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Merge branch 'master' of git://github.com/highfidelity/hifi into fade

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Olivier Prat 2017-07-17 11:44:10 +02:00
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91
BUILD_LINUX.md
View file

@ -1,7 +1,96 @@
# Linux build guide
Please read the [general build guide](BUILD.md) for information on dependencies required for all platforms. Only Linux specific instructions are found in this file. Please read the [general build guide](BUILD.md) for information on dependencies required for all platforms. Only Linux specific instructions are found in this file.
### Qt5 Dependencies ## Qt5 Dependencies
Should you choose not to install Qt5 via a package manager that handles dependencies for you, you may be missing some Qt5 dependencies. On Ubuntu, for example, the following additional packages are required: Should you choose not to install Qt5 via a package manager that handles dependencies for you, you may be missing some Qt5 dependencies. On Ubuntu, for example, the following additional packages are required:
libasound2 libxmu-dev libxi-dev freeglut3-dev libasound2-dev libjack0 libjack-dev libxrandr-dev libudev-dev libssl-dev libasound2 libxmu-dev libxi-dev freeglut3-dev libasound2-dev libjack0 libjack-dev libxrandr-dev libudev-dev libssl-dev
## Ubuntu 16.04 specific build guide
### Prepare environment
Install qt:
```bash
wget http://debian.highfidelity.com/pool/h/hi/hifi-qt5.6.1_5.6.1_amd64.deb
sudo dpkg -i hifi-qt5.6.1_5.6.1_amd64.deb
```
Install build dependencies:
```bash
sudo apt-get install libasound2 libxmu-dev libxi-dev freeglut3-dev libasound2-dev libjack0 libjack-dev libxrandr-dev libudev-dev libssl-dev
```
To compile interface in a server you must install:
```bash
sudo apt -y install libpulse0 libnss3 libnspr4 libfontconfig1 libxcursor1 libxcomposite1 libxtst6 libxslt1.1
```
Install build tools:
```bash
sudo apt install cmake
```
### Get code and checkout the tag you need
Clone this repository:
```bash
git clone https://github.com/highfidelity/hifi.git
```
To compile a RELEASE version checkout the tag you need getting a list of all tags:
```bash
git fetch -a
git tags
```
Then checkout last tag with:
```bash
git checkout tags/RELEASE-6819
```
Or go to the highfidelity download page (https://highfidelity.com/download) to get the release version. For example, if there is a BETA 6731 type:
```bash
git checkout tags/RELEASE-6731
```
### Compiling
Create the build directory:
```bash
mkdir -p hifi/build
cd hifi/build
```
Prepare makefiles:
```bash
cmake -DQT_CMAKE_PREFIX_PATH=/usr/local/Qt5.6.1/5.6/gcc_64/lib/cmake ..
```
Start compilation and get a cup of coffee:
```bash
make domain-server assignment-client interface
```
In a server does not make sense to compile interface
### Running the software
Running domain server:
```bash
./domain-server/domain-server
```
Running assignment client:
```bash
./assignment-client/assignment-client -n 6
```
Running interface:
```bash
./interface/interface
```
Go to localhost in running interface.

43
cmake/templates/NSIS.template.in
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@ -438,6 +438,7 @@ Var DesktopServerCheckbox
Var ServerStartupCheckbox Var ServerStartupCheckbox
Var LaunchServerNowCheckbox Var LaunchServerNowCheckbox
Var LaunchClientNowCheckbox Var LaunchClientNowCheckbox
Var CleanInstallCheckbox
Var CurrentOffset Var CurrentOffset
Var OffsetUnits Var OffsetUnits
Var CopyFromProductionCheckbox Var CopyFromProductionCheckbox
@ -483,19 +484,10 @@ Function PostInstallOptionsPage
${If} ${SectionIsSelected} ${@SERVER_COMPONENT_NAME@} ${If} ${SectionIsSelected} ${@SERVER_COMPONENT_NAME@}
${NSD_CreateCheckbox} 0 $CurrentOffset$OffsetUnits 100% 10u "&Create a desktop shortcut for @CONSOLE_HF_SHORTCUT_NAME@" ${NSD_CreateCheckbox} 0 $CurrentOffset$OffsetUnits 100% 10u "&Create a desktop shortcut for @CONSOLE_HF_SHORTCUT_NAME@"
Pop $DesktopServerCheckbox Pop $DesktopServerCheckbox
IntOp $CurrentOffset $CurrentOffset + 15
; set the checkbox state depending on what is present in the registry ; set the checkbox state depending on what is present in the registry
!insertmacro SetPostInstallOption $DesktopServerCheckbox @CONSOLE_DESKTOP_SHORTCUT_REG_KEY@ ${BST_UNCHECKED} !insertmacro SetPostInstallOption $DesktopServerCheckbox @CONSOLE_DESKTOP_SHORTCUT_REG_KEY@ ${BST_UNCHECKED}
IntOp $CurrentOffset $CurrentOffset + 15
${NSD_CreateCheckbox} 0 $CurrentOffset$OffsetUnits 100% 10u "&Launch @CONSOLE_HF_SHORTCUT_NAME@ on startup"
Pop $ServerStartupCheckbox
; set the checkbox state depending on what is present in the registry
!insertmacro SetPostInstallOption $ServerStartupCheckbox @CONSOLE_STARTUP_REG_KEY@ ${BST_CHECKED}
IntOp $CurrentOffset $CurrentOffset + 15
${EndIf} ${EndIf}
${If} ${SectionIsSelected} ${@SERVER_COMPONENT_NAME@} ${If} ${SectionIsSelected} ${@SERVER_COMPONENT_NAME@}
@ -515,6 +507,7 @@ Function PostInstallOptionsPage
${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@} ${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@}
${NSD_CreateCheckbox} 0 $CurrentOffset$OffsetUnits 100% 10u "&Launch @INTERFACE_HF_SHORTCUT_NAME@ after install" ${NSD_CreateCheckbox} 0 $CurrentOffset$OffsetUnits 100% 10u "&Launch @INTERFACE_HF_SHORTCUT_NAME@ after install"
Pop $LaunchClientNowCheckbox Pop $LaunchClientNowCheckbox
IntOp $CurrentOffset $CurrentOffset + 30
; set the checkbox state depending on what is present in the registry ; set the checkbox state depending on what is present in the registry
!insertmacro SetPostInstallOption $LaunchClientNowCheckbox @CLIENT_LAUNCH_NOW_REG_KEY@ ${BST_CHECKED} !insertmacro SetPostInstallOption $LaunchClientNowCheckbox @CLIENT_LAUNCH_NOW_REG_KEY@ ${BST_CHECKED}
@ -524,6 +517,21 @@ Function PostInstallOptionsPage
${EndIf} ${EndIf}
${EndIf} ${EndIf}
${If} ${SectionIsSelected} ${@SERVER_COMPONENT_NAME@}
${NSD_CreateCheckbox} 0 $CurrentOffset$OffsetUnits 100% 10u "&Launch @CONSOLE_HF_SHORTCUT_NAME@ on startup"
Pop $ServerStartupCheckbox
IntOp $CurrentOffset $CurrentOffset + 15
; set the checkbox state depending on what is present in the registry
!insertmacro SetPostInstallOption $ServerStartupCheckbox @CONSOLE_STARTUP_REG_KEY@ ${BST_CHECKED}
${EndIf}
${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@}
${NSD_CreateCheckbox} 0 $CurrentOffset$OffsetUnits 100% 10u "&Perform a clean install (Delete older settings and content)"
Pop $CleanInstallCheckbox
IntOp $CurrentOffset $CurrentOffset + 15
${EndIf}
${If} @PR_BUILD@ == 1 ${If} @PR_BUILD@ == 1
; a PR build defaults all install options expect LaunchServerNowCheckbox, LaunchClientNowCheckbox and the settings copy to unchecked ; a PR build defaults all install options expect LaunchServerNowCheckbox, LaunchClientNowCheckbox and the settings copy to unchecked
${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@} ${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@}
@ -558,6 +566,7 @@ Var ServerStartupState
Var LaunchServerNowState Var LaunchServerNowState
Var LaunchClientNowState Var LaunchClientNowState
Var CopyFromProductionState Var CopyFromProductionState
Var CleanInstallState
Function ReadPostInstallOptions Function ReadPostInstallOptions
${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@} ${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@}
@ -587,6 +596,11 @@ Function ReadPostInstallOptions
; check if we need to launch the client post-install ; check if we need to launch the client post-install
${NSD_GetState} $LaunchClientNowCheckbox $LaunchClientNowState ${NSD_GetState} $LaunchClientNowCheckbox $LaunchClientNowState
${EndIf} ${EndIf}
${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@}
; check if the user asked for a clean install
${NSD_GetState} $CleanInstallCheckbox $CleanInstallState
${EndIf}
FunctionEnd FunctionEnd
Function HandlePostInstallOptions Function HandlePostInstallOptions
@ -629,6 +643,15 @@ Function HandlePostInstallOptions
${EndIf} ${EndIf}
${EndIf} ${EndIf}
${If} ${SectionIsSelected} ${@CLIENT_COMPONENT_NAME@}
; check if the user asked for a clean install
${If} $CleanInstallState == ${BST_CHECKED}
SetShellVarContext current
RMDir /r "$APPDATA\@BUILD_ORGANIZATION@"
RMDir /r "$LOCALAPPDATA\@BUILD_ORGANIZATION@"
${EndIf}
${EndIf}
${If} @PR_BUILD@ == 1 ${If} @PR_BUILD@ == 1
; check if we need to copy settings/content from production for this PR build ; check if we need to copy settings/content from production for this PR build

25
interface/resources/icons/tablet-icons/edit-disabled.svg Normal file
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@ -0,0 +1,25 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- Generator: Adobe Illustrator 19.2.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
viewBox="0 0 50 50" style="enable-background:new 0 0 50 50;" xml:space="preserve" opacity="0.33">
<style type="text/css">
.st0{fill:#FFFFFF;}
</style>
<g id="Layer_2">
</g>
<g>
<path class="st0" d="M20.7,29.7c-2.2,2.2-4.4,4.4-6.7,6.7c-0.5-0.5-1.1-1.1-1.6-1.6c2.2-2.2,4.4-4.4,6.7-6.7l-1.8-1.8
c-2.6,2.5-5.1,5.1-7.7,7.6c-0.5,0.5-0.9,1.1-1,1.8C8.3,37.8,8,39.8,7.7,42c0.2,0,0.4,0,0.5,0c2-0.4,4-0.8,5.9-1.2
c0.4-0.1,0.8-0.3,1.1-0.6c2.7-2.6,5.3-5.3,8-8L20.7,29.7z"/>
<path class="st0" d="M31.1,11c0.8-0.8,1.8-1.8,2.7-2.7C34.2,8,34.6,8,34.9,8.4c1.6,1.6,3.1,3.1,4.7,4.7c0.4,0.4,0.4,0.8,0,1.2
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c-0.8-0.9-0.9-2.1-0.1-3c0.6-0.7,1.3-1.3,2-2c0.9-0.8,2-0.8,2.9,0c0.2,0.2,0.3,0.3,0.5,0.5c1.2,1.2,2.3,2.3,3.5,3.5
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Side by side

