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Merge pull request #14926 from luiscuenca/flowCpp
Cpp implementation of the Flow script
This commit is contained in:
Anthony Thibault
GitHub
commit
e54754c4ce
10 changed files with 1233 additions and 7 deletions
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@ -297,6 +297,9 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
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avatar->setIsNewAvatar(false);
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}
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avatar->simulate(deltaTime, inView);
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if (avatar->getSkeletonModel()->isLoaded() && avatar->getWorkloadRegion() == workload::Region::R1) {
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_myAvatar->addAvatarHandsToFlow(avatar);
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}
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avatar->updateRenderItem(renderTransaction);
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avatar->updateSpaceProxy(workloadTransaction);
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avatar->setLastRenderUpdateTime(startTime);
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66
interface/src/avatar/MyAvatar.cpp
Executable file → Normal file
66
interface/src/avatar/MyAvatar.cpp
Executable file → Normal file
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@ -5313,6 +5313,72 @@ void MyAvatar::releaseGrab(const QUuid& grabID) {
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}
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}
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void MyAvatar::addAvatarHandsToFlow(const std::shared_ptr<Avatar>& otherAvatar) {
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auto &flow = _skeletonModel->getRig().getFlow();
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for (auto &handJointName : HAND_COLLISION_JOINTS) {
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int jointIndex = otherAvatar->getJointIndex(handJointName);
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if (jointIndex != -1) {
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glm::vec3 position = otherAvatar->getJointPosition(jointIndex);
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flow.setOthersCollision(otherAvatar->getID(), jointIndex, position);
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}
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}
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}
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void MyAvatar::useFlow(bool isActive, bool isCollidable, const QVariantMap& physicsConfig, const QVariantMap& collisionsConfig) {
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if (_skeletonModel->isLoaded()) {
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_skeletonModel->getRig().initFlow(isActive);
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auto &flow = _skeletonModel->getRig().getFlow();
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auto &collisionSystem = flow.getCollisionSystem();
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collisionSystem.setActive(isCollidable);
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auto physicsGroups = physicsConfig.keys();
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if (physicsGroups.size() > 0) {
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for (auto &groupName : physicsGroups) {
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auto settings = physicsConfig[groupName].toMap();
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FlowPhysicsSettings physicsSettings;
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if (settings.contains("active")) {
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physicsSettings._active = settings["active"].toBool();
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}
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if (settings.contains("damping")) {
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physicsSettings._damping = settings["damping"].toFloat();
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}
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if (settings.contains("delta")) {
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physicsSettings._delta = settings["delta"].toFloat();
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}
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if (settings.contains("gravity")) {
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physicsSettings._gravity = settings["gravity"].toFloat();
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}
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if (settings.contains("inertia")) {
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physicsSettings._inertia = settings["inertia"].toFloat();
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}
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if (settings.contains("radius")) {
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physicsSettings._radius = settings["radius"].toFloat();
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}
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if (settings.contains("stiffness")) {
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physicsSettings._stiffness = settings["stiffness"].toFloat();
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}
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flow.setPhysicsSettingsForGroup(groupName, physicsSettings);
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}
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}
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auto collisionJoints = collisionsConfig.keys();
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if (collisionJoints.size() > 0) {
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collisionSystem.resetCollisions();
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for (auto &jointName : collisionJoints) {
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int jointIndex = getJointIndex(jointName);
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FlowCollisionSettings collisionsSettings;
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auto settings = collisionsConfig[jointName].toMap();
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collisionsSettings._entityID = getID();
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if (settings.contains("radius")) {
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collisionsSettings._radius = settings["radius"].toFloat();
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}
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if (settings.contains("offset")) {
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collisionsSettings._offset = vec3FromVariant(settings["offset"]);
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}
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collisionSystem.addCollisionSphere(jointIndex, collisionsSettings);
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}
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}
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}
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}
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void MyAvatar::sendPacket(const QUuid& entityID, const EntityItemProperties& properties) const {
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auto treeRenderer = DependencyManager::get<EntityTreeRenderer>();
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EntityTreePointer entityTree = treeRenderer ? treeRenderer->getTree() : nullptr;
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@ -1183,6 +1183,20 @@ public:
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void updateAvatarEntity(const QUuid& entityID, const QByteArray& entityData) override;
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void avatarEntityDataToJson(QJsonObject& root) const override;
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int sendAvatarDataPacket(bool sendAll = false) override;
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void addAvatarHandsToFlow(const std::shared_ptr<Avatar>& otherAvatar);
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/**jsdoc
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* Init flow simulation on avatar.
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* @function MyAvatar.useFlow
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* @param {boolean} - Set to <code>true</code> to activate flow simulation.
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* @param {boolean} - Set to <code>true</code> to activate collisions.
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* @param {Object} physicsConfig - object with the customized physic parameters
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* i.e. {"hair": {"active": true, "stiffness": 0.0, "radius": 0.04, "gravity": -0.035, "damping": 0.8, "inertia": 0.8, "delta": 0.35}}
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* @param {Object} collisionsConfig - object with the customized collision parameters
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* i.e. {"Spine2": {"type": "sphere", "radius": 0.14, "offset": {"x": 0.0, "y": 0.2, "z": 0.0}}}
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*/
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Q_INVOKABLE void useFlow(bool isActive, bool isCollidable, const QVariantMap& physicsConfig = QVariantMap(), const QVariantMap& collisionsConfig = QVariantMap());
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public slots:
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@ -368,7 +368,6 @@ void OtherAvatar::simulate(float deltaTime, bool inView) {
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PROFILE_RANGE(simulation, "grabs");
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applyGrabChanges();
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}
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updateFadingStatus();
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}
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@ -48,6 +48,7 @@ public:
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void rebuildCollisionShape() override;
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void setWorkloadRegion(uint8_t region);
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uint8_t getWorkloadRegion() { return _workloadRegion; }
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bool shouldBeInPhysicsSimulation() const;
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bool needsPhysicsUpdate() const;
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783
libraries/animation/src/Flow.cpp
Normal file
783
libraries/animation/src/Flow.cpp
Normal file
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@ -0,0 +1,783 @@
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//
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// Flow.cpp
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//
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// Created by Luis Cuenca on 1/21/2019.
