mirror of
https://github.com/lubosz/overte.git
synced 2025-04-14 04:26:18 +02:00
added the interp for the possibility of extra flex coeffs
This commit is contained in:
Angus Antley
parent
fb0ad7768c
commit
e36877a861
3 changed files with 68 additions and 115 deletions
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@ -72,6 +72,7 @@ AnimSplineIK::~AnimSplineIK() {
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}
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const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
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assert(_children.size() == 1);
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if (_children.size() != 1) {
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return _poses;
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@ -85,7 +86,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
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AnimPoseVec underPoses = _children[0]->evaluate(animVars, context, dt, triggersOut);
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// if we don't have a skeleton, or jointName lookup failed or the spline alpha is 0 or there are no underposes.
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if (!_skeleton || _baseJointIndex == -1 || _tipJointIndex == -1 || alpha == 0.0f || underPoses.size() == 0) {
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if (!_skeleton || _baseJointIndex == -1 || _midJointIndex == -1 || _tipJointIndex == -1 || alpha == 0.0f || underPoses.size() == 0) {
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// pass underPoses through unmodified.
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_poses = underPoses;
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return _poses;
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@ -136,6 +137,28 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
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_poses[_baseJointIndex] = baseParentAbsPose.inverse() * baseTargetAbsolutePose;
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_poses[_baseJointIndex].scale() = glm::vec3(1.0f);
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// initialize the middle joint target
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IKTarget midTarget;
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midTarget.setType((int)IKTarget::Type::Spline);
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midTarget.setIndex(_midJointIndex);
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AnimPose absPoseMid = _skeleton->getAbsolutePose(_midJointIndex, _poses);
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glm::quat midTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, absPoseMid.rot());
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glm::vec3 midTargetPosition = animVars.lookupRigToGeometry(_midPositionVar, absPoseMid.trans());
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midTarget.setPose(midTargetRotation, midTargetPosition);
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midTarget.setWeight(1.0f);
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midTarget.setFlexCoefficients(_numMidTargetFlexCoefficients, _midTargetFlexCoefficients);
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// solve the lower spine spline
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AnimChain midJointChain;
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AnimPoseVec absolutePosesAfterBaseTipSpline;
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absolutePosesAfterBaseTipSpline.resize(_poses.size());
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computeAbsolutePoses(absolutePosesAfterBaseTipSpline);
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midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
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solveTargetWithSpline(context, _baseJointIndex, midTarget, absolutePosesAfterBaseTipSpline, context.getEnableDebugDrawIKChains(), midJointChain);
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midJointChain.outputRelativePoses(_poses);
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// initialize the tip target
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IKTarget tipTarget;
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tipTarget.setType((int)IKTarget::Type::Spline);
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@ -147,72 +170,15 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
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tipTarget.setWeight(1.0f);
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tipTarget.setFlexCoefficients(_numTipTargetFlexCoefficients, _tipTargetFlexCoefficients);
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/*
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AnimChain jointChain;
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AnimPoseVec absolutePoses;
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absolutePoses.resize(_poses.size());
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computeAbsolutePoses(absolutePoses);
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jointChain.buildFromRelativePoses(_skeleton, _poses, tipTarget.getIndex());
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solveTargetWithSpline(context, _baseJointIndex, tipTarget, absolutePoses, context.getEnableDebugDrawIKChains(), jointChain);
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jointChain.buildDirtyAbsolutePoses();
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jointChain.outputRelativePoses(_poses);
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*/
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IKTarget midTarget;
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if (_midJointIndex != -1) {
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// initialize the middle joint target
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midTarget.setType((int)IKTarget::Type::Spline);
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midTarget.setIndex(_midJointIndex);
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// set the middle joint to the position that was just determined by the base-tip spline.
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AnimPose afterSolveMidTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
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// use the rotation from the ik target value, if there is one.