After

Width:  |  Height:  |  Size: 1.8 KiB

2
interface/resources/qml/controls-uit/Slider.qml
View file

@ -36,7 +36,7 @@ Slider {
Rectangle { Rectangle {
width: parent.height - 2 width: parent.height - 2
height: slider.value * (slider.width/(slider.maximumValue - slider.minimumValue)) - 1 height: slider.width * (slider.value - slider.minimumValue) / (slider.maximumValue - slider.minimumValue) - 1
radius: height / 2 radius: height / 2
anchors { anchors {
top: parent.top top: parent.top

8
interface/resources/qml/dialogs/preferences/Section.qml
View file

@ -72,6 +72,7 @@ Preference {
property var avatarBuilder: Component { AvatarPreference { } } property var avatarBuilder: Component { AvatarPreference { } }
property var buttonBuilder: Component { ButtonPreference { } } property var buttonBuilder: Component { ButtonPreference { } }
property var comboBoxBuilder: Component { ComboBoxPreference { } } property var comboBoxBuilder: Component { ComboBoxPreference { } }
property var spinnerSliderBuilder: Component { SpinnerSliderPreference { } }
property var preferences: [] property var preferences: []
property int checkBoxCount: 0 property int checkBoxCount: 0
@ -86,7 +87,7 @@ Preference {
} }
function buildPreference(preference) { function buildPreference(preference) {
console.log("\tPreference type " + preference.type + " name " + preference.name) console.log("\tPreference type " + preference.type + " name " + preference.name);
var builder; var builder;
switch (preference.type) { switch (preference.type) {
case Preference.Editable: case Preference.Editable:
@ -128,6 +129,11 @@ Preference {
checkBoxCount = 0; checkBoxCount = 0;
builder = comboBoxBuilder; builder = comboBoxBuilder;
break; break;
case Preference.SpinnerSlider:
checkBoxCount = 0;
builder = spinnerSliderBuilder;
break;
}; };
if (builder) { if (builder) {

111
interface/resources/qml/dialogs/preferences/SpinnerSliderPreference.qml Normal file
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@ -0,0 +1,111 @@
//
// SpinnerSliderPreference.qml
//
// Created by Cain Kilgore on 11th July 2017
// Copyright 2016 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
//
import QtQuick 2.5
import "../../dialogs"
import "../../controls-uit"
Preference {
id: root
property alias slider: slider
property alias spinner: spinner
height: control.height + hifi.dimensions.controlInterlineHeight
Component.onCompleted: {
slider.value = preference.value;
spinner.value = preference.value;
}
function save() {
preference.value = slider.value;
preference.save();
}
Item {
id: control
anchors {
left: parent.left
right: parent.right
bottom: parent.bottom
}
height: Math.max(labelText.height, slider.height, spinner.height, button.height)
Label {
id: labelText
text: root.label + ":"
colorScheme: hifi.colorSchemes.dark
anchors {
left: parent.left
right: slider.left
rightMargin: hifi.dimensions.labelPadding
verticalCenter: parent.verticalCenter
}
horizontalAlignment: Text.AlignRight
wrapMode: Text.Wrap
}
Slider {
id: slider
value: preference.value
width: 100
minimumValue: MyAvatar.getDomainMinScale()
maximumValue: MyAvatar.getDomainMaxScale()
stepSize: preference.step
onValueChanged: {
spinner.value = value
}
anchors {
right: spinner.left
rightMargin: 10
verticalCenter: parent.verticalCenter
}
colorScheme: hifi.colorSchemes.dark
}
SpinBox {
id: spinner
decimals: preference.decimals
value: preference.value
minimumValue: MyAvatar.getDomainMinScale()
maximumValue: MyAvatar.getDomainMaxScale()
width: 100
onValueChanged: {
slider.value = value;
}
anchors {
right: button.left
rightMargin: 10
verticalCenter: parent.verticalCenter
}
colorScheme: hifi.colorSchemes.dark
}
GlyphButton {
id: button
onClicked: {
if (spinner.maximumValue >= 1) {
spinner.value = 1
slider.value = 1
} else {
spinner.value = spinner.maximumValue
slider.value = spinner.maximumValue
}
}
width: 30
glyph: hifi.glyphs.reload
anchors {
right: parent.right
verticalCenter: parent.verticalCenter
}
colorScheme: hifi.colorSchemes.dark
}
}
}

5
interface/resources/qml/hifi/tablet/tabletWindows/preferences/Section.qml
View file

@ -81,6 +81,7 @@ Preference {
property var avatarBuilder: Component { AvatarPreference { } } property var avatarBuilder: Component { AvatarPreference { } }
property var buttonBuilder: Component { ButtonPreference { } } property var buttonBuilder: Component { ButtonPreference { } }
property var comboBoxBuilder: Component { ComboBoxPreference { } } property var comboBoxBuilder: Component { ComboBoxPreference { } }
property var spinnerSliderBuilder: Component { SpinnerSliderPreference { } }
property var preferences: [] property var preferences: []
property int checkBoxCount: 0 property int checkBoxCount: 0
@ -143,6 +144,10 @@ Preference {
//to be not overlapped when drop down is active //to be not overlapped when drop down is active
zpos = root.z + 1000 - itemNum zpos = root.z + 1000 - itemNum
break; break;
case Preference.SpinnerSlider:
checkBoxCount = 0;
builder = spinnerSliderBuilder;
break;
}; };
if (builder) { if (builder) {

8
interface/src/Application.cpp
View file

@ -1752,9 +1752,7 @@ QString Application::getUserAgent() {
void Application::toggleTabletUI(bool shouldOpen) const { void Application::toggleTabletUI(bool shouldOpen) const {
auto tabletScriptingInterface = DependencyManager::get<TabletScriptingInterface>(); auto tabletScriptingInterface = DependencyManager::get<TabletScriptingInterface>();
auto hmd = DependencyManager::get<HMDScriptingInterface>(); auto hmd = DependencyManager::get<HMDScriptingInterface>();
TabletProxy* tablet = dynamic_cast<TabletProxy*>(tabletScriptingInterface->getTablet(SYSTEM_TABLET)); if (!(shouldOpen && hmd->getShouldShowTablet())) {
bool messageOpen = tablet->isMessageDialogOpen();
if ((!messageOpen || (messageOpen && !hmd->getShouldShowTablet())) && !(shouldOpen && hmd->getShouldShowTablet())) {
auto HMD = DependencyManager::get<HMDScriptingInterface>(); auto HMD = DependencyManager::get<HMDScriptingInterface>();
HMD->toggleShouldShowTablet(); HMD->toggleShouldShowTablet();
} }
@ -5476,6 +5474,10 @@ void Application::updateWindowTitle() const {
qCDebug(interfaceapp, "Application title set to: %s", title.toStdString().c_str()); qCDebug(interfaceapp, "Application title set to: %s", title.toStdString().c_str());
#endif #endif
_window->setWindowTitle(title); _window->setWindowTitle(title);
// updateTitleWindow gets called whenever there's a change regarding the domain, so rather
// than placing this within domainChanged, it's placed here to cover the other potential cases.
DependencyManager::get< MessagesClient >()->sendLocalMessage("Toolbar-DomainChanged", "");
} }
void Application::clearDomainOctreeDetails() { void Application::clearDomainOctreeDetails() {

8
interface/src/avatar/MyAvatar.cpp
View file

@ -2227,6 +2227,14 @@ void MyAvatar::clampScaleChangeToDomainLimits(float desiredScale) {
qCDebug(interfaceapp, "Changed scale to %f", (double)_targetScale); qCDebug(interfaceapp, "Changed scale to %f", (double)_targetScale);
} }
float MyAvatar::getDomainMinScale() {
return _domainMinimumScale;
}
float MyAvatar::getDomainMaxScale() {
return _domainMaximumScale;
}
void MyAvatar::increaseSize() { void MyAvatar::increaseSize() {
// make sure we're starting from an allowable scale // make sure we're starting from an allowable scale
clampTargetScaleToDomainLimits(); clampTargetScaleToDomainLimits();

2
interface/src/avatar/MyAvatar.h
View file

@ -556,6 +556,8 @@ public slots:
void increaseSize(); void increaseSize();
void decreaseSize(); void decreaseSize();
void resetSize(); void resetSize();
float getDomainMinScale();
float getDomainMaxScale();
void goToLocation(const glm::vec3& newPosition, void goToLocation(const glm::vec3& newPosition,
bool hasOrientation = false, const glm::quat& newOrientation = glm::quat(), bool hasOrientation = false, const glm::quat& newOrientation = glm::quat(),

11
interface/src/ui/PreferencesDialog.cpp
View file

@ -184,12 +184,15 @@ void setupPreferences() {
{ {
auto getter = [=]()->float { return myAvatar->getUniformScale(); }; auto getter = [=]()->float { return myAvatar->getUniformScale(); };
auto setter = [=](float value) { myAvatar->setTargetScale(value); }; auto setter = [=](float value) { myAvatar->setTargetScale(value); };
auto preference = new SpinnerPreference(AVATAR_TUNING, "Avatar scale (default is 1.0)", getter, setter); auto preference = new SpinnerSliderPreference(AVATAR_TUNING, "Avatar Scale", getter, setter);
preference->setMin(0.01f); preference->setStep(0.05f);
preference->setMax(99.9f);
preference->setDecimals(2); preference->setDecimals(2);
preference->setStep(1);
preferences->addPreference(preference); preferences->addPreference(preference);
// When the Interface is first loaded, this section setupPreferences(); is loaded -
// causing the myAvatar->getDomainMinScale() and myAvatar->getDomainMaxScale() to get set to incorrect values
// which can't be changed across domain switches. Having these values loaded up when you load the Dialog each time
// is a way around this, therefore they're not specified here but in the QML.
} }
{ {
auto getter = []()->float { return DependencyManager::get<DdeFaceTracker>()->getEyeClosingThreshold(); }; auto getter = []()->float { return DependencyManager::get<DdeFaceTracker>()->getEyeClosingThreshold(); };