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// Copyright 2019 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#include "Flow.h"
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#include "Rig.h"
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#include "AnimSkeleton.h"
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const std::map<QString, FlowPhysicsSettings> PRESET_FLOW_DATA = { { "hair", FlowPhysicsSettings() },
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{ "skirt", FlowPhysicsSettings(true, 1.0f, DEFAULT_GRAVITY, 0.65f, 0.8f, 0.45f, 0.01f) },
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{ "breast", FlowPhysicsSettings(true, 1.0f, DEFAULT_GRAVITY, 0.65f, 0.8f, 0.45f, 0.01f) } };
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const std::map<QString, FlowCollisionSettings> PRESET_COLLISION_DATA = {
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{ "Spine2", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, 0.2f, 0.0f), 0.14f) },
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{ "LeftArm", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, 0.02f, 0.0f), 0.05f) },
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{ "RightArm", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, 0.02f, 0.0f), 0.05f) },
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{ "HeadTop_End", FlowCollisionSettings(QUuid(), FlowCollisionType::CollisionSphere, glm::vec3(0.0f, -0.15f, 0.0f), 0.09f) }
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};
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FlowCollisionSphere::FlowCollisionSphere(const int& jointIndex, const FlowCollisionSettings& settings, bool isTouch) {
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_jointIndex = jointIndex;
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_radius = _initialRadius = settings._radius;
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_offset = _initialOffset = settings._offset;
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_entityID = settings._entityID;
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_isTouch = isTouch;
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}
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FlowCollisionResult FlowCollisionSphere::computeSphereCollision(const glm::vec3& point, float radius) const {
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FlowCollisionResult result;
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auto centerToJoint = point - _position;
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result._distance = glm::length(centerToJoint) - radius;
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result._offset = _radius - result._distance;
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result._normal = glm::normalize(centerToJoint);
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result._radius = _radius;
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result._position = _position;
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return result;
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}
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FlowCollisionResult FlowCollisionSphere::checkSegmentCollision(const glm::vec3& point1, const glm::vec3& point2, const FlowCollisionResult& collisionResult1, const FlowCollisionResult& collisionResult2) {
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FlowCollisionResult result;
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auto segment = point2 - point1;
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auto segmentLength = glm::length(segment);
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auto maxDistance = glm::sqrt(powf(collisionResult1._radius, 2.0f) + powf(segmentLength, 2.0f));
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if (collisionResult1._distance < maxDistance && collisionResult2._distance < maxDistance) {
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float segmentPercentage = collisionResult1._distance / (collisionResult1._distance + collisionResult2._distance);
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glm::vec3 collisionPoint = point1 + segment * segmentPercentage;
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glm::vec3 centerToSegment = collisionPoint - _position;
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float distance = glm::length(centerToSegment);
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if (distance < _radius) {
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result._offset = _radius - distance;
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result._position = _position;
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result._radius = _radius;
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result._normal = glm::normalize(centerToSegment);
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result._distance = distance;
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}
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}
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return result;
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}
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void FlowCollisionSystem::addCollisionSphere(int jointIndex, const FlowCollisionSettings& settings, const glm::vec3& position, bool isSelfCollision, bool isTouch) {
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auto collision = FlowCollisionSphere(jointIndex, settings, isTouch);
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collision.setPosition(position);
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if (isSelfCollision) {
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_selfCollisions.push_back(collision);
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} else {
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_othersCollisions.push_back(collision);
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}
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};
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void FlowCollisionSystem::resetCollisions() {
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_allCollisions.clear();
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_othersCollisions.clear();
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_selfCollisions.clear();
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}
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FlowCollisionResult FlowCollisionSystem::computeCollision(const std::vector<FlowCollisionResult> collisions) {
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FlowCollisionResult result;
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if (collisions.size() > 1) {
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for (size_t i = 0; i < collisions.size(); i++) {
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result._offset += collisions[i]._offset;
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result._normal = result._normal + collisions[i]._normal * collisions[i]._distance;
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result._position = result._position + collisions[i]._position;
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result._radius += collisions[i]._radius;
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result._distance += collisions[i]._distance;
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}
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result._offset = result._offset / collisions.size();
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result._radius = 0.5f * glm::length(result._normal);
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result._normal = glm::normalize(result._normal);
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result._position = result._position / (float)collisions.size();
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result._distance = result._distance / collisions.size();
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} else if (collisions.size() == 1) {
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result = collisions[0];
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}
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result._count = (int)collisions.size();
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return result;
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};
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void FlowCollisionSystem::setScale(float scale) {
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_scale = scale;
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for (size_t j = 0; j < _selfCollisions.size(); j++) {
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_selfCollisions[j]._radius = _selfCollisions[j]._initialRadius * scale;
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_selfCollisions[j]._offset = _selfCollisions[j]._initialOffset * scale;
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}
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};
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std::vector<FlowCollisionResult> FlowCollisionSystem::checkFlowThreadCollisions(FlowThread* flowThread) {
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std::vector<std::vector<FlowCollisionResult>> FlowThreadResults;
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FlowThreadResults.resize(flowThread->_joints.size());
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for (size_t j = 0; j < _allCollisions.size(); j++) {
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FlowCollisionSphere &sphere = _allCollisions[j];
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FlowCollisionResult rootCollision = sphere.computeSphereCollision(flowThread->_positions[0], flowThread->_radius);
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std::vector<FlowCollisionResult> collisionData = { rootCollision };
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bool tooFar = rootCollision._distance >(flowThread->_length + rootCollision._radius);
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FlowCollisionResult nextCollision;
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if (!tooFar) {
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if (sphere._isTouch) {
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for (size_t i = 1; i < flowThread->_joints.size(); i++) {
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auto prevCollision = collisionData[i - 1];
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nextCollision = _allCollisions[j].computeSphereCollision(flowThread->_positions[i], flowThread->_radius);
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collisionData.push_back(nextCollision);
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if (prevCollision._offset > 0.0f) {
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if (i == 1) {
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FlowThreadResults[i - 1].push_back(prevCollision);
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}
