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Merge pull request #11196 from hyperlogic/bug-fix/avatar-capsule-issues

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Fix for incorrectly sized avatar capsule collision
This commit is contained in:
Brad Hefta-Gaub 2017-08-16 09:58:39 -07:00 committed by GitHub
commit 714027d2e2
1 changed files with 8 additions and 55 deletions
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63
libraries/animation/src/Rig.cpp
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@ -168,6 +168,8 @@ void Rig::destroyAnimGraph() {
void Rig::initJointStates(const FBXGeometry& geometry, const glm::mat4& modelOffset) {
_geometryOffset = AnimPose(geometry.offset);
_invGeometryOffset = _geometryOffset.inverse();
_geometryToRigTransform = modelOffset * geometry.offset;
_rigToGeometryTransform = glm::inverse(_geometryToRigTransform);
setModelOffset(modelOffset);
_animSkeleton = std::make_shared<AnimSkeleton>(geometry);
@ -1761,59 +1763,11 @@ void Rig::computeAvatarBoundingCapsule(
return;
}
AnimInverseKinematics ikNode("boundingShape");
ikNode.setSkeleton(_animSkeleton);
ikNode.setTargetVars("LeftHand", "leftHandPosition", "leftHandRotation",
"leftHandType", "leftHandWeight", 1.0f, {},
QString(), QString(), QString());
ikNode.setTargetVars("RightHand", "rightHandPosition", "rightHandRotation",
"rightHandType", "rightHandWeight", 1.0f, {},
QString(), QString(), QString());
ikNode.setTargetVars("LeftFoot", "leftFootPosition", "leftFootRotation",
"leftFootType", "leftFootWeight", 1.0f, {},
QString(), QString(), QString());
ikNode.setTargetVars("RightFoot", "rightFootPosition", "rightFootRotation",
"rightFootType", "rightFootWeight", 1.0f, {},
QString(), QString(), QString());
glm::vec3 hipsPosition(0.0f);
int hipsIndex = indexOfJoint("Hips");
if (hipsIndex >= 0) {
hipsPosition = transformPoint(_geometryToRigTransform, _animSkeleton->getAbsoluteDefaultPose(hipsIndex).trans());
}
AnimVariantMap animVars;
animVars.setRigToGeometryTransform(_rigToGeometryTransform);
glm::quat handRotation = glm::angleAxis(PI, Vectors::UNIT_X);
animVars.set("leftHandPosition", hipsPosition);
animVars.set("leftHandRotation", handRotation);
animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightHandPosition", hipsPosition);
animVars.set("rightHandRotation", handRotation);
animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
int rightFootIndex = indexOfJoint("RightFoot");
int leftFootIndex = indexOfJoint("LeftFoot");
if (rightFootIndex != -1 && leftFootIndex != -1) {
glm::vec3 geomFootPosition = glm::vec3(0.0f, _animSkeleton->getAbsoluteDefaultPose(rightFootIndex).trans().y, 0.0f);
glm::vec3 footPosition = transformPoint(_geometryToRigTransform, geomFootPosition);
glm::quat footRotation = glm::angleAxis(0.5f * PI, Vectors::UNIT_X);
animVars.set("leftFootPosition", footPosition);
animVars.set("leftFootRotation", footRotation);
animVars.set("leftFootType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightFootPosition", footPosition);
animVars.set("rightFootRotation", footRotation);
animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition);
}
// call overlay twice: once to verify AnimPoseVec joints and again to do the IK
AnimNode::Triggers triggersOut;
AnimContext context(false, false, false, _geometryToRigTransform, _rigToGeometryTransform);
float dt = 1.0f; // the value of this does not matter
ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
AnimPoseVec finalPoses = ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
// convert relative poses to absolute
_animSkeleton->convertRelativePosesToAbsolute(finalPoses);
// compute bounding box that encloses all points
Extents totalExtents;
@ -1824,15 +1778,15 @@ void Rig::computeAvatarBoundingCapsule(
// even if they do not have legs (default robot)
totalExtents.addPoint(glm::vec3(0.0f));
// HACK to reduce the radius of the bounding capsule to be tight with the torso, we only consider joints
// To reduce the radius of the bounding capsule to be tight with the torso, we only consider joints
// from the head to the hips when computing the rest of the bounding capsule.
int index = indexOfJoint("Head");
while (index != -1) {
const FBXJointShapeInfo& shapeInfo = geometry.joints.at(index).shapeInfo;
AnimPose pose = finalPoses[index];
AnimPose pose = _animSkeleton->getAbsoluteDefaultPose(index);
if (shapeInfo.points.size() > 0) {
for (size_t j = 0; j < shapeInfo.points.size(); ++j) {
totalExtents.addPoint((pose * shapeInfo.points[j]));
for (auto& point : shapeInfo.points) {
totalExtents.addPoint((pose * point));
}
}
index = _animSkeleton->getParentIndex(index);
@ -1846,7 +1800,6 @@ void Rig::computeAvatarBoundingCapsule(
radiusOut = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
heightOut = diagonal.y - 2.0f * radiusOut;
glm::vec3 rootPosition = finalPoses[geometry.rootJointIndex].trans();
glm::vec3 rigCenter = transformPoint(_geometryToRigTransform, (0.5f * (totalExtents.maximum + totalExtents.minimum)));
localOffsetOut = rigCenter - transformPoint(_geometryToRigTransform, rootPosition);
glm::vec3 capsuleCenter = transformPoint(_geometryToRigTransform, (0.5f * (totalExtents.maximum + totalExtents.minimum)));
localOffsetOut = capsuleCenter - hipsPosition;
}