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https://github.com/JulianGro/overte.git
synced 2025-04-14 02:06:30 +02:00
improve 14-dop generation for avatar joint collision
Also added debug rendering functionality.
This commit is contained in:
Anthony J. Thibault
parent
91ca38e016
commit
ae98974d79
5 changed files with 195 additions and 3 deletions
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@ -1805,6 +1805,37 @@ void MyAvatar::postUpdate(float deltaTime) {
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AnimPose postUpdateRoomPose(_sensorToWorldMatrix);
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updateHoldActions(_prePhysicsRoomPose, postUpdateRoomPose);
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bool _enableDebugDrawDetailedCollision = true;
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if (_enableDebugDrawDetailedCollision) {
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AnimPose rigToWorldPose(glm::vec3(1.0f), Quaternions::Y_180 * getRotation(), getPosition());
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const int NUM_DEBUG_COLORS = 7;
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const glm::vec4 DEBUG_COLORS[NUM_DEBUG_COLORS] = {
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glm::vec4(1.0f, 1.0f, 1.0f, 1.0f),
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glm::vec4(1.0f, 0.0f, 0.0f, 1.0f),
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glm::vec4(0.0f, 1.0f, 0.0f, 1.0f),
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glm::vec4(0.25f, 0.25f, 1.0f, 1.0f),
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glm::vec4(1.0f, 1.0f, 0.0f, 1.0f),
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glm::vec4(0.25f, 1.0f, 1.0f, 1.0f),
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glm::vec4(1.0f, 0.25f, 1.0f, 1.0f),
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};
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if (_skeletonModel && _skeletonModel->isLoaded()) {
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const Rig& rig = _skeletonModel->getRig();
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const FBXGeometry& geometry = _skeletonModel->getFBXGeometry();
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for (int i = 0; i < rig.getJointStateCount(); i++) {
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AnimPose jointPose;
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rig.getAbsoluteJointPoseInRigFrame(i, jointPose);
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const FBXJointShapeInfo& shapeInfo = geometry.joints[i].shapeInfo;
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const AnimPose pose = rigToWorldPose * jointPose;
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for (int j = 0; j < shapeInfo.debugLines.size() / 2; j++) {
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glm::vec3 pointA = pose.xformPoint(shapeInfo.debugLines[2 * j]);
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glm::vec3 pointB = pose.xformPoint(shapeInfo.debugLines[2 * j + 1]);
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DebugDraw::getInstance().drawRay(pointA, pointB, DEBUG_COLORS[i % NUM_DEBUG_COLORS]);
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}
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}
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}
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}
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}
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void MyAvatar::preDisplaySide(RenderArgs* renderArgs) {
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@ -1682,8 +1682,8 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
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int newIndex = it.value();
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// remember vertices with at least 1/4 weight
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const float EXPANSION_WEIGHT_THRESHOLD = 0.99f;
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if (weight > EXPANSION_WEIGHT_THRESHOLD) {
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const float EXPANSION_WEIGHT_THRESHOLD = 0.25f;
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if (weight >= EXPANSION_WEIGHT_THRESHOLD) {
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// transform to joint-frame and save for later
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const glm::mat4 vertexTransform = meshToJoint * glm::translate(extracted.mesh.vertices.at(newIndex));
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points.push_back(extractTranslation(vertexTransform) * clusterScale);
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@ -1788,6 +1788,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
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avgPoint += points[j];
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}
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avgPoint /= (float)points.size();
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joint.shapeInfo.avgPoint = avgPoint;
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// compute a k-Dop bounding volume
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for (uint32_t j = 0; j < cardinalDirections.size(); ++j) {
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@ -1803,8 +1804,11 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
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}
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}
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joint.shapeInfo.points.push_back(avgPoint + maxDot * cardinalDirections[j]);
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joint.shapeInfo.dots.push_back(maxDot);
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joint.shapeInfo.points.push_back(avgPoint + minDot * cardinalDirections[j]);
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joint.shapeInfo.dots.push_back(-minDot);
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}
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generateBoundryLinesForDop14(joint.shapeInfo.dots, joint.shapeInfo.avgPoint, joint.shapeInfo.debugLines);
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}
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}
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geometry.palmDirection = parseVec3(mapping.value("palmDirection", "0, -1, 0").toString());
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@ -56,7 +56,10 @@ public:
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struct FBXJointShapeInfo {
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// same units and frame as FBXJoint.translation
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QVector<glm::vec3> points;
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glm::vec3 avgPoint;
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std::vector<float> dots;
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std::vector<glm::vec3> points;
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std::vector<glm::vec3> debugLines;
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};
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/// A single joint (transformation node) extracted from an FBX document.