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} else if (nextCollision._offset > 0.0f) {
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FlowThreadResults[i].push_back(nextCollision);
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} else {
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FlowCollisionResult segmentCollision = _allCollisions[j].checkSegmentCollision(flowThread->_positions[i - 1], flowThread->_positions[i], prevCollision, nextCollision);
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if (segmentCollision._offset > 0) {
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FlowThreadResults[i - 1].push_back(segmentCollision);
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FlowThreadResults[i].push_back(segmentCollision);
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}
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}
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}
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} else {
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if (rootCollision._offset > 0.0f) {
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FlowThreadResults[0].push_back(rootCollision);
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}
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for (size_t i = 1; i < flowThread->_joints.size(); i++) {
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nextCollision = _allCollisions[j].computeSphereCollision(flowThread->_positions[i], flowThread->_radius);
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if (nextCollision._offset > 0.0f) {
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FlowThreadResults[i].push_back(nextCollision);
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}
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}
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}
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}
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}
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std::vector<FlowCollisionResult> results;
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for (size_t i = 0; i < flowThread->_joints.size(); i++) {
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results.push_back(computeCollision(FlowThreadResults[i]));
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}
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return results;
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};
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FlowCollisionSettings FlowCollisionSystem::getCollisionSettingsByJoint(int jointIndex) {
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for (auto &collision : _selfCollisions) {
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if (collision._jointIndex == jointIndex) {
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return FlowCollisionSettings(collision._entityID, FlowCollisionType::CollisionSphere, collision._initialOffset, collision._initialRadius);
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}
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}
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return FlowCollisionSettings();
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}
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void FlowCollisionSystem::setCollisionSettingsByJoint(int jointIndex, const FlowCollisionSettings& settings) {
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for (auto &collision : _selfCollisions) {
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if (collision._jointIndex == jointIndex) {
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collision._initialRadius = settings._radius;
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collision._initialOffset = settings._offset;
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collision._radius = _scale * settings._radius;
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collision._offset = _scale * settings._offset;
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}
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}
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}
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void FlowCollisionSystem::prepareCollisions() {
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_allCollisions.clear();
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_allCollisions.resize(_selfCollisions.size() + _othersCollisions.size());
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std::copy(_selfCollisions.begin(), _selfCollisions.begin() + _selfCollisions.size(), _allCollisions.begin());
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std::copy(_othersCollisions.begin(), _othersCollisions.begin() + _othersCollisions.size(), _allCollisions.begin() + _selfCollisions.size());
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_othersCollisions.clear();
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}
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FlowNode::FlowNode(const glm::vec3& initialPosition, FlowPhysicsSettings settings) {
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_initialPosition = _previousPosition = _currentPosition = initialPosition;
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_initialRadius = settings._radius;
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}
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void FlowNode::update(float deltaTime, const glm::vec3& accelerationOffset) {
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_acceleration = glm::vec3(0.0f, _settings._gravity, 0.0f);
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_previousVelocity = _currentVelocity;
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_currentVelocity = _currentPosition - _previousPosition;
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_previousPosition = _currentPosition;
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if (!_anchored) {
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// Add inertia
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const float FPS = 60.0f;
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float timeRatio = _scale * (FPS * deltaTime);
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float invertedTimeRatio = timeRatio > 0.0f ? 1.0f / timeRatio : 1.0f;
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auto deltaVelocity = _previousVelocity - _currentVelocity;
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auto centrifugeVector = glm::length(deltaVelocity) != 0.0f ? glm::normalize(deltaVelocity) : glm::vec3();
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_acceleration = _acceleration + centrifugeVector * _settings._inertia * glm::length(_currentVelocity) * invertedTimeRatio;
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// Add offset
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_acceleration += accelerationOffset;
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float accelerationFactor = powf(_settings._delta, 2.0f) * timeRatio;
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glm::vec3 deltaAcceleration = _acceleration * accelerationFactor;
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// Calculate new position
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_currentPosition = _currentPosition + (_currentVelocity * _settings._damping) + deltaAcceleration;
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} else {
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_acceleration = glm::vec3(0.0f);
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_currentVelocity = glm::vec3(0.0f);
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}
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};
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void FlowNode::solve(const glm::vec3& constrainPoint, float maxDistance, const FlowCollisionResult& collision) {
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solveConstraints(constrainPoint, maxDistance);
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solveCollisions(collision);
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};
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void FlowNode::solveConstraints(const glm::vec3& constrainPoint, float maxDistance) {
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glm::vec3 constrainVector = _currentPosition - constrainPoint;
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float difference = maxDistance / glm::length(constrainVector);
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_currentPosition = difference < 1.0f ? constrainPoint + constrainVector * difference : _currentPosition;
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};
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void FlowNode::solveCollisions(const FlowCollisionResult& collision) {
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_colliding = collision._offset > 0.0f;
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_collision = collision;
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if (_colliding) {
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_currentPosition = _currentPosition + collision._normal * collision._offset;
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_previousCollision = collision;
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} else {
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_previousCollision = FlowCollisionResult();
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}
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};
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FlowJoint::FlowJoint(int jointIndex, int parentIndex, int childIndex, const QString& name, const QString& group, const FlowPhysicsSettings& settings) {
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_index = jointIndex;
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_name = name;
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_group = group;
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_childIndex = childIndex;
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_parentIndex = parentIndex;
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FlowNode(glm::vec3(), settings);
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};
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void FlowJoint::setInitialData(const glm::vec3& initialPosition, const glm::vec3& initialTranslation, const glm::quat& initialRotation, const glm::vec3& parentPosition) {
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_initialPosition = initialPosition;
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_previousPosition = initialPosition;
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_currentPosition = initialPosition;
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_initialTranslation = initialTranslation;
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_currentRotation = initialRotation;
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_initialRotation = initialRotation;
