mirror of
https://github.com/JulianGro/overte.git
synced 2025-04-07 06:02:28 +02:00
fix animation-tests
This commit is contained in:
Andrew Meadows
parent
ae596d79f1
commit
df9ccf76ab
3 changed files with 114 additions and 78 deletions
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@ -22,7 +22,13 @@ AnimInverseKinematics::AnimInverseKinematics(const QString& id) : AnimNode(AnimN
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}
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AnimInverseKinematics::~AnimInverseKinematics() {
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std::cout << "adebug dtor" << std::endl; // adebug
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clearConstraints();
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std::cout << "adebug dtor 002" << std::endl; // adebug
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_accumulators.clear();
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std::cout << "adebug dtor 003 targetVarVec.size() = " << _targetVarVec.size() << std::endl; // adebug
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_targetVarVec.clear();
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std::cout << "adebug dtor 004 targetVarVec.size() = " << _targetVarVec.size() << std::endl; // adebug
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}
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void AnimInverseKinematics::loadDefaultPoses(const AnimPoseVec& poses) {
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@ -485,6 +491,7 @@ RotationConstraint* AnimInverseKinematics::getConstraint(int index) {
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}
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void AnimInverseKinematics::clearConstraints() {
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std::cout << "adebug clearConstraints size = " << _constraints.size() << std::endl; // adebug
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std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
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while (constraintItr != _constraints.end()) {
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delete constraintItr->second;
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@ -29,7 +29,7 @@ const glm::quat identity = glm::quat();
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const glm::quat quaterTurnAroundZ = glm::angleAxis(0.5f * PI, zAxis);
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void makeTestFBXJoints(std::vector<FBXJoint>& fbxJoints) {
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void makeTestFBXJoints(FBXGeometry& geometry) {
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FBXJoint joint;
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joint.isFree = false;
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joint.freeLineage.clear();
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@ -61,29 +61,29 @@ void makeTestFBXJoints(std::vector<FBXJoint>& fbxJoints) {
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joint.name = "A";
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joint.parentIndex = -1;
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joint.translation = origin;
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fbxJoints.push_back(joint);
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geometry.joints.push_back(joint);
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joint.name = "B";
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joint.parentIndex = 0;
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joint.translation = xAxis;
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fbxJoints.push_back(joint);
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geometry.joints.push_back(joint);
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joint.name = "C";
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joint.parentIndex = 1;
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joint.translation = xAxis;
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fbxJoints.push_back(joint);
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geometry.joints.push_back(joint);
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joint.name = "D";
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joint.parentIndex = 2;
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joint.translation = xAxis;
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fbxJoints.push_back(joint);
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geometry.joints.push_back(joint);
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// compute each joint's transform
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for (int i = 1; i < (int)fbxJoints.size(); ++i) {
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FBXJoint& j = fbxJoints[i];
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for (int i = 1; i < (int)geometry.joints.size(); ++i) {
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FBXJoint& j = geometry.joints[i];
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int parentIndex = j.parentIndex;
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// World = ParentWorld * T * (Roff * Rp) * Rpre * R * Rpost * (Rp-1 * Soff * Sp * S * Sp-1)
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j.transform = fbxJoints[parentIndex].transform *
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j.transform = geometry.joints[parentIndex].transform *
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glm::translate(j.translation) *
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j.preTransform *
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glm::mat4_cast(j.preRotation * j.rotation * j.postRotation) *
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@ -94,14 +94,14 @@ void makeTestFBXJoints(std::vector<FBXJoint>& fbxJoints) {
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}
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void AnimInverseKinematicsTests::testSingleChain() {
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std::vector<FBXJoint> fbxJoints;
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makeTestFBXJoints(fbxJoints);
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FBXGeometry geometry;
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makeTestFBXJoints(geometry);
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// create a skeleton and doll
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AnimPose offset;
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AnimSkeleton* skeleton = new AnimSkeleton(fbxJoints, offset);
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AnimSkeleton::Pointer skeletonPtr(skeleton);
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AnimSkeleton::Pointer skeletonPtr = std::make_shared<AnimSkeleton>(geometry);
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AnimInverseKinematics ikDoll("doll");
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ikDoll.setSkeleton(skeletonPtr);
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{ // easy test IK of joint C
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@ -113,11 +113,11 @@ void AnimInverseKinematicsTests::testSingleChain() {
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pose.rot = identity;
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pose.trans = origin;
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std::vector<AnimPose> poses;
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AnimPoseVec poses;
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poses.push_back(pose);
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pose.trans = xAxis;
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for (int i = 1; i < (int)fbxJoints.size(); ++i) {
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for (int i = 1; i < (int)geometry.joints.size(); ++i) {
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poses.push_back(pose);
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}
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ikDoll.loadPoses(poses);
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@ -134,7 +134,8 @@ void AnimInverseKinematicsTests::testSingleChain() {
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AnimVariantMap varMap;
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varMap.set("positionD", targetPosition);
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varMap.set("rotationD", targetRotation);
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ikDoll.setTargetVars("D", "positionD", "rotationD");
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varMap.set("targetType", (int)IKTarget::Type::RotationAndPosition);
