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version with spline from Spine2 to head

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This commit is contained in:
amantley 2019-01-18 16:47:55 -08:00
parent 4a6d5e4187
commit 7115796fc4
3 changed files with 96 additions and 54 deletions
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10
libraries/animation/src/AnimChain.h
View file

@ -82,6 +82,16 @@ public:
return foundIndex;
}
const AnimPose& getRelativePoseAtJointIndex(int jointIndex) const {
for (int i = 0; i < _top; i++) {
if (_chain[i].jointIndex == jointIndex) {
return _chain[i].relativePose;
}
}
return AnimPose::identity;
}
void buildDirtyAbsolutePoses() {
// the relative and absolute pose is the same for the base of the chain.
_chain[_top - 1].absolutePose = _chain[_top - 1].relativePose;

127
libraries/animation/src/AnimSplineIK.cpp
View file

@ -52,11 +52,11 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
// check to see if we actually need absolute poses.
AnimPoseVec absolutePoses;
absolutePoses.resize(_poses.size());
computeAbsolutePoses(absolutePoses);
//computeAbsolutePoses(absolutePoses);
AnimPoseVec absolutePoses2;
absolutePoses2.resize(_poses.size());
// do this later
// computeAbsolutePoses(absolutePoses2);
computeAbsolutePoses(absolutePoses2);
int jointIndex2 = _skeleton->nameToJointIndex("Spine2");
AnimPose origSpine2PoseAbs = _skeleton->getAbsolutePose(jointIndex2, _poses);
@ -67,6 +67,45 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
//qCDebug(animation) << "origSpine2Pose: " << origSpine2Pose.rot();
qCDebug(animation) << "original relative spine2 " << origSpine2PoseAbs;
}
IKTarget target2;
//int jointIndex2 = _skeleton->nameToJointIndex("Spine2");
if (jointIndex2 != -1) {
target2.setType(animVars.lookup("spine2Type", (int)IKTarget::Type::RotationAndPosition));
target2.setIndex(jointIndex2);
AnimPose absPose2 = _skeleton->getAbsolutePose(jointIndex2, _poses);
glm::quat rotation2 = animVars.lookupRigToGeometry("spine2Rotation", absPose2.rot());
glm::vec3 translation2 = animVars.lookupRigToGeometry("spine2Position", absPose2.trans());
float weight2 = animVars.lookup("spine2Weight", "2.0");
qCDebug(animation) << "rig to geometry" << rotation2;
target2.setPose(rotation2, translation2);
//target2.setPose(targetSpine2.rot(), targetSpine2.trans());
target2.setWeight(weight2);
const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f };
target2.setFlexCoefficients(3, flexCoefficients2);
}
AnimChain jointChain2;
if (_poses.size() > 0) {
// _snapshotChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain2.buildFromRelativePoses(_skeleton, underPoses, target2.getIndex());
jointChain2.buildFromRelativePoses(_skeleton, _poses, target2.getIndex());
// for each target solve target with spline
solveTargetWithSpline(context, target2, absolutePoses2, false, jointChain2);
//jointChain.outputRelativePoses(_poses);
jointChain2.outputRelativePoses(_poses);
computeAbsolutePoses(absolutePoses);
//qCDebug(animation) << "Spine2 spline";
//jointChain2.dump();
//qCDebug(animation) << "Spine2Pose trans after spine2 spline: " << _skeleton->getAbsolutePose(jointIndex2, _poses).trans();
}
IKTarget target;
int jointIndex = _skeleton->nameToJointIndex("Head");
@ -81,8 +120,9 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
//qCDebug(animation) << "target 1 rotation absolute" << rotation;
target.setPose(rotation, translation);
target.setWeight(weight);
const float* flexCoefficients = new float[5]{ 1.0f, 0.5f, 0.25f, 0.2f, 0.1f };
target.setFlexCoefficients(5, flexCoefficients);
//const float* flexCoefficients = new float[5]{ 1.0f, 0.5f, 0.25f, 0.2f, 0.1f };
const float* flexCoefficients = new float[2]{ 1.0f, 0.5f };
target.setFlexCoefficients(2, flexCoefficients);
// record the index of the hips ik target.
if (target.getIndex() == _hipsIndex) {
@ -118,52 +158,23 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimPose latestSpine2Relative(originalSpine2Relative.rot(), afterSolveSpine2Rel.trans());
//jointChain.setRelativePoseAtJointIndex(jointIndex2, finalSpine2);
jointChain.outputRelativePoses(_poses);
_poses[_headIndex] = jointChain.getRelativePoseAtJointIndex(_headIndex);
_poses[_skeleton->nameToJointIndex("Neck")] = jointChain.getRelativePoseAtJointIndex(_skeleton->nameToJointIndex("Neck"));
_poses[_spine2Index] = jointChain.getRelativePoseAtJointIndex(_spine2Index);
//custom output code for the head. just do the head neck and spine2
//qCDebug(animation) << "after head spline";
//jointChain.dump();
computeAbsolutePoses(absolutePoses2);
origAbsAfterHeadSpline = _skeleton->getAbsolutePose(jointIndex2, _poses);
//computeAbsolutePoses(absolutePoses2);
//origAbsAfterHeadSpline = _skeleton->getAbsolutePose(jointIndex2, _poses);
// qCDebug(animation) << "Spine2 trans after head spline: " << origAbsAfterHeadSpline.trans();
}