397
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -23,20 +23,23 @@
#include "CubicHermiteSpline.h" #include "CubicHermiteSpline.h"
#include "AnimUtil.h" #include "AnimUtil.h"
static void lookupJointChainInfo(AnimInverseKinematics::JointChainInfo* jointChainInfos, size_t numJointChainInfos, static const float JOINT_CHAIN_INTERP_TIME = 0.25f;
static void lookupJointInfo(const AnimInverseKinematics::JointChainInfo& jointChainInfo,
int indexA, int indexB, int indexA, int indexB,
AnimInverseKinematics::JointChainInfo** jointChainInfoA, const AnimInverseKinematics::JointInfo** jointInfoA,
AnimInverseKinematics::JointChainInfo** jointChainInfoB) { const AnimInverseKinematics::JointInfo** jointInfoB) {
*jointChainInfoA = nullptr; *jointInfoA = nullptr;
*jointChainInfoB = nullptr; *jointInfoB = nullptr;
for (size_t i = 0; i < numJointChainInfos; i++) { for (size_t i = 0; i < jointChainInfo.jointInfoVec.size(); i++) {
if (jointChainInfos[i].jointIndex == indexA) { const AnimInverseKinematics::JointInfo* jointInfo = &jointChainInfo.jointInfoVec[i];
*jointChainInfoA = jointChainInfos + i; if (jointInfo->jointIndex == indexA) {
*jointInfoA = jointInfo;
} }
if (jointChainInfos[i].jointIndex == indexB) { if (jointInfo->jointIndex == indexB) {
*jointChainInfoB = jointChainInfos + i; *jointInfoB = jointInfo;
} }
if (*jointChainInfoA && *jointChainInfoB) { if (*jointInfoA && *jointInfoB) {
break; break;
} }
} }
@ -149,25 +152,28 @@ void AnimInverseKinematics::setTargetVars(const QString& jointName, const QStrin
} }
void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) { void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) {
// build a list of valid targets from _targetVarVec and animVars
_maxTargetIndex = -1;
_hipsTargetIndex = -1; _hipsTargetIndex = -1;
bool removeUnfoundJoints = false;
targets.reserve(_targetVarVec.size());
for (auto& targetVar : _targetVarVec) { for (auto& targetVar : _targetVarVec) {
// update targetVar jointIndex cache
if (targetVar.jointIndex == -1) { if (targetVar.jointIndex == -1) {
// this targetVar hasn't been validated yet...
int jointIndex = _skeleton->nameToJointIndex(targetVar.jointName); int jointIndex = _skeleton->nameToJointIndex(targetVar.jointName);
if (jointIndex >= 0) { if (jointIndex >= 0) {
// this targetVar has a valid joint --> cache the indices // this targetVar has a valid joint --> cache the indices
targetVar.jointIndex = jointIndex; targetVar.jointIndex = jointIndex;
} else { } else {
qCWarning(animation) << "AnimInverseKinematics could not find jointName" << targetVar.jointName << "in skeleton"; qCWarning(animation) << "AnimInverseKinematics could not find jointName" << targetVar.jointName << "in skeleton";
removeUnfoundJoints = true;
} }
} else { }
IKTarget target; IKTarget target;
if (targetVar.jointIndex != -1) {
target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition)); target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition));
target.setIndex(targetVar.jointIndex);
if (target.getType() != IKTarget::Type::Unknown) { if (target.getType() != IKTarget::Type::Unknown) {
AnimPose absPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses); AnimPose absPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, absPose.rot()); glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, absPose.rot());
@ -175,7 +181,6 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
float weight = animVars.lookup(targetVar.weightVar, targetVar.weight); float weight = animVars.lookup(targetVar.weightVar, targetVar.weight);
target.setPose(rotation, translation); target.setPose(rotation, translation);
target.setIndex(targetVar.jointIndex);
target.setWeight(weight); target.setWeight(weight);
target.setFlexCoefficients(targetVar.numFlexCoefficients, targetVar.flexCoefficients); target.setFlexCoefficients(targetVar.numFlexCoefficients, targetVar.flexCoefficients);
@ -188,39 +193,20 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
glm::vec3 poleReferenceVector = animVars.lookupRigToGeometryVector(targetVar.poleReferenceVectorVar, Vectors::UNIT_Z); glm::vec3 poleReferenceVector = animVars.lookupRigToGeometryVector(targetVar.poleReferenceVectorVar, Vectors::UNIT_Z);
target.setPoleReferenceVector(glm::normalize(poleReferenceVector)); target.setPoleReferenceVector(glm::normalize(poleReferenceVector));
targets.push_back(target);
if (targetVar.jointIndex > _maxTargetIndex) {
_maxTargetIndex = targetVar.jointIndex;
}
// record the index of the hips ik target. // record the index of the hips ik target.
if (target.getIndex() == _hipsIndex) { if (target.getIndex() == _hipsIndex) {
_hipsTargetIndex = (int)targets.size() - 1; _hipsTargetIndex = (int)targets.size();
} }
} }
}
}
if (removeUnfoundJoints) {
int numVars = (int)_targetVarVec.size();
int i = 0;
while (i < numVars) {
if (_targetVarVec[i].jointIndex == -1) {
if (numVars > 1) {
// swap i for last element
_targetVarVec[i] = _targetVarVec[numVars - 1];
}
_targetVarVec.pop_back();
--numVars;
} else { } else {
++i; target.setType((int)IKTarget::Type::Unknown);
}
} }
targets.push_back(target);
} }
} }
void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<IKTarget>& targets) { void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<IKTarget>& targets, float dt, JointChainInfoVec& jointChainInfoVec) {
// compute absolute poses that correspond to relative target poses // compute absolute poses that correspond to relative target poses
AnimPoseVec absolutePoses; AnimPoseVec absolutePoses;
absolutePoses.resize(_relativePoses.size()); absolutePoses.resize(_relativePoses.size());
@ -234,26 +220,75 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
accumulator.clearAndClean(); accumulator.clearAndClean();
} }
float maxError = FLT_MAX; float maxError = 0.0f;
int numLoops = 0; int numLoops = 0;
const int MAX_IK_LOOPS = 16; const int MAX_IK_LOOPS = 16;
const float MAX_ERROR_TOLERANCE = 0.1f; // cm while (numLoops < MAX_IK_LOOPS) {
while (maxError > MAX_ERROR_TOLERANCE && numLoops < MAX_IK_LOOPS) {
++numLoops; ++numLoops;
bool debug = context.getEnableDebugDrawIKChains() && numLoops == MAX_IK_LOOPS; bool debug = context.getEnableDebugDrawIKChains() && numLoops == MAX_IK_LOOPS;
// solve all targets // solve all targets
for (auto& target: targets) { for (size_t i = 0; i < targets.size(); i++) {
if (target.getType() == IKTarget::Type::Spline) { switch (targets[i].getType()) {
solveTargetWithSpline(context, target, absolutePoses, debug); case IKTarget::Type::Unknown:
} else { break;
solveTargetWithCCD(context, target, absolutePoses, debug); case IKTarget::Type::Spline:
solveTargetWithSpline(context, targets[i], absolutePoses, debug, jointChainInfoVec[i]);
break;
default:
solveTargetWithCCD(context, targets[i], absolutePoses, debug, jointChainInfoVec[i]);
break;
}
}
// on last iteration, interpolate jointChains, if necessary
if (numLoops == MAX_IK_LOOPS) {
for (size_t i = 0; i < _prevJointChainInfoVec.size(); i++) {
if (_prevJointChainInfoVec[i].timer > 0.0f) {
float alpha = (JOINT_CHAIN_INTERP_TIME - _prevJointChainInfoVec[i].timer) / JOINT_CHAIN_INTERP_TIME;
size_t chainSize = std::min(_prevJointChainInfoVec[i].jointInfoVec.size(), jointChainInfoVec[i].jointInfoVec.size());
for (size_t j = 0; j < chainSize; j++) {
jointChainInfoVec[i].jointInfoVec[j].rot = safeMix(_prevJointChainInfoVec[i].jointInfoVec[j].rot, jointChainInfoVec[i].jointInfoVec[j].rot, alpha);
jointChainInfoVec[i].jointInfoVec[j].trans = lerp(_prevJointChainInfoVec[i].jointInfoVec[j].trans, jointChainInfoVec[i].jointInfoVec[j].trans, alpha);
}
// if joint chain was just disabled, ramp the weight toward zero.
if (_prevJointChainInfoVec[i].target.getType() != IKTarget::Type::Unknown &&
jointChainInfoVec[i].target.getType() == IKTarget::Type::Unknown) {
IKTarget newTarget = _prevJointChainInfoVec[i].target;
newTarget.setWeight((1.0f - alpha) * _prevJointChainInfoVec[i].target.getWeight());
jointChainInfoVec[i].target = newTarget;
}
}
}
}
// copy jointChainInfoVecs into accumulators
for (size_t i = 0; i < targets.size(); i++) {
const std::vector<JointInfo>& jointInfoVec = jointChainInfoVec[i].jointInfoVec;
// don't accumulate disabled or rotation only ik targets.
IKTarget::Type type = jointChainInfoVec[i].target.getType();
if (type != IKTarget::Type::Unknown && type != IKTarget::Type::RotationOnly) {
float weight = jointChainInfoVec[i].target.getWeight();
if (weight > 0.0f) {
for (size_t j = 0; j < jointInfoVec.size(); j++) {
const JointInfo& info = jointInfoVec[j];
if (info.jointIndex >= 0) {
_rotationAccumulators[info.jointIndex].add(info.rot, weight);
_translationAccumulators[info.jointIndex].add(info.trans, weight);
}
}
}
} }
} }
// harvest accumulated rotations and apply the average // harvest accumulated rotations and apply the average
for (int i = 0; i < (int)_relativePoses.size(); ++i) { for (int i = 0; i < (int)_relativePoses.size(); ++i) {
if (i == _hipsIndex) {
continue; // don't apply accumulators to hips
}
if (_rotationAccumulators[i].size() > 0) { if (_rotationAccumulators[i].size() > 0) {
_relativePoses[i].rot() = _rotationAccumulators[i].getAverage(); _relativePoses[i].rot() = _rotationAccumulators[i].getAverage();
_rotationAccumulators[i].clear(); _rotationAccumulators[i].clear();
@ -289,7 +324,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// finally set the relative rotation of each tip to agree with absolute target rotation // finally set the relative rotation of each tip to agree with absolute target rotation
for (auto& target: targets) { for (auto& target: targets) {
int tipIndex = target.getIndex(); int tipIndex = target.getIndex();
int parentIndex = _skeleton->getParentIndex(tipIndex); int parentIndex = (tipIndex >= 0) ? _skeleton->getParentIndex(tipIndex) : -1;
// update rotationOnly targets that don't lie on the ik chain of other ik targets. // update rotationOnly targets that don't lie on the ik chain of other ik targets.
if (parentIndex != -1 && !_rotationAccumulators[tipIndex].isDirty() && target.getType() == IKTarget::Type::RotationOnly) { if (parentIndex != -1 && !_rotationAccumulators[tipIndex].isDirty() && target.getType() == IKTarget::Type::RotationOnly) {
@ -308,9 +343,34 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
absolutePoses[tipIndex].rot() = targetRotation; absolutePoses[tipIndex].rot() = targetRotation;
} }
} }
// copy jointChainInfoVec into _prevJointChainInfoVec, and update timers
for (size_t i = 0; i < jointChainInfoVec.size(); i++) {
_prevJointChainInfoVec[i].timer = _prevJointChainInfoVec[i].timer - dt;
if (_prevJointChainInfoVec[i].timer <= 0.0f) {
_prevJointChainInfoVec[i] = jointChainInfoVec[i];
_prevJointChainInfoVec[i].target = targets[i];
// store relative poses into unknown/rotation only joint chains.
// so we have something to interpolate from if this chain is activated.
IKTarget::Type type = _prevJointChainInfoVec[i].target.getType();
if (type == IKTarget::Type::Unknown || type == IKTarget::Type::RotationOnly) {
for (size_t j = 0; j < _prevJointChainInfoVec[i].jointInfoVec.size(); j++) {
auto& info = _prevJointChainInfoVec[i].jointInfoVec[j];
if (info.jointIndex >= 0) {
info.rot = _relativePoses[info.jointIndex].rot();
info.trans = _relativePoses[info.jointIndex].trans();
} else {
info.rot = Quaternions::IDENTITY;
info.trans = glm::vec3(0.0f);
}
}
}
}
}
} }
void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug) { void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, JointChainInfo& jointChainInfoOut) const {
size_t chainDepth = 0; size_t chainDepth = 0;
IKTarget::Type targetType = target.getType(); IKTarget::Type targetType = target.getType();
@ -338,9 +398,6 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// the tip's parent-relative as we proceed up the chain // the tip's parent-relative as we proceed up the chain
glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot(); glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot();
const size_t MAX_CHAIN_DEPTH = 30;
JointChainInfo jointChainInfos[MAX_CHAIN_DEPTH];
// NOTE: if this code is removed, the head will remain rigid, causing the spine/hips to thrust forward backward // NOTE: if this code is removed, the head will remain rigid, causing the spine/hips to thrust forward backward
// as the head is nodded. // as the head is nodded.
if (targetType == IKTarget::Type::HmdHead || if (targetType == IKTarget::Type::HmdHead ||
@ -368,7 +425,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
} }
glm::vec3 tipRelativeTranslation = _relativePoses[target.getIndex()].trans(); glm::vec3 tipRelativeTranslation = _relativePoses[target.getIndex()].trans();
jointChainInfos[chainDepth] = { tipRelativeRotation, tipRelativeTranslation, target.getWeight(), tipIndex, constrained }; jointChainInfoOut.jointInfoVec[chainDepth] = { tipRelativeRotation, tipRelativeTranslation, tipIndex, constrained };