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ikDoll.setTargetVars(QString("D"), QString("positionD"), QString("rotationD"), QString("targetType"));
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AnimNode::Triggers triggers;
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// the IK solution should be:
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@ -144,38 +145,49 @@ void AnimInverseKinematicsTests::testSingleChain() {
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// |
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// A------>B------>C
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//
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// iterate several times
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float dt = 1.0f;
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ikDoll.evaluate(varMap, dt, triggers);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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const AnimPoseVec& relativePoses = ikDoll.overlay(varMap, dt, triggers, poses);
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// verify absolute results
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// NOTE: since we expect this solution to converge very quickly (one loop)
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// we can impose very tight error thresholds.
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std::vector<AnimPose> absolutePoses;
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AnimPoseVec absolutePoses;
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for (auto pose : poses) {
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absolutePoses.push_back(pose);
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}
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ikDoll.computeAbsolutePoses(absolutePoses);
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float acceptableAngle = 0.0001f;
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QCOMPARE_QUATS(absolutePoses[0].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(absolutePoses[1].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(absolutePoses[2].rot, quaterTurnAroundZ, acceptableAngle);
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QCOMPARE_QUATS(absolutePoses[3].rot, quaterTurnAroundZ, acceptableAngle);
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const float acceptableAngleError = 0.001f;
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QCOMPARE_QUATS(absolutePoses[0].rot, identity, acceptableAngleError);
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QCOMPARE_QUATS(absolutePoses[1].rot, identity, acceptableAngleError);
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QCOMPARE_QUATS(absolutePoses[2].rot, quaterTurnAroundZ, acceptableAngleError);
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QCOMPARE_QUATS(absolutePoses[3].rot, quaterTurnAroundZ, acceptableAngleError);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[0].trans, origin, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[1].trans, xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[2].trans, 2.0f * xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[3].trans, targetPosition, EPSILON);
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const float acceptableTranslationError = 0.025f;
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[0].trans, origin, acceptableTranslationError);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[1].trans, xAxis, acceptableTranslationError);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[2].trans, 2.0f * xAxis, acceptableTranslationError);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[3].trans, targetPosition, acceptableTranslationError);
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// verify relative results
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const std::vector<AnimPose>& relativePoses = ikDoll.getRelativePoses();
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QCOMPARE_QUATS(relativePoses[0].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(relativePoses[1].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(relativePoses[2].rot, quaterTurnAroundZ, acceptableAngle);
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QCOMPARE_QUATS(relativePoses[3].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(relativePoses[0].rot, identity, acceptableAngleError);
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QCOMPARE_QUATS(relativePoses[1].rot, identity, acceptableAngleError);
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QCOMPARE_QUATS(relativePoses[2].rot, quaterTurnAroundZ, acceptableAngleError);
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QCOMPARE_QUATS(relativePoses[3].rot, identity, acceptableAngleError);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[0].trans, origin, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[1].trans, xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[2].trans, xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[3].trans, xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[0].trans, origin, acceptableTranslationError);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[1].trans, xAxis, acceptableTranslationError);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[2].trans, xAxis, acceptableTranslationError);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[3].trans, xAxis, acceptableTranslationError);
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}
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{ // hard test IK of joint C
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// load intial poses that look like this:
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//
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@ -188,8 +200,8 @@ void AnimInverseKinematicsTests::testSingleChain() {
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pose.scale = glm::vec3(1.0f);
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pose.rot = identity;
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pose.trans = origin;
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std::vector<AnimPose> poses;
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AnimPoseVec poses;
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poses.push_back(pose);
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pose.trans = xAxis;
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@ -211,15 +223,26 @@ void AnimInverseKinematicsTests::testSingleChain() {
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AnimVariantMap varMap;
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varMap.set("positionD", targetPosition);
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varMap.set("rotationD", targetRotation);
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ikDoll.setTargetVars("D", "positionD", "rotationD");
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varMap.set("targetType", (int)IKTarget::Type::RotationAndPosition);
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ikDoll.setTargetVars(QString("D"), QString("positionD"), QString("rotationD"), QString("targetType"));
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AnimNode::Triggers triggers;
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// the IK solution should be:
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//
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// A------>B------>C------>D
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//
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// iterate several times
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float dt = 1.0f;
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ikDoll.evaluate(varMap, dt, triggers);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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ikDoll.overlay(varMap, dt, triggers, poses);
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const AnimPoseVec& relativePoses = ikDoll.overlay(varMap, dt, triggers, poses);
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// verify absolute results
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// NOTE: the IK algorithm doesn't converge very fast for full-reach targets,
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@ -228,31 +251,33 @@ void AnimInverseKinematicsTests::testSingleChain() {
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// NOTE: constraints may help speed up convergence since some joints may get clamped
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// to maximum extension. TODO: experiment with tightening the error thresholds when
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// constraints are working.