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_translationDirection = glm::normalize(_initialTranslation);
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_parentPosition = parentPosition;
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_initialLength = _length = glm::length(_initialPosition - parentPosition);
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}
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void FlowJoint::setUpdatedData(const glm::vec3& updatedPosition, const glm::vec3& updatedTranslation, const glm::quat& updatedRotation, const glm::vec3& parentPosition, const glm::quat& parentWorldRotation) {
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_updatedPosition = updatedPosition;
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_updatedRotation = updatedRotation;
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_updatedTranslation = updatedTranslation;
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_parentPosition = parentPosition;
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_parentWorldRotation = parentWorldRotation;
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}
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|
||||
void FlowJoint::setRecoveryPosition(const glm::vec3& recoveryPosition) {
|
||||
_recoveryPosition = recoveryPosition;
|
||||
_applyRecovery = true;
|
||||
}
|
||||
|
||||
void FlowJoint::update(float deltaTime) {
|
||||
glm::vec3 accelerationOffset = glm::vec3(0.0f);
|
||||
if (_settings._stiffness > 0.0f) {
|
||||
glm::vec3 recoveryVector = _recoveryPosition - _currentPosition;
|
||||
float recoveryFactor = powf(_settings._stiffness, 3.0f);
|
||||
accelerationOffset = recoveryVector * recoveryFactor;
|
||||
}
|
||||
FlowNode::update(deltaTime, accelerationOffset);
|
||||
if (_anchored) {
|
||||
if (!_isHelper) {
|
||||
_currentPosition = _updatedPosition;
|
||||
} else {
|
||||
_currentPosition = _parentPosition;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void FlowJoint::setScale(float scale, bool initScale) {
|
||||
if (initScale) {
|
||||
_initialLength = _length / scale;
|
||||
}
|
||||
_settings._radius = _initialRadius * scale;
|
||||
_length = _initialLength * scale;
|
||||
_scale = scale;
|
||||
}
|
||||
|
||||
void FlowJoint::solve(const FlowCollisionResult& collision) {
|
||||
FlowNode::solve(_parentPosition, _length, collision);
|
||||
};
|
||||
|
||||
void FlowJoint::toHelperJoint(const glm::vec3& initialPosition, float length) {
|
||||
_initialPosition = initialPosition;
|
||||
_isHelper = true;
|
||||
_length = length;
|
||||
}
|
||||
|
||||
FlowThread::FlowThread(int rootIndex, std::map<int, FlowJoint>* joints) {
|
||||
_jointsPointer = joints;
|
||||
computeFlowThread(rootIndex);
|
||||
}
|
||||
|
||||
void FlowThread::resetLength() {
|
||||
_length = 0.0f;
|
||||
for (size_t i = 1; i < _joints.size(); i++) {
|
||||
int index = _joints[i];
|
||||
_length += _jointsPointer->at(index)._length;
|
||||
}
|
||||
}
|
||||
|
||||
void FlowThread::computeFlowThread(int rootIndex) {
|
||||
int parentIndex = rootIndex;
|
||||
if (_jointsPointer->size() == 0) {
|
||||
return;
|
||||
}
|
||||
int childIndex = _jointsPointer->at(parentIndex)._childIndex;
|
||||
std::vector<int> indexes = { parentIndex };
|
||||
for (size_t i = 0; i < _jointsPointer->size(); i++) {
|
||||
if (childIndex > -1) {
|
||||
indexes.push_back(childIndex);
|
||||
childIndex = _jointsPointer->at(childIndex)._childIndex;
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
_length = 0.0f;
|
||||
for (size_t i = 0; i < indexes.size(); i++) {
|
||||
int index = indexes[i];
|
||||
_joints.push_back(index);
|
||||
if (i > 0) {
|
||||
_length += _jointsPointer->at(index)._length;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void FlowThread::computeRecovery() {
|
||||
int parentIndex = _joints[0];
|
||||
auto parentJoint = _jointsPointer->at(parentIndex);
|
||||
_jointsPointer->at(parentIndex)._recoveryPosition = parentJoint._recoveryPosition = parentJoint._currentPosition;
|
||||
glm::quat parentRotation = parentJoint._parentWorldRotation * parentJoint._initialRotation;
|
||||
for (size_t i = 1; i < _joints.size(); i++) {
|
||||
auto joint = _jointsPointer->at(_joints[i]);
|
||||
_jointsPointer->at(_joints[i])._recoveryPosition = joint._recoveryPosition = parentJoint._recoveryPosition + (parentRotation * (joint._initialTranslation * 0.01f));
|
||||
parentJoint = joint;
|
||||
}
|
||||
};
|
||||
|
||||
void FlowThread::update(float deltaTime) {
|
||||
_positions.clear();
|
||||
auto &firstJoint = _jointsPointer->at(_joints[0]);
|
||||
_radius = firstJoint._settings._radius;
|
||||
computeRecovery();
|
||||
for (size_t i = 0; i < _joints.size(); i++) {
|
||||
auto &joint = _jointsPointer->at(_joints[i]);
|
||||
joint.update(deltaTime);
|
||||
_positions.push_back(joint._currentPosition);
|
||||
}
|
||||
};
|
||||
|
||||
void FlowThread::solve(FlowCollisionSystem& collisionSystem) {
|
||||
if (collisionSystem.getActive()) {
|
||||
auto bodyCollisions = collisionSystem.checkFlowThreadCollisions(this);
|
||||
for (size_t i = 0; i < _joints.size(); i++) {
|
||||
int index = _joints[i];
|
||||
_jointsPointer->at(index).solve(bodyCollisions[i]);
|
||||
}
|
||||
} else {
|
||||
for (size_t i = 0; i < _joints.size(); i++) {
|
||||
int index = _joints[i];
|
||||
_jointsPointer->at(index).solve(FlowCollisionResult());
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
void FlowThread::computeJointRotations() {
|
||||
|
||||
auto pos0 = _rootFramePositions[0];
|
||||
auto pos1 = _rootFramePositions[1];
|
||||
|
||||
auto joint0 = _jointsPointer->at(_joints[0]);
|
||||
auto joint1 = _jointsPointer->at(_joints[1]);
|
||||
|
||||
auto initial_pos1 = pos0 + (joint0._initialRotation * (joint1._initialTranslation * 0.01f));
|
||||
|
||||
auto vec0 = initial_pos1 - pos0;
|
||||
auto vec1 = pos1 - pos0;
|
||||
|
||||
auto delta = rotationBetween(vec0, vec1);
|
||||
|
||||
joint0._currentRotation = _jointsPointer->at(_joints[0])._currentRotation = delta * joint0._initialRotation;
|
||||
|
||||
for (size_t i = 1; i < _joints.size() - 1; i++) {
|
||||
auto nextJoint = _jointsPointer->at(_joints[i + 1]);
|
||||
for (size_t j = i; j < _joints.size(); j++) {
|
||||
_rootFramePositions[j] = glm::inverse(joint0._currentRotation) * _rootFramePositions[j] - (joint0._initialTranslation * 0.01f);
|
||||
}
|
||||
pos0 = _rootFramePositions[i];
|
||||
pos1 = _rootFramePositions[i + 1];
|
||||
initial_pos1 = pos0 + joint1._initialRotation * (nextJoint._initialTranslation * 0.01f);
|
||||
|
||||
vec0 = initial_pos1 - pos0;
|
||||
vec1 = pos1 - pos0;
|
||||
|
||||
delta = rotationBetween(vec0, vec1);
|
||||
|
||||
joint1._currentRotation = _jointsPointer->at(joint1._index)._currentRotation = delta * joint1._initialRotation;
|
||||
joint0 = joint1;
|
||||
joint1 = nextJoint;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void FlowThread::setScale(float scale, bool initScale) {
|
||||
for (size_t i = 0; i < _joints.size(); i++) {
|
||||
auto &joint = _jointsPointer->at(_joints[i]);
|
||||
joint.setScale(scale, initScale);
|
||||
}
|
||||
resetLength();
|
||||
}
|
||||
|
||||
FlowThread& FlowThread::operator=(const FlowThread& otherFlowThread) {
|
||||
for (int jointIndex: otherFlowThread._joints) {
|
||||
auto& joint = otherFlowThread._jointsPointer->at(jointIndex);
|
||||
auto& myJoint = _jointsPointer->at(jointIndex);
|
||||
myJoint._acceleration = joint._acceleration;
|
||||
myJoint._currentPosition = joint._currentPosition;
|
||||
myJoint._currentRotation = joint._currentRotation;
|
||||
myJoint._currentVelocity = joint._currentVelocity;
|
||||
myJoint._length = joint._length;
|
||||
myJoint._parentPosition = joint._parentPosition;
|
||||
myJoint._parentWorldRotation = joint._parentWorldRotation;
|
||||
myJoint._previousPosition = joint._previousPosition;
|
||||
myJoint._previousVelocity = joint._previousVelocity;
|
||||
myJoint._scale = joint._scale;
|
||||
myJoint._translationDirection = joint._translationDirection;
|
||||
myJoint._updatedPosition = joint._updatedPosition;
|
||||
myJoint._updatedRotation = joint._updatedRotation;
|
||||
myJoint._updatedTranslation = joint._updatedTranslation;
|
||||
myJoint._isHelper = joint._isHelper;
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
void Flow::calculateConstraints(const std::shared_ptr<AnimSkeleton>& skeleton,
|
||||
AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses) {
|
||||
cleanUp();
|
||||
if (!skeleton) {
|
||||
return;
|
||||
}
|
||||
auto flowPrefix = FLOW_JOINT_PREFIX.toUpper();
|
||||
auto simPrefix = SIM_JOINT_PREFIX.toUpper();
|
||||
std::vector<int> handsIndices;
|
||||
|
||||
for (int i = 0; i < skeleton->getNumJoints(); i++) {
|
||||
auto name = skeleton->getJointName(i);
|
||||
if (std::find(HAND_COLLISION_JOINTS.begin(), HAND_COLLISION_JOINTS.end(), name) != HAND_COLLISION_JOINTS.end()) {
|
||||
handsIndices.push_back(i);
|
||||
}
|
||||
auto parentIndex = skeleton->getParentIndex(i);
|
||||
if (parentIndex == -1) {
|
||||
continue;
|
||||
}
|
||||
auto jointChildren = skeleton->getChildrenOfJoint(i);
|
||||
// auto childIndex = jointChildren.size() > 0 ? jointChildren[0] : -1;
|
||||
auto group = QStringRef(&name, 0, 3).toString().toUpper();
|
||||
auto split = name.split("_");
|
||||
bool isSimJoint = (group == simPrefix);
|
||||
bool isFlowJoint = split.size() > 2 && split[0].toUpper() == flowPrefix;
|
||||
if (isFlowJoint || isSimJoint) {
|
||||
group = "";
|
||||
if (isSimJoint) {
|
||||
for (int j = 1; j < name.size() - 1; j++) {
|
||||
bool toFloatSuccess;
|
||||
QStringRef(&name, (int)(name.size() - j), 1).toString().toFloat(&toFloatSuccess);
|
||||
if (!toFloatSuccess && (name.size() - j) > (int)simPrefix.size()) {
|
||||
group = QStringRef(&name, (int)simPrefix.size(), (int)(name.size() - j + 1)).toString();
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (group.isEmpty()) {
|
||||
group = QStringRef(&name, (int)simPrefix.size(), name.size() - 1).toString();
|
||||
}
|
||||
qCDebug(animation) << "Sim joint added to flow: " << name;
|
||||
} else {
|
||||
group = split[1];
|
||||
}
|
||||
if (!group.isEmpty()) {
|
||||
_flowJointKeywords.push_back(group);
|
||||
FlowPhysicsSettings jointSettings;
|
||||
if (PRESET_FLOW_DATA.find(group) != PRESET_FLOW_DATA.end()) {
|
||||
jointSettings = PRESET_FLOW_DATA.at(group);
|
||||
} else {
|
||||
jointSettings = DEFAULT_JOINT_SETTINGS;
|
||||
}
|
||||
if (_flowJointData.find(i) == _flowJointData.end()) {
|
||||
auto flowJoint = FlowJoint(i, parentIndex, -1, name, group, jointSettings);
|
||||
_flowJointData.insert(std::pair<int, FlowJoint>(i, flowJoint));
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (PRESET_COLLISION_DATA.find(name) != PRESET_COLLISION_DATA.end()) {
|
||||
_collisionSystem.addCollisionSphere(i, PRESET_COLLISION_DATA.at(name));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (auto &jointData : _flowJointData) {
|
||||
int jointIndex = jointData.first;
|
||||
glm::vec3 jointPosition, parentPosition, jointTranslation;
|
||||
glm::quat jointRotation;
