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cleaning up the _hipsIndex references, cleaning in general

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amantley 2019-01-28 11:50:23 -08:00
parent 2679a3a30d
commit f8bfef6dbd
4 changed files with 85 additions and 100 deletions
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4
interface/resources/avatar/avatar-animation_withSplineIKNode.json
View file

@ -194,8 +194,8 @@
"enabledVar": "splineIKEnabled",
"endEffectorRotationVarVar": "splineIKRotationVar",
"endEffectorPositionVarVar": "splineIKPositionVar",
"primaryFlexCoefficients": "1.0, 1.0, 1.0, 1.0, 1.0",
"secondaryFlexCoefficients": "1.0, 1.0, 1.0"
"tipTargetFlexCoefficients": "1.0, 1.0, 1.0, 1.0, 1.0",
"midTargetFlexCoefficients": "1.0, 1.0, 1.0"
},
"children": [
{

6
libraries/animation/src/AnimNodeLoader.cpp
View file

@ -596,14 +596,14 @@ static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QStr
READ_STRING(enabledVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(endEffectorRotationVarVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(endEffectorPositionVarVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(primaryFlexCoefficients, jsonObj, id, jsonUrl, nullptr);
READ_STRING(secondaryFlexCoefficients, jsonObj, id, jsonUrl, nullptr);
READ_STRING(tipTargetFlexCoefficients, jsonObj, id, jsonUrl, nullptr);
READ_STRING(midTargetFlexCoefficients, jsonObj, id, jsonUrl, nullptr);
auto node = std::make_shared<AnimSplineIK>(id, alpha, enabled, interpDuration,
baseJointName, midJointName, tipJointName,
alphaVar, enabledVar, endEffectorRotationVarVar, endEffectorPositionVarVar,
basePositionVar, baseRotationVar, midPositionVar, midRotationVar,
tipPositionVar, tipRotationVar, primaryFlexCoefficients, secondaryFlexCoefficients);
tipPositionVar, tipRotationVar, tipTargetFlexCoefficients, midTargetFlexCoefficients);
return node;
}