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glm::quat midTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveMidTarget.rot());
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glm::vec3 midTargetPosition = animVars.lookupRigToGeometry(_midPositionVar, afterSolveMidTarget.trans());
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AnimPose updatedMidTarget = AnimPose(midTargetRotation, midTargetPosition);
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//qCDebug(animation) << "spine2 in AnimSpline " << updatedMidTarget.trans();
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midTarget.setPose(updatedMidTarget.rot(), updatedMidTarget.trans());
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midTarget.setWeight(1.0f);
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midTarget.setFlexCoefficients(_numMidTargetFlexCoefficients, _midTargetFlexCoefficients);
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AnimChain midJointChain;
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// Find the pose of the middle target's child. This is to correct the mid to tip
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// after the base to mid spline is set.
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int childOfMiddleJointIndex = -1;
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AnimPose childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
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childOfMiddleJointIndex = _tipJointIndex;
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while ((_skeleton->getParentIndex(childOfMiddleJointIndex) != _midJointIndex) && (childOfMiddleJointIndex != -1)) {
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childOfMiddleJointIndex = _skeleton->getParentIndex(childOfMiddleJointIndex);
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}
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// if the middle joint is not actually between the base and the tip then don't create spline for it
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if (childOfMiddleJointIndex != -1) {
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childOfMiddleJointAbsolutePoseAfterBaseTipSpline = _skeleton->getAbsolutePose(childOfMiddleJointIndex, _poses);
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AnimPoseVec absolutePosesAfterBaseTipSpline;
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absolutePosesAfterBaseTipSpline.resize(_poses.size());
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computeAbsolutePoses(absolutePosesAfterBaseTipSpline);
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midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
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solveTargetWithSpline(context, _baseJointIndex, midTarget, absolutePosesAfterBaseTipSpline, context.getEnableDebugDrawIKChains(), midJointChain);
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midJointChain.outputRelativePoses(_poses);
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// set the mid to tip segment to match the absolute rotation of the tip target.
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AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation());
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//_poses[childOfMiddleJointIndex] = midTargetPose.inverse() * childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
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}
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AnimChain upperJointChain;
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AnimPoseVec finalAbsolutePoses;
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finalAbsolutePoses.resize(_poses.size());
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computeAbsolutePoses(finalAbsolutePoses);
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upperJointChain.buildFromRelativePoses(_skeleton, _poses, tipTarget.getIndex());
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solveTargetWithSpline(context, _midJointIndex, tipTarget, finalAbsolutePoses, context.getEnableDebugDrawIKChains(), upperJointChain);
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upperJointChain.buildDirtyAbsolutePoses();
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upperJointChain.outputRelativePoses(_poses);
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}
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// solve the upper spine spline
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AnimChain upperJointChain;
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AnimPoseVec finalAbsolutePoses;
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finalAbsolutePoses.resize(_poses.size());
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computeAbsolutePoses(finalAbsolutePoses);
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upperJointChain.buildFromRelativePoses(_skeleton, _poses, tipTarget.getIndex());
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solveTargetWithSpline(context, _midJointIndex, tipTarget, finalAbsolutePoses, context.getEnableDebugDrawIKChains(), upperJointChain);
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upperJointChain.buildDirtyAbsolutePoses();
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upperJointChain.outputRelativePoses(_poses);
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// compute chain
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AnimChain ikChain;
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@ -279,17 +245,14 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
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} else if (context.getEnableDebugDrawIKTargets() != _previousEnableDebugIKTargets) {
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// remove markers if they were added last frame.