IKTarget target2;
//int jointIndex2 = _skeleton->nameToJointIndex("Spine2");
if (jointIndex2 != -1) {
target2.setType(animVars.lookup("spine2Type", (int)IKTarget::Type::RotationAndPosition));
target2.setIndex(jointIndex2);
AnimPose absPose2 = _skeleton->getAbsolutePose(jointIndex2, _poses);
glm::quat rotation2 = animVars.lookupRigToGeometry("spine2Rotation", absPose2.rot());
glm::vec3 translation2 = animVars.lookupRigToGeometry("spine2Position", absPose2.trans());
float weight2 = animVars.lookup("spine2Weight", "2.0");
qCDebug(animation) << "rig to geometry" << rotation2;
//target2.setPose(rotation2, translation2);
target2.setPose(targetSpine2.rot(), targetSpine2.trans());
target2.setWeight(weight2);
const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f };
target2.setFlexCoefficients(3, flexCoefficients2);
}
AnimChain jointChain2;
if (_poses.size() > 0) {
// _snapshotChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain2.buildFromRelativePoses(_skeleton, underPoses, target2.getIndex());
jointChain2.buildFromRelativePoses(_skeleton, _poses, target2.getIndex());
// for each target solve target with spline
solveTargetWithSpline(context, target2, absolutePoses2, false, jointChain2);
//jointChain.outputRelativePoses(_poses);
jointChain2.outputRelativePoses(_poses);
//qCDebug(animation) << "Spine2 spline";
//jointChain2.dump();
//qCDebug(animation) << "Spine2Pose trans after spine2 spline: " << _skeleton->getAbsolutePose(jointIndex2, _poses).trans();
}
const float FRAMES_PER_SECOND = 30.0f;
_interpAlphaVel = FRAMES_PER_SECOND / _interpDuration;
@ -218,6 +229,7 @@ void AnimSplineIK::setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) {
AnimNode::setSkeletonInternal(skeleton);
_headIndex = _skeleton->nameToJointIndex("Head");
_hipsIndex = _skeleton->nameToJointIndex("Hips");
_spine2Index = _skeleton->nameToJointIndex("Spine2");
lookUpIndices();
}
@ -234,16 +246,24 @@ static CubicHermiteSplineFunctorWithArcLength computeSplineFromTipAndBase(const
void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug, AnimChain& chainInfoOut) const {
const int baseIndex = _hipsIndex;
const int headBaseIndex = _spine2Index;
// build spline from tip to base
AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation());
AnimPose basePose = absolutePoses[baseIndex];
AnimPose basePose;
if (target.getIndex() == _headIndex) {
basePose = absolutePoses[headBaseIndex];
} else {
basePose = absolutePoses[baseIndex];
}
CubicHermiteSplineFunctorWithArcLength spline;
if (target.getIndex() == _headIndex) {
// set gain factors so that more curvature occurs near the tip of the spline.
const float HIPS_GAIN = 0.5f;
const float HEAD_GAIN = 1.0f;
spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
//spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
spline = computeSplineFromTipAndBase(tipPose, basePose);
} else {
spline = computeSplineFromTipAndBase(tipPose, basePose);
}
@ -347,14 +367,20 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
// build spline between the default poses.
AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex());
AnimPose basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
AnimPose basePose;
if (target.getIndex() == _headIndex) {
basePose = _skeleton->getAbsoluteDefaultPose(_spine2Index);
} else {
basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
}
CubicHermiteSplineFunctorWithArcLength spline;
if (target.getIndex() == _headIndex) {
// set gain factors so that more curvature occurs near the tip of the spline.
const float HIPS_GAIN = 0.5f;
const float HEAD_GAIN = 1.0f;
spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
// spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
spline = computeSplineFromTipAndBase(tipPose, basePose);
} else {
spline = computeSplineFromTipAndBase(tipPose, basePose);
}
@ -367,7 +393,12 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
glm::vec3 baseToTipNormal = baseToTip / baseToTipLength;
int index = target.getIndex();
int endIndex = _skeleton->getParentIndex(_hipsIndex);
int endIndex;
if (target.getIndex() == _headIndex) {
endIndex = _skeleton->getParentIndex(_spine2Index);
} else {
endIndex = _skeleton->getParentIndex(_hipsIndex);
}
while (index != endIndex) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);

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

@ -51,12 +51,13 @@ protected:
QString _baseJointName;
QString _tipJointName;
int _baseParentJointIndex{ -1 };
int _baseJointIndex{ -1 };
int _tipJointIndex{ -1 };
int _headIndex{ -1 };
int _hipsIndex{ -1 };
int _hipsTargetIndex{ -1 };
int _baseParentJointIndex { -1 };
int _baseJointIndex { -1 };
int _tipJointIndex { -1 };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _spine2Index { -1 };
int _hipsTargetIndex { -1 };
QString _alphaVar; // float - (0, 1) 0 means underPoses only, 1 means IK only.
QString _enabledVar; // bool