157
libraries/animation/src/AnimSplineIK.cpp
View file

@ -29,8 +29,8 @@ AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float i
const QString& midRotationVar,
const QString& tipPositionVar,
const QString& tipRotationVar,
const QString& primaryFlexCoefficients,
const QString& secondaryFlexCoefficients) :
const QString& tipTargetFlexCoefficients,
const QString& midTargetFlexCoefficients) :
AnimNode(AnimNode::Type::SplineIK, id),
_alpha(alpha),
_enabled(enabled),
@ -52,22 +52,22 @@ AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float i
_tipRotationVar(tipRotationVar)
{
QStringList flexCoefficientsValues = primaryFlexCoefficients.split(',', QString::SkipEmptyParts);
for (int i = 0; i < flexCoefficientsValues.size(); i++) {
QStringList tipTargetFlexCoefficientsValues = tipTargetFlexCoefficients.split(',', QString::SkipEmptyParts);
for (int i = 0; i < tipTargetFlexCoefficientsValues.size(); i++) {
if (i < MAX_NUMBER_FLEX_VARIABLES) {
qCDebug(animation) << "flex value " << flexCoefficientsValues[i].toDouble();
_primaryFlexCoefficients[i] = (float)flexCoefficientsValues[i].toDouble();
qCDebug(animation) << "tip target flex value " << tipTargetFlexCoefficientsValues[i].toDouble();
_tipTargetFlexCoefficients[i] = (float)tipTargetFlexCoefficientsValues[i].toDouble();
}
}
_numPrimaryFlexCoefficients = std::min(flexCoefficientsValues.size(), MAX_NUMBER_FLEX_VARIABLES);
QStringList secondaryFlexCoefficientsValues = secondaryFlexCoefficients.split(',', QString::SkipEmptyParts);
for (int i = 0; i < secondaryFlexCoefficientsValues.size(); i++) {
_numTipTargetFlexCoefficients = std::min(tipTargetFlexCoefficientsValues.size(), MAX_NUMBER_FLEX_VARIABLES);
QStringList midTargetFlexCoefficientsValues = midTargetFlexCoefficients.split(',', QString::SkipEmptyParts);
for (int i = 0; i < midTargetFlexCoefficientsValues.size(); i++) {
if (i < MAX_NUMBER_FLEX_VARIABLES) {
qCDebug(animation) << "secondaryflex value " << secondaryFlexCoefficientsValues[i].toDouble();
_secondaryFlexCoefficients[i] = (float)secondaryFlexCoefficientsValues[i].toDouble();
qCDebug(animation) << "mid target flex value " << midTargetFlexCoefficientsValues[i].toDouble();
_midTargetFlexCoefficients[i] = (float)midTargetFlexCoefficientsValues[i].toDouble();
}
}
_numSecondaryFlexCoefficients = std::min(secondaryFlexCoefficientsValues.size(), MAX_NUMBER_FLEX_VARIABLES);
_numMidTargetFlexCoefficients = std::min(midTargetFlexCoefficientsValues.size(), MAX_NUMBER_FLEX_VARIABLES);
}
@ -130,86 +130,79 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimChain underChain;
underChain.buildFromRelativePoses(_skeleton, underPoses, _tipJointIndex);
glm::quat hipsTargetRotation;
glm::vec3 hipsTargetTranslation;
glm::quat baseTargetRotation;
glm::vec3 baseTargetTranslation;
// now we override the hips with the hips target pose.
// if there is a baseJoint ik target in animvars then use that
// otherwise use the underpose
if (_poses.size() > 0) {
AnimPose hipsUnderPose = _skeleton->getAbsolutePose(_hipsIndex, _poses);
hipsTargetRotation = animVars.lookupRigToGeometry("hipsRotation", hipsUnderPose.rot());
hipsTargetTranslation = animVars.lookupRigToGeometry("hipsPosition", hipsUnderPose.trans());
AnimPose absHipsTargetPose(hipsTargetRotation, hipsTargetTranslation);
AnimPose baseJointUnderPose = _skeleton->getAbsolutePose(_baseJointIndex, _poses);
baseTargetRotation = animVars.lookupRigToGeometry(_baseRotationVar, baseJointUnderPose.rot());
baseTargetTranslation = animVars.lookupRigToGeometry(_basePositionVar, baseJointUnderPose.trans());
AnimPose absBaseTargetPose(baseTargetRotation, baseTargetTranslation);
int hipsParentIndex = _skeleton->getParentIndex(_hipsIndex);
AnimPose hipsParentAbsPose = _skeleton->getAbsolutePose(hipsParentIndex, _poses);
int baseParentIndex = _skeleton->getParentIndex(_baseJointIndex);
AnimPose baseParentAbsPose(Quaternions::IDENTITY,glm::vec3());
if (baseParentIndex >= 0) {
baseParentAbsPose = _skeleton->getAbsolutePose(baseParentIndex, _poses);
}
_poses[_hipsIndex] = hipsParentAbsPose.inverse() * absHipsTargetPose;
_poses[_hipsIndex].scale() = glm::vec3(1.0f);
_poses[_baseJointIndex] = baseParentAbsPose.inverse() * absBaseTargetPose;
_poses[_baseJointIndex].scale() = glm::vec3(1.0f);
}
AnimPoseVec absolutePoses;
absolutePoses.resize(_poses.size());
computeAbsolutePoses(absolutePoses);
IKTarget target;
IKTarget tipTarget;
if (_tipJointIndex != -1) {
target.setType((int)IKTarget::Type::Spline);
target.setIndex(_tipJointIndex);
tipTarget.setType((int)IKTarget::Type::Spline);
tipTarget.setIndex(_tipJointIndex);
AnimPose absPose = _skeleton->getAbsolutePose(_tipJointIndex, _poses);
glm::quat rotation = animVars.lookupRigToGeometry(_tipRotationVar, absPose.rot());
glm::vec3 translation = animVars.lookupRigToGeometry(_tipPositionVar, absPose.trans());
float weight = 1.0f;
target.setPose(rotation, translation);
target.setWeight(weight);
const float* flexCoefficients = new float[5]{ 1.0f, 0.5f, 0.25f, 0.2f, 0.1f };
target.setFlexCoefficients(_numPrimaryFlexCoefficients, _primaryFlexCoefficients);
tipTarget.setPose(rotation, translation);
tipTarget.setWeight(1.0f);
tipTarget.setFlexCoefficients(_numTipTargetFlexCoefficients, _tipTargetFlexCoefficients);
}
AnimChain jointChain;
AnimPose updatedSecondaryTarget;
AnimPoseVec absolutePoses2;
absolutePoses2.resize(_poses.size());
if (_poses.size() > 0) {
jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
solveTargetWithSpline(context, target, absolutePoses, false, jointChain);
AnimPoseVec absolutePoses;
absolutePoses.resize(_poses.size());
computeAbsolutePoses(absolutePoses);
jointChain.buildFromRelativePoses(_skeleton, _poses, tipTarget.getIndex());
solveTargetWithSpline(context, tipTarget, absolutePoses, false, jointChain);
jointChain.buildDirtyAbsolutePoses();
qCDebug(animation) << "the jointChain Result for head " << jointChain.getAbsolutePoseFromJointIndex(_tipJointIndex);
qCDebug(animation) << "the orig target pose for head " << target.getPose();
jointChain.outputRelativePoses(_poses);
AnimPose afterSolveSecondaryTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
glm::quat secondaryTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveSecondaryTarget.rot());
