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Change INVALID_JOINT_INDEX to AnimSkeleton::INVALID_JOINT_INDEX

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This commit is contained in:
Kalila L 2021-02-25 23:28:00 -05:00
parent 0e03eccbdf
commit df7fd920d7
1 changed files with 26 additions and 26 deletions
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52
libraries/animation/src/AnimInverseKinematics.cpp
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@ -67,7 +67,7 @@ AnimInverseKinematics::IKTargetVar::IKTargetVar(const QString& jointNameIn, cons
poleVectorVar(poleVectorVarIn),
weight(weightIn),
numFlexCoefficients(flexCoefficientsIn.size()),
jointIndex(INVALID_JOINT_INDEX)
jointIndex(AnimSkeleton::INVALID_JOINT_INDEX)
{
numFlexCoefficients = std::min(numFlexCoefficients, (size_t)MAX_FLEX_COEFFICIENTS);
for (size_t i = 0; i < numFlexCoefficients; i++) {
@ -173,14 +173,14 @@ bool debounceJointWarnings() {
void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) {
_hipsTargetIndex = INVALID_JOINT_INDEX;
_hipsTargetIndex = AnimSkeleton::INVALID_JOINT_INDEX;
targets.reserve(_targetVarVec.size());
for (auto& targetVar : _targetVarVec) {
// update targetVar jointIndex cache
if (targetVar.jointIndex == INVALID_JOINT_INDEX) {
if (targetVar.jointIndex == AnimSkeleton::INVALID_JOINT_INDEX) {
int jointIndex = _skeleton->nameToJointIndex(targetVar.jointName);
if (jointIndex >= 0) {
// this targetVar has a valid joint --> cache the indices
@ -191,7 +191,7 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
}
IKTarget target;
if (targetVar.jointIndex != INVALID_JOINT_INDEX) {
if (targetVar.jointIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition));
target.setIndex(targetVar.jointIndex);
if (target.getType() != IKTarget::Type::Unknown) {
@ -330,7 +330,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// update the absolutePoses
for (int i = 0; i < (int)_relativePoses.size(); ++i) {
auto parentIndex = _skeleton->getParentIndex((int)i);
if (parentIndex != INVALID_JOINT_INDEX) {
if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i];
}
}
@ -352,12 +352,12 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// finally set the relative rotation of each tip to agree with absolute target rotation
for (auto& target: targets) {
int tipIndex = target.getIndex();
int parentIndex = (tipIndex >= 0) ? _skeleton->getParentIndex(tipIndex) : INVALID_JOINT_INDEX;
int parentIndex = (tipIndex >= 0) ? _skeleton->getParentIndex(tipIndex) : AnimSkeleton::INVALID_JOINT_INDEX;
int chainIndex = targetToChainMap[tipIndex];
bool needsInterpolation = _prevJointChainInfoVec[chainIndex].timer > 0.0f;
float alpha = needsInterpolation ? getInterpolationAlpha(_prevJointChainInfoVec[chainIndex].timer) : 0.0f;
// update rotationOnly targets that don't lie on the ik chain of other ik targets.
if (parentIndex != INVALID_JOINT_INDEX && !_rotationAccumulators[tipIndex].isDirty() &&
if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX && !_rotationAccumulators[tipIndex].isDirty() &&
(target.getType() == IKTarget::Type::RotationOnly || target.getType() == IKTarget::Type::Unknown)) {
if (target.getType() == IKTarget::Type::RotationOnly) {
const glm::quat& targetRotation = target.getRotation();
@ -435,11 +435,11 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
int tipIndex = target.getIndex();
int pivotIndex = _skeleton->getParentIndex(tipIndex);
if (pivotIndex == INVALID_JOINT_INDEX || pivotIndex == _hipsIndex) {
if (pivotIndex == AnimSkeleton::INVALID_JOINT_INDEX || pivotIndex == _hipsIndex) {
return;
}
int pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
if (pivotsParentIndex == INVALID_JOINT_INDEX) {
if (pivotsParentIndex == AnimSkeleton::INVALID_JOINT_INDEX) {
// TODO?: handle case where tip's parent is root?
return;
}
@ -486,7 +486,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
chainDepth++;
// descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != INVALID_JOINT_INDEX) {
while (pivotIndex != _hipsIndex && pivotsParentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
assert(chainDepth < jointChainInfoOut.jointInfoVec.size());
@ -580,12 +580,12 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
if (target.getPoleVectorEnabled()) {
int topJointIndex = target.getIndex();
int midJointIndex = _skeleton->getParentIndex(topJointIndex);
if (midJointIndex != INVALID_JOINT_INDEX) {
if (midJointIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
int baseJointIndex = _skeleton->getParentIndex(midJointIndex);
if (baseJointIndex != INVALID_JOINT_INDEX) {
if (baseJointIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
int baseParentJointIndex = _skeleton->getParentIndex(baseJointIndex);
AnimPose topPose, midPose, basePose;
int topChainIndex = INVALID_JOINT_INDEX, baseChainIndex = INVALID_JOINT_INDEX;
int topChainIndex = AnimSkeleton::INVALID_JOINT_INDEX, baseChainIndex = AnimSkeleton::INVALID_JOINT_INDEX;
const size_t MAX_CHAIN_DEPTH = 30;
AnimPose postAbsPoses[MAX_CHAIN_DEPTH];
AnimPose accum = absolutePoses[_hipsIndex];
@ -757,7 +757,7 @@ void AnimInverseKinematics::computeAndCacheSplineJointInfosForIKTarget(const Ani
int index = target.getIndex();
int endIndex = _skeleton->getParentIndex(_hipsIndex);
while (index != endIndex && index != INVALID_JOINT_INDEX) {
while (index != endIndex && index != AnimSkeleton::INVALID_JOINT_INDEX) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
float ratio = glm::dot(defaultPose.trans() - basePose.trans(), baseToTipNormal) / baseToTipLength;
@ -1461,7 +1461,7 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
// invalidate all targetVars
for (auto& targetVar: _targetVarVec) {
targetVar.jointIndex = INVALID_JOINT_INDEX;
targetVar.jointIndex = AnimSkeleton::INVALID_JOINT_INDEX;
}
for (auto& accumulator: _rotationAccumulators) {
@ -1481,18 +1481,18 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
if (_hipsIndex >= 0) {
_hipsParentIndex = _skeleton->getParentIndex(_hipsIndex);
} else {
_hipsParentIndex = INVALID_JOINT_INDEX;
_hipsParentIndex = AnimSkeleton::INVALID_JOINT_INDEX;
}
_leftHandIndex = _skeleton->nameToJointIndex("LeftHand");
_rightHandIndex = _skeleton->nameToJointIndex("RightHand");
} else {
clearConstraints();
_headIndex = INVALID_JOINT_INDEX;
_hipsIndex = INVALID_JOINT_INDEX;
_hipsParentIndex = INVALID_JOINT_INDEX;
_leftHandIndex = INVALID_JOINT_INDEX;
_rightHandIndex = INVALID_JOINT_INDEX;
_headIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_hipsIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_hipsParentIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_leftHandIndex = AnimSkeleton::INVALID_JOINT_INDEX;
_rightHandIndex = AnimSkeleton::INVALID_JOINT_INDEX;
}
}
@ -1532,7 +1532,7 @@ void AnimInverseKinematics::debugDrawRelativePoses(const AnimContext& context) c
// draw line to parent
int parentIndex = _skeleton->getParentIndex(i);
if (parentIndex != INVALID_JOINT_INDEX) {
if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans());
DebugDraw::getInstance().drawRay(pos, parentPos, GRAY);
}
@ -1581,7 +1581,7 @@ void AnimInverseKinematics::debugDrawIKChain(const JointChainInfo& jointChainInf
DebugDraw::getInstance().drawRay(pos, pos + AXIS_LENGTH * zAxis, BLUE);
// draw line to parent
if (parentIndex != INVALID_JOINT_INDEX) {
if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans());
glm::vec4 color = GRAY;
@ -1630,13 +1630,13 @@ void AnimInverseKinematics::debugDrawConstraints(const AnimContext& context) con
// draw line to parent
int parentIndex = _skeleton->getParentIndex(i);
if (parentIndex != INVALID_JOINT_INDEX) {
if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
glm::vec3 parentPos = transformPoint(geomToWorldMatrix, poses[parentIndex].trans());
DebugDraw::getInstance().drawRay(pos, parentPos, GRAY);
}
glm::quat parentAbsRot;
if (parentIndex != INVALID_JOINT_INDEX) {
if (parentIndex != AnimSkeleton::INVALID_JOINT_INDEX) {
parentAbsRot = poses[parentIndex].rot();
}
@ -1734,7 +1734,7 @@ void AnimInverseKinematics::preconditionRelativePosesToAvoidLimbLock(const AnimC
const float MIN_AXIS_LENGTH = 1.0e-4f;
for (auto& target : targets) {
if (target.getIndex() != INVALID_JOINT_INDEX && target.getType() == IKTarget::Type::RotationAndPosition) {
if (target.getIndex() != AnimSkeleton::INVALID_JOINT_INDEX && target.getType() == IKTarget::Type::RotationAndPosition) {
for (int i = 0; i < NUM_LIMBS; i++) {
if (limbs[i].first == target.getIndex()) {
int tipIndex = limbs[i].first;