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avoid bad joints when computing bounding capsule

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This commit is contained in:
Andrew Meadows 2015-09-01 14:12:14 -07:00
parent 3d7aa6f4d6
commit 4a7a384c65
4 changed files with 110 additions and 41 deletions
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109
interface/src/avatar/SkeletonModel.cpp
View file

@ -86,7 +86,7 @@ void SkeletonModel::initJointStates(QVector<JointState> states) {
_rig->updateJointState(i, rootTransform);
}
buildShapes();
computeBoundingShape();
Extents meshExtents = getMeshExtents();
_headClipDistance = -(meshExtents.minimum.z / _scale.z - _defaultEyeModelPosition.z);
@ -248,6 +248,7 @@ void SkeletonModel::applyHandPosition(int jointIndex, const glm::vec3& position)
rotationBetween(handRotation * glm::vec3(-sign, 0.0f, 0.0f), forearmVector),
true, PALM_PRIORITY);
}
void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
if (jointIndex == -1 || jointIndex >= _rig->getJointStateCount()) {
return;
@ -346,9 +347,9 @@ void SkeletonModel::renderOrientationDirections(gpu::Batch& batch, int jointInde
}
OrientationLineIDs& jointLineIDs = _jointOrientationLines[jointIndex];
glm::vec3 pRight = position + orientation * IDENTITY_RIGHT * size;
glm::vec3 pUp = position + orientation * IDENTITY_UP * size;
glm::vec3 pFront = position + orientation * IDENTITY_FRONT * size;
glm::vec3 pRight = position + orientation * IDENTITY_RIGHT * size;
glm::vec3 pUp = position + orientation * IDENTITY_UP * size;
glm::vec3 pFront = position + orientation * IDENTITY_FRONT * size;
glm::vec3 red(1.0f, 0.0f, 0.0f);
geometryCache->renderLine(batch, position, pRight, red, jointLineIDs._right);
@ -466,7 +467,7 @@ float MIN_JOINT_MASS = 1.0f;
float VERY_BIG_MASS = 1.0e6f;
// virtual
void SkeletonModel::buildShapes() {
void SkeletonModel::computeBoundingShape() {
if (_geometry == NULL || _rig->jointStatesEmpty()) {
return;
}
@ -476,36 +477,87 @@ void SkeletonModel::buildShapes() {
// rootJointIndex == -1 if the avatar model has no skeleton
return;
}
computeBoundingShape(geometry);
}
void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
// compute default joint transforms
int numStates = _rig->getJointStateCount();
QVector<glm::mat4> transforms;
transforms.fill(glm::mat4(), numStates);
// BOUNDING SHAPE HACK: before we measure the bounds of the joints we use IK to put the
// hands and feet into positions that are more correct than the default pose.
// Measure limb lengths so we can specify IK targets that will pull hands and feet tight to body
QVector<QString> endEffectors;
endEffectors.push_back("RightHand");
endEffectors.push_back("LeftHand");
endEffectors.push_back("RightFoot");
endEffectors.push_back("LeftFoot");
QVector<QString> baseJoints;
baseJoints.push_back("RightArm");
baseJoints.push_back("LeftArm");
baseJoints.push_back("RightUpLeg");
baseJoints.push_back("LeftUpLeg");
for (int i = 0; i < endEffectors.size(); ++i) {
QString tipName = endEffectors[i];
QString baseName = baseJoints[i];
float limbLength = 0.0f;
int tipIndex = _rig->indexOfJoint(tipName);
if (tipIndex == -1) {
continue;
}
// save tip's relative rotation for later
glm::quat tipRotation = _rig->getJointState(tipIndex).getRotationInConstrainedFrame();
// IK on each endpoint
int jointIndex = tipIndex;
QVector<int> freeLineage;
float priority = 1.0f;
