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238 lines
9.3 KiB
C++
238 lines
9.3 KiB
C++
//
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// JointState.cpp
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// interface/src/renderer
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//
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// Created by Andrzej Kapolka on 10/18/13.
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// Copyright 2013 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 <glm/gtx/norm.hpp>
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#include <AngularConstraint.h>
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//#include <GeometryUtil.h>
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#include <SharedUtil.h>
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#include "JointState.h"
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JointState::JointState() :
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_animationPriority(0.0f),
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_positionInParentFrame(0.0f),
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_distanceToParent(0.0f),
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_fbxJoint(NULL),
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_constraint(NULL) {
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}
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JointState::JointState(const JointState& other) : _constraint(NULL) {
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_transform = other._transform;
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_rotation = other._rotation;
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_rotationInConstrainedFrame = other._rotationInConstrainedFrame;
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_positionInParentFrame = other._positionInParentFrame;
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_distanceToParent = other._distanceToParent;
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_animationPriority = other._animationPriority;
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_fbxJoint = other._fbxJoint;
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// DO NOT copy _constraint
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}
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JointState::~JointState() {
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delete _constraint;
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_constraint = NULL;
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if (_constraint) {
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delete _constraint;
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_constraint = NULL;
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}
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}
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void JointState::setFBXJoint(const FBXJoint* joint) {
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assert(joint != NULL);
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_rotationInConstrainedFrame = joint->rotation;
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// NOTE: JointState does not own the FBXJoint to which it points.
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_fbxJoint = joint;
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if (_constraint) {
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delete _constraint;
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_constraint = NULL;
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}
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}
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void JointState::updateConstraint() {
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if (_constraint) {
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delete _constraint;
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_constraint = NULL;
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}
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if (glm::distance2(glm::vec3(-PI), _fbxJoint->rotationMin) > EPSILON ||
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glm::distance2(glm::vec3(PI), _fbxJoint->rotationMax) > EPSILON ) {
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// this joint has rotation constraints
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_constraint = AngularConstraint::newAngularConstraint(_fbxJoint->rotationMin, _fbxJoint->rotationMax);
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}
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}
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void JointState::copyState(const JointState& state) {
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_animationPriority = state._animationPriority;
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_transform = state._transform;
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_rotation = extractRotation(_transform);
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_rotationInConstrainedFrame = state._rotationInConstrainedFrame;
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_positionInParentFrame = state._positionInParentFrame;
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_distanceToParent = state._distanceToParent;
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_visibleTransform = state._visibleTransform;
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_visibleRotation = extractRotation(_visibleTransform);
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_visibleRotationInConstrainedFrame = state._visibleRotationInConstrainedFrame;
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// DO NOT copy _fbxJoint or _constraint
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}
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void JointState::initTransform(const glm::mat4& parentTransform) {
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computeTransform(parentTransform);
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_positionInParentFrame = glm::inverse(extractRotation(parentTransform)) * (extractTranslation(_transform) - extractTranslation(parentTransform));
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_distanceToParent = glm::length(_positionInParentFrame);
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}
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void JointState::computeTransform(const glm::mat4& parentTransform) {
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glm::quat rotationInParentFrame = _fbxJoint->preRotation * _rotationInConstrainedFrame * _fbxJoint->postRotation;
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glm::mat4 transformInParentFrame = _fbxJoint->preTransform * glm::mat4_cast(rotationInParentFrame) * _fbxJoint->postTransform;
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_transform = parentTransform * glm::translate(_fbxJoint->translation) * transformInParentFrame;
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_rotation = extractRotation(_transform);
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}
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void JointState::computeVisibleTransform(const glm::mat4& parentTransform) {
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glm::quat rotationInParentFrame = _fbxJoint->preRotation * _visibleRotationInConstrainedFrame * _fbxJoint->postRotation;
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glm::mat4 transformInParentFrame = _fbxJoint->preTransform * glm::mat4_cast(rotationInParentFrame) * _fbxJoint->postTransform;
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_visibleTransform = parentTransform * glm::translate(_fbxJoint->translation) * transformInParentFrame;
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_visibleRotation = extractRotation(_visibleTransform);
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}
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glm::quat JointState::getRotationInBindFrame() const {
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return _rotation * _fbxJoint->inverseBindRotation;
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}
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glm::quat JointState::getRotationInParentFrame() const {
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return _fbxJoint->preRotation * _rotationInConstrainedFrame * _fbxJoint->postRotation;
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}
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glm::quat JointState::getVisibleRotationInParentFrame() const {
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return _fbxJoint->preRotation * _visibleRotationInConstrainedFrame * _fbxJoint->postRotation;
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}
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void JointState::restoreRotation(float fraction, float priority) {
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assert(_fbxJoint != NULL);
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if (priority == _animationPriority || _animationPriority == 0.0f) {
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setRotationInConstrainedFrame(safeMix(_rotationInConstrainedFrame, _fbxJoint->rotation, fraction));
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_animationPriority = 0.0f;
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}
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}
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void JointState::setRotationInBindFrame(const glm::quat& rotation, float priority, bool constrain) {
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// rotation is from bind- to model-frame
