Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-23 16:14:01 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

updating the android only if defs

Browse source
This commit is contained in:
amantley 2019-02-15 14:05:42 -08:00
parent 7119bc5972
commit 3f9b761e42
3 changed files with 63 additions and 79 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

52
libraries/animation/src/AnimPoleVectorConstraint.cpp
View file

@ -58,10 +58,6 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
// Look up poleVector from animVars, make sure to convert into geom space.
glm::vec3 poleVector = animVars.lookupRigToGeometryVector(_poleVectorVar, Vectors::UNIT_Z);
if (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex) {
//float thetaFromRig = animVars.lookup("thetaRight", 0.0f);
//qCDebug(animation) << " anim pole vector theta from rig " << thetaFromRig;
}
// determine if we should interpolate
bool enabled = animVars.lookup(_enabledVar, _enabled);
@ -116,25 +112,20 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
// project poleVector on plane formed by axis.
glm::vec3 poleVectorProj = poleVector - glm::dot(poleVector, unitAxis) * unitAxis;
float poleVectorProjLength = glm::length(poleVectorProj);
#ifdef Q_OS_ANDROID
// double check for zero length vectors or vectors parallel to rotaiton axis.
if (axisLength > MIN_LENGTH && refVectorLength > MIN_LENGTH && sideVectorLength > MIN_LENGTH &&
refVectorProjLength > MIN_LENGTH && poleVectorProjLength > MIN_LENGTH) {
// get theta set by optimized ik for Quest
if ((_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) || (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex)) {
float dot = glm::clamp(glm::dot(refVectorProj / refVectorProjLength, poleVectorProj / poleVectorProjLength), 0.0f, 1.0f);
float sideDot = glm::dot(poleVector, sideVector);
float theta = copysignf(1.0f, sideDot) * acosf(dot);
// overwrite theta if we are using optimized code
if ((_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) || (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex)) {
if (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex) {
theta = animVars.lookup("thetaLeftElbow", 0.0f);
} else if (_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) {
theta = animVars.lookup("thetaRightElbow", 0.0f);
}
float theta;
if (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex) {
theta = animVars.lookup("thetaLeftElbow", 0.0f);
} else if (_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) {
theta = animVars.lookup("thetaRightElbow", 0.0f);
}
glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
// transform result back into parent relative frame.
@ -145,6 +136,29 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
ikChain.setRelativePoseAtJointIndex(_tipJointIndex, AnimPose(relTipRot, underPoses[_tipJointIndex].trans()));
}
#else
// double check for zero length vectors or vectors parallel to rotaiton axis.
if (axisLength > MIN_LENGTH && refVectorLength > MIN_LENGTH && sideVectorLength > MIN_LENGTH &&
refVectorProjLength > MIN_LENGTH && poleVectorProjLength > MIN_LENGTH) {
float dot = glm::clamp(glm::dot(refVectorProj / refVectorProjLength, poleVectorProj / poleVectorProjLength), 0.0f, 1.0f);
float sideDot = glm::dot(poleVector, sideVector);
float theta = copysignf(1.0f, sideDot) * acosf(dot);
glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
// transform result back into parent relative frame.
glm::quat relBaseRot = glm::inverse(baseParentPose.rot()) * deltaRot * basePose.rot();
ikChain.setRelativePoseAtJointIndex(_baseJointIndex, AnimPose(relBaseRot, underPoses[_baseJointIndex].trans()));
glm::quat relTipRot = glm::inverse(midPose.rot()) * glm::inverse(deltaRot) * tipPose.rot();
ikChain.setRelativePoseAtJointIndex(_tipJointIndex, AnimPose(relTipRot, underPoses[_tipJointIndex].trans()));
}
#endif
// start off by initializing output poses with the underPoses
_poses = underPoses;