while (jointIndex > -1) {
JointState limbJoint = _rig->getJointState(jointIndex);
freeLineage.push_back(jointIndex);
if (limbJoint.getName() == baseName) {
glm::vec3 targetPosition = limbJoint.getPosition() - glm::vec3(0.0f, 1.5f * limbLength, 0.0f);
// do IK a few times to make sure the endpoint gets close to its target
for (int j = 0; j < 5; ++j) {
_rig->inverseKinematics(tipIndex,
targetPosition,
glm::quat(),
priority,
freeLineage,
glm::mat4());
}
const JointState& movedState = _rig->getJointState(tipIndex);
break;
}
limbLength += limbJoint.getDistanceToParent();
jointIndex = limbJoint.getParentIndex();
}
// since this IK target is totally bogus we restore the tip's relative rotation
_rig->setJointRotationInConstrainedFrame(tipIndex, tipRotation, priority);
}
// recompute all joint model-frame transforms
glm::mat4 rootTransform = glm::scale(_scale) * glm::translate(_offset) * geometry.offset;
for (int i = 0; i < _rig->getJointStateCount(); i++) {
_rig->updateJointState(i, rootTransform);
}
// END BOUNDING SHAPE HACK
// compute bounding box that encloses all shapes
Extents totalExtents;
totalExtents.reset();
totalExtents.addPoint(glm::vec3(0.0f));
int numStates = _rig->getJointStateCount();
for (int i = 0; i < numStates; i++) {
// compute the default transform of this joint
const JointState& state = _rig->getJointState(i);
int parentIndex = state.getParentIndex();
if (parentIndex == -1) {
transforms[i] = _rig->getJointTransform(i);
} else {
glm::quat modifiedRotation = state.getPreRotation() * state.getDefaultRotation() * state.getPostRotation();
transforms[i] = transforms[parentIndex] * glm::translate(state.getTranslation())
* state.getPreTransform() * glm::mat4_cast(modifiedRotation) * state.getPostTransform();
}
// Each joint contributes a sphere at its position
glm::vec3 axis(state.getBoneRadius());
glm::vec3 jointPosition = extractTranslation(transforms[i]);
totalExtents.addPoint(jointPosition + axis);
totalExtents.addPoint(jointPosition - axis);
// HACK WORKAROUND: ignore joints that may have bad translation (e.g. have been flagged as such with zero radius)
if (state.getBoneRadius() > 0.0f) {
// Each joint contributes a sphere at its position
glm::vec3 axis(state.getBoneRadius());
glm::vec3 jointPosition = state.getPosition();
totalExtents.addPoint(jointPosition + axis);
totalExtents.addPoint(jointPosition - axis);
}
}
// compute bounding shape parameters
@ -517,6 +569,11 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
glm::vec3 rootPosition = _rig->getJointState(geometry.rootJointIndex).getPosition();
_boundingCapsuleLocalOffset = 0.5f * (totalExtents.maximum + totalExtents.minimum) - rootPosition;
// RECOVER FROM BOUNINDG SHAPE HACK: now that we're all done, restore the default pose
for (int i = 0; i < numStates; i++) {
_rig->restoreJointRotation(i, 1.0f, 1.0f);
}
}
void SkeletonModel::renderBoundingCollisionShapes(gpu::Batch& batch, float alpha) {
@ -535,7 +592,7 @@ void SkeletonModel::renderBoundingCollisionShapes(gpu::Batch& batch, float alpha
glm::vec4(0.6f, 0.6f, 0.8f, alpha));
// draw a yellow sphere at the capsule bottom point
glm::vec3 bottomPoint = topPoint - glm::vec3(0.0f, -_boundingCapsuleHeight, 0.0f);
glm::vec3 bottomPoint = topPoint - glm::vec3(0.0f, _boundingCapsuleHeight, 0.0f);
glm::vec3 axis = topPoint - bottomPoint;
transform.setTranslation(bottomPoint);
batch.setModelTransform(transform);