} }
// cache tip absolute position // cache tip absolute position
@ -379,7 +436,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// descend toward root, pivoting each joint to get tip closer to target position // descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) { while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
assert(chainDepth < MAX_CHAIN_DEPTH); assert(chainDepth < jointChainInfoOut.jointInfoVec.size());
// compute the two lines that should be aligned // compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans(); glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
@ -444,9 +501,8 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
glm::quat twistPart; glm::quat twistPart;
glm::vec3 axis = glm::normalize(deltaRotation * leverArm); glm::vec3 axis = glm::normalize(deltaRotation * leverArm);
swingTwistDecomposition(missingRotation, axis, swingPart, twistPart); swingTwistDecomposition(missingRotation, axis, swingPart, twistPart);
float dotSign = copysignf(1.0f, twistPart.w);
const float LIMIT_LEAK_FRACTION = 0.1f; const float LIMIT_LEAK_FRACTION = 0.1f;
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * twistPart, LIMIT_LEAK_FRACTION)) * deltaRotation; deltaRotation = safeLerp(glm::quat(), twistPart, LIMIT_LEAK_FRACTION);
} }
} }
} }
@ -455,9 +511,8 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// An HmdHead target slaves the orientation of the end-effector by distributing rotation // An HmdHead target slaves the orientation of the end-effector by distributing rotation
// deltas up the hierarchy. Its target position is enforced later (by shifting the hips). // deltas up the hierarchy. Its target position is enforced later (by shifting the hips).
deltaRotation = target.getRotation() * glm::inverse(tipOrientation); deltaRotation = target.getRotation() * glm::inverse(tipOrientation);
float dotSign = copysignf(1.0f, deltaRotation.w);
const float ANGLE_DISTRIBUTION_FACTOR = 0.45f; const float ANGLE_DISTRIBUTION_FACTOR = 0.45f;
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR)); deltaRotation = safeLerp(glm::quat(), deltaRotation, ANGLE_DISTRIBUTION_FACTOR);
} }
// compute joint's new parent-relative rotation after swing // compute joint's new parent-relative rotation after swing
@ -480,7 +535,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
} }
glm::vec3 newTrans = _relativePoses[pivotIndex].trans(); glm::vec3 newTrans = _relativePoses[pivotIndex].trans();
jointChainInfos[chainDepth] = { newRot, newTrans, target.getWeight(), pivotIndex, constrained }; jointChainInfoOut.jointInfoVec[chainDepth] = { newRot, newTrans, pivotIndex, constrained };
// keep track of tip's new transform as we descend towards root // keep track of tip's new transform as we descend towards root
tipPosition = jointPosition + deltaRotation * (tipPosition - jointPosition); tipPosition = jointPosition + deltaRotation * (tipPosition - jointPosition);
@ -502,24 +557,25 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
int baseParentJointIndex = _skeleton->getParentIndex(baseJointIndex); int baseParentJointIndex = _skeleton->getParentIndex(baseJointIndex);
AnimPose topPose, midPose, basePose; AnimPose topPose, midPose, basePose;
int topChainIndex = -1, baseChainIndex = -1; int topChainIndex = -1, baseChainIndex = -1;
const size_t MAX_CHAIN_DEPTH = 30;
AnimPose postAbsPoses[MAX_CHAIN_DEPTH]; AnimPose postAbsPoses[MAX_CHAIN_DEPTH];
AnimPose accum = absolutePoses[_hipsIndex]; AnimPose accum = absolutePoses[_hipsIndex];
AnimPose baseParentPose = absolutePoses[_hipsIndex]; AnimPose baseParentPose = absolutePoses[_hipsIndex];
for (int i = (int)chainDepth - 1; i >= 0; i--) { for (int i = (int)chainDepth - 1; i >= 0; i--) {
accum = accum * AnimPose(glm::vec3(1.0f), jointChainInfos[i].relRot, jointChainInfos[i].relTrans); accum = accum * AnimPose(glm::vec3(1.0f), jointChainInfoOut.jointInfoVec[i].rot, jointChainInfoOut.jointInfoVec[i].trans);
postAbsPoses[i] = accum; postAbsPoses[i] = accum;
if (jointChainInfos[i].jointIndex == topJointIndex) { if (jointChainInfoOut.jointInfoVec[i].jointIndex == topJointIndex) {
topChainIndex = i; topChainIndex = i;
topPose = accum; topPose = accum;
} }
if (jointChainInfos[i].jointIndex == midJointIndex) { if (jointChainInfoOut.jointInfoVec[i].jointIndex == midJointIndex) {
midPose = accum; midPose = accum;
} }
if (jointChainInfos[i].jointIndex == baseJointIndex) { if (jointChainInfoOut.jointInfoVec[i].jointIndex == baseJointIndex) {
baseChainIndex = i; baseChainIndex = i;
basePose = accum; basePose = accum;
} }
if (jointChainInfos[i].jointIndex == baseParentJointIndex) { if (jointChainInfoOut.jointInfoVec[i].jointIndex == baseParentJointIndex) {
baseParentPose = accum; baseParentPose = accum;
} }
} }
@ -599,21 +655,16 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
} }
glm::quat newBaseRelRot = glm::inverse(baseParentPose.rot()) * poleRot * basePose.rot(); glm::quat newBaseRelRot = glm::inverse(baseParentPose.rot()) * poleRot * basePose.rot();
jointChainInfos[baseChainIndex].relRot = newBaseRelRot; jointChainInfoOut.jointInfoVec[baseChainIndex].rot = newBaseRelRot;
glm::quat newTopRelRot = glm::inverse(midPose.rot()) * glm::inverse(poleRot) * topPose.rot(); glm::quat newTopRelRot = glm::inverse(midPose.rot()) * glm::inverse(poleRot) * topPose.rot();
jointChainInfos[topChainIndex].relRot = newTopRelRot; jointChainInfoOut.jointInfoVec[topChainIndex].rot = newTopRelRot;
} }
} }
} }
for (size_t i = 0; i < chainDepth; i++) {
_rotationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relRot, jointChainInfos[i].weight);
_translationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relTrans, jointChainInfos[i].weight);
}
if (debug) { if (debug) {
debugDrawIKChain(jointChainInfos, chainDepth, context); debugDrawIKChain(jointChainInfoOut, context);
} }
} }
@ -628,7 +679,7 @@ static CubicHermiteSplineFunctorWithArcLength computeSplineFromTipAndBase(const
} }
// pre-compute information about each joint influeced by this spline IK target. // pre-compute information about each joint influeced by this spline IK target.
void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) { void AnimInverseKinematics::computeAndCacheSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) const {
std::vector<SplineJointInfo> splineJointInfoVec; std::vector<SplineJointInfo> splineJointInfoVec;
// build spline between the default poses. // build spline between the default poses.
@ -681,13 +732,13 @@ void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext
_splineJointInfoMap[target.getIndex()] = splineJointInfoVec; _splineJointInfoMap[target.getIndex()] = splineJointInfoVec;
} }
const std::vector<AnimInverseKinematics::SplineJointInfo>* AnimInverseKinematics::findOrCreateSplineJointInfo(const AnimContext& context, const IKTarget& target) { const std::vector<AnimInverseKinematics::SplineJointInfo>* AnimInverseKinematics::findOrCreateSplineJointInfo(const AnimContext& context, const IKTarget& target) const {
// find or create splineJointInfo for this target // find or create splineJointInfo for this target
auto iter = _splineJointInfoMap.find(target.getIndex()); auto iter = _splineJointInfoMap.find(target.getIndex());
if (iter != _splineJointInfoMap.end()) { if (iter != _splineJointInfoMap.end()) {
return &(iter->second); return &(iter->second);
} else { } else {
computeSplineJointInfosForIKTarget(context, target); computeAndCacheSplineJointInfosForIKTarget(context, target);
auto iter = _splineJointInfoMap.find(target.getIndex()); auto iter = _splineJointInfoMap.find(target.getIndex());
if (iter != _splineJointInfoMap.end()) { if (iter != _splineJointInfoMap.end()) {
return &(iter->second); return &(iter->second);
@ -697,10 +748,8 @@ const std::vector<AnimInverseKinematics::SplineJointInfo>* AnimInverseKinematics
return nullptr; return nullptr;
} }
void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug) { void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, JointChainInfo& jointChainInfoOut) const {
const size_t MAX_CHAIN_DEPTH = 30;
JointChainInfo jointChainInfos[MAX_CHAIN_DEPTH];
const int baseIndex = _hipsIndex; const int baseIndex = _hipsIndex;
@ -720,7 +769,7 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
// This prevents the rotation interpolation from rotating the wrong physical way (but correct mathematical way) // This prevents the rotation interpolation from rotating the wrong physical way (but correct mathematical way)
// when the head is arched backwards very far. // when the head is arched backwards very far.
glm::quat halfRot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), 0.5f)); glm::quat halfRot = safeLerp(basePose.rot(), tipPose.rot(), 0.5f);
if (glm::dot(halfRot * Vectors::UNIT_Z, basePose.rot() * Vectors::UNIT_Z) < 0.0f) { if (glm::dot(halfRot * Vectors::UNIT_Z, basePose.rot() * Vectors::UNIT_Z) < 0.0f) {
tipPose.rot() = -tipPose.rot(); tipPose.rot() = -tipPose.rot();
} }
@ -743,7 +792,7 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
if (target.getIndex() == _headIndex) { if (target.getIndex() == _headIndex) {
rotT = t * t; rotT = t * t;
} }
glm::quat twistRot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), rotT)); glm::quat twistRot = safeLerp(basePose.rot(), tipPose.rot(), rotT);
// compute the rotation by using the derivative of the spline as the y-axis, and the twistRot x-axis // compute the rotation by using the derivative of the spline as the y-axis, and the twistRot x-axis
glm::vec3 y = glm::normalize(spline.d(t)); glm::vec3 y = glm::normalize(spline.d(t));
@ -783,19 +832,14 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
} }
} }
jointChainInfos[i] = { relPose.rot(), relPose.trans(), target.getWeight(), splineJointInfo.jointIndex, constrained }; jointChainInfoOut.jointInfoVec[i] = { relPose.rot(), relPose.trans(), splineJointInfo.jointIndex, constrained };
parentAbsPose = flexedAbsPose; parentAbsPose = flexedAbsPose;
} }
} }
for (size_t i = 0; i < splineJointInfoVec->size(); i++) {
_rotationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relRot, jointChainInfos[i].weight);
_translationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relTrans, jointChainInfos[i].weight);
}
if (debug) { if (debug) {
debugDrawIKChain(jointChainInfos, splineJointInfoVec->size(), context); debugDrawIKChain(jointChainInfoOut, context);
} }
} }
@ -806,6 +850,24 @@ const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVar
return _relativePoses; return _relativePoses;
} }
AnimPose AnimInverseKinematics::applyHipsOffset() const {
glm::vec3 hipsOffset = _hipsOffset;
AnimPose relHipsPose = _relativePoses[_hipsIndex];
float offsetLength = glm::length(hipsOffset);
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH) {
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
glm::vec3 scaledHipsOffset = scaleFactor * hipsOffset;
if (_hipsParentIndex == -1) {
relHipsPose.trans() = _relativePoses[_hipsIndex].trans() + scaledHipsOffset;
} else {
AnimPose absHipsPose = _skeleton->getAbsolutePose(_hipsIndex, _relativePoses);
absHipsPose.trans() += scaledHipsOffset;
relHipsPose = _skeleton->getAbsolutePose(_hipsParentIndex, _relativePoses).inverse() * absHipsPose;
}
}
return relHipsPose;
}
//virtual //virtual
const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) { const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
@ -850,33 +912,88 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
_relativePoses = underPoses; _relativePoses = underPoses;
} else { } else {
JointChainInfoVec jointChainInfoVec(targets.size());
{
PROFILE_RANGE_EX(simulation_animation, "ik/jointChainInfo", 0xffff00ff, 0);
// initialize a new jointChainInfoVec, this will hold the results for solving each ik chain.
JointInfo defaultJointInfo = { glm::quat(), glm::vec3(), -1, false };
for (size_t i = 0; i < targets.size(); i++) {
size_t chainDepth = (size_t)_skeleton->getChainDepth(targets[i].getIndex());
jointChainInfoVec[i].jointInfoVec.reserve(chainDepth);
jointChainInfoVec[i].target = targets[i];
int index = targets[i].getIndex();
for (size_t j = 0; j < chainDepth; j++) {
jointChainInfoVec[i].jointInfoVec.push_back(defaultJointInfo);
jointChainInfoVec[i].jointInfoVec[j].jointIndex = index;
index = _skeleton->getParentIndex(index);
}
}
// identify joint chains that have changed types this frame.
_prevJointChainInfoVec.resize(jointChainInfoVec.size());
for (size_t i = 0; i < _prevJointChainInfoVec.size(); i++) {
if (_prevJointChainInfoVec[i].timer <= 0.0f &&
(jointChainInfoVec[i].target.getType() != _prevJointChainInfoVec[i].target.getType() ||