updatedSecondaryTarget = AnimPose(secondaryTargetRotation, afterSolveSecondaryTarget.trans());
//updatedSecondaryTarget = AnimPose(afterSolveSecondaryTarget.rot(), afterSolveSecondaryTarget.trans());
}
IKTarget secondaryTarget;
computeAbsolutePoses(absolutePoses2);
IKTarget midTarget;
if (_midJointIndex != -1) {
secondaryTarget.setType((int)IKTarget::Type::Spline);
secondaryTarget.setIndex(_midJointIndex);
midTarget.setType((int)IKTarget::Type::Spline);
midTarget.setIndex(_midJointIndex);
float weight2 = 1.0f;
secondaryTarget.setPose(updatedSecondaryTarget.rot(), updatedSecondaryTarget.trans());
secondaryTarget.setWeight(weight2);
const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f };
secondaryTarget.setFlexCoefficients(_numSecondaryFlexCoefficients, _secondaryFlexCoefficients);
// set the middle joint to the position that is determined by the base-tip spline.
AnimPose afterSolveMidTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
glm::quat midTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveMidTarget.rot());
AnimPose updatedMidTarget = AnimPose(midTargetRotation, afterSolveMidTarget.trans());
midTarget.setPose(updatedMidTarget.rot(), updatedMidTarget.trans());
midTarget.setWeight(1.0f);
midTarget.setFlexCoefficients(_numMidTargetFlexCoefficients, _midTargetFlexCoefficients);
}
AnimChain secondaryJointChain;
AnimChain midJointChain;
AnimPose beforeSolveChestNeck;
int startJoint;
AnimPose correctJoint;
if (_poses.size() > 0) {
AnimPoseVec absolutePoses2;
absolutePoses2.resize(_poses.size());
computeAbsolutePoses(absolutePoses2);
// start at the tip
for (startJoint = _tipJointIndex; _skeleton->getParentIndex(startJoint) != _midJointIndex; startJoint = _skeleton->getParentIndex(startJoint)) {
// find the child of the midJoint
}
@ -218,25 +211,25 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
// fix this to deal with no neck AA
beforeSolveChestNeck = _skeleton->getAbsolutePose(_skeleton->nameToJointIndex("Neck"), _poses);
secondaryJointChain.buildFromRelativePoses(_skeleton, _poses, secondaryTarget.getIndex());
solveTargetWithSpline(context, secondaryTarget, absolutePoses2, false, secondaryJointChain);
secondaryJointChain.outputRelativePoses(_poses);
midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
solveTargetWithSpline(context, midTarget, absolutePoses2, false, midJointChain);
midJointChain.outputRelativePoses(_poses);
}
// set the tip/head rotation to match the absolute rotation of the target.
int tipParent = _skeleton->getParentIndex(_tipJointIndex);
int secondaryTargetParent = _skeleton->getParentIndex(_midJointIndex);
if ((secondaryTargetParent != -1) && (tipParent != -1) && (_poses.size() > 0)) {
int midTargetParent = _skeleton->getParentIndex(_midJointIndex);
if ((midTargetParent != -1) && (tipParent != -1) && (_poses.size() > 0)) {
AnimPose secondaryTargetPose(secondaryTarget.getRotation(), secondaryTarget.getTranslation());
AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation());
//AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses);
//_poses[tipParent] = secondaryTargetPose.inverse() * beforeSolveChestNeck;
_poses[startJoint] = secondaryTargetPose.inverse() * correctJoint;
//_poses[tipParent] = midTargetPose.inverse() * beforeSolveChestNeck;
_poses[startJoint] = midTargetPose.inverse() * correctJoint;
//AnimPose tipTarget(target.getRotation(),target.getTranslation());
//AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTarget;
//AnimPose tipTargetPose(tipTarget.getRotation(),tipTarget.getTranslation());
//AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTargetPose;
//_poses[_tipJointIndex] = tipRelativePose;
}
@ -286,31 +279,31 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
const vec4 GREEN(0.0f, 1.0f, 0.0f, 1.0f);
glm::mat4 rigToAvatarMat = createMatFromQuatAndPos(Quaternions::Y_180, glm::vec3());
glm::mat4 geomTargetMat = createMatFromQuatAndPos(target.getRotation(), target.getTranslation());
glm::mat4 geomTargetMat = createMatFromQuatAndPos(tipTarget.getRotation(), tipTarget.getTranslation());
glm::mat4 avatarTargetMat = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat;
QString name = QString("ikTargetHead");
QString name = QString("ikTargetSplineTip");
DebugDraw::getInstance().addMyAvatarMarker(name, glmExtractRotation(avatarTargetMat), extractTranslation(avatarTargetMat), WHITE);
glm::mat4 geomTargetMat2 = createMatFromQuatAndPos(secondaryTarget.getRotation(), secondaryTarget.getTranslation());
glm::mat4 geomTargetMat2 = createMatFromQuatAndPos(midTarget.getRotation(), midTarget.getTranslation());
glm::mat4 avatarTargetMat2 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat2;
QString name2 = QString("ikTargetSpine2");
QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().addMyAvatarMarker(name2, glmExtractRotation(avatarTargetMat2), extractTranslation(avatarTargetMat2), WHITE);
glm::mat4 geomTargetMat3 = createMatFromQuatAndPos(hipsTargetRotation, hipsTargetTranslation);
glm::mat4 geomTargetMat3 = createMatFromQuatAndPos(baseTargetRotation,baseTargetTranslation);
glm::mat4 avatarTargetMat3 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat3;
QString name3 = QString("ikTargetHips");
QString name3 = QString("ikTargetSplineBase");
DebugDraw::getInstance().addMyAvatarMarker(name3, glmExtractRotation(avatarTargetMat3), extractTranslation(avatarTargetMat3), WHITE);
} else if (context.getEnableDebugDrawIKTargets() != _previousEnableDebugIKTargets) {
// remove markers if they were added last frame.
QString name = QString("ikTargetHead");
QString name = QString("ikTargetSplineTip");
DebugDraw::getInstance().removeMyAvatarMarker(name);
QString name2 = QString("ikTargetSpine2");
QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().removeMyAvatarMarker(name2);
QString name3 = QString("ikTargetHips");
QString name3 = QString("ikTargetSplineBase");
DebugDraw::getInstance().removeMyAvatarMarker(name3);
}
@ -356,8 +349,6 @@ const AnimPoseVec& AnimSplineIK::getPosesInternal() const {
void AnimSplineIK::setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) {
AnimNode::setSkeletonInternal(skeleton);
//_headIndex = _skeleton->nameToJointIndex("Head");
_hipsIndex = _skeleton->nameToJointIndex("Hips");
lookUpIndices();
}