3
interface/src/avatar/SkeletonModel.h
View file

@ -94,7 +94,6 @@ public:
/// \return whether or not the head was found.
glm::vec3 getDefaultEyeModelPosition() const;
void computeBoundingShape(const FBXGeometry& geometry);
void renderBoundingCollisionShapes(gpu::Batch& batch, float alpha);
float getBoundingCapsuleRadius() const { return _boundingCapsuleRadius; }
float getBoundingCapsuleHeight() const { return _boundingCapsuleHeight; }
@ -112,7 +111,7 @@ signals:
protected:
void buildShapes();
void computeBoundingShape();
/// \param jointIndex index of joint in model
/// \param position position of joint in model-frame

23
libraries/animation/src/Rig.cpp
View file

@ -9,30 +9,31 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "Rig.h"
#include <glm/gtx/vector_angle.hpp>
#include <queue>
#include "AnimationHandle.h"
#include "AnimationLogging.h"
#include "Rig.h"
void Rig::HeadParameters::dump() const {
qCDebug(animation, "HeadParameters =");
qCDebug(animation, " leanSideways = %0.5f", leanSideways);
qCDebug(animation, " leanForward = %0.5f", leanForward);
qCDebug(animation, " torsoTwist = %0.5f", torsoTwist);
qCDebug(animation, " leanSideways = %0.5f", (double)leanSideways);
qCDebug(animation, " leanForward = %0.5f", (double)leanForward);
qCDebug(animation, " torsoTwist = %0.5f", (double)torsoTwist);
glm::vec3 axis = glm::axis(localHeadOrientation);
float theta = glm::angle(localHeadOrientation);
qCDebug(animation, " localHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", axis.x, axis.y, axis.z, theta);
qCDebug(animation, " localHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
axis = glm::axis(worldHeadOrientation);
theta = glm::angle(worldHeadOrientation);
qCDebug(animation, " worldHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", axis.x, axis.y, axis.z, theta);
qCDebug(animation, " worldHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
axis = glm::axis(modelRotation);
theta = glm::angle(modelRotation);
qCDebug(animation, " modelRotation axis = (%.5f, %.5f, %.5f), theta = %0.5f", axis.x, axis.y, axis.z, theta);
qCDebug(animation, " modelTranslation = (%.5f, %.5f, %.5f)", modelTranslation.x, modelTranslation.y, modelTranslation.z);
qCDebug(animation, " eyeLookAt = (%.5f, %.5f, %.5f)", eyeLookAt.x, eyeLookAt.y, eyeLookAt.z);
qCDebug(animation, " eyeSaccade = (%.5f, %.5f, %.5f)", eyeSaccade.x, eyeSaccade.y, eyeSaccade.z);
qCDebug(animation, " modelRotation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
qCDebug(animation, " modelTranslation = (%.5f, %.5f, %.5f)", (double)modelTranslation.x, (double)modelTranslation.y, (double)modelTranslation.z);
qCDebug(animation, " eyeLookAt = (%.5f, %.5f, %.5f)", (double)eyeLookAt.x, (double)eyeLookAt.y, (double)eyeLookAt.z);
qCDebug(animation, " eyeSaccade = (%.5f, %.5f, %.5f)", (double)eyeSaccade.x, (double)eyeSaccade.y, (double)eyeSaccade.z);
qCDebug(animation, " leanJointIndex = %.d", leanJointIndex);
qCDebug(animation, " neckJointIndex = %.d", neckJointIndex);
qCDebug(animation, " leftEyeJointIndex = %.d", leftEyeJointIndex);
@ -103,7 +104,7 @@ AnimationHandlePointer Rig::addAnimationByRole(const QString& role, const QStrin
const QString& base = "https://hifi-public.s3.amazonaws.com/ozan/anim/standard_anims/";
if (role == "walk") {
standard = base + "walk_fwd.fbx";
} else if (role == "backup") {
} else if (role == "backup") {
standard = base + "walk_bwd.fbx";
} else if (role == "leftTurn") {
standard = base + "turn_left.fbx";

16
libraries/fbx/src/FBXReader.cpp
View file

@ -2677,8 +2677,21 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
averageRadius += glm::distance(vertex, averageVertex);
}
jointShapeInfo.averageRadius = averageRadius * radiusScale;
jointShapeInfo.averageRadius = averageRadius * radiusScale / (float)jointShapeInfo.numVertices;
}
// BUG: the boneBegin and/or boneEnd are incorrect for meshes that are "connected
// under the bone" without weights. Unfortunately we haven't been able to find it yet.
// Although the the mesh vertices are correct in the model-frame, the joint's transform
// in the same frame is just BAD.
//
// HACK WORKAROUND: prevent these shapes from contributing to the collision capsule by setting
// some key members of jointShapeInfo to zero:
jointShapeInfo.numVertices = 0;
jointShapeInfo.sumVertexWeights = 0.0f;
jointShapeInfo.numVertexWeights = 0;
jointShapeInfo.boneBegin = glm::vec3(0.0f);
jointShapeInfo.averageRadius = 0.0f;
}
extracted.mesh.isEye = (maxJointIndex == geometry.leftEyeJointIndex || maxJointIndex == geometry.rightEyeJointIndex);
@ -2728,7 +2741,6 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
// the average radius to the average point.
if (jointShapeInfo.numVertexWeights == 0
&& jointShapeInfo.numVertices > 0) {
jointShapeInfo.averageRadius /= (float)jointShapeInfo.numVertices;
joint.boneRadius = jointShapeInfo.averageRadius;
}
}