|
||||
getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation);
|
||||
getJointTranslation(relativePoses, jointIndex, jointTranslation);
|
||||
getJointRotation(relativePoses, jointIndex, jointRotation);
|
||||
getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation);
|
||||
|
||||
jointData.second.setInitialData(jointPosition, jointTranslation, jointRotation, parentPosition);
|
||||
}
|
||||
|
||||
std::vector<int> roots;
|
||||
|
||||
for (auto &joint :_flowJointData) {
|
||||
if (_flowJointData.find(joint.second.getParentIndex()) == _flowJointData.end()) {
|
||||
joint.second.setAnchored(true);
|
||||
roots.push_back(joint.first);
|
||||
} else {
|
||||
_flowJointData[joint.second.getParentIndex()].setChildIndex(joint.first);
|
||||
}
|
||||
}
|
||||
int extraIndex = -1;
|
||||
for (size_t i = 0; i < roots.size(); i++) {
|
||||
FlowThread thread = FlowThread(roots[i], &_flowJointData);
|
||||
// add threads with at least 2 joints
|
||||
if (thread._joints.size() > 0) {
|
||||
if (thread._joints.size() == 1) {
|
||||
int jointIndex = roots[i];
|
||||
auto &joint = _flowJointData[jointIndex];
|
||||
auto &jointPosition = joint.getUpdatedPosition();
|
||||
auto newSettings = joint.getSettings();
|
||||
extraIndex = extraIndex > -1 ? extraIndex + 1 : skeleton->getNumJoints();
|
||||
joint.setChildIndex(extraIndex);
|
||||
auto newJoint = FlowJoint(extraIndex, jointIndex, -1, joint.getName(), joint.getGroup(), newSettings);
|
||||
newJoint.toHelperJoint(jointPosition, HELPER_JOINT_LENGTH);
|
||||
glm::vec3 translation = glm::vec3(0.0f, HELPER_JOINT_LENGTH, 0.0f);
|
||||
newJoint.setInitialData(jointPosition + translation, 100.0f * translation , Quaternions::IDENTITY, jointPosition);
|
||||
_flowJointData.insert(std::pair<int, FlowJoint>(extraIndex, newJoint));
|
||||
FlowThread newThread = FlowThread(jointIndex, &_flowJointData);
|
||||
if (newThread._joints.size() > 1) {
|
||||
_jointThreads.push_back(newThread);
|
||||
}
|
||||
} else {
|
||||
_jointThreads.push_back(thread);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (_jointThreads.size() == 0) {
|
||||
onCleanup();
|
||||
}
|
||||
if (handsIndices.size() > 0) {
|
||||
FlowCollisionSettings handSettings;
|
||||
handSettings._radius = HAND_COLLISION_RADIUS;
|
||||
for (size_t i = 0; i < handsIndices.size(); i++) {
|
||||
_collisionSystem.addCollisionSphere(handsIndices[i], handSettings, glm::vec3(), true, true);
|
||||
}
|
||||
}
|
||||
_initialized = _jointThreads.size() > 0;
|
||||
}
|
||||
|
||||
void Flow::cleanUp() {
|
||||
_flowJointData.clear();
|
||||
_jointThreads.clear();
|
||||
_flowJointKeywords.clear();
|
||||
_collisionSystem.resetCollisions();
|
||||
_initialized = false;
|
||||
_isScaleSet = false;
|
||||
onCleanup();
|
||||
}
|
||||
|
||||
void Flow::setTransform(float scale, const glm::vec3& position, const glm::quat& rotation) {
|
||||
_scale = scale;
|
||||
_entityPosition = position;
|
||||
_entityRotation = rotation;
|
||||
}
|
||||
|
||||
void Flow::setScale(float scale) {
|
||||
_collisionSystem.setScale(_scale);
|
||||
for (size_t i = 0; i < _jointThreads.size(); i++) {
|
||||
_jointThreads[i].setScale(_scale, !_isScaleSet);
|
||||
}
|
||||
if (_lastScale != _scale) {
|
||||
_lastScale = _scale;
|
||||
_isScaleSet = true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Flow::update(float deltaTime, AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses, const std::vector<bool>& overrideFlags) {
|
||||
if (_initialized && _active) {
|
||||
uint64_t startTime = usecTimestampNow();
|
||||
uint64_t updateExpiry = startTime + MAX_UPDATE_FLOW_TIME_BUDGET;
|
||||
if (_scale != _lastScale) {
|
||||
setScale(_scale);
|
||||
}
|
||||
for (size_t i = 0; i < _jointThreads.size(); i++) {
|
||||
size_t index = _invertThreadLoop ? _jointThreads.size() - 1 - i : i;
|
||||
auto &thread = _jointThreads[index];
|
||||
thread.update(deltaTime);
|
||||
thread.solve(_collisionSystem);
|
||||
if (!updateRootFramePositions(absolutePoses, index)) {
|
||||
return;
|
||||
}
|
||||
thread.computeJointRotations();
|
||||
if (usecTimestampNow() > updateExpiry) {
|
||||
break;
|
||||
qWarning(animation) << "Flow Bones ran out of time while updating threads";
|
||||
}
|
||||
}
|
||||
setJoints(relativePoses, overrideFlags);
|
||||
updateJoints(relativePoses, absolutePoses);
|
||||
_invertThreadLoop = !_invertThreadLoop;
|
||||
}
|
||||
}
|
||||
|
||||
void Flow::updateAbsolutePoses(const AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses) {
|
||||
for (auto &joint : _flowJointData) {
|
||||
int index = joint.second.getIndex();
|
||||
int parentIndex = joint.second.getParentIndex();
|
||||
if (index >= 0 && index < (int)relativePoses.size() &&
|
||||
parentIndex >= 0 && parentIndex < (int)absolutePoses.size()) {
|
||||
absolutePoses[index] = absolutePoses[parentIndex] * relativePoses[index];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool Flow::worldToJointPoint(const AnimPoseVec& absolutePoses, const glm::vec3& position, const int jointIndex, glm::vec3& jointSpacePosition) const {
|
||||
glm::vec3 jointPos;
|
||||
glm::quat jointRot;
|
||||
if (getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPos, _entityPosition, _entityRotation) &&
|
||||
getJointRotationInWorldFrame(absolutePoses, jointIndex, jointRot, _entityRotation)) {
|
||||
glm::vec3 modelOffset = position - jointPos;
|
||||
jointSpacePosition = glm::inverse(jointRot) * modelOffset;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool Flow::updateRootFramePositions(const AnimPoseVec& absolutePoses, size_t threadIndex) {
|
||||
auto &joints = _jointThreads[threadIndex]._joints;
|
||||
int rootIndex = _flowJointData[joints[0]].getParentIndex();
|
||||
_jointThreads[threadIndex]._rootFramePositions.clear();
|
||||
for (size_t j = 0; j < joints.size(); j++) {
|
||||
glm::vec3 jointPos;
|
||||
if (worldToJointPoint(absolutePoses, _flowJointData[joints[j]].getCurrentPosition(), rootIndex, jointPos)) {
|
||||
_jointThreads[threadIndex]._rootFramePositions.push_back(jointPos);
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void Flow::updateJoints(AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses) {
|
||||
updateAbsolutePoses(relativePoses, absolutePoses);
|
||||
for (auto &jointData : _flowJointData) {
|
||||
int jointIndex = jointData.first;
|
||||
glm::vec3 jointPosition, parentPosition, jointTranslation;
|
||||
glm::quat jointRotation, parentWorldRotation;
|
||||
if (!jointData.second.isHelper()) {
|
||||
getJointPositionInWorldFrame(absolutePoses, jointIndex, jointPosition, _entityPosition, _entityRotation);
|
||||
getJointTranslation(relativePoses, jointIndex, jointTranslation);
|
||||
getJointRotation(relativePoses, jointIndex, jointRotation);
|
||||
} else {
|
||||
jointPosition = jointData.second.getCurrentPosition();
|
||||
jointTranslation = jointData.second.getCurrentTranslation();
|
||||
jointRotation = jointData.second.getCurrentRotation();
|
||||
}
|
||||
getJointPositionInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentPosition, _entityPosition, _entityRotation);
|
||||
getJointRotationInWorldFrame(absolutePoses, jointData.second.getParentIndex(), parentWorldRotation, _entityRotation);
|
||||
jointData.second.setUpdatedData(jointPosition, jointTranslation, jointRotation, parentPosition, parentWorldRotation);
|
||||
}
|
||||
auto &selfCollisions = _collisionSystem.getSelfCollisions();
|
||||
for (auto &collision : selfCollisions) {
|
||||
glm::quat jointRotation;
|
||||
getJointPositionInWorldFrame(absolutePoses, collision._jointIndex, collision._position, _entityPosition, _entityRotation);
|
||||
getJointRotationInWorldFrame(absolutePoses, collision._jointIndex, jointRotation, _entityRotation);
|
||||
glm::vec3 worldOffset = jointRotation * collision._offset;
|
||||
collision._position = collision._position + worldOffset;
|
||||
}
|
||||
_collisionSystem.prepareCollisions();
|
||||
}
|
||||
|
||||
void Flow::setJoints(AnimPoseVec& relativePoses, const std::vector<bool>& overrideFlags) {
|
||||
for (auto &thread : _jointThreads) {
|
||||
auto &joints = thread._joints;
|
||||
for (int jointIndex : joints) {
|
||||
auto &joint = _flowJointData[jointIndex];
|
||||
if (jointIndex >= 0 && jointIndex < (int)relativePoses.size() && !overrideFlags[jointIndex]) {
|
||||
relativePoses[jointIndex].rot() = joint.getCurrentRotation();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Flow::setOthersCollision(const QUuid& otherId, int jointIndex, const glm::vec3& position) {
|
||||
FlowCollisionSettings settings;
|
||||
settings._entityID = otherId;
|
||||
settings._radius = HAND_COLLISION_RADIUS;
|
||||
_collisionSystem.addCollisionSphere(jointIndex, settings, position, false, true);
|
||||
}
|
||||
|
||||
void Flow::setPhysicsSettingsForGroup(const QString& group, const FlowPhysicsSettings& settings) {
|
||||
for (auto &joint : _flowJointData) {
|
||||
if (joint.second.getGroup().toUpper() == group.toUpper()) {
|
||||
joint.second.setSettings(settings);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool Flow::getJointPositionInWorldFrame(const AnimPoseVec& absolutePoses, int jointIndex, glm::vec3& position, glm::vec3 translation, glm::quat rotation) const {
|
||||
if (jointIndex >= 0 && jointIndex < (int)absolutePoses.size()) {
|
||||
glm::vec3 poseSetTrans = absolutePoses[jointIndex].trans();
|
||||
position = (rotation * poseSetTrans) + translation;
|
||||
if (!isNaN(position)) {
|
||||
return true;
|
||||
} else {
|
||||
position = glm::vec3(0.0f);
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool Flow::getJointRotationInWorldFrame(const AnimPoseVec& absolutePoses, int jointIndex, glm::quat& result, const glm::quat& rotation) const {
|
||||
if (jointIndex >= 0 && jointIndex < (int)absolutePoses.size()) {
|
||||
result = rotation * absolutePoses[jointIndex].rot();
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Flow::getJointRotation(const AnimPoseVec& relativePoses, int jointIndex, glm::quat& rotation) const {
|
||||
if (jointIndex >= 0 && jointIndex < (int)relativePoses.size()) {
|
||||
rotation = relativePoses[jointIndex].rot();
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Flow::getJointTranslation(const AnimPoseVec& relativePoses, int jointIndex, glm::vec3& translation) const {
|
||||
if (jointIndex >= 0 && jointIndex < (int)relativePoses.size()) {
|
||||
translation = relativePoses[jointIndex].trans();
|
||||
return true;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
Flow& Flow::operator=(const Flow& otherFlow) {
|
||||
_active = otherFlow.getActive();
|
||||
_scale = otherFlow.getScale();
|
||||
_isScaleSet = true;
|
||||
auto &threads = otherFlow.getThreads();
|
||||
if (threads.size() == _jointThreads.size()) {
|
||||
for (size_t i = 0; i < _jointThreads.size(); i++) {
|
||||
_jointThreads[i] = threads[i];
|
||||
}
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
328
libraries/animation/src/Flow.h
Normal file
328
libraries/animation/src/Flow.h
Normal file
|
|
@ -0,0 +1,328 @@
|
|||
//
|
||||
// Flow.h
|
||||
//
|
||||
// Created by Luis Cuenca on 1/21/2019.
