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Merge pull request #14733 from hyperlogic/bug-fix/translation-precision

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Avatar Protocol: Fix for precision issues with translation
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John Conklin II 2019-01-23 14:07:58 -08:00 committed by GitHub
commit 1768d91780
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7 changed files with 64 additions and 26 deletions
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10
libraries/animation/src/Rig.cpp
View file

@ -1984,11 +1984,10 @@ void Rig::copyJointsIntoJointData(QVector<JointData>& jointDataVec) const {
data.rotation = !_sendNetworkNode ? _internalPoseSet._absolutePoses[i].rot() : _networkPoseSet._absolutePoses[i].rot();
data.rotationIsDefaultPose = isEqual(data.rotation, defaultAbsRot);
// translations are in relative frame but scaled so that they are in meters,
// instead of model units.
// translations are in relative frame.
glm::vec3 defaultRelTrans = _animSkeleton->getRelativeDefaultPose(i).trans();
glm::vec3 currentRelTrans = _sendNetworkNode ? _networkPoseSet._relativePoses[i].trans() : _internalPoseSet._relativePoses[i].trans();
data.translation = geometryToRigScale * currentRelTrans;
data.translation = currentRelTrans;
data.translationIsDefaultPose = isEqual(currentRelTrans, defaultRelTrans);
} else {
data.translationIsDefaultPose = true;
@ -2015,7 +2014,6 @@ void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
std::vector<glm::quat> rotations;
rotations.reserve(numJoints);
const glm::quat rigToGeometryRot(glmExtractRotation(_rigToGeometryTransform));
const glm::vec3 rigToGeometryScale(extractScale(_rigToGeometryTransform));
for (int i = 0; i < numJoints; i++) {
const JointData& data = jointDataVec.at(i);
@ -2041,8 +2039,8 @@ void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
if (data.translationIsDefaultPose) {
_internalPoseSet._relativePoses[i].trans() = relativeDefaultPoses[i].trans();
} else {
// JointData translations are in scaled relative-frame so we scale back to regular relative-frame
_internalPoseSet._relativePoses[i].trans() = rigToGeometryScale * data.translation;
// JointData translations are in relative-frame
_internalPoseSet._relativePoses[i].trans() = data.translation;
}
}
}

63
libraries/avatars/src/AvatarData.cpp
View file

@ -54,7 +54,8 @@ using namespace std;
const QString AvatarData::FRAME_NAME = "com.highfidelity.recording.AvatarData";
static const int TRANSLATION_COMPRESSION_RADIX = 12;
static const int TRANSLATION_COMPRESSION_RADIX = 14;
static const int FAUX_JOINT_COMPRESSION_RADIX = 12;
static const int SENSOR_TO_WORLD_SCALE_RADIX = 10;
static const float AUDIO_LOUDNESS_SCALE = 1024.0f;
static const float DEFAULT_AVATAR_DENSITY = 1000.0f; // density of water
@ -73,6 +74,7 @@ size_t AvatarDataPacket::maxJointDataSize(size_t numJoints, bool hasGrabJoints)
totalSize += validityBitsSize; // Orientations mask
totalSize += numJoints * sizeof(SixByteQuat); // Orientations
totalSize += validityBitsSize; // Translations mask
totalSize += sizeof(float); // maxTranslationDimension
totalSize += numJoints * sizeof(SixByteTrans); // Translations
size_t NUM_FAUX_JOINT = 2;
@ -85,6 +87,23 @@ size_t AvatarDataPacket::maxJointDataSize(size_t numJoints, bool hasGrabJoints)
return totalSize;
}
size_t AvatarDataPacket::minJointDataSize(size_t numJoints) {
const size_t validityBitsSize = calcBitVectorSize((int)numJoints);
size_t totalSize = sizeof(uint8_t); // numJoints
totalSize += validityBitsSize; // Orientations mask
// assume no valid rotations
totalSize += validityBitsSize; // Translations mask
totalSize += sizeof(float); // maxTranslationDimension
// assume no valid translations
size_t NUM_FAUX_JOINT = 2;
totalSize += NUM_FAUX_JOINT * (sizeof(SixByteQuat) + sizeof(SixByteTrans)); // faux joints
return totalSize;
}
size_t AvatarDataPacket::maxJointDefaultPoseFlagsSize(size_t numJoints) {
const size_t bitVectorSize = calcBitVectorSize((int)numJoints);
size_t totalSize = sizeof(uint8_t); // numJoints
@ -611,13 +630,24 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
assert(numJoints <= 255);
const int jointBitVectorSize = calcBitVectorSize(numJoints);
// Start joints if room for at least the faux joints.
IF_AVATAR_SPACE(PACKET_HAS_JOINT_DATA, 1 + 2 * jointBitVectorSize + AvatarDataPacket::FAUX_JOINTS_SIZE) {
// include jointData if there is room for the most minimal section. i.e. no translations or rotations.
IF_AVATAR_SPACE(PACKET_HAS_JOINT_DATA, AvatarDataPacket::minJointDataSize(numJoints)) {
// Allow for faux joints + translation bit-vector:
const ptrdiff_t minSizeForJoint = sizeof(AvatarDataPacket::SixByteQuat)
+ jointBitVectorSize + AvatarDataPacket::FAUX_JOINTS_SIZE;
auto startSection = destinationBuffer;
// compute maxTranslationDimension before we send any joint data.
float maxTranslationDimension = 0.001f;
for (int i = sendStatus.rotationsSent; i < numJoints; ++i) {
const JointData& data = jointData[i];
if (!data.translationIsDefaultPose) {
maxTranslationDimension = glm::max(fabsf(data.translation.x), maxTranslationDimension);
maxTranslationDimension = glm::max(fabsf(data.translation.y), maxTranslationDimension);
maxTranslationDimension = glm::max(fabsf(data.translation.z), maxTranslationDimension);
}
}
// joint rotation data
*destinationBuffer++ = (uint8_t)numJoints;
@ -684,9 +714,11 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
memset(destinationBuffer, 0, jointBitVectorSize);
destinationBuffer += jointBitVectorSize; // Move pointer past the validity bytes
// write maxTranslationDimension
AVATAR_MEMCPY(maxTranslationDimension);
float minTranslation = (distanceAdjust && cullSmallChanges) ? getDistanceBasedMinTranslationDistance(viewerPosition) : AVATAR_MIN_TRANSLATION;
float maxTranslationDimension = 0.0;
i = sendStatus.translationsSent;
for (; i < numJoints; ++i) {
const JointData& data = joints[i];
@ -700,12 +732,8 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
#ifdef WANT_DEBUG
translationSentCount++;
#endif
maxTranslationDimension = glm::max(fabsf(data.translation.x), maxTranslationDimension);
maxTranslationDimension = glm::max(fabsf(data.translation.y), maxTranslationDimension);
maxTranslationDimension = glm::max(fabsf(data.translation.z), maxTranslationDimension);
destinationBuffer +=
packFloatVec3ToSignedTwoByteFixed(destinationBuffer, data.translation, TRANSLATION_COMPRESSION_RADIX);
destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, data.translation / maxTranslationDimension,
TRANSLATION_COMPRESSION_RADIX);
if (sentJoints) {
sentJoints[i].translation = data.translation;
@ -727,12 +755,12 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
Transform controllerLeftHandTransform = Transform(getControllerLeftHandMatrix());
destinationBuffer += packOrientationQuatToSixBytes(destinationBuffer, controllerLeftHandTransform.getRotation());
destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, controllerLeftHandTransform.getTranslation(),
TRANSLATION_COMPRESSION_RADIX);
FAUX_JOINT_COMPRESSION_RADIX);
Transform controllerRightHandTransform = Transform(getControllerRightHandMatrix());
destinationBuffer += packOrientationQuatToSixBytes(destinationBuffer, controllerRightHandTransform.getRotation());
destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, controllerRightHandTransform.getTranslation(),
TRANSLATION_COMPRESSION_RADIX);
FAUX_JOINT_COMPRESSION_RADIX);
IF_AVATAR_SPACE(PACKET_HAS_GRAB_JOINTS, sizeof (AvatarDataPacket::FarGrabJoints)) {
// the far-grab joints may range further than 3 meters, so we can't use packFloatVec3ToSignedTwoByteFixed etc
@ -785,7 +813,7 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
outboundDataRateOut->jointDataRate.increment(numBytes);
}
}
IF_AVATAR_SPACE(PACKET_HAS_JOINT_DEFAULT_POSE_FLAGS, 1 + 2 * jointBitVectorSize) {
auto startSection = destinationBuffer;
@ -871,7 +899,7 @@ const unsigned char* unpackFauxJoint(const unsigned char* sourceBuffer, ThreadSa
glm::vec3 position;
Transform transform;
sourceBuffer += unpackOrientationQuatFromSixBytes(sourceBuffer, orientation);
sourceBuffer += unpackFloatVec3FromSignedTwoByteFixed(sourceBuffer, position, TRANSLATION_COMPRESSION_RADIX);
sourceBuffer += unpackFloatVec3FromSignedTwoByteFixed(sourceBuffer, position, FAUX_JOINT_COMPRESSION_RADIX);
transform.setTranslation(position);
transform.setRotation(orientation);
matrixCache.set(transform.getMatrix());
@ -1280,6 +1308,12 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
}
} // 1 + bytesOfValidity bytes
// read maxTranslationDimension
float maxTranslationDimension;
PACKET_READ_CHECK(JointMaxTranslationDimension, sizeof(float));
memcpy(&maxTranslationDimension, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
// each joint translation component is stored in 6 bytes.
const int COMPRESSED_TRANSLATION_SIZE = 6;
PACKET_READ_CHECK(JointTranslation, numValidJointTranslations * COMPRESSED_TRANSLATION_SIZE);
@ -1288,6 +1322,7 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
JointData& data = _jointData[i];
if (validTranslations[i]) {
sourceBuffer += unpackFloatVec3FromSignedTwoByteFixed(sourceBuffer, data.translation, TRANSLATION_COMPRESSION_RADIX);
data.translation *= maxTranslationDimension;
_hasNewJointData = true;
data.translationIsDefaultPose = false;
}

5
libraries/avatars/src/AvatarData.h
View file

@ -277,8 +277,8 @@ namespace AvatarDataPacket {
uint8_t rotationValidityBits[ceil(numJoints / 8)]; // one bit per joint, if true then a compressed rotation follows.
SixByteQuat rotation[numValidRotations]; // encodeded and compressed by packOrientationQuatToSixBytes()
uint8_t translationValidityBits[ceil(numJoints / 8)]; // one bit per joint, if true then a compressed translation follows.
SixByteTrans translation[numValidTranslations]; // encodeded and compressed by packFloatVec3ToSignedTwoByteFixed()
float maxTranslationDimension; // used to normalize fixed point translation values.
SixByteTrans translation[numValidTranslations]; // normalized and compressed by packFloatVec3ToSignedTwoByteFixed()
SixByteQuat leftHandControllerRotation;
SixByteTrans leftHandControllerTranslation;
SixByteQuat rightHandControllerRotation;
@ -286,6 +286,7 @@ namespace AvatarDataPacket {
};
*/
size_t maxJointDataSize(size_t numJoints, bool hasGrabJoints);
size_t minJointDataSize(size_t numJoints);
/*
struct JointDefaultPoseFlags {

4
libraries/networking/src/udt/PacketHeaders.cpp
View file

@ -38,10 +38,10 @@ PacketVersion versionForPacketType(PacketType packetType) {
return static_cast<PacketVersion>(EntityQueryPacketVersion::ConicalFrustums);
case PacketType::AvatarIdentity:
case PacketType::AvatarData:
return static_cast<PacketVersion>(AvatarMixerPacketVersion::CollisionFlag);
return static_cast<PacketVersion>(AvatarMixerPacketVersion::SendMaxTranslationDimension);
case PacketType::BulkAvatarData:
case PacketType::KillAvatar:
return static_cast<PacketVersion>(AvatarMixerPacketVersion::FasterAvatarEntities);
return static_cast<PacketVersion>(AvatarMixerPacketVersion::SendMaxTranslationDimension);
case PacketType::MessagesData:
return static_cast<PacketVersion>(MessageDataVersion::TextOrBinaryData);
// ICE packets

3
libraries/networking/src/udt/PacketHeaders.h
View file

@ -312,7 +312,8 @@ enum class AvatarMixerPacketVersion : PacketVersion {
GrabTraits,
CollisionFlag,
AvatarTraitsAck,
FasterAvatarEntities
FasterAvatarEntities,
SendMaxTranslationDimension
};
enum class DomainConnectRequestVersion : PacketVersion {

2
libraries/shared/src/JointData.h
View file

@ -14,7 +14,7 @@ public:
};
// Used by the avatar mixer to describe a single joint
// Translations relative to their parent and are in meters.
// Translations relative to their parent joint
// Rotations are absolute (i.e. not relative to parent) and are in rig space.
class JointData {
public:

3
tools/dissectors/3-hf-avatar.lua
View file

@ -379,6 +379,9 @@ function decode_avatar_data_packet(buf)
i = i + num_validity_bytes
result["valid_translations"] = "Valid Translations: " .. string.format("(%d/%d) {", #indices, num_joints) .. table.concat(indices, ", ") .. "}"
-- TODO: skip maxTranslationDimension
i = i + 4
-- TODO: skip translations for now
i = i + #indices * 6