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QString name = QString("ikTargetSplineTip");
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DebugDraw::getInstance().removeMyAvatarMarker(name);
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if (_midJointIndex != -1) {
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QString name2 = QString("ikTargetSplineMid");
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DebugDraw::getInstance().removeMyAvatarMarker(name2);
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}
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QString name2 = QString("ikTargetSplineMid");
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DebugDraw::getInstance().removeMyAvatarMarker(name2);
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QString name3 = QString("ikTargetSplineBase");
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DebugDraw::getInstance().removeMyAvatarMarker(name3);
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}
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_previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets();
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@ -306,10 +269,6 @@ void AnimSplineIK::lookUpIndices() {
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_baseJointIndex = indices[0];
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_tipJointIndex = indices[1];
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_midJointIndex = indices[2];
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if (_baseJointIndex != -1) {
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_baseParentJointIndex = _skeleton->getParentIndex(_baseJointIndex);
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}
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}
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void AnimSplineIK::computeAbsolutePoses(AnimPoseVec& absolutePoses) const {
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@ -348,11 +307,9 @@ static CubicHermiteSplineFunctorWithArcLength computeSplineFromTipAndBase(const
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void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, int base, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug, AnimChain& chainInfoOut) const {
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const int baseIndex = base;
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// build spline from tip to base
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AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation());
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AnimPose basePose = absolutePoses[baseIndex];
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AnimPose basePose = absolutePoses[base];
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CubicHermiteSplineFunctorWithArcLength spline;
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if (target.getIndex() == _tipJointIndex) {
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@ -371,13 +328,12 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, int base, c
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if (glm::dot(halfRot * Vectors::UNIT_Z, basePose.rot() * Vectors::UNIT_Z) < 0.0f) {
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tipPose.rot() = -tipPose.rot();
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}
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// find or create splineJointInfo for this target
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const std::vector<SplineJointInfo>* splineJointInfoVec = findOrCreateSplineJointInfo(context, base, target);
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//qCDebug(animation) << "the size of the splineJointInfo is " << splineJointInfoVec->size() << " and the base index is "<<baseIndex;
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if (splineJointInfoVec && splineJointInfoVec->size() > 0) {
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const int baseParentIndex = _skeleton->getParentIndex(baseIndex);
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const int baseParentIndex = _skeleton->getParentIndex(base);
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AnimPose parentAbsPose = (baseParentIndex >= 0) ? absolutePoses[baseParentIndex] : AnimPose();
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// go thru splineJointInfoVec backwards (base to tip)
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for (int i = (int)splineJointInfoVec->size() - 1; i >= 0; i--) {
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@ -404,10 +360,27 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, int base, c
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// apply flex coefficent
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AnimPose flexedAbsPose;
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::blend(1, &absolutePoses[splineJointInfo.jointIndex], &desiredAbsPose, target.getFlexCoefficient(i), &flexedAbsPose);
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// get the number of flex coeff for this spline
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float interpedCoefficient = 1.0f;
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int numFlexCoeff = target.getNumFlexCoefficients();
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if (numFlexCoeff == splineJointInfoVec->size()) {
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// then do nothing special
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interpedCoefficient = target.getFlexCoefficient(i);
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} else {
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// interp based on ratio of the joint.
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if (splineJointInfo.ratio < 1.0f) {
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float flexInterp = splineJointInfo.ratio * (float)(numFlexCoeff - 1);
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int startCoeff = floor(flexInterp);
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float partial = flexInterp - startCoeff;
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interpedCoefficient = target.getFlexCoefficient(startCoeff) * (1 - partial) + target.getFlexCoefficient(startCoeff + 1) * partial;
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} else {
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interpedCoefficient = target.getFlexCoefficient(numFlexCoeff - 1);
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}
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}
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::blend(1, &absolutePoses[splineJointInfo.jointIndex], &desiredAbsPose, interpedCoefficient, &flexedAbsPose);
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AnimPose relPose = parentAbsPose.inverse() * flexedAbsPose;
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/*
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bool constrained = false;
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if (splineJointInfo.jointIndex != base) {
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// constrain the amount the spine can stretch or compress
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@ -429,7 +402,7 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, int base, c
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relPose.trans() = glm::vec3(0.0f);
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}
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}
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*/
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if (!chainInfoOut.setRelativePoseAtJointIndex(splineJointInfo.jointIndex, relPose)) {
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qCDebug(animation) << "we didn't find the joint index for the spline!!!!";
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}
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@ -463,8 +436,6 @@ const std::vector<AnimSplineIK::SplineJointInfo>* AnimSplineIK::findOrCreateSpli
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void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext& context, int base, const IKTarget& target) const {
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std::vector<SplineJointInfo> splineJointInfoVec;
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//qCDebug(animation) << "the base in compute cache is " << base;
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// build spline between the default poses.