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@ -17,6 +17,7 @@
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#include <glm/gtx/quaternion.hpp>
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#include "NumericalConstants.h"
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#include "glmHelpers.h"
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glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec3& start, const glm::vec3& end) {
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// compute the projection of the point vector onto the segment vector
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@ -657,3 +658,149 @@ bool findPlaneFromPoints(const glm::vec3* points, size_t numPoints, glm::vec3& p
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planeNormalOut = glm::normalize(dir);
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return true;
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}
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bool findIntersectionOfThreePlanes(const glm::vec4& planeA, const glm::vec4& planeB, const glm::vec4& planeC, glm::vec3& intersectionPointOut) {
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glm::vec3 normalA(planeA);
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glm::vec3 normalB(planeB);
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glm::vec3 normalC(planeC);
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glm::vec3 u = glm::cross(normalB, normalC);
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float denom = glm::dot(normalA, u);
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if (fabsf(denom) < EPSILON) {
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return false; // planes do not intersect in a point.
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} else {
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intersectionPointOut = (planeA.w * u + glm::cross(normalA, planeC.w * normalB - planeB.w * normalC)) / denom;
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return true;
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}
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}
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const float INV_SQRT_3 = 1.0f / sqrtf(3.0f);
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const int DOP14_COUNT = 14;
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const glm::vec3 DOP14_NORMALS[DOP14_COUNT] = {
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Vectors::UNIT_X,
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-Vectors::UNIT_X,
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Vectors::UNIT_Y,
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-Vectors::UNIT_Y,
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Vectors::UNIT_Z,
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-Vectors::UNIT_Z,
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glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
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-glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
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glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
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-glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
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glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
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-glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
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glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3),
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-glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3)
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};
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const std::tuple<int, int, int> DOP14_PLANE_COMBINATIONS[] = {
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{0,2,4}, {0,2,5}, {0,2,6}, {0,2,7}, {0,2,8}, {0,2,9}, {0,2,10}, {0,2,11}, {0,2,12}, {0,2,13},
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{0,3,4}, {0,3,5}, {0,3,6}, {0,3,7}, {0,3,8}, {0,3,9}, {0,3,10}, {0,3,11}, {0,3,12}, {0,3,13},
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{0,4,6}, {0,4,7}, {0,4,8}, {0,4,9}, {0,4,10}, {0,4,11}, {0,4,12}, {0,4,13},
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{0,5,6}, {0,5,7}, {0,5,8}, {0,5,9}, {0,5,10}, {0,5,11}, {0,5,12}, {0,5,13},
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{0,6,8}, {0,6,9}, {0,6,10}, {0,6,11}, {0,6,12}, {0,6,13},
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{0,7,8}, {0,7,9}, {0,7,10}, {0,7,11}, {0,7,12}, {0,7,13},
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{0,8,10}, {0,8,11}, {0,8,12}, {0,8,13}, {0,9,10},
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{0,9,11}, {0,9,12}, {0,9,13},
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{0,10,12}, {0,10,13},
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{0,11,12}, {0,11,13},
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{1,2,4}, {1,2,5}, {1,2,6}, {1,2,7}, {1,2,8}, {1,2,9}, {1,2,10}, {1,2,11}, {1,2,12}, {1,2,13},
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{1,3,4}, {1,3,5}, {1,3,6}, {1,3,7}, {1,3,8}, {1,3,9}, {1,3,10}, {1,3,11}, {1,3,12}, {1,3,13},
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{1,4,6}, {1,4,7}, {1,4,8}, {1,4,9}, {1,4,10}, {1,4,11}, {1,4,12}, {1,4,13},
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{1,5,6}, {1,5,7}, {1,5,8}, {1,5,9}, {1,5,10}, {1,5,11}, {1,5,12}, {1,5,13},
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{1,6,8}, {1,6,9}, {1,6,10}, {1,6,11}, {1,6,12}, {1,6,13},
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{1,7,8}, {1,7,9}, {1,7,10}, {1,7,11}, {1,7,12}, {1,7,13},
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{1,8,10}, {1,8,11}, {1,8,12}, {1,8,13},
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{1,9,10}, {1,9,11}, {1,9,12}, {1,9,13},
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{1,10,12}, {1,10,13},
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{1,11,12}, {1,11,13},
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{2,4,6}, {2,4,7}, {2,4,8}, {2,4,9}, {2,4,10}, {2,4,11}, {2,4,12}, {2,4,13},
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{2,5,6}, {2,5,7}, {2,5,8}, {2,5,9}, {2,5,10}, {2,5,11}, {2,5,12}, {2,5,13},
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{2,6,8}, {2,6,9}, {2,6,10}, {2,6,11}, {2,6,12}, {2,6,13},
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{2,7,8}, {2,7,9}, {2,7,10}, {2,7,11}, {2,7,12}, {2,7,13},
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{2,8,10}, {2,8,11}, {2,8,12}, {2,8,13},
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{2,9,10}, {2,9,11}, {2,9,12}, {2,9,13},
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{2,10,12}, {2,10,13},
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{2,11,12}, {2,11,13},
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{3,4,6}, {3,4,7}, {3,4,8}, {3,4,9}, {3,4,10}, {3,4,11}, {3,4,12}, {3,4,13},
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{3,5,6}, {3,5,7}, {3,5,8}, {3,5,9}, {3,5,10}, {3,5,11}, {3,5,12}, {3,5,13},
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{3,6,8}, {3,6,9}, {3,6,10}, {3,6,11}, {3,6,12}, {3,6,13},
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{3,7,8}, {3,7,9}, {3,7,10}, {3,7,11}, {3,7,12}, {3,7,13},
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{3,8,10}, {3,8,11}, {3,8,12}, {3,8,13},
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{3,9,10}, {3,9,11}, {3,9,12}, {3,9,13},
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{3,10,12}, {3,10,13},
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{3,11,12}, {3,11,13},