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assert(_fbxJoint != NULL);
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if (priority >= _animationPriority) {
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glm::quat targetRotation = _rotationInConstrainedFrame * glm::inverse(_rotation) * rotation * glm::inverse(_fbxJoint->inverseBindRotation);
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if (constrain && _constraint) {
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_constraint->softClamp(targetRotation, _rotationInConstrainedFrame, 0.5f);
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}
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setRotationInConstrainedFrame(targetRotation);
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_animationPriority = priority;
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}
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}
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void JointState::clearTransformTranslation() {
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_transform[3][0] = 0.0f;
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_transform[3][1] = 0.0f;
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_transform[3][2] = 0.0f;
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_visibleTransform[3][0] = 0.0f;
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_visibleTransform[3][1] = 0.0f;
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_visibleTransform[3][2] = 0.0f;
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}
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void JointState::setRotation(const glm::quat& rotation, bool constrain, float priority) {
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applyRotationDelta(rotation * glm::inverse(_rotation), true, priority);
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}
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void JointState::applyRotationDelta(const glm::quat& delta, bool constrain, float priority) {
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// NOTE: delta is in model-frame
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assert(_fbxJoint != NULL);
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if (priority < _animationPriority) {
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return;
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}
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_animationPriority = priority;
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if (!constrain || _constraint == NULL) {
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// no constraints
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_rotationInConstrainedFrame = _rotationInConstrainedFrame * glm::inverse(_rotation) * delta * _rotation;
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_rotation = delta * _rotation;
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return;
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}
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glm::quat targetRotation = _rotationInConstrainedFrame * glm::inverse(_rotation) * delta * _rotation;
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setRotationInConstrainedFrame(targetRotation);
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}
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/// Applies delta rotation to joint but mixes a little bit of the default pose as well.
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/// This helps keep an IK solution stable.
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void JointState::mixRotationDelta(const glm::quat& delta, float mixFactor, float priority) {
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// NOTE: delta is in model-frame
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assert(_fbxJoint != NULL);
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if (priority < _animationPriority) {
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return;
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}
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_animationPriority = priority;
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glm::quat targetRotation = _rotationInConstrainedFrame * glm::inverse(_rotation) * delta * _rotation;
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if (mixFactor > 0.0f && mixFactor <= 1.0f) {
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targetRotation = safeMix(targetRotation, _fbxJoint->rotation, mixFactor);
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}
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if (_constraint) {
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_constraint->softClamp(targetRotation, _rotationInConstrainedFrame, 0.5f);
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}
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setRotationInConstrainedFrame(targetRotation);
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}
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void JointState::mixVisibleRotationDelta(const glm::quat& delta, float mixFactor) {
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// NOTE: delta is in model-frame
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assert(_fbxJoint != NULL);
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glm::quat targetRotation = _visibleRotationInConstrainedFrame * glm::inverse(_visibleRotation) * delta * _visibleRotation;
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if (mixFactor > 0.0f && mixFactor <= 1.0f) {
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//targetRotation = safeMix(targetRotation, _fbxJoint->rotation, mixFactor);
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targetRotation = safeMix(targetRotation, _rotationInConstrainedFrame, mixFactor);
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}
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setVisibleRotationInConstrainedFrame(targetRotation);
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}
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glm::quat JointState::computeParentRotation() const {
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// R = Rp * Rpre * r * Rpost
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// Rp = R * (Rpre * r * Rpost)^
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return _rotation * glm::inverse(_fbxJoint->preRotation * _rotationInConstrainedFrame * _fbxJoint->postRotation);
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}
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glm::quat JointState::computeVisibleParentRotation() const {
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return _visibleRotation * glm::inverse(_fbxJoint->preRotation * _visibleRotationInConstrainedFrame * _fbxJoint->postRotation);
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}
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void JointState::setRotationInConstrainedFrame(const glm::quat& targetRotation) {
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glm::quat parentRotation = computeParentRotation();
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_rotationInConstrainedFrame = targetRotation;
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// R' = Rp * Rpre * r' * Rpost
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_rotation = parentRotation * _fbxJoint->preRotation * _rotationInConstrainedFrame * _fbxJoint->postRotation;
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}
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void JointState::setVisibleRotationInConstrainedFrame(const glm::quat& targetRotation) {
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glm::quat parentRotation = computeVisibleParentRotation();
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_visibleRotationInConstrainedFrame = targetRotation;
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_visibleRotation = parentRotation * _fbxJoint->preRotation * _visibleRotationInConstrainedFrame * _fbxJoint->postRotation;
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}
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const bool JointState::rotationIsDefault(const glm::quat& rotation, float tolerance) const {
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glm::quat defaultRotation = _fbxJoint->rotation;
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return glm::abs(rotation.x - defaultRotation.x) < tolerance &&
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glm::abs(rotation.y - defaultRotation.y) < tolerance &&
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glm::abs(rotation.z - defaultRotation.z) < tolerance &&
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glm::abs(rotation.w - defaultRotation.w) < tolerance;
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}
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const glm::vec3& JointState::getDefaultTranslationInConstrainedFrame() const {
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assert(_fbxJoint != NULL);
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return _fbxJoint->translation;
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}
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void JointState::slaveVisibleTransform() {
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_visibleTransform = _transform;
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_visibleRotation = _rotation;
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_visibleRotationInConstrainedFrame = _rotationInConstrainedFrame;
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}
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