1, "LeftHandPinky1" },
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{ controller::Action::LEFT_HAND_PINKY2, "LeftHandPinky2" },
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{ controller::Action::LEFT_HAND_PINKY3, "LeftHandPinky3" },
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{ controller::Action::LEFT_HAND_PINKY4, "LeftHandPinky4" }
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},
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{
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{ controller::Action::RIGHT_HAND, "RightHand" },
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{ controller::Action::RIGHT_HAND_THUMB1, "RightHandThumb1" },
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{ controller::Action::RIGHT_HAND_THUMB2, "RightHandThumb2" },
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{ controller::Action::RIGHT_HAND_THUMB3, "RightHandThumb3" },
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{ controller::Action::RIGHT_HAND_THUMB4, "RightHandThumb4" }
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},
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{
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{ controller::Action::RIGHT_HAND, "RightHand" },
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{ controller::Action::RIGHT_HAND_INDEX1, "RightHandIndex1" },
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{ controller::Action::RIGHT_HAND_INDEX2, "RightHandIndex2" },
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{ controller::Action::RIGHT_HAND_INDEX3, "RightHandIndex3" },
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{ controller::Action::RIGHT_HAND_INDEX4, "RightHandIndex4" }
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},
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{
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{ controller::Action::RIGHT_HAND, "RightHand" },
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{ controller::Action::RIGHT_HAND_MIDDLE1, "RightHandMiddle1" },
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{ controller::Action::RIGHT_HAND_MIDDLE2, "RightHandMiddle2" },
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{ controller::Action::RIGHT_HAND_MIDDLE3, "RightHandMiddle3" },
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{ controller::Action::RIGHT_HAND_MIDDLE4, "RightHandMiddle4" }
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},
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{
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{ controller::Action::RIGHT_HAND, "RightHand" },
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{ controller::Action::RIGHT_HAND_RING1, "RightHandRing1" },
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{ controller::Action::RIGHT_HAND_RING2, "RightHandRing2" },
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{ controller::Action::RIGHT_HAND_RING3, "RightHandRing3" },
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{ controller::Action::RIGHT_HAND_RING4, "RightHandRing4" }
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},
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{
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{ controller::Action::RIGHT_HAND, "RightHand" },
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{ controller::Action::RIGHT_HAND_PINKY1, "RightHandPinky1" },
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{ controller::Action::RIGHT_HAND_PINKY2, "RightHandPinky2" },
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{ controller::Action::RIGHT_HAND_PINKY3, "RightHandPinky3" },
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{ controller::Action::RIGHT_HAND_PINKY4, "RightHandPinky4" }
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}
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};
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const float CONTROLLER_PRIORITY = 2.0f;
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for (auto& chain : fingerChains) {
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glm::quat prevAbsRot = Quaternions::IDENTITY;
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for (auto& link : chain) {
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int index = _rig.indexOfJoint(link.second);
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if (index >= 0) {
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auto rotationFrameOffset = _jointRotationFrameOffsetMap.find(index);
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if (rotationFrameOffset == _jointRotationFrameOffsetMap.end()) {
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_jointRotationFrameOffsetMap.insert(std::pair<int, int>(index, 0));
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rotationFrameOffset = _jointRotationFrameOffsetMap.find(index);
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}
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auto pose = myAvatar->getControllerPoseInSensorFrame(link.first);
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if (pose.valid) {
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glm::quat relRot = glm::inverse(prevAbsRot) * pose.getRotation();
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// only set the rotation for the finger joints, not the hands.
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if (link.first != controller::Action::LEFT_HAND && link.first != controller::Action::RIGHT_HAND) {
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_rig.setJointRotation(index, true, relRot, CONTROLLER_PRIORITY);
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rotationFrameOffset->second = 0;
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}
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prevAbsRot = pose.getRotation();
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} else if (rotationFrameOffset->second == 1) { // if the pose is invalid and was set on previous frame we do clear ( current frame offset = 1 )
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_rig.clearJointAnimationPriority(index);
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}
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rotationFrameOffset->second++;
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}
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}
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}
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}
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