jointChainInfoVec[i].target.getPoleVectorEnabled() != _prevJointChainInfoVec[i].target.getPoleVectorEnabled())) {
_prevJointChainInfoVec[i].timer = JOINT_CHAIN_INTERP_TIME;
}
}
}
{ {
PROFILE_RANGE_EX(simulation_animation, "ik/shiftHips", 0xffff00ff, 0); PROFILE_RANGE_EX(simulation_animation, "ik/shiftHips", 0xffff00ff, 0);
if (_hipsTargetIndex >= 0 && _hipsTargetIndex < (int)targets.size()) { if (_hipsTargetIndex >= 0) {
assert(_hipsTargetIndex < (int)targets.size());
// slam the hips to match the _hipsTarget // slam the hips to match the _hipsTarget
AnimPose absPose = targets[_hipsTargetIndex].getPose(); AnimPose absPose = targets[_hipsTargetIndex].getPose();
int parentIndex = _skeleton->getParentIndex(targets[_hipsTargetIndex].getIndex()); int parentIndex = _skeleton->getParentIndex(targets[_hipsTargetIndex].getIndex());
if (parentIndex != -1) { AnimPose parentAbsPose = _skeleton->getAbsolutePose(parentIndex, _relativePoses);
_relativePoses[_hipsIndex] = _skeleton->getAbsolutePose(parentIndex, _relativePoses).inverse() * absPose;
} else { // do smooth interpolation of hips, if necessary.
_relativePoses[_hipsIndex] = absPose; if (_prevJointChainInfoVec[_hipsTargetIndex].timer > 0.0f && _prevJointChainInfoVec[_hipsTargetIndex].jointInfoVec.size() > 0) {
float alpha = (JOINT_CHAIN_INTERP_TIME - _prevJointChainInfoVec[_hipsTargetIndex].timer) / JOINT_CHAIN_INTERP_TIME;
auto& info = _prevJointChainInfoVec[_hipsTargetIndex].jointInfoVec[0];
AnimPose prevHipsRelPose(info.rot, info.trans);
AnimPose prevHipsAbsPose = parentAbsPose * prevHipsRelPose;
::blend(1, &prevHipsAbsPose, &absPose, alpha, &absPose);
} }
} else {
_relativePoses[_hipsIndex] = parentAbsPose.inverse() * absPose;
_relativePoses[_hipsIndex].scale() = glm::vec3(1.0f);
_hipsOffset = Vectors::ZERO;
} else if (_hipsIndex >= 0) {
// if there is no hips target, shift hips according to the _hipsOffset from the previous frame // if there is no hips target, shift hips according to the _hipsOffset from the previous frame
float offsetLength = glm::length(_hipsOffset); AnimPose relHipsPose = applyHipsOffset();
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH && _hipsIndex >= 0) { // determine if we should begin interpolating the hips.
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength); for (size_t i = 0; i < targets.size(); i++) {
glm::vec3 hipsOffset = scaleFactor * _hipsOffset; if (_prevJointChainInfoVec[i].target.getIndex() == _hipsIndex) {
if (_hipsParentIndex == -1) { if (_prevJointChainInfoVec[i].timer > 0.0f) {
_relativePoses[_hipsIndex].trans() = _relativePoses[_hipsIndex].trans() + hipsOffset; // smoothly lerp in hipsOffset
} else { float alpha = (JOINT_CHAIN_INTERP_TIME - _prevJointChainInfoVec[i].timer) / JOINT_CHAIN_INTERP_TIME;
auto absHipsPose = _skeleton->getAbsolutePose(_hipsIndex, _relativePoses); AnimPose prevRelHipsPose(_prevJointChainInfoVec[i].jointInfoVec[0].rot, _prevJointChainInfoVec[i].jointInfoVec[0].trans);
absHipsPose.trans() += hipsOffset; ::blend(1, &prevRelHipsPose, &relHipsPose, alpha, &relHipsPose);
_relativePoses[_hipsIndex] = _skeleton->getAbsolutePose(_hipsParentIndex, _relativePoses).inverse() * absHipsPose; }
break;
} }
} }
_relativePoses[_hipsIndex] = relHipsPose;
}
// if there is an active jointChainInfo for the hips store the post shifted hips into it.
// This is so we have a valid pose to interplate from when the hips target is disabled.
if (_hipsTargetIndex >= 0) {
jointChainInfoVec[_hipsTargetIndex].jointInfoVec[0].rot = _relativePoses[_hipsIndex].rot();
jointChainInfoVec[_hipsTargetIndex].jointInfoVec[0].trans = _relativePoses[_hipsIndex].trans();
} }
// update all HipsRelative targets to account for the hips shift/ik target. // update all HipsRelative targets to account for the hips shift/ik target.
@ -920,15 +1037,14 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
{ {
PROFILE_RANGE_EX(simulation_animation, "ik/ccd", 0xffff00ff, 0); PROFILE_RANGE_EX(simulation_animation, "ik/ccd", 0xffff00ff, 0);
preconditionRelativePosesToAvoidLimbLock(context, targets); preconditionRelativePosesToAvoidLimbLock(context, targets);
solve(context, targets); solve(context, targets, dt, jointChainInfoVec);
} }
if (_hipsTargetIndex < 0) { if (_hipsTargetIndex < 0) {
PROFILE_RANGE_EX(simulation_animation, "ik/measureHipsOffset", 0xffff00ff, 0); PROFILE_RANGE_EX(simulation_animation, "ik/measureHipsOffset", 0xffff00ff, 0);
computeHipsOffset(targets, underPoses, dt); _hipsOffset = computeHipsOffset(targets, underPoses, dt, _hipsOffset);
} else {
_hipsOffset = Vectors::ZERO;
} }
} }
@ -937,23 +1053,15 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
} }
} }
if (_leftHandIndex > -1) {
_uncontrolledLeftHandPose = _skeleton->getAbsolutePose(_leftHandIndex, underPoses);
}
if (_rightHandIndex > -1) {
_uncontrolledRightHandPose = _skeleton->getAbsolutePose(_rightHandIndex, underPoses);
}
if (_hipsIndex > -1) {
_uncontrolledHipsPose = _skeleton->getAbsolutePose(_hipsIndex, underPoses);
}
return _relativePoses; return _relativePoses;
} }
void AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt) { glm::vec3 AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt, glm::vec3 prevHipsOffset) const {
// measure new _hipsOffset for next frame // measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is // by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done) // and where it wants to be (after IK solutions are done)
glm::vec3 hipsOffset = prevHipsOffset;
glm::vec3 newHipsOffset = Vectors::ZERO; glm::vec3 newHipsOffset = Vectors::ZERO;
for (auto& target: targets) { for (auto& target: targets) {
int targetIndex = target.getIndex(); int targetIndex = target.getIndex();
@ -969,9 +1077,9 @@ void AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targe
} else if (target.getType() == IKTarget::Type::HmdHead) { } else if (target.getType() == IKTarget::Type::HmdHead) {
// we want to shift the hips to bring the head to its designated position // we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans(); glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
_hipsOffset += target.getTranslation() - actual; hipsOffset += target.getTranslation() - actual;
// and ignore all other targets // and ignore all other targets
newHipsOffset = _hipsOffset; newHipsOffset = hipsOffset;
break; break;
} else if (target.getType() == IKTarget::Type::RotationAndPosition) { } else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans(); glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
@ -991,16 +1099,18 @@ void AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targe
} }
} }
// smooth transitions by relaxing _hipsOffset toward the new value // smooth transitions by relaxing hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f; const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f; float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
_hipsOffset += (newHipsOffset - _hipsOffset) * tau; hipsOffset += (newHipsOffset - hipsOffset) * tau;
// clamp the hips offset // clamp the hips offset
float hipsOffsetLength = glm::length(_hipsOffset); float hipsOffsetLength = glm::length(hipsOffset);
if (hipsOffsetLength > _maxHipsOffsetLength) { if (hipsOffsetLength > _maxHipsOffsetLength) {
_hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength; hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
} }
return hipsOffset;
} }
void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) { void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
@ -1414,8 +1524,6 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
targetVar.jointIndex = -1; targetVar.jointIndex = -1;
} }
_maxTargetIndex = -1;
for (auto& accumulator: _rotationAccumulators) { for (auto& accumulator: _rotationAccumulators) {
accumulator.clearAndClean(); accumulator.clearAndClean();
} }
@ -1446,10 +1554,6 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
_leftHandIndex = -1; _leftHandIndex = -1;
_rightHandIndex = -1; _rightHandIndex = -1;
} }
_uncontrolledLeftHandPose = AnimPose();
_uncontrolledRightHandPose = AnimPose();
_uncontrolledHipsPose = AnimPose();
} }
static glm::vec3 sphericalToCartesian(float phi, float theta) { static glm::vec3 sphericalToCartesian(float phi, float theta) {
@ -1495,14 +1599,14 @@ void AnimInverseKinematics::debugDrawRelativePoses(const AnimContext& context) c
} }
} }
void AnimInverseKinematics::debugDrawIKChain(JointChainInfo* jointChainInfos, size_t numJointChainInfos, const AnimContext& context) const { void AnimInverseKinematics::debugDrawIKChain(const JointChainInfo& jointChainInfo, const AnimContext& context) const {
AnimPoseVec poses = _relativePoses; AnimPoseVec poses = _relativePoses;
// copy debug joint rotations into the relative poses // copy debug joint rotations into the relative poses
for (size_t i = 0; i < numJointChainInfos; i++) { for (size_t i = 0; i < jointChainInfo.jointInfoVec.size(); i++) {
const JointChainInfo& info = jointChainInfos[i]; const JointInfo& info = jointChainInfo.jointInfoVec[i];
poses[info.jointIndex].rot() = info.relRot; poses[info.jointIndex].rot() = info.rot;
poses[info.jointIndex].trans() = info.relTrans; poses[info.jointIndex].trans() = info.trans;
} }
// convert relative poses to absolute // convert relative poses to absolute
@ -1519,9 +1623,9 @@ void AnimInverseKinematics::debugDrawIKChain(JointChainInfo* jointChainInfos, si
// draw each pose // draw each pose
for (int i = 0; i < (int)poses.size(); i++) { for (int i = 0; i < (int)poses.size(); i++) {
int parentIndex = _skeleton->getParentIndex(i); int parentIndex = _skeleton->getParentIndex(i);
JointChainInfo* jointInfo = nullptr; const JointInfo* jointInfo = nullptr;
JointChainInfo* parentJointInfo = nullptr; const JointInfo* parentJointInfo = nullptr;
lookupJointChainInfo(jointChainInfos, numJointChainInfos, i, parentIndex, &jointInfo, &parentJointInfo); lookupJointInfo(jointChainInfo, i, parentIndex, &jointInfo, &parentJointInfo);
if (jointInfo && parentJointInfo) { if (jointInfo && parentJointInfo) {
// transform local axes into world space. // transform local axes into world space.
@ -1608,7 +1712,7 @@ void AnimInverseKinematics::debugDrawConstraints(const AnimContext& context) con
const int NUM_SWING_STEPS = 10; const int NUM_SWING_STEPS = 10;
for (int i = 0; i < NUM_SWING_STEPS + 1; i++) { for (int i = 0; i < NUM_SWING_STEPS + 1; i++) {
glm::quat rot = glm::normalize(glm::lerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS))); glm::quat rot = safeLerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS));
glm::vec3 axis = transformVectorFast(geomToWorldMatrix, parentAbsRot * rot * refRot * Vectors::UNIT_Y); glm::vec3 axis = transformVectorFast(geomToWorldMatrix, parentAbsRot * rot * refRot * Vectors::UNIT_Y);
DebugDraw::getInstance().drawRay(pos, pos + TWIST_LENGTH * axis, CYAN); DebugDraw::getInstance().drawRay(pos, pos + TWIST_LENGTH * axis, CYAN);
} }
@ -1626,7 +1730,7 @@ void AnimInverseKinematics::debugDrawConstraints(const AnimContext& context) con
const int NUM_SWING_STEPS = 10; const int NUM_SWING_STEPS = 10;
for (int i = 0; i < NUM_SWING_STEPS + 1; i++) { for (int i = 0; i < NUM_SWING_STEPS + 1; i++) {
glm::quat rot = glm::normalize(glm::lerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS))); glm::quat rot = safeLerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS));
glm::vec3 axis = transformVectorFast(geomToWorldMatrix, parentAbsRot * rot * refRot * Vectors::UNIT_X); glm::vec3 axis = transformVectorFast(geomToWorldMatrix, parentAbsRot * rot * refRot * Vectors::UNIT_X);
DebugDraw::getInstance().drawRay(pos, pos + TWIST_LENGTH * axis, CYAN); DebugDraw::getInstance().drawRay(pos, pos + TWIST_LENGTH * axis, CYAN);
} }
@ -1666,10 +1770,9 @@ void AnimInverseKinematics::blendToPoses(const AnimPoseVec& targetPoses, const A
// relax toward poses // relax toward poses
int numJoints = (int)_relativePoses.size(); int numJoints = (int)_relativePoses.size();
for (int i = 0; i < numJoints; ++i) { for (int i = 0; i < numJoints; ++i) {
float dotSign = copysignf(1.0f, glm::dot(_relativePoses[i].rot(), targetPoses[i].rot()));
if (_rotationAccumulators[i].isDirty()) { if (_rotationAccumulators[i].isDirty()) {
// this joint is affected by IK --> blend toward the targetPoses rotation // this joint is affected by IK --> blend toward the targetPoses rotation
_relativePoses[i].rot() = glm::normalize(glm::lerp(_relativePoses[i].rot(), dotSign * targetPoses[i].rot(), blendFactor)); _relativePoses[i].rot() = safeLerp(_relativePoses[i].rot(), targetPoses[i].rot(), blendFactor);
} else { } else {
// this joint is NOT affected by IK --> slam to underPoses rotation // this joint is NOT affected by IK --> slam to underPoses rotation
_relativePoses[i].rot() = underPoses[i].rot(); _relativePoses[i].rot() = underPoses[i].rot();