88
libraries/animation/src/Rig.cpp
View file

@ -1459,9 +1459,19 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm");
if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
#ifdef Q_OS_ANDROID
float poleTheta;
bool usePoleTheta = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, true, poleTheta);
if (usePoleTheta) {
_animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X);
_animVars.set("thetaLeftElbow", transformVectorFast(sensorToRigMatrix, sensorPoleVector));
} else {
_animVars.set("leftHandPoleVectorEnabled", false);
}
#else
glm::vec3 poleVector;
//bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
bool usePoleVector = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, true, poleVector);
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
if (usePoleVector) {
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
_animVars.set("leftHandPoleVectorEnabled", true);
@ -1470,6 +1480,8 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
} else {
_animVars.set("leftHandPoleVectorEnabled", false);
}
#endif
} else {
_animVars.set("leftHandPoleVectorEnabled", false);
}
@ -1515,14 +1527,19 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
glm::vec3 poleVector;
bool usePoleVector = false;
#ifdef Q_OS_ANDROID
usePoleVector = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, false, poleVector);
float poleTheta;
bool usePoleTheta = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, true, poleTheta);
if (usePoleTheta) {
_animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleReferenceVector", Vectors::UNIT_X);
_animVars.set("thetaRightElbow", poleTheta);
} else {
_animVars.set("rightHandPoleVectorEnabled", false);
}
#else
usePoleVector = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, false, poleVector);
// bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
#endif
glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
if (usePoleVector) {
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
_animVars.set("rightHandPoleVectorEnabled", true);
@ -1531,6 +1548,8 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
} else {
_animVars.set("rightHandPoleVectorEnabled", false);
}
#endif
} else {
_animVars.set("rightHandPoleVectorEnabled", false);
}
@ -1688,7 +1707,7 @@ void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm
}
}
bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, glm::vec3& poleVector) {
bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, float& poleTheta) {
// get the default poses for the upper and lower arm
// then use this length to judge how far the hand is away from the shoulder.
// then create weights that make the elbow angle less when the x value is large in either direction.
@ -1711,36 +1730,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
AnimPose absoluteHandPose = getAbsoluteDefaultPose(handIndex);
float defaultArmLength = glm::length(absoluteHandPose.trans() - absoluteShoulderPose.trans());
// calculate the reference axis and the side axis.
// Look up refVector from animVars, make sure to convert into geom space.
glm::vec3 refVector = (AnimPose(_rigToGeometryTransform) * elbowPose).xformVector(Vectors::UNIT_X);
float refVectorLength = glm::length(refVector);
if (left) {
//AnimPose temp(_rigToGeometryTransform);
//glm::mat4 elbowMat(elbowPose);
//AnimPose result3(_rigToGeometryTransform * elbowMat);
//AnimPose geomElbow2 = temp * elbowPose;
//qCDebug(animation) << "mid pose geom2 rig" << geomElbow2;
//qCDebug(animation) << "mid pose result rig" << result3;
//qCDebug(animation) << "ref vector rig" << refVector;
}
AnimPose geomShoulder = AnimPose(_rigToGeometryTransform) * shoulderPose;
AnimPose geomHand = AnimPose(_rigToGeometryTransform) * handPose;
glm::vec3 axis = geomShoulder.trans() - geomHand.trans();
float axisLength = glm::length(axis);
glm::vec3 unitAxis = axis / axisLength;
glm::vec3 sideVector = glm::cross(unitAxis, refVector);
float sideVectorLength = glm::length(sideVector);
// project refVector onto axis plane
glm::vec3 refVectorProj = refVector - glm::dot(refVector, unitAxis) * unitAxis;
float refVectorProjLength = glm::length(refVectorProj);
// phi_0 is the lowest angle we can have
const float phi_0 = 15.0f;
//calculate the hand position influence on theta
const float zStart = 0.6f;
const float xStart = 0.1f;
// biases
@ -2014,27 +2004,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
_animVars.set("thetaRightElbow", thetaRadians);
}
// remove this if inaccurate
// convert theta back to pole vector
float lastDot = cosf(((180.0f - theta) / 180.0f)*PI);
float lastSideDot = sqrt(1.0f - (lastDot*lastDot));
const float MIN_LENGTH = 1.0e-4f;
if (refVectorLength > MIN_LENGTH && sideVectorLength > MIN_LENGTH) {
poleVector = lastDot * (refVectorProj / refVectorProjLength) + glm::sign(theta) * lastSideDot * (sideVector / sideVectorLength);
if (left) {
//qCDebug(animation) << "pole vector in rig " << poleVector;
}
//
} else {
poleVector = glm::vec3(1.0f, 0.0f, 0.0f);
return false;
}
return true;
}
bool Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int oppositeArmIndex, glm::vec3& poleVector) const {

2
libraries/animation/src/Rig.h
View file

@ -258,7 +258,7 @@ protected:
void calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds, float* alphaOut) const;
bool calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int oppositeArmIndex, glm::vec3& poleVector) const;
bool calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, glm::vec3& poleVector);
bool calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, float& poleTheta);
glm::vec3 calculateKneePoleVector(int footJointIndex, int kneeJoint, int upLegIndex, int hipsIndex, const AnimPose& targetFootPose) const;
glm::vec3 deflectHandFromTorso(const glm::vec3& handPosition, const HFMJointShapeInfo& hipsShapeInfo, const HFMJointShapeInfo& spineShapeInfo,
const HFMJointShapeInfo& spine1ShapeInfo, const HFMJointShapeInfo& spine2ShapeInfo) const;