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std::vector<AnimPose> absolutePoses;
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AnimPoseVec absolutePoses;
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for (auto pose : poses) {
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absolutePoses.push_back(pose);
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}
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ikDoll.computeAbsolutePoses(absolutePoses);
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float acceptableAngle = 0.1f; // radians
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float acceptableAngle = 0.01f; // radians
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QCOMPARE_QUATS(absolutePoses[0].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(absolutePoses[1].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(absolutePoses[2].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(absolutePoses[3].rot, identity, acceptableAngle);
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float acceptableDistance = 0.4f;
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[0].trans, origin, EPSILON);
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float acceptableDistance = 0.03f;
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[0].trans, origin, acceptableDistance);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[1].trans, xAxis, acceptableDistance);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[2].trans, 2.0f * xAxis, acceptableDistance);
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QCOMPARE_WITH_ABS_ERROR(absolutePoses[3].trans, 3.0f * xAxis, acceptableDistance);
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// verify relative results
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const std::vector<AnimPose>& relativePoses = ikDoll.getRelativePoses();
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QCOMPARE_QUATS(relativePoses[0].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(relativePoses[1].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(relativePoses[2].rot, identity, acceptableAngle);
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QCOMPARE_QUATS(relativePoses[3].rot, identity, acceptableAngle);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[0].trans, origin, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[1].trans, xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[2].trans, xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[3].trans, xAxis, EPSILON);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[0].trans, origin, acceptableDistance);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[1].trans, xAxis, acceptableDistance);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[2].trans, xAxis, acceptableDistance);
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QCOMPARE_WITH_ABS_ERROR(relativePoses[3].trans, xAxis, acceptableDistance);
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}
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}
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@ -38,8 +38,9 @@ void AnimTests::testClipInternalState() {
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float endFrame = 20.0f;
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float timeScale = 1.1f;
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bool loopFlag = true;
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bool mirrorFlag = false;
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AnimClip clip(id, url, startFrame, endFrame, timeScale, loopFlag);
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AnimClip clip(id, url, startFrame, endFrame, timeScale, loopFlag, mirrorFlag);
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QVERIFY(clip.getID() == id);
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QVERIFY(clip.getType() == AnimNode::Type::Clip);
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@ -49,6 +50,7 @@ void AnimTests::testClipInternalState() {
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QVERIFY(clip._endFrame == endFrame);
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QVERIFY(clip._timeScale == timeScale);
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QVERIFY(clip._loopFlag == loopFlag);
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QVERIFY(clip._mirrorFlag == mirrorFlag);
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}
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static float framesToSec(float secs) {
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@ -62,12 +64,13 @@ void AnimTests::testClipEvaulate() {
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float startFrame = 2.0f;
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float endFrame = 22.0f;
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float timeScale = 1.0f;
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float loopFlag = true;
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bool loopFlag = true;
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bool mirrorFlag = false;
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auto vars = AnimVariantMap();
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vars.set("FalseVar", false);
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AnimClip clip(id, url, startFrame, endFrame, timeScale, loopFlag);
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AnimClip clip(id, url, startFrame, endFrame, timeScale, loopFlag, mirrorFlag);
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AnimNode::Triggers triggers;
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clip.evaluate(vars, framesToSec(10.0f), triggers);
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@ -97,7 +100,8 @@ void AnimTests::testClipEvaulateWithVars() {
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float startFrame = 2.0f;
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float endFrame = 22.0f;
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float timeScale = 1.0f;
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float loopFlag = true;