46
libraries/animation/src/AnimInverseKinematics.h
View file

@ -26,14 +26,21 @@ class RotationConstraint;
class AnimInverseKinematics : public AnimNode { class AnimInverseKinematics : public AnimNode {
public: public:
struct JointChainInfo { struct JointInfo {
glm::quat relRot; glm::quat rot;
glm::vec3 relTrans; glm::vec3 trans;
float weight;
int jointIndex; int jointIndex;
bool constrained; bool constrained;
}; };
struct JointChainInfo {
std::vector<JointInfo> jointInfoVec;
IKTarget target;
float timer { 0.0f };
};
using JointChainInfoVec = std::vector<JointChainInfo>;
explicit AnimInverseKinematics(const QString& id); explicit AnimInverseKinematics(const QString& id);
virtual ~AnimInverseKinematics() override; virtual ~AnimInverseKinematics() override;
@ -66,23 +73,22 @@ public:
void setSolutionSource(SolutionSource solutionSource) { _solutionSource = solutionSource; } void setSolutionSource(SolutionSource solutionSource) { _solutionSource = solutionSource; }
void setSolutionSourceVar(const QString& solutionSourceVar) { _solutionSourceVar = solutionSourceVar; } void setSolutionSourceVar(const QString& solutionSourceVar) { _solutionSourceVar = solutionSourceVar; }
const AnimPose& getUncontrolledLeftHandPose() { return _uncontrolledLeftHandPose; }
const AnimPose& getUncontrolledRightHandPose() { return _uncontrolledRightHandPose; }
const AnimPose& getUncontrolledHipPose() { return _uncontrolledHipsPose; }
protected: protected:
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses); void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solve(const AnimContext& context, const std::vector<IKTarget>& targets); void solve(const AnimContext& context, const std::vector<IKTarget>& targets, float dt, JointChainInfoVec& jointChainInfoVec);
void solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug); void solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
void solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug); bool debug, JointChainInfo& jointChainInfoOut) const;
void solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, JointChainInfo& jointChainInfoOut) const;
virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override; virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
void debugDrawIKChain(JointChainInfo* jointChainInfos, size_t numJointChainInfos, const AnimContext& context) const; void debugDrawIKChain(const JointChainInfo& jointChainInfo, const AnimContext& context) const;
void debugDrawRelativePoses(const AnimContext& context) const; void debugDrawRelativePoses(const AnimContext& context) const;
void debugDrawConstraints(const AnimContext& context) const; void debugDrawConstraints(const AnimContext& context) const;
void debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const; void debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const;
void initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPose); void initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPose);
void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor); void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor);
void preconditionRelativePosesToAvoidLimbLock(const AnimContext& context, const std::vector<IKTarget>& targets); void preconditionRelativePosesToAvoidLimbLock(const AnimContext& context, const std::vector<IKTarget>& targets);
AnimPose applyHipsOffset() const;
// used to pre-compute information about each joint influeced by a spline IK target. // used to pre-compute information about each joint influeced by a spline IK target.
struct SplineJointInfo { struct SplineJointInfo {
@ -91,8 +97,8 @@ protected:
AnimPose offsetPose; // local offset from the spline to the joint. AnimPose offsetPose; // local offset from the spline to the joint.
}; };
void computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target); void computeAndCacheSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) const;
const std::vector<SplineJointInfo>* findOrCreateSplineJointInfo(const AnimContext& context, const IKTarget& target); const std::vector<SplineJointInfo>* findOrCreateSplineJointInfo(const AnimContext& context, const IKTarget& target) const;
// for AnimDebugDraw rendering // for AnimDebugDraw rendering
virtual const AnimPoseVec& getPosesInternal() const override { return _relativePoses; } virtual const AnimPoseVec& getPosesInternal() const override { return _relativePoses; }
@ -101,7 +107,7 @@ protected:
void clearConstraints(); void clearConstraints();
void initConstraints(); void initConstraints();
void initLimitCenterPoses(); void initLimitCenterPoses();
void computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt); glm::vec3 computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt, glm::vec3 prevHipsOffset) const;
// no copies // no copies
AnimInverseKinematics(const AnimInverseKinematics&) = delete; AnimInverseKinematics(const AnimInverseKinematics&) = delete;
@ -136,7 +142,7 @@ protected:
AnimPoseVec _relativePoses; // current relative poses AnimPoseVec _relativePoses; // current relative poses
AnimPoseVec _limitCenterPoses; // relative AnimPoseVec _limitCenterPoses; // relative
std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap; mutable std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap;
// experimental data for moving hips during IK // experimental data for moving hips during IK
glm::vec3 _hipsOffset { Vectors::ZERO }; glm::vec3 _hipsOffset { Vectors::ZERO };
@ -148,18 +154,12 @@ protected:
int _leftHandIndex { -1 }; int _leftHandIndex { -1 };
int _rightHandIndex { -1 }; int _rightHandIndex { -1 };
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm
int _maxTargetIndex { 0 };
float _maxErrorOnLastSolve { FLT_MAX }; float _maxErrorOnLastSolve { FLT_MAX };
bool _previousEnableDebugIKTargets { false }; bool _previousEnableDebugIKTargets { false };
SolutionSource _solutionSource { SolutionSource::RelaxToUnderPoses }; SolutionSource _solutionSource { SolutionSource::RelaxToUnderPoses };
QString _solutionSourceVar; QString _solutionSourceVar;
AnimPose _uncontrolledLeftHandPose { AnimPose() }; JointChainInfoVec _prevJointChainInfoVec;
AnimPose _uncontrolledRightHandPose { AnimPose() };
AnimPose _uncontrolledHipsPose { AnimPose() };
}; };
#endif // hifi_AnimInverseKinematics_h #endif // hifi_AnimInverseKinematics_h