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{4,6,8}, {4,6,9}, {4,6,10}, {4,6,11}, {4,6,12}, {4,6,13},
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{4,7,8}, {4,7,9}, {4,7,10}, {4,7,11}, {4,7,12}, {4,7,13},
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{4,8,10}, {4,8,11}, {4,8,12}, {4,8,13},
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{4,9,10}, {4,9,11}, {4,9,12}, {4,9,13},
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{4,10,12}, {4,10,13},
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{4,11,12}, {4,11,13},
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{5,6,8}, {5,6,9}, {5,6,10}, {5,6,11}, {5,6,12}, {5,6,13},
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{5,7,8}, {5,7,9}, {5,7,10}, {5,7,11}, {5,7,12}, {5,7,13},
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{5,8,10}, {5,8,11}, {5,8,12}, {5,8,13},
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{5,9,10}, {5,9,11}, {5,9,12}, {5,9,13},
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{5,10,12}, {5,10,13},
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{5,11,12}, {5,11,13},
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{6,8,10}, {6,8,11}, {6,8,12}, {6,8,13},
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{6,9,10}, {6,9,11}, {6,9,12}, {6,9,13},
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{6,10,12}, {6,10,13},
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{6,11,12}, {6,11,13},
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{7,8,10}, {7,8,11}, {7,8,12}, {7,8,13},
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{7,9,10}, {7,9,11}, {7,9,12}, {7,9,13},
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{7,10,12}, {7,10,13},
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{7,11,12}, {7,11,13},
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{8,10,12}, {8,10,13},
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{8,11,12}, {8,11,13},
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{9,10,12}, {9,10,13},
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{9,11,12}, {9,11,13}
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};
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void generateBoundryLinesForDop14(const std::vector<float>& dots, const glm::vec3& center, std::vector<glm::vec3>& linesOut) {
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if (dots.size() != DOP14_COUNT) {
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return;
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}
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// iterate over all purmutations of non-parallel planes.
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// find all the vertices that lie on the surface of the k-dop
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std::vector<glm::vec3> vertices;
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for (auto& tuple : DOP14_PLANE_COMBINATIONS) {
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int i = std::get<0>(tuple);
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int j = std::get<1>(tuple);
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int k = std::get<2>(tuple);
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glm::vec4 planeA(DOP14_NORMALS[i], dots[i]);
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glm::vec4 planeB(DOP14_NORMALS[j], dots[j]);
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glm::vec4 planeC(DOP14_NORMALS[k], dots[k]);
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glm::vec3 intersectionPoint;
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const float IN_FRONT_MARGIN = 0.01f;
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if (findIntersectionOfThreePlanes(planeA, planeB, planeC, intersectionPoint)) {
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bool inFront = false;
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for (int p = 0; p < DOP14_COUNT; p++) {
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if (glm::dot(DOP14_NORMALS[p], intersectionPoint) > dots[p] + IN_FRONT_MARGIN) {
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inFront = true;
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}
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}
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if (!inFront) {
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vertices.push_back(intersectionPoint);
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}
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}
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}
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// build a set of lines between these vertices, that also lie on the surface of the k-dop.
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for (int i = 0; i < vertices.size(); i++) {
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for (int j = i; j < vertices.size(); j++) {
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glm::vec3 midPoint = (vertices[i] + vertices[j]) * 0.5f;
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int onSurfaceCount = 0;
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const float SURFACE_MARGIN = 0.01f;
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for (int p = 0; p < DOP14_COUNT; p++) {
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float d = glm::dot(DOP14_NORMALS[p], midPoint);
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if (d > dots[p] - SURFACE_MARGIN && d < dots[p] + SURFACE_MARGIN) {
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onSurfaceCount++;
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}
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}
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if (onSurfaceCount > 1) {
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linesOut.push_back(vertices[i] + center);
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linesOut.push_back(vertices[j] + center);
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}
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}
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}
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}
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@ -13,6 +13,7 @@
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#define hifi_GeometryUtil_h
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#include <glm/glm.hpp>
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#include <vector>
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glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec3& start, const glm::vec3& end);
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@ -166,4 +167,10 @@ private:
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// given a set of points, compute a best fit plane that passes as close as possible through all the points.
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bool findPlaneFromPoints(const glm::vec3* points, size_t numPoints, glm::vec3& planeNormalOut, glm::vec3& pointOnPlaneOut);
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// plane equation is specified by ax + by + cz + d = 0.
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// the coefficents are passed in as a vec4. (a, b, c, d)
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bool findIntersectionOfThreePlanes(const glm::vec4& planeA, const glm::vec4& planeB, const glm::vec4& planeC, glm::vec3& intersectionPointOut);
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void generateBoundryLinesForDop14(const std::vector<float>& dots, const glm::vec3& center, std::vector<glm::vec3>& linesOut);
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#endif // hifi_GeometryUtil_h
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