18
libraries/animation/src/AnimSplineIK.h
View file

@ -19,14 +19,12 @@
class AnimSplineIK : public AnimNode {
public:
AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration,
const QString& baseJointName, const QString& tipJointName,
const QString& baseJointName, const QString& midJointName, const QString& tipJointName,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar,
const QString& basePositionVar, const QString& baseRotationVar,
const QString& midPositionVar, const QString& midRotationVar,
const QString& tipPositionVar, const QString& tipRotationVar,
const QString& secondaryTargetJointName,
const QString& secondaryTargetPositionVar,
const QString& secondaryTargetRotationVar,
const QString& primaryFlexCoefficients,
const QString& secondaryFlexCoefficients);
@ -69,19 +67,15 @@ protected:
QString _tipRotationVar;
static const int MAX_NUMBER_FLEX_VARIABLES = 10;
float _primaryFlexCoefficients[MAX_NUMBER_FLEX_VARIABLES];
float _secondaryFlexCoefficients[MAX_NUMBER_FLEX_VARIABLES];
int _numPrimaryFlexCoefficients { 0 };
int _numSecondaryFlexCoefficients { 0 };
float _tipTargetFlexCoefficients[MAX_NUMBER_FLEX_VARIABLES];
float _midTargetFlexCoefficients[MAX_NUMBER_FLEX_VARIABLES];
int _numTipTargetFlexCoefficients { 0 };
int _numMidTargetFlexCoefficients { 0 };
int _baseParentJointIndex { -1 };
int _baseJointIndex { -1 };
int _midJointIndex { -1 };
int _tipJointIndex { -1 };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _spine2Index { -1 };
int _hipsTargetIndex { -1 };
QString _alphaVar; // float - (0, 1) 0 means underPoses only, 1 means IK only.
QString _enabledVar; // bool