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AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex());
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AnimPose basePose = _skeleton->getAbsoluteDefaultPose(base);
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@ -478,7 +449,6 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
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} else {
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spline = computeSplineFromTipAndBase(tipPose, basePose);
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}
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// measure the total arc length along the spline
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float totalArcLength = spline.arcLength(1.0f);
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@ -487,17 +457,12 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
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glm::vec3 baseToTipNormal = baseToTip / baseToTipLength;
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int index = target.getIndex();
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int endIndex;
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// fix this statement. AA
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if (target.getIndex() == _tipJointIndex) {
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endIndex = _skeleton->getParentIndex(base);
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} else {
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endIndex = _skeleton->getParentIndex(base);
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}
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int endIndex = _skeleton->getParentIndex(base);
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while (index != endIndex) {
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AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
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float ratio = glm::dot(defaultPose.trans() - basePose.trans(), baseToTipNormal) / baseToTipLength;
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glm::vec3 baseToCurrentJoint = defaultPose.trans() - basePose.trans();
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float ratio = glm::dot(baseToCurrentJoint, baseToTipNormal) / baseToTipLength;
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// compute offset from spline to the default pose.
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float t = spline.arcLengthInverse(ratio * totalArcLength);
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@ -520,15 +485,6 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
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_splineJointInfoMap[target.getIndex()] = splineJointInfoVec;
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}
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void AnimSplineIK::loadPoses(const AnimPoseVec& poses) {
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assert(_skeleton && ((poses.size() == 0) || (_skeleton->getNumJoints() == (int)poses.size())));
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if (_skeleton->getNumJoints() == (int)poses.size()) {
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_poses = poses;
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} else {
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_poses.clear();
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}
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}
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void AnimSplineIK::beginInterp(InterpType interpType, const AnimChain& chain) {
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// capture the current poses in a snapshot.
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_snapshotChain = chain;
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@ -63,6 +63,8 @@ protected:
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QString _midRotationVar;
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QString _tipPositionVar;
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QString _tipRotationVar;
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QString _alphaVar; // float - (0, 1) 0 means underPoses only, 1 means IK only.
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QString _enabledVar;
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static const int MAX_NUMBER_FLEX_VARIABLES = 10;
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float _tipTargetFlexCoefficients[MAX_NUMBER_FLEX_VARIABLES];
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@ -70,20 +72,15 @@ protected:
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int _numTipTargetFlexCoefficients { 0 };
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int _numMidTargetFlexCoefficients { 0 };
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int _baseParentJointIndex { -1 };
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int _baseJointIndex { -1 };
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int _midJointIndex { -1 };
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int _tipJointIndex { -1 };
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QString _alphaVar; // float - (0, 1) 0 means underPoses only, 1 means IK only.
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QString _enabledVar; // bool
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bool _previousEnableDebugIKTargets { false };
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InterpType _interpType{ InterpType::None };
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float _interpAlphaVel{ 0.0f };
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float _interpAlpha{ 0.0f };
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AnimChain _snapshotChain;
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// used to pre-compute information about each joint influenced by a spline IK target.
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@ -93,7 +90,6 @@ protected:
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AnimPose offsetPose; // local offset from the spline to the joint.
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};
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bool _lastEnableDebugDrawIKTargets { false };
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void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, int base, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug, AnimChain& chainInfoOut) const;
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void computeAndCacheSplineJointInfosForIKTarget(const AnimContext& context, int base, const IKTarget& target) const;
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const std::vector<SplineJointInfo>* findOrCreateSplineJointInfo(const AnimContext& context, int base, const IKTarget& target) const;
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@ -35,6 +35,8 @@ public:
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bool getPoleVectorEnabled() const { return _poleVectorEnabled; }
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int getIndex() const { return _index; }
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Type getType() const { return _type; }
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int getNumFlexCoefficients() const { return _numFlexCoefficients; }
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float getFlexCoefficient(size_t chainDepth) const;
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void setPose(const glm::quat& rotation, const glm::vec3& translation);
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void setPoleVector(const glm::vec3& poleVector) { _poleVector = poleVector; }
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@ -43,7 +45,6 @@ public:
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void setIndex(int index) { _index = index; }
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void setType(int);
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void setFlexCoefficients(size_t numFlexCoefficientsIn, const float* flexCoefficientsIn);
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float getFlexCoefficient(size_t chainDepth) const;
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void setWeight(float weight) { _weight = weight; }
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float getWeight() const { return _weight; }
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