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bool loopFlag = true;
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bool mirrorFlag = false;
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float startFrame2 = 22.0f;
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float endFrame2 = 100.0f;
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@ -110,7 +114,7 @@ void AnimTests::testClipEvaulateWithVars() {
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vars.set("timeScale2", timeScale2);
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vars.set("loopFlag2", loopFlag2);
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AnimClip clip(id, url, startFrame, endFrame, timeScale, loopFlag);
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AnimClip clip(id, url, startFrame, endFrame, timeScale, loopFlag, mirrorFlag);
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clip.setStartFrameVar("startFrame2");
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clip.setEndFrameVar("endFrame2");
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clip.setTimeScaleVar("timeScale2");
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@ -583,23 +587,23 @@ void AnimTests::testExpressionEvaluator() {
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TEST_BOOL_EXPR(false && false);
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TEST_BOOL_EXPR(false && true);
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TEST_BOOL_EXPR(true || false && true);
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TEST_BOOL_EXPR(true || false && false);
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TEST_BOOL_EXPR(true || true && true);
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TEST_BOOL_EXPR(true || true && false);
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TEST_BOOL_EXPR(false || false && true);
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TEST_BOOL_EXPR(false || false && false);
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TEST_BOOL_EXPR(false || true && true);
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TEST_BOOL_EXPR(false || true && false);
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TEST_BOOL_EXPR(true || (false && true));
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TEST_BOOL_EXPR(true || (false && false));
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TEST_BOOL_EXPR(true || (true && true));
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TEST_BOOL_EXPR(true || (true && false));
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TEST_BOOL_EXPR(false || (false && true));
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TEST_BOOL_EXPR(false || (false && false));
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TEST_BOOL_EXPR(false || (true && true));
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TEST_BOOL_EXPR(false || (true && false));
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TEST_BOOL_EXPR(true && false || true);
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TEST_BOOL_EXPR(true && false || false);
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TEST_BOOL_EXPR(true && true || true);
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TEST_BOOL_EXPR(true && true || false);
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TEST_BOOL_EXPR(false && false || true);
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TEST_BOOL_EXPR(false && false || false);
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TEST_BOOL_EXPR(false && true || true);
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TEST_BOOL_EXPR(false && true || false);
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TEST_BOOL_EXPR((true && false) || true);
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TEST_BOOL_EXPR((true && false) || false);
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TEST_BOOL_EXPR((true && true) || true);
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TEST_BOOL_EXPR((true && true) || false);
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TEST_BOOL_EXPR((false && false) || true);
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TEST_BOOL_EXPR((false && false) || false);
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TEST_BOOL_EXPR((false && true) || true);
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TEST_BOOL_EXPR((false && true) || false);
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TEST_BOOL_EXPR(t || false);
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TEST_BOOL_EXPR(t || true);
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@ -610,14 +614,14 @@ void AnimTests::testExpressionEvaluator() {
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TEST_BOOL_EXPR(!false);
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TEST_BOOL_EXPR(!true || true);
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TEST_BOOL_EXPR(!true && !false || !true);
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TEST_BOOL_EXPR(!true && !false || true);
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TEST_BOOL_EXPR(!true && false || !true);
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TEST_BOOL_EXPR(!true && false || true);
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TEST_BOOL_EXPR(true && !false || !true);
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TEST_BOOL_EXPR(true && !false || true);
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TEST_BOOL_EXPR(true && false || !true);
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TEST_BOOL_EXPR(true && false || true);
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||||
TEST_BOOL_EXPR((!true && !false) || !true);
|
||||
TEST_BOOL_EXPR((!true && !false) || true);
|
||||
TEST_BOOL_EXPR((!true && false) || !true);
|
||||
TEST_BOOL_EXPR((!true && false) || true);
|
||||
TEST_BOOL_EXPR((true && !false) || !true);
|
||||
TEST_BOOL_EXPR((true && !false) || true);
|
||||
TEST_BOOL_EXPR((true && false) || !true);
|
||||
TEST_BOOL_EXPR((true && false) || true);
|
||||
|
||||
TEST_BOOL_EXPR(!(true && f) || !t);
|
||||
TEST_BOOL_EXPR(!!!(t) && (!!f || true));
|
||||
|
|
|
|||
Loading…
Reference in a new issue