|
||||
// Copyright 2019 High Fidelity, Inc.
|
||||
//
|
||||
// Distributed under the Apache License, Version 2.0.
|
||||
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
||||
//
|
||||
|
||||
#ifndef hifi_Flow_h
|
||||
#define hifi_Flow_h
|
||||
|
||||
#include <memory>
|
||||
#include <qstring.h>
|
||||
#include <glm/glm.hpp>
|
||||
#include <glm/gtx/quaternion.hpp>
|
||||
#include <vector>
|
||||
#include <map>
|
||||
#include <quuid.h>
|
||||
#include "AnimPose.h"
|
||||
|
||||
class Rig;
|
||||
class AnimSkeleton;
|
||||
|
||||
const float HAPTIC_TOUCH_STRENGTH = 0.25f;
|
||||
const float HAPTIC_TOUCH_DURATION = 10.0f;
|
||||
const float HAPTIC_SLOPE = 0.18f;
|
||||
const float HAPTIC_THRESHOLD = 40.0f;
|
||||
|
||||
const QString FLOW_JOINT_PREFIX = "flow";
|
||||
const QString SIM_JOINT_PREFIX = "sim";
|
||||
|
||||
const std::vector<QString> HAND_COLLISION_JOINTS = { "RightHandMiddle1", "RightHandThumb3", "LeftHandMiddle1", "LeftHandThumb3", "RightHandMiddle3", "LeftHandMiddle3" };
|
||||
|
||||
const float HAND_COLLISION_RADIUS = 0.03f;
|
||||
const float HELPER_JOINT_LENGTH = 0.05f;
|
||||
|
||||
const float DEFAULT_STIFFNESS = 0.0f;
|
||||
const float DEFAULT_GRAVITY = -0.0096f;
|
||||
const float DEFAULT_DAMPING = 0.85f;
|
||||
const float DEFAULT_INERTIA = 0.8f;
|
||||
const float DEFAULT_DELTA = 0.55f;
|
||||
const float DEFAULT_RADIUS = 0.01f;
|
||||
|
||||
const uint64_t MAX_UPDATE_FLOW_TIME_BUDGET = 2000;
|
||||
|
||||
struct FlowPhysicsSettings {
|
||||
FlowPhysicsSettings() {};
|
||||
FlowPhysicsSettings(bool active, float stiffness, float gravity, float damping, float inertia, float delta, float radius) {
|
||||
_active = active;
|
||||
_stiffness = stiffness;
|
||||
_gravity = gravity;
|
||||
_damping = damping;
|
||||
_inertia = inertia;
|
||||
_delta = delta;
|
||||
_radius = radius;
|
||||
}
|
||||
bool _active{ true };
|
||||
float _stiffness{ DEFAULT_STIFFNESS };
|
||||
float _gravity{ DEFAULT_GRAVITY };
|
||||
float _damping{ DEFAULT_DAMPING };
|
||||
float _inertia{ DEFAULT_INERTIA };
|
||||
float _delta{ DEFAULT_DELTA };
|
||||
float _radius{ DEFAULT_RADIUS };
|
||||
};
|
||||
|
||||
enum FlowCollisionType {
|
||||
CollisionSphere = 0
|
||||
};
|
||||
|
||||
struct FlowCollisionSettings {
|
||||
FlowCollisionSettings() {};
|
||||
FlowCollisionSettings(const QUuid& id, const FlowCollisionType& type, const glm::vec3& offset, float radius) {
|
||||
_entityID = id;
|
||||
_type = type;
|
||||
_offset = offset;
|
||||
_radius = radius;
|
||||
};
|
||||
QUuid _entityID;
|
||||
FlowCollisionType _type { FlowCollisionType::CollisionSphere };
|
||||
float _radius { 0.05f };
|
||||
glm::vec3 _offset;
|
||||
};
|
||||
|
||||
const FlowPhysicsSettings DEFAULT_JOINT_SETTINGS;
|
||||
|
||||
struct FlowJointInfo {
|
||||
FlowJointInfo() {};
|
||||
FlowJointInfo(int index, int parentIndex, int childIndex, const QString& name) {
|
||||
_index = index;
|
||||
_parentIndex = parentIndex;
|
||||
_childIndex = childIndex;
|
||||
_name = name;
|
||||
}
|
||||
int _index { -1 };
|
||||
QString _name;
|
||||
int _parentIndex { -1 };
|
||||
int _childIndex { -1 };
|
||||
};
|
||||
|
||||
struct FlowCollisionResult {
|
||||
int _count { 0 };
|
||||
float _offset { 0.0f };
|
||||
glm::vec3 _position;
|
||||
float _radius { 0.0f };
|
||||
glm::vec3 _normal;
|
||||
float _distance { 0.0f };
|
||||
};
|
||||
|
||||
class FlowCollisionSphere {
|
||||
public:
|
||||
FlowCollisionSphere() {};
|
||||
FlowCollisionSphere(const int& jointIndex, const FlowCollisionSettings& settings, bool isTouch = false);
|
||||
void setPosition(const glm::vec3& position) { _position = position; }
|
||||
FlowCollisionResult computeSphereCollision(const glm::vec3& point, float radius) const;
|
||||
FlowCollisionResult checkSegmentCollision(const glm::vec3& point1, const glm::vec3& point2, const FlowCollisionResult& collisionResult1, const FlowCollisionResult& collisionResult2);
|
||||
|
||||
QUuid _entityID;
|
||||
|
||||
glm::vec3 _offset;
|
||||
glm::vec3 _initialOffset;
|
||||
glm::vec3 _position;
|
||||
|
||||
bool _isTouch { false };
|
||||
int _jointIndex { -1 };
|
||||
int collisionIndex { -1 };
|
||||
float _radius { 0.0f };
|
||||
float _initialRadius{ 0.0f };
|
||||
};
|
||||
|
||||
class FlowThread;
|
||||
|
||||
class FlowCollisionSystem {
|
||||
public:
|
||||
FlowCollisionSystem() {};
|
||||
void addCollisionSphere(int jointIndex, const FlowCollisionSettings& settings, const glm::vec3& position = { 0.0f, 0.0f, 0.0f }, bool isSelfCollision = true, bool isTouch = false);
|
||||
FlowCollisionResult computeCollision(const std::vector<FlowCollisionResult> collisions);
|
||||
|
||||
std::vector<FlowCollisionResult> checkFlowThreadCollisions(FlowThread* flowThread);
|
||||
|
||||
std::vector<FlowCollisionSphere>& getSelfCollisions() { return _selfCollisions; };
|
||||
void setOthersCollisions(const std::vector<FlowCollisionSphere>& othersCollisions) { _othersCollisions = othersCollisions; }
|
||||
void prepareCollisions();
|
||||
void resetCollisions();
|
||||
void resetOthersCollisions() { _othersCollisions.clear(); }
|
||||
void setScale(float scale);
|
||||
FlowCollisionSettings getCollisionSettingsByJoint(int jointIndex);
|
||||
void setCollisionSettingsByJoint(int jointIndex, const FlowCollisionSettings& settings);
|
||||
void setActive(bool active) { _active = active; }
|
||||
bool getActive() const { return _active; }
|
||||
protected:
|
||||
std::vector<FlowCollisionSphere> _selfCollisions;
|
||||
std::vector<FlowCollisionSphere> _othersCollisions;
|
||||
std::vector<FlowCollisionSphere> _allCollisions;
|
||||
float _scale { 1.0f };
|
||||
bool _active { false };
|
||||
};
|
||||
|
||||
class FlowNode {
|
||||
public:
|
||||
FlowNode() {};
|
||||
FlowNode(const glm::vec3& initialPosition, FlowPhysicsSettings settings);
|
||||
|
||||
void update(float deltaTime, const glm::vec3& accelerationOffset);
|
||||
void solve(const glm::vec3& constrainPoint, float maxDistance, const FlowCollisionResult& collision);
