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changed the naming of the middle joint from secondary target to midJoint, also generalized the handling of the neck head rotation after the middle spline is updated

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This commit is contained in:
Angus Antley 2019-01-27 16:30:13 -08:00
parent 0b6d0b4baf
commit 2679a3a30d
4 changed files with 46 additions and 63 deletions
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6
interface/resources/avatar/avatar-animation_withSplineIKNode.json
View file

@ -182,14 +182,14 @@
"enabled": false,
"interpDuration": 15,
"baseJointName": "Hips",
"midJointName": "Spine2",
"tipJointName": "Head",
"secondaryTargetJointName": "Spine2",
"basePositionVar": "hipsPosition",
"baseRotationVar": "hipsRotation",
"midPositionVar": "spine2Position",
"midRotationVar": "spine2Rotation",
"tipPositionVar": "headPosition",
"tipRotationVar": "headRotation",
"secondaryTargetPositionVar": "spine2Position",
"secondaryTargetRotationVar": "spine2Rotation",
"alphaVar": "splineIKAlpha",
"enabledVar": "splineIKEnabled",
"endEffectorRotationVarVar": "splineIKRotationVar",

13
libraries/animation/src/AnimNodeLoader.cpp
View file

@ -584,14 +584,14 @@ static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QStr
READ_BOOL(enabled, jsonObj, id, jsonUrl, nullptr);
READ_FLOAT(interpDuration, jsonObj, id, jsonUrl, nullptr);
READ_STRING(baseJointName, jsonObj, id, jsonUrl, nullptr);
READ_STRING(midJointName, jsonObj, id, jsonUrl, nullptr);
READ_STRING(tipJointName, jsonObj, id, jsonUrl, nullptr);
READ_STRING(secondaryTargetJointName, jsonObj, id, jsonUrl, nullptr);
READ_STRING(basePositionVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(baseRotationVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(midPositionVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(midRotationVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(tipPositionVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(tipRotationVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(secondaryTargetPositionVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(secondaryTargetRotationVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(alphaVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(enabledVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(endEffectorRotationVarVar, jsonObj, id, jsonUrl, nullptr);
@ -600,11 +600,10 @@ static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QStr
READ_STRING(secondaryFlexCoefficients, jsonObj, id, jsonUrl, nullptr);
auto node = std::make_shared<AnimSplineIK>(id, alpha, enabled, interpDuration,
baseJointName, tipJointName,
baseJointName, midJointName, tipJointName,
alphaVar, enabledVar, endEffectorRotationVarVar, endEffectorPositionVarVar,
basePositionVar, baseRotationVar,
tipPositionVar, tipRotationVar, secondaryTargetJointName, secondaryTargetPositionVar,
secondaryTargetRotationVar, primaryFlexCoefficients, secondaryFlexCoefficients);
basePositionVar, baseRotationVar, midPositionVar, midRotationVar,
tipPositionVar, tipRotationVar, primaryFlexCoefficients, secondaryFlexCoefficients);
return node;
}

77
libraries/animation/src/AnimSplineIK.cpp
View file

@ -19,16 +19,16 @@ static const float FRAMES_PER_SECOND = 30.0f;
AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration,
const QString& baseJointName,
const QString& midJointName,
const QString& tipJointName,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar,
const QString& basePositionVar,
const QString& baseRotationVar,
const QString& midPositionVar,
const QString& midRotationVar,
const QString& tipPositionVar,
const QString& tipRotationVar,
const QString& secondaryTargetJointName,
const QString& secondaryTargetPositionVar,
const QString& secondaryTargetRotationVar,
const QString& primaryFlexCoefficients,
const QString& secondaryFlexCoefficients) :
AnimNode(AnimNode::Type::SplineIK, id),
@ -36,6 +36,7 @@ AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float i
_enabled(enabled),
_interpDuration(interpDuration),
_baseJointName(baseJointName),
_midJointName(midJointName),
_tipJointName(tipJointName),
_alphaVar(alphaVar),
_enabledVar(enabledVar),
@ -45,11 +46,10 @@ AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float i
_prevEndEffectorPositionVar(),
_basePositionVar(basePositionVar),
_baseRotationVar(baseRotationVar),
_midPositionVar(midPositionVar),
_midRotationVar(midRotationVar),
_tipPositionVar(tipPositionVar),
_tipRotationVar(tipRotationVar),
_secondaryTargetJointName(secondaryTargetJointName),
_secondaryTargetPositionVar(secondaryTargetPositionVar),
_secondaryTargetRotationVar(secondaryTargetRotationVar)
_tipRotationVar(tipRotationVar)
{
QStringList flexCoefficientsValues = primaryFlexCoefficients.split(',', QString::SkipEmptyParts);
@ -182,17 +182,17 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
qCDebug(animation) << "the orig target pose for head " << target.getPose();
jointChain.outputRelativePoses(_poses);
AnimPose afterSolveSecondaryTarget = _skeleton->getAbsolutePose(_secondaryTargetIndex, _poses);
glm::quat secondaryTargetRotation = animVars.lookupRigToGeometry(_secondaryTargetRotationVar, afterSolveSecondaryTarget.rot());
AnimPose afterSolveSecondaryTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
glm::quat secondaryTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveSecondaryTarget.rot());
updatedSecondaryTarget = AnimPose(secondaryTargetRotation, afterSolveSecondaryTarget.trans());
//updatedSecondaryTarget = AnimPose(afterSolveSecondaryTarget.rot(), afterSolveSecondaryTarget.trans());
}
IKTarget secondaryTarget;
computeAbsolutePoses(absolutePoses2);
if (_secondaryTargetIndex != -1) {
if (_midJointIndex != -1) {
secondaryTarget.setType((int)IKTarget::Type::Spline);
secondaryTarget.setIndex(_secondaryTargetIndex);
secondaryTarget.setIndex(_midJointIndex);
float weight2 = 1.0f;
secondaryTarget.setPose(updatedSecondaryTarget.rot(), updatedSecondaryTarget.trans());
@ -204,8 +204,17 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimChain secondaryJointChain;
AnimPose beforeSolveChestNeck;
int startJoint;
AnimPose correctJoint;
if (_poses.size() > 0) {
// start at the tip
for (startJoint = _tipJointIndex; _skeleton->getParentIndex(startJoint) != _midJointIndex; startJoint = _skeleton->getParentIndex(startJoint)) {
// find the child of the midJoint
}
correctJoint = _skeleton->getAbsolutePose(startJoint, _poses);
// fix this to deal with no neck AA
beforeSolveChestNeck = _skeleton->getAbsolutePose(_skeleton->nameToJointIndex("Neck"), _poses);
@ -216,16 +225,19 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
// set the tip/head rotation to match the absolute rotation of the target.
int tipParent = _skeleton->getParentIndex(_tipJointIndex);
int secondaryTargetParent = _skeleton->getParentIndex(_secondaryTargetIndex);
int secondaryTargetParent = _skeleton->getParentIndex(_midJointIndex);
if ((secondaryTargetParent != -1) && (tipParent != -1) && (_poses.size() > 0)) {
AnimPose secondaryTargetPose(secondaryTarget.getRotation(), secondaryTarget.getTranslation());
AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses);
_poses[tipParent] = secondaryTargetPose.inverse() * beforeSolveChestNeck;
AnimPose tipTarget(target.getRotation(),target.getTranslation());
AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTarget;
_poses[_tipJointIndex] = tipRelativePose;
AnimPose secondaryTargetPose(secondaryTarget.getRotation(), secondaryTarget.getTranslation());
//AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses);
//_poses[tipParent] = secondaryTargetPose.inverse() * beforeSolveChestNeck;
_poses[startJoint] = secondaryTargetPose.inverse() * correctJoint;
//AnimPose tipTarget(target.getRotation(),target.getTranslation());
//AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTarget;
//_poses[_tipJointIndex] = tipRelativePose;
}
// compute chain
@ -311,12 +323,12 @@ void AnimSplineIK::lookUpIndices() {
assert(_skeleton);
// look up bone indices by name
std::vector<int> indices = _skeleton->lookUpJointIndices({ _baseJointName, _tipJointName, _secondaryTargetJointName });
std::vector<int> indices = _skeleton->lookUpJointIndices({ _baseJointName, _tipJointName, _midJointName });
// cache the results
_baseJointIndex = indices[0];
_tipJointIndex = indices[1];
_secondaryTargetIndex = indices[2];
_midJointIndex = indices[2];
if (_baseJointIndex != -1) {
_baseParentJointIndex = _skeleton->getParentIndex(_baseJointIndex);
@ -362,7 +374,7 @@ static CubicHermiteSplineFunctorWithArcLength computeSplineFromTipAndBase(const
void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug, AnimChain& chainInfoOut) const {
const int baseIndex = _baseJointIndex;
const int tipBaseIndex = _secondaryTargetIndex;
const int tipBaseIndex = _midJointIndex;
// build spline from tip to base
AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation());
@ -556,29 +568,6 @@ void AnimSplineIK::loadPoses(const AnimPoseVec& poses) {
}
}
void AnimSplineIK::setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients,
const QString& poleVectorEnabledVar, const QString& poleReferenceVectorVar, const QString& poleVectorVar) {
/*
IKTargetVar targetVar(jointName, positionVar, rotationVar, typeVar, weightVar, weight, flexCoefficients, poleVectorEnabledVar, poleReferenceVectorVar, poleVectorVar);
// if there are dups, last one wins.
bool found = false;
for (auto& targetVarIter : _targetVarVec) {
if (targetVarIter.jointName == jointName) {
targetVarIter = targetVar;
found = true;
break;
}
}
if (!found) {
// create a new entry
_targetVarVec.push_back(targetVar);
}
*/
}
void AnimSplineIK::beginInterp(InterpType interpType, const AnimChain& chain) {
// capture the current poses in a snapshot.
_snapshotChain = chain;

13
libraries/animation/src/AnimSplineIK.h
View file

@ -60,15 +60,13 @@ protected:
float _interpDuration;
QString _baseJointName;
QString _tipJointName;
QString _secondaryTargetJointName;
QString _midJointName;
QString _basePositionVar;
QString _baseRotationVar;
QString _midPositionVar;
QString _midRotationVar;
QString _tipPositionVar;
QString _tipRotationVar;
QString _secondaryTargetPositionVar;
QString _secondaryTargetRotationVar;
//QString _primaryFlexCoefficients;
//QString _secondaryFlexCoefficients;
static const int MAX_NUMBER_FLEX_VARIABLES = 10;
float _primaryFlexCoefficients[MAX_NUMBER_FLEX_VARIABLES];
@ -78,7 +76,7 @@ protected:
int _baseParentJointIndex { -1 };
int _baseJointIndex { -1 };
int _secondaryTargetIndex { -1 };
int _midJointIndex { -1 };
int _tipJointIndex { -1 };
int _headIndex { -1 };
int _hipsIndex { -1 };
@ -110,9 +108,6 @@ protected:
bool _lastEnableDebugDrawIKTargets{ false };
void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug, AnimChain& chainInfoOut) const;
void AnimSplineIK::setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients,
const QString& poleVectorEnabledVar, const QString& poleReferenceVectorVar, const QString& poleVectorVar);
void computeAndCacheSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) const;
const std::vector<SplineJointInfo>* findOrCreateSplineJointInfo(const AnimContext& context, const IKTarget& target) const;
mutable std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap;