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added updateHands2 which deals with two bone hands animvars

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This commit is contained in:
amantley 2019-01-20 08:56:39 -08:00
parent 3a2697fa8c
commit 6680ca53ad
4 changed files with 127 additions and 3 deletions
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2
interface/resources/avatar/avatar-animation_twoboneIK.json
View file

@ -134,7 +134,7 @@
"baseJointName": "RightArm",
"midJointName": "RightForeArm",
"tipJointName": "RightHand",
"midHingeAxis": [ 1, 0, 0 ],
"midHingeAxis": [ 0, 0, -1 ],
"alphaVar": "rightArmIKAlpha",
"enabledVar": "rightArmIKEnabled",
"endEffectorRotationVarVar": "rightArmIKRotationVar",

4
libraries/animation/src/AnimTwoBoneIK.cpp
View file

@ -90,8 +90,8 @@ const AnimPoseVec& AnimTwoBoneIK::evaluate(const AnimVariantMap& animVars, const
}
_enabled = enabled;
// don't build chains or do IK if we are disbled & not interping.
if (_interpType == InterpType::None && !enabled) {
// don't build chains or do IK if we are disabled & not interping.
if (_interpType == InterpType::None){// && !enabled) {
_poses = underPoses;
return _poses;
}

115
libraries/animation/src/Rig.cpp
View file

@ -75,6 +75,20 @@ static const QString RIGHT_FOOT_IK_ROTATION_VAR("rightFootIKRotationVar");
static const QString MAIN_STATE_MACHINE_RIGHT_FOOT_ROTATION("mainStateMachineRightFootRotation");
static const QString MAIN_STATE_MACHINE_RIGHT_FOOT_POSITION("mainStateMachineRightFootPosition");
static const QString LEFT_HAND_POSITION("leftHandPosition");
static const QString LEFT_HAND_ROTATION("leftHandRotation");
static const QString LEFT_HAND_IK_POSITION_VAR("leftHandIKPositionVar");
static const QString LEFT_HAND_IK_ROTATION_VAR("leftHandIKRotationVar");
static const QString MAIN_STATE_MACHINE_LEFT_HAND_POSITION("mainStateMachineLeftHandPosition");
static const QString MAIN_STATE_MACHINE_LEFT_HAND_ROTATION("mainStateMachineLeftHandRotation");
static const QString RIGHT_HAND_POSITION("rightHandPosition");
static const QString RIGHT_HAND_ROTATION("rightHandRotation");
static const QString RIGHT_HAND_IK_POSITION_VAR("rightHandIKPositionVar");
static const QString RIGHT_HAND_IK_ROTATION_VAR("rightHandIKRotationVar");
static const QString MAIN_STATE_MACHINE_RIGHT_HAND_ROTATION("mainStateMachineRightHandRotation");
static const QString MAIN_STATE_MACHINE_RIGHT_HAND_POSITION("mainStateMachineRightHandPosition");
Rig::Rig() {
// Ensure thread-safe access to the rigRegistry.
@ -1498,6 +1512,103 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
}
}
void Rig::updateHands2(bool leftHandEnabled, bool rightHandEnabled, bool headEnabled,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix) {
int hipsIndex = indexOfJoint("Hips");
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.85f;
if (headEnabled) {
// always do IK if head is enabled
_animVars.set("leftHandIKEnabled", true);
_animVars.set("rightHandIKEnabled", true);
} else {
// only do IK if we have a valid foot.
_animVars.set("leftHandIKEnabled", leftHandEnabled);
_animVars.set("rightHandIKEnabled", rightHandEnabled);
}
if (leftHandEnabled) {
_animVars.set(LEFT_HAND_POSITION, leftHandPose.trans());
_animVars.set(LEFT_HAND_ROTATION, leftHandPose.rot());
// We want to drive the IK directly from the trackers.
_animVars.set(LEFT_HAND_IK_POSITION_VAR, LEFT_HAND_POSITION);
_animVars.set(LEFT_HAND_IK_ROTATION_VAR, LEFT_HAND_ROTATION);
int handJointIndex = _animSkeleton->nameToJointIndex("LeftHand");
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
int shoulderJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, oppositeArmJointIndex, poleVector);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter, but in sensor space.
if (!_prevLeftHandPoleVectorValid) {
_prevLeftHandPoleVectorValid = true;
_prevLeftHandPoleVector = sensorPoleVector;
}
glm::quat deltaRot = rotationBetween(_prevLeftHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector;
_animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevLeftFootPoleVector));
} else {
// We want to drive the IK from the underlying animation.
// This gives us the ability to squat while in the HMD, without the feet from dipping under the floor.
_animVars.set(LEFT_HAND_IK_POSITION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_POSITION);
_animVars.set(LEFT_HAND_IK_ROTATION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_ROTATION);
// We want to match the animated knee pose as close as possible, so don't use poleVectors
_animVars.set("leftHandPoleVectorEnabled", false);
_prevLeftHandPoleVectorValid = false;
}
if (rightHandEnabled) {
_animVars.set(RIGHT_HAND_POSITION, rightHandPose.trans());
_animVars.set(RIGHT_HAND_ROTATION, rightHandPose.rot());
// We want to drive the IK directly from the trackers.
_animVars.set(RIGHT_HAND_IK_POSITION_VAR, RIGHT_HAND_POSITION);
_animVars.set(RIGHT_HAND_IK_ROTATION_VAR, RIGHT_HAND_ROTATION);
int handJointIndex = _animSkeleton->nameToJointIndex("RightHand");
int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm");
int shoulderJointIndex = _animSkeleton->nameToJointIndex("RightArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm");
glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, oppositeArmJointIndex, poleVector);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter, but in sensor space.
if (!_prevRightHandPoleVectorValid) {
_prevRightHandPoleVectorValid = true;
_prevRightHandPoleVector = sensorPoleVector;
}
glm::quat deltaRot = rotationBetween(_prevRightHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector;
_animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevRightFootPoleVector));
} else {
// We want to drive the IK from the underlying animation.
// This gives us the ability to squat while in the HMD, without the feet from dipping under the floor.
_animVars.set(RIGHT_HAND_IK_POSITION_VAR, MAIN_STATE_MACHINE_RIGHT_HAND_POSITION);
_animVars.set(RIGHT_HAND_IK_ROTATION_VAR, MAIN_STATE_MACHINE_RIGHT_HAND_ROTATION);
// We want to match the animated knee pose as close as possible, so don't use poleVectors
_animVars.set("rightHandPoleVectorEnabled", false);
_prevRightHandPoleVectorValid = false;
}
}
void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, bool headEnabled,
const AnimPose& leftFootPose, const AnimPose& rightFootPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix) {
@ -1750,6 +1861,10 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
params.hipsShapeInfo, params.spineShapeInfo, params.spine1ShapeInfo, params.spine2ShapeInfo,
params.rigToSensorMatrix, sensorToRigMatrix);
updateHands2(leftHandEnabled, rightHandEnabled, _headEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
params.rigToSensorMatrix, sensorToRigMatrix);
updateFeet(leftFootEnabled, rightFootEnabled, _headEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot],
params.rigToSensorMatrix, sensorToRigMatrix);

9
libraries/animation/src/Rig.h
View file

@ -250,6 +250,9 @@ protected:
const HFMJointShapeInfo& hipsShapeInfo, const HFMJointShapeInfo& spineShapeInfo,
const HFMJointShapeInfo& spine1ShapeInfo, const HFMJointShapeInfo& spine2ShapeInfo,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);
void updateHands2(bool leftHandEnabled, bool rightHandEnabled, bool headEnabled,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);
void updateFeet(bool leftFootEnabled, bool rightFootEnabled, bool headEnabled,
const AnimPose& leftFootPose, const AnimPose& rightFootPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);
@ -414,6 +417,12 @@ protected:
glm::vec3 _prevLeftFootPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevLeftFootPoleVectorValid { false };
glm::vec3 _prevRightHandPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevRightHandPoleVectorValid { false };
glm::vec3 _prevLeftHandPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevLeftHandPoleVectorValid { false };
int _rigId;
bool _headEnabled { false };
bool _computeNetworkAnimation { false };