|
||||
void solveConstraints(const glm::vec3& constrainPoint, float maxDistance);
|
||||
void solveCollisions(const FlowCollisionResult& collision);
|
||||
|
||||
protected:
|
||||
|
||||
FlowPhysicsSettings _settings;
|
||||
glm::vec3 _initialPosition;
|
||||
glm::vec3 _previousPosition;
|
||||
glm::vec3 _currentPosition;
|
||||
|
||||
glm::vec3 _currentVelocity;
|
||||
glm::vec3 _previousVelocity;
|
||||
glm::vec3 _acceleration;
|
||||
|
||||
FlowCollisionResult _collision;
|
||||
FlowCollisionResult _previousCollision;
|
||||
|
||||
float _initialRadius { 0.0f };
|
||||
|
||||
bool _anchored { false };
|
||||
bool _colliding { false };
|
||||
bool _active { true };
|
||||
|
||||
float _scale{ 1.0f };
|
||||
};
|
||||
|
||||
class FlowJoint : public FlowNode {
|
||||
public:
|
||||
friend class FlowThread;
|
||||
|
||||
FlowJoint(): FlowNode() {};
|
||||
FlowJoint(int jointIndex, int parentIndex, int childIndex, const QString& name, const QString& group, const FlowPhysicsSettings& settings);
|
||||
void toHelperJoint(const glm::vec3& initialPosition, float length);
|
||||
void setInitialData(const glm::vec3& initialPosition, const glm::vec3& initialTranslation, const glm::quat& initialRotation, const glm::vec3& parentPosition);
|
||||
void setUpdatedData(const glm::vec3& updatedPosition, const glm::vec3& updatedTranslation, const glm::quat& updatedRotation, const glm::vec3& parentPosition, const glm::quat& parentWorldRotation);
|
||||
void setRecoveryPosition(const glm::vec3& recoveryPosition);
|
||||
void update(float deltaTime);
|
||||
void solve(const FlowCollisionResult& collision);
|
||||
|
||||
void setScale(float scale, bool initScale);
|
||||
bool isAnchored() const { return _anchored; }
|
||||
void setAnchored(bool anchored) { _anchored = anchored; }
|
||||
bool isHelper() const { return _isHelper; }
|
||||
|
||||
const FlowPhysicsSettings& getSettings() { return _settings; }
|
||||
void setSettings(const FlowPhysicsSettings& settings) { _settings = settings; }
|
||||
|
||||
const glm::vec3& getCurrentPosition() const { return _currentPosition; }
|
||||
int getIndex() const { return _index; }
|
||||
int getParentIndex() const { return _parentIndex; }
|
||||
void setChildIndex(int index) { _childIndex = index; }
|
||||
const glm::vec3& getUpdatedPosition() const { return _updatedPosition; }
|
||||
const QString& getGroup() const { return _group; }
|
||||
const QString& getName() const { return _name; }
|
||||
const glm::quat& getCurrentRotation() const { return _currentRotation; }
|
||||
const glm::vec3& getCurrentTranslation() const { return _initialTranslation; }
|
||||
const glm::vec3& getInitialPosition() const { return _initialPosition; }
|
||||
|
||||
protected:
|
||||
|
||||
int _index{ -1 };
|
||||
int _parentIndex{ -1 };
|
||||
int _childIndex{ -1 };
|
||||
QString _name;
|
||||
QString _group;
|
||||
|
||||
bool _isHelper{ false };
|
||||
|
||||
glm::vec3 _initialTranslation;
|
||||
glm::quat _initialRotation;
|
||||
|
||||
glm::vec3 _updatedPosition;
|
||||
glm::vec3 _updatedTranslation;
|
||||
glm::quat _updatedRotation;
|
||||
|
||||
glm::quat _currentRotation;
|
||||
glm::vec3 _recoveryPosition;
|
||||
|
||||
glm::vec3 _parentPosition;
|
||||
glm::quat _parentWorldRotation;
|
||||
glm::vec3 _translationDirection;
|
||||
|
||||
float _length { 0.0f };
|
||||
float _initialLength { 0.0f };
|
||||
|
||||
bool _applyRecovery { false };
|
||||
};
|
||||
|
||||
class FlowThread {
|
||||
public:
|
||||
FlowThread() {};
|
||||
FlowThread& operator=(const FlowThread& otherFlowThread);
|
||||
|
||||
FlowThread(int rootIndex, std::map<int, FlowJoint>* joints);
|
||||
|
||||
void resetLength();
|
||||
void computeFlowThread(int rootIndex);
|
||||
void computeRecovery();
|
||||
void update(float deltaTime);
|
||||
void solve(FlowCollisionSystem& collisionSystem);
|
||||
void computeJointRotations();
|
||||
void setRootFramePositions(const std::vector<glm::vec3>& rootFramePositions) { _rootFramePositions = rootFramePositions; }
|
||||
void setScale(float scale, bool initScale = false);
|
||||
|
||||
std::vector<int> _joints;
|
||||
std::vector<glm::vec3> _positions;
|
||||
float _radius{ 0.0f };
|
||||
float _length{ 0.0f };
|
||||
std::map<int, FlowJoint>* _jointsPointer;
|
||||
std::vector<glm::vec3> _rootFramePositions;
|
||||
};
|
||||
|
||||
class Flow : public QObject{
|
||||
Q_OBJECT
|
||||
public:
|
||||
Flow() { }
|
||||
Flow& operator=(const Flow& otherFlow);
|
||||
bool getActive() const { return _active; }
|
||||
void setActive(bool active) { _active = active; }
|
||||
bool isInitialized() const { return _initialized; }
|
||||
float getScale() const { return _scale; }
|
||||
void calculateConstraints(const std::shared_ptr<AnimSkeleton>& skeleton, AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses);
|
||||
void update(float deltaTime, AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses, const std::vector<bool>& overrideFlags);
|
||||
void setTransform(float scale, const glm::vec3& position, const glm::quat& rotation);
|
||||
const std::map<int, FlowJoint>& getJoints() const { return _flowJointData; }
|
||||
const std::vector<FlowThread>& getThreads() const { return _jointThreads; }
|
||||
void setOthersCollision(const QUuid& otherId, int jointIndex, const glm::vec3& position);
|
||||
FlowCollisionSystem& getCollisionSystem() { return _collisionSystem; }
|
||||
void setPhysicsSettingsForGroup(const QString& group, const FlowPhysicsSettings& settings);
|
||||
void cleanUp();
|
||||
|
||||
signals:
|
||||
void onCleanup();
|
||||
|
||||
private:
|
||||
void updateAbsolutePoses(const AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses);
|
||||
bool getJointPositionInWorldFrame(const AnimPoseVec& absolutePoses, int jointIndex, glm::vec3& position, glm::vec3 translation, glm::quat rotation) const;
|
||||
bool getJointRotationInWorldFrame(const AnimPoseVec& absolutePoses, int jointIndex, glm::quat& result, const glm::quat& rotation) const;
|
||||
bool getJointRotation(const AnimPoseVec& relativePoses, int jointIndex, glm::quat& rotation) const;
|
||||
bool getJointTranslation(const AnimPoseVec& relativePoses, int jointIndex, glm::vec3& translation) const;
|
||||
bool worldToJointPoint(const AnimPoseVec& absolutePoses, const glm::vec3& position, const int jointIndex, glm::vec3& jointSpacePosition) const;
|
||||
|
||||
void setJoints(AnimPoseVec& relativePoses, const std::vector<bool>& overrideFlags);
|
||||
void updateJoints(AnimPoseVec& relativePoses, AnimPoseVec& absolutePoses);
|
||||
bool updateRootFramePositions(const AnimPoseVec& absolutePoses, size_t threadIndex);
|
||||
void setScale(float scale);
|
||||
|
||||
float _scale { 1.0f };
|
||||
float _lastScale{ 1.0f };
|
||||
glm::vec3 _entityPosition;
|
||||
glm::quat _entityRotation;
|
||||
std::map<int, FlowJoint> _flowJointData;
|
||||
std::vector<FlowThread> _jointThreads;
|
||||
std::vector<QString> _flowJointKeywords;
|
||||
FlowCollisionSystem _collisionSystem;
|
||||
bool _initialized { false };
|
||||
bool _active { false };
|
||||
bool _isScaleSet { false };
|
||||
bool _invertThreadLoop { false };
|
||||
};
|
||||
|
||||
#endif // hifi_Flow_h
|
||||
|
|
@ -34,7 +34,6 @@
|
|||
#include "IKTarget.h"
|
||||
#include "PathUtils.h"
|
||||
|
||||
|
||||
static int nextRigId = 1;
|
||||
static std::map<int, Rig*> rigRegistry;
|
||||
static std::mutex rigRegistryMutex;
|
||||
|
|
@ -362,7 +361,6 @@ void Rig::reset(const HFMModel& hfmModel) {
|
|||
|
||||
_animSkeleton = std::make_shared<AnimSkeleton>(hfmModel);
|
||||
|
||||
|
||||
_internalPoseSet._relativePoses.clear();
|
||||
_internalPoseSet._relativePoses = _animSkeleton->getRelativeDefaultPoses();
|
||||
|
||||
|
|
@ -746,7 +744,8 @@ void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPos
|
|||
|
||||
glm::vec3 forward = worldRotation * IDENTITY_FORWARD;
|
||||
glm::vec3 workingVelocity = worldVelocity;
|
||||
|
||||
_internalFlow.setTransform(sensorToWorldScale, worldPosition, worldRotation * Quaternions::Y_180);
|
||||
_networkFlow.setTransform(sensorToWorldScale, worldPosition, worldRotation * Quaternions::Y_180);
|
||||
{
|
||||
glm::vec3 localVel = glm::inverse(worldRotation) * workingVelocity;
|
||||
|
||||
|
|
@ -1208,12 +1207,26 @@ void Rig::updateAnimations(float deltaTime, const glm::mat4& rootTransform, cons
|
|||
_networkVars = networkTriggersOut;
|
||||
_lastContext = context;
|
||||
}
|
||||
|
||||
applyOverridePoses();
|
||||
buildAbsoluteRigPoses(_internalPoseSet._relativePoses, _internalPoseSet._absolutePoses);
|
||||
buildAbsoluteRigPoses(_networkPoseSet._relativePoses, _networkPoseSet._absolutePoses);
|
||||
|
||||
buildAbsoluteRigPoses(_internalPoseSet._relativePoses, _internalPoseSet._absolutePoses);
|
||||
_internalFlow.update(deltaTime, _internalPoseSet._relativePoses, _internalPoseSet._absolutePoses, _internalPoseSet._overrideFlags);
|
||||
|
||||
if (_sendNetworkNode) {
|
||||
if (_internalFlow.getActive() && !_networkFlow.getActive()) {
|
||||
_networkFlow = _internalFlow;
|
||||
}
|
||||
buildAbsoluteRigPoses(_networkPoseSet._relativePoses, _networkPoseSet._absolutePoses);
|
||||
_networkFlow.update(deltaTime, _networkPoseSet._relativePoses, _networkPoseSet._absolutePoses, _internalPoseSet._overrideFlags);
|
||||
} else if (_networkFlow.getActive()) {
|
||||
_networkFlow.setActive(false);
|
||||
}
|
||||
|
||||
// copy internal poses to external poses
|
||||
{
|
||||
QWriteLocker writeLock(&_externalPoseSetLock);
|
||||
|
||||
_externalPoseSet = _internalPoseSet;
|
||||
}
|
||||
}
|
||||
|
|
@ -1866,7 +1879,6 @@ void Rig::initAnimGraph(const QUrl& url) {
|
|||
auto roleState = roleAnimState.second;
|
||||
overrideRoleAnimation(roleState.role, roleState.url, roleState.fps, roleState.loop, roleState.firstFrame, roleState.lastFrame);
|
||||
}
|
||||
|
||||
emit onLoadComplete();
|
||||
});
|
||||
connect(_animLoader.get(), &AnimNodeLoader::error, [url](int error, QString str) {
|
||||
|
|
@ -2105,3 +2117,16 @@ void Rig::computeAvatarBoundingCapsule(
|
|||
glm::vec3 capsuleCenter = transformPoint(_geometryToRigTransform, (0.5f * (totalExtents.maximum + totalExtents.minimum)));
|
||||
localOffsetOut = capsuleCenter - hipsPosition;
|
||||
}
|
||||
|
||||
void Rig::initFlow(bool isActive) {
|
||||
_internalFlow.setActive(isActive);
|
||||
if (isActive) {
|
||||
if (!_internalFlow.isInitialized()) {
|
||||
_internalFlow.calculateConstraints(_animSkeleton, _internalPoseSet._relativePoses, _internalPoseSet._absolutePoses);
|
||||
_networkFlow.calculateConstraints(_animSkeleton, _internalPoseSet._relativePoses, _internalPoseSet._absolutePoses);
|
||||
}
|
||||
} else {
|
||||
_internalFlow.cleanUp();
|
||||
_networkFlow.cleanUp();
|
||||
}
|
||||
}
|
||||
|
|
@ -25,6 +25,7 @@
|
|||
#include "AnimNodeLoader.h"
|
||||
#include "SimpleMovingAverage.h"
|
||||
#include "AnimUtil.h"
|
||||
#include "Flow.h"
|
||||
|
||||
class Rig;
|
||||
class AnimInverseKinematics;
|
||||
|
|
@ -233,6 +234,9 @@ public:
|
|||
const AnimContext::DebugAlphaMap& getDebugAlphaMap() const { return _lastContext.getDebugAlphaMap(); }
|
||||
const AnimVariantMap& getAnimVars() const { return _lastAnimVars; }
|
||||
const AnimContext::DebugStateMachineMap& getStateMachineMap() const { return _lastContext.getStateMachineMap(); }
|
||||
void initFlow(bool isActive);
|
||||
Flow& getFlow() { return _internalFlow; }
|
||||
|
||||
|
||||
signals:
|
||||
void onLoadComplete();
|
||||
|
|
@ -424,6 +428,8 @@ protected:
|
|||
|
||||
SnapshotBlendPoseHelper _hipsBlendHelper;
|
||||
ControllerParameters _previousControllerParameters;
|
||||
Flow _internalFlow;
|
||||
Flow _networkFlow;
|
||||
};
|
||||
|
||||
#endif /* defined(__hifi__Rig__) */
|
||||
|
|
|
|||
|
|
@ -1169,6 +1169,7 @@ void Model::setURL(const QUrl& url) {
|
|||
resource->setLoadPriority(this, _loadingPriority);
|
||||
_renderWatcher.setResource(resource);
|
||||
}
|
||||
_rig.initFlow(false);
|
||||
onInvalidate();
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue