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Refactor joint transform definition

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sabrina-shanman 2019-10-29 15:28:23 -07:00
parent 27b30a9646
commit 28e3fd4bc4
1 changed files with 34 additions and 33 deletions
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67
libraries/fbx/src/FBXSerializer.cpp
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@ -1310,6 +1310,8 @@ HFMModel* FBXSerializer::extractHFMModel(const hifi::VariantHash& mapping, const
joint.parentIndex = fbxModel.parentIndex;
uint32_t jointIndex = (uint32_t)hfmModel.joints.size();
// Copy default joint parameters from model
joint.translation = fbxModel.translation; // these are usually in centimeters
joint.preTransform = fbxModel.preTransform;
joint.preRotation = fbxModel.preRotation;
@ -1326,21 +1328,26 @@ HFMModel* FBXSerializer::extractHFMModel(const hifi::VariantHash& mapping, const
joint.isSkeletonJoint = fbxModel.isLimbNode;
hfmModel.hasSkeletonJoints = (hfmModel.hasSkeletonJoints || joint.isSkeletonJoint);
joint.name = fbxModel.name;
// With the basic joint information, we can start to calculate compound transform information
// modelIDs is ordered from parent to children, so we can safely get parent transforms from earlier joints as we iterate
// First, calculate the FBX-specific transform used for inverse bind transform calculations
glm::quat jointBindCombinedRotation = joint.preRotation * joint.rotation * joint.postRotation;
glm::mat4 globalTransformForCluster = glm::translate(joint.translation) * joint.preTransform * glm::mat4_cast(jointBindCombinedRotation) * joint.postTransform;
if (joint.parentIndex != -1 && joint.parentIndex < (int)jointIndex && !needMixamoHack) {
const glm::mat4& parentGlobalTransformForCluster = globalTransformForClusters[joint.parentIndex];
glm::quat jointBindCombinedRotation = fbxModel.preRotation * fbxModel.rotation * fbxModel.postRotation;
glm::mat4 globalTransformForCluster = glm::translate(fbxModel.translation) * fbxModel.preTransform * glm::mat4_cast(jointBindCombinedRotation) * fbxModel.postTransform;
if (fbxModel.parentIndex != -1 && fbxModel.parentIndex < (int)jointIndex && !needMixamoHack) {
const glm::mat4& parentGlobalTransformForCluster = globalTransformForClusters[fbxModel.parentIndex];
globalTransformForCluster = parentGlobalTransformForCluster * globalTransformForCluster;
}
if (joint.hasGeometricOffset) {
glm::mat4 geometricOffset = createMatFromScaleQuatAndPos(joint.geometricScaling, joint.geometricRotation, joint.geometricTranslation);
if (fbxModel.hasGeometricOffset) {
glm::mat4 geometricOffset = createMatFromScaleQuatAndPos(fbxModel.geometricScaling, fbxModel.geometricRotation, fbxModel.geometricTranslation);
globalTransformForCluster = globalTransformForCluster * geometricOffset;
}
globalTransformForClusters.push_back(globalTransformForCluster);
// Then, calculate the transforms proper
// Make final adjustments to the static joint properties, and pre-calculate static transforms
if (applyUpAxisZRotation && joint.parentIndex == -1) {
joint.rotation *= upAxisZRotation;
@ -1350,26 +1357,38 @@ HFMModel* FBXSerializer::extractHFMModel(const hifi::VariantHash& mapping, const
glm::mat4 geometricOffset = createMatFromScaleQuatAndPos(joint.geometricScaling, joint.geometricRotation, joint.geometricTranslation);
joint.postTransform *= geometricOffset;
}
glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;
joint.localTransform = glm::translate(joint.translation) * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
if (joint.parentIndex == -1) {
joint.transform = hfmModel.offset * glm::translate(joint.translation) * joint.preTransform *
glm::mat4_cast(combinedRotation) * joint.postTransform;
joint.transform = hfmModel.offset * joint.localTransform;
joint.globalTransform = joint.localTransform;
joint.inverseDefaultRotation = glm::inverse(combinedRotation);
joint.distanceToParent = 0.0f;
} else {
const HFMJoint& parentJoint = hfmModel.joints.at(joint.parentIndex);
joint.transform = parentJoint.transform * glm::translate(joint.translation) *
joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
joint.transform = parentJoint.transform * joint.localTransform;
joint.globalTransform = parentJoint.globalTransform * joint.localTransform;
joint.inverseDefaultRotation = glm::inverse(combinedRotation) * parentJoint.inverseDefaultRotation;
joint.distanceToParent = glm::distance(extractTranslation(parentJoint.transform),
extractTranslation(joint.transform));
joint.distanceToParent = glm::distance(extractTranslation(parentJoint.transform), extractTranslation(joint.transform));
if (parentJoint.hasGeometricOffset) {
// Per the FBX standard, geometric offset should not propagate to children.
// However, we must be careful when modifying the behavior of FBXSerializer.
// So, we leave this here, as a breakpoint for debugging, or stub for implementation.
// qCDebug(modelformat) << "Geometric offset encountered on non-leaf node. jointIndex: " << jointIndex << ", modelURL: " << url;
// glm::mat4 parentGeometricOffset = createMatFromScaleQuatAndPos(parentJoint.geometricScaling, parentJoint.geometricRotation, parentJoint.geometricTranslation);
// joint.preTransform = glm::inverse(parentGeometricOffset) * joint.preTransform;
}
}
joint.inverseBindRotation = joint.inverseDefaultRotation;
joint.name = fbxModel.name;
joint.bindTransformFoundInCluster = false;
// Initialize animation information next
// And also get the joint poses from the first frame of the animation, if present
QString rotationID = localRotations.value(modelID);
AnimationCurve xRotCurve = animationCurves.value(xComponents.value(rotationID));
AnimationCurve yRotCurve = animationCurves.value(yComponents.value(rotationID));
@ -1396,24 +1415,6 @@ HFMModel* FBXSerializer::extractHFMModel(const hifi::VariantHash& mapping, const
joint.translation = hfmModel.animationFrames[i].translations[jointIndex];
joint.rotation = hfmModel.animationFrames[i].rotations[jointIndex];
}
}
// Now that we've initialized the joint, we can define the transform
// modelIDs is ordered from parent to children, so we can safely get parent transforms from earlier joints as we iterate
joint.localTransform = glm::translate(joint.translation) * joint.preTransform * glm::mat4_cast(joint.preRotation * joint.rotation * joint.postRotation) * joint.postTransform;
joint.globalTransform = joint.localTransform;
if (joint.parentIndex != -1 && joint.parentIndex < (int)jointIndex && !needMixamoHack) {
hfm::Joint& parentJoint = hfmModel.joints[joint.parentIndex];
joint.globalTransform = parentJoint.globalTransform * joint.localTransform;
if (parentJoint.hasGeometricOffset) {
// Per the FBX standard, geometric offset should not propagate to children.
// However, we must be careful when modifying the behavior of FBXSerializer.
// So, we leave this here, as a breakpoint for debugging, or stub for implementation.
// qCDebug(modelformat) << "Geometric offset encountered on non-leaf node. jointIndex: " << jointIndex << ", modelURL: " << url;
// glm::mat4 parentGeometricOffset = createMatFromScaleQuatAndPos(parentJoint.geometricScaling, parentJoint.geometricRotation, parentJoint.geometricTranslation);
// joint.preTransform = glm::inverse(parentGeometricOffset) * joint.preTransform;
}
}
hfmModel.joints.push_back(joint);