14
libraries/animation/src/AnimSkeleton.cpp
View file

@ -42,6 +42,20 @@ int AnimSkeleton::getNumJoints() const {
return _jointsSize; return _jointsSize;
} }
int AnimSkeleton::getChainDepth(int jointIndex) const {
if (jointIndex >= 0) {
int chainDepth = 0;
int index = jointIndex;
do {
chainDepth++;
index = _joints[index].parentIndex;
} while (index != -1);
return chainDepth;
} else {
return 0;
}
}
const AnimPose& AnimSkeleton::getAbsoluteBindPose(int jointIndex) const { const AnimPose& AnimSkeleton::getAbsoluteBindPose(int jointIndex) const {
return _absoluteBindPoses[jointIndex]; return _absoluteBindPoses[jointIndex];
} }

1
libraries/animation/src/AnimSkeleton.h
View file

@ -28,6 +28,7 @@ public:
int nameToJointIndex(const QString& jointName) const; int nameToJointIndex(const QString& jointName) const;
const QString& getJointName(int jointIndex) const; const QString& getJointName(int jointIndex) const;
int getNumJoints() const; int getNumJoints() const;
int getChainDepth(int jointIndex) const;
// absolute pose, not relative to parent // absolute pose, not relative to parent
const AnimPose& getAbsoluteBindPose(int jointIndex) const; const AnimPose& getAbsoluteBindPose(int jointIndex) const;

2
libraries/animation/src/AnimUtil.cpp
View file

@ -28,7 +28,7 @@ void blend(size_t numPoses, const AnimPose* a, const AnimPose* b, float alpha, A
} }
result[i].scale() = lerp(aPose.scale(), bPose.scale(), alpha); result[i].scale() = lerp(aPose.scale(), bPose.scale(), alpha);
result[i].rot() = glm::normalize(glm::lerp(aPose.rot(), q2, alpha)); result[i].rot() = safeLerp(aPose.rot(), bPose.rot(), alpha);
result[i].trans() = lerp(aPose.trans(), bPose.trans(), alpha); result[i].trans() = lerp(aPose.trans(), bPose.trans(), alpha);
} }
} }

10
libraries/animation/src/AnimUtil.h
View file

@ -21,4 +21,14 @@ glm::quat averageQuats(size_t numQuats, const glm::quat* quats);
float accumulateTime(float startFrame, float endFrame, float timeScale, float currentFrame, float dt, bool loopFlag, float accumulateTime(float startFrame, float endFrame, float timeScale, float currentFrame, float dt, bool loopFlag,
const QString& id, AnimNode::Triggers& triggersOut); const QString& id, AnimNode::Triggers& triggersOut);
inline glm::quat safeLerp(const glm::quat& a, const glm::quat& b, float alpha) {
// adjust signs if necessary
glm::quat bTemp = b;
float dot = glm::dot(a, bTemp);
if (dot < 0.0f) {
bTemp = -bTemp;
}
return glm::normalize(glm::lerp(a, bTemp, alpha));
}
#endif #endif

4
libraries/animation/src/IKTarget.h
View file

@ -56,8 +56,8 @@ private:
glm::vec3 _poleReferenceVector; glm::vec3 _poleReferenceVector;
bool _poleVectorEnabled { false }; bool _poleVectorEnabled { false };
int _index { -1 }; int _index { -1 };
Type _type { Type::RotationAndPosition }; Type _type { Type::Unknown };
float _weight; float _weight { 0.0f };
float _flexCoefficients[MAX_FLEX_COEFFICIENTS]; float _flexCoefficients[MAX_FLEX_COEFFICIENTS];
size_t _numFlexCoefficients; size_t _numFlexCoefficients;
}; };

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

@ -1115,36 +1115,13 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
const glm::vec3 bodyCapsuleEnd = bodyCapsuleCenter + glm::vec3(0, bodyCapsuleHalfHeight, 0); const glm::vec3 bodyCapsuleEnd = bodyCapsuleCenter + glm::vec3(0, bodyCapsuleHalfHeight, 0);
const float HAND_RADIUS = 0.05f; const float HAND_RADIUS = 0.05f;
const float RELAX_DURATION = 0.6f;
const float CONTROL_DURATION = 0.4f;
const bool TO_CONTROLLED = true;
const bool FROM_CONTROLLED = false;
const bool LEFT_HAND = true;
const bool RIGHT_HAND = false;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f; const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f;
if (leftHandEnabled) { if (leftHandEnabled) {
if (!_isLeftHandControlled) {
_leftHandControlTimeRemaining = CONTROL_DURATION;
_isLeftHandControlled = true;
}
glm::vec3 handPosition = leftHandPose.trans(); glm::vec3 handPosition = leftHandPose.trans();
glm::quat handRotation = leftHandPose.rot(); glm::quat handRotation = leftHandPose.rot();
if (_leftHandControlTimeRemaining > 0.0f) {
// Move hand from non-controlled position to controlled position.
_leftHandControlTimeRemaining = std::max(_leftHandControlTimeRemaining - dt, 0.0f);
AnimPose handPose(Vectors::ONE, handRotation, handPosition);
if (transitionHandPose(_leftHandControlTimeRemaining, CONTROL_DURATION, handPose,
LEFT_HAND, TO_CONTROLLED, handPose)) {
handPosition = handPose.trans();
handRotation = handPose.rot();
}
}
if (!hipsEnabled) { if (!hipsEnabled) {
// prevent the hand IK targets from intersecting the body capsule // prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement; glm::vec3 displacement;
@ -1157,9 +1134,6 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
_animVars.set("leftHandRotation", handRotation); _animVars.set("leftHandRotation", handRotation);
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition); _animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
_lastLeftHandControlledPose = AnimPose(Vectors::ONE, handRotation, handPosition);
_isLeftHandControlled = true;
// compute pole vector // compute pole vector
int handJointIndex = _animSkeleton->nameToJointIndex("LeftHand"); int handJointIndex = _animSkeleton->nameToJointIndex("LeftHand");
int armJointIndex = _animSkeleton->nameToJointIndex("LeftArm"); int armJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
@ -1187,47 +1161,17 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
_prevLeftHandPoleVectorValid = false; _prevLeftHandPoleVectorValid = false;
_animVars.set("leftHandPoleVectorEnabled", false); _animVars.set("leftHandPoleVectorEnabled", false);
if (_isLeftHandControlled) {
_leftHandRelaxTimeRemaining = RELAX_DURATION;
_isLeftHandControlled = false;
}
if (_leftHandRelaxTimeRemaining > 0.0f) {
// Move hand from controlled position to non-controlled position.
_leftHandRelaxTimeRemaining = std::max(_leftHandRelaxTimeRemaining - dt, 0.0f);
AnimPose handPose;
if (transitionHandPose(_leftHandRelaxTimeRemaining, RELAX_DURATION, _lastLeftHandControlledPose,
LEFT_HAND, FROM_CONTROLLED, handPose)) {
_animVars.set("leftHandPosition", handPose.trans());
_animVars.set("leftHandRotation", handPose.rot());
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
}
} else {
_animVars.unset("leftHandPosition"); _animVars.unset("leftHandPosition");
_animVars.unset("leftHandRotation"); _animVars.unset("leftHandRotation");
_animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition); _animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
}
} }
if (rightHandEnabled) { if (rightHandEnabled) {
if (!_isRightHandControlled) {
_rightHandControlTimeRemaining = CONTROL_DURATION;
_isRightHandControlled = true;
}
glm::vec3 handPosition = rightHandPose.trans(); glm::vec3 handPosition = rightHandPose.trans();
glm::quat handRotation = rightHandPose.rot(); glm::quat handRotation = rightHandPose.rot();
if (_rightHandControlTimeRemaining > 0.0f) {
// Move hand from non-controlled position to controlled position.
_rightHandControlTimeRemaining = std::max(_rightHandControlTimeRemaining - dt, 0.0f);
AnimPose handPose(Vectors::ONE, handRotation, handPosition);
if (transitionHandPose(_rightHandControlTimeRemaining, CONTROL_DURATION, handPose, RIGHT_HAND, TO_CONTROLLED, handPose)) {
handPosition = handPose.trans();
handRotation = handPose.rot();
}
}
if (!hipsEnabled) { if (!hipsEnabled) {
// prevent the hand IK targets from intersecting the body capsule // prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement; glm::vec3 displacement;
@ -1240,9 +1184,6 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
_animVars.set("rightHandRotation", handRotation); _animVars.set("rightHandRotation", handRotation);
_animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition); _animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
_lastRightHandControlledPose = AnimPose(Vectors::ONE, handRotation, handPosition);
_isRightHandControlled = true;
// compute pole vector // compute pole vector
int handJointIndex = _animSkeleton->nameToJointIndex("RightHand"); int handJointIndex = _animSkeleton->nameToJointIndex("RightHand");
int armJointIndex = _animSkeleton->nameToJointIndex("RightArm"); int armJointIndex = _animSkeleton->nameToJointIndex("RightArm");
@ -1270,27 +1211,11 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
_prevRightHandPoleVectorValid = false; _prevRightHandPoleVectorValid = false;
_animVars.set("rightHandPoleVectorEnabled", false); _animVars.set("rightHandPoleVectorEnabled", false);
if (_isRightHandControlled) {
_rightHandRelaxTimeRemaining = RELAX_DURATION;
_isRightHandControlled = false;
}
if (_rightHandRelaxTimeRemaining > 0.0f) {
// Move hand from controlled position to non-controlled position.
_rightHandRelaxTimeRemaining = std::max(_rightHandRelaxTimeRemaining - dt, 0.0f);
AnimPose handPose;
if (transitionHandPose(_rightHandRelaxTimeRemaining, RELAX_DURATION, _lastRightHandControlledPose, RIGHT_HAND, FROM_CONTROLLED, handPose)) {
_animVars.set("rightHandPosition", handPose.trans());
_animVars.set("rightHandRotation", handPose.rot());
_animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
}
} else {
_animVars.unset("rightHandPosition"); _animVars.unset("rightHandPosition");
_animVars.unset("rightHandRotation"); _animVars.unset("rightHandRotation");
_animVars.set("rightHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition); _animVars.set("rightHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
} }
} }
}
void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose) { void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose) {
@ -1737,39 +1662,38 @@ void Rig::computeAvatarBoundingCapsule(
ikNode.setTargetVars("RightFoot", "rightFootPosition", "rightFootRotation", ikNode.setTargetVars("RightFoot", "rightFootPosition", "rightFootRotation",
"rightFootType", "rightFootWeight", 1.0f, {}, "rightFootType", "rightFootWeight", 1.0f, {},
QString(), QString(), QString()); QString(), QString(), QString());
glm::vec3 hipsPosition(0.0f);
AnimPose geometryToRig = _modelOffset * _geometryOffset;
AnimPose hips(glm::vec3(1), glm::quat(), glm::vec3());
int hipsIndex = indexOfJoint("Hips"); int hipsIndex = indexOfJoint("Hips");
if (hipsIndex >= 0) { if (hipsIndex >= 0) {
hips = geometryToRig * _animSkeleton->getAbsoluteBindPose(hipsIndex); hipsPosition = transformPoint(_geometryToRigTransform, _animSkeleton->getAbsoluteDefaultPose(hipsIndex).trans());
} }
AnimVariantMap animVars; AnimVariantMap animVars;
animVars.setRigToGeometryTransform(_rigToGeometryTransform);
glm::quat handRotation = glm::angleAxis(PI, Vectors::UNIT_X); glm::quat handRotation = glm::angleAxis(PI, Vectors::UNIT_X);
animVars.set("leftHandPosition", hips.trans()); animVars.set("leftHandPosition", hipsPosition);
animVars.set("leftHandRotation", handRotation); animVars.set("leftHandRotation", handRotation);
animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition); animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightHandPosition", hips.trans()); animVars.set("rightHandPosition", hipsPosition);
animVars.set("rightHandRotation", handRotation); animVars.set("rightHandRotation", handRotation);
animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition); animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
int rightFootIndex = indexOfJoint("RightFoot"); int rightFootIndex = indexOfJoint("RightFoot");
int leftFootIndex = indexOfJoint("LeftFoot"); int leftFootIndex = indexOfJoint("LeftFoot");
if (rightFootIndex != -1 && leftFootIndex != -1) { if (rightFootIndex != -1 && leftFootIndex != -1) {
glm::vec3 foot = Vectors::ZERO; glm::vec3 geomFootPosition = glm::vec3(0.0f, _animSkeleton->getAbsoluteDefaultPose(rightFootIndex).trans().y, 0.0f);
glm::vec3 footPosition = transformPoint(_geometryToRigTransform, geomFootPosition);
glm::quat footRotation = glm::angleAxis(0.5f * PI, Vectors::UNIT_X); glm::quat footRotation = glm::angleAxis(0.5f * PI, Vectors::UNIT_X);
animVars.set("leftFootPosition", foot); animVars.set("leftFootPosition", footPosition);
animVars.set("leftFootRotation", footRotation); animVars.set("leftFootRotation", footRotation);
animVars.set("leftFootType", (int)IKTarget::Type::RotationAndPosition); animVars.set("leftFootType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightFootPosition", foot); animVars.set("rightFootPosition", footPosition);
animVars.set("rightFootRotation", footRotation); animVars.set("rightFootRotation", footRotation);
animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition); animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition);
} }
// call overlay twice: once to verify AnimPoseVec joints and again to do the IK // call overlay twice: once to verify AnimPoseVec joints and again to do the IK
AnimNode::Triggers triggersOut; AnimNode::Triggers triggersOut;
AnimContext context(false, false, false, glm::mat4(), glm::mat4()); AnimContext context(false, false, false, _geometryToRigTransform, _rigToGeometryTransform);
float dt = 1.0f; // the value of this does not matter float dt = 1.0f; // the value of this does not matter
ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses()); ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
AnimPoseVec finalPoses = ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses()); AnimPoseVec finalPoses = ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
@ -1802,34 +1726,13 @@ void Rig::computeAvatarBoundingCapsule(
// compute bounding shape parameters // compute bounding shape parameters
// NOTE: we assume that the longest side of totalExtents is the yAxis... // NOTE: we assume that the longest side of totalExtents is the yAxis...
glm::vec3 diagonal = (geometryToRig * totalExtents.maximum) - (geometryToRig * totalExtents.minimum); glm::vec3 diagonal = (transformPoint(_geometryToRigTransform, totalExtents.maximum) -
transformPoint(_geometryToRigTransform, totalExtents.minimum));
// ... and assume the radiusOut is half the RMS of the X and Z sides: // ... and assume the radiusOut is half the RMS of the X and Z sides:
radiusOut = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z)); radiusOut = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
heightOut = diagonal.y - 2.0f * radiusOut; heightOut = diagonal.y - 2.0f * radiusOut;
glm::vec3 rootPosition = finalPoses[geometry.rootJointIndex].trans(); glm::vec3 rootPosition = finalPoses[geometry.rootJointIndex].trans();
glm::vec3 rigCenter = (geometryToRig * (0.5f * (totalExtents.maximum + totalExtents.minimum))); glm::vec3 rigCenter = transformPoint(_geometryToRigTransform, (0.5f * (totalExtents.maximum + totalExtents.minimum)));
localOffsetOut = rigCenter - (geometryToRig * rootPosition); localOffsetOut = rigCenter - transformPoint(_geometryToRigTransform, rootPosition);
}
bool Rig::transitionHandPose(float deltaTime, float totalDuration, AnimPose& controlledHandPose, bool isLeftHand,
bool isToControlled, AnimPose& returnHandPose) {
auto ikNode = getAnimInverseKinematicsNode();
if (ikNode) {
float alpha = 1.0f - deltaTime / totalDuration;
const AnimPose geometryToRigTransform(_geometryToRigTransform);
AnimPose uncontrolledHandPose;
if (isLeftHand) {
uncontrolledHandPose = geometryToRigTransform * ikNode->getUncontrolledLeftHandPose();
} else {
uncontrolledHandPose = geometryToRigTransform * ikNode->getUncontrolledRightHandPose();
}
if (isToControlled) {
::blend(1, &uncontrolledHandPose, &controlledHandPose, alpha, &returnHandPose);
} else {
::blend(1, &controlledHandPose, &uncontrolledHandPose, alpha, &returnHandPose);
}
return true;
}
return false;
} }

12
libraries/animation/src/Rig.h
View file

@ -340,18 +340,6 @@ protected:
int _nextStateHandlerId { 0 }; int _nextStateHandlerId { 0 };
QMutex _stateMutex; QMutex _stateMutex;
bool transitionHandPose(float deltaTime, float totalDuration, AnimPose& controlledHandPose, bool isLeftHand,
bool isToControlled, AnimPose& returnHandPose);
bool _isLeftHandControlled { false };
bool _isRightHandControlled { false };
float _leftHandControlTimeRemaining { 0.0f };
float _rightHandControlTimeRemaining { 0.0f };
float _leftHandRelaxTimeRemaining { 0.0f };
float _rightHandRelaxTimeRemaining { 0.0f };
AnimPose _lastLeftHandControlledPose;
AnimPose _lastRightHandControlledPose;
glm::vec3 _prevRightFootPoleVector { Vectors::UNIT_Z }; glm::vec3 _prevRightFootPoleVector { Vectors::UNIT_Z };
bool _prevRightFootPoleVectorValid { false }; bool _prevRightFootPoleVectorValid { false };

6
libraries/networking/src/ResourceCache.cpp
View file

@ -102,6 +102,8 @@ QSharedPointer<Resource> ResourceCacheSharedItems::getHighestPendingRequest() {
QSharedPointer<Resource> highestResource; QSharedPointer<Resource> highestResource;
Lock lock(_mutex); Lock lock(_mutex);
bool currentHighestIsFile = false;
for (int i = 0; i < _pendingRequests.size();) { for (int i = 0; i < _pendingRequests.size();) {
// Clear any freed resources // Clear any freed resources
auto resource = _pendingRequests.at(i).lock(); auto resource = _pendingRequests.at(i).lock();
@ -112,10 +114,12 @@ QSharedPointer<Resource> ResourceCacheSharedItems::getHighestPendingRequest() {
// Check load priority // Check load priority
float priority = resource->getLoadPriority(); float priority = resource->getLoadPriority();
if (priority >= highestPriority) { bool isFile = resource->getURL().scheme() == URL_SCHEME_FILE;
if (priority >= highestPriority && (isFile || !currentHighestIsFile)) {
highestPriority = priority; highestPriority = priority;
highestIndex = i; highestIndex = i;
highestResource = resource; highestResource = resource;
currentHighestIsFile = isFile;
} }
i++; i++;
} }

10
libraries/shared/src/Preferences.h
View file

@ -52,6 +52,7 @@ public:
Browsable, Browsable,
Slider, Slider,
Spinner, Spinner,
SpinnerSlider,
Checkbox, Checkbox,
Button, Button,
ComboBox, ComboBox,
@ -254,6 +255,15 @@ public:
Type getType() override { return Spinner; } Type getType() override { return Spinner; }
}; };
class SpinnerSliderPreference : public FloatPreference {
Q_OBJECT
public:
SpinnerSliderPreference(const QString& category, const QString& name, Getter getter, Setter setter)
: FloatPreference(category, name, getter, setter) { }
Type getType() override { return SpinnerSlider; }
};
class IntSpinnerPreference : public IntPreference { class IntSpinnerPreference : public IntPreference {
Q_OBJECT Q_OBJECT
public: public:

1
libraries/ui/src/ui/TabletScriptingInterface.cpp
View file

@ -227,7 +227,6 @@ void TabletProxy::setToolbarMode(bool toolbarMode) {
// forward qml surface events to interface js // forward qml surface events to interface js
connect(tabletRootWindow, &QmlWindowClass::fromQml, this, &TabletProxy::fromQml); connect(tabletRootWindow, &QmlWindowClass::fromQml, this, &TabletProxy::fromQml);
} else { } else {
_state = State::Home;
removeButtonsFromToolbar(); removeButtonsFromToolbar();
addButtonsToHomeScreen(); addButtonsToHomeScreen();
emit screenChanged(QVariant("Home"), QVariant(TABLET_SOURCE_URL)); emit screenChanged(QVariant("Home"), QVariant(TABLET_SOURCE_URL));

23
scripts/system/chat.js
View file

@ -370,14 +370,14 @@
// Change the avatar size to bigger. // Change the avatar size to bigger.
function biggerSize() { function biggerSize() {
//print("biggerSize"); //print("biggerSize");
logMessage("Increasing avatar size bigger!", null); logMessage("Increasing avatar size", null);
MyAvatar.increaseSize(); MyAvatar.increaseSize();
} }
// Change the avatar size to smaller. // Change the avatar size to smaller.
function smallerSize() { function smallerSize() {
//print("smallerSize"); //print("smallerSize");
logMessage("Decreasing avatar size smaler!", null); logMessage("Decreasing avatar size", null);
MyAvatar.decreaseSize(); MyAvatar.decreaseSize();
} }
@ -470,14 +470,13 @@
case '?': case '?':
case 'help': case 'help':
logMessage('Type "/?" or "/help" for help, which is this!', null); logMessage('Type "/?" or "/help" for help', null);
logMessage('Type "/name <name>" to set your chat name, or "/name" to use your display name, or a random name if that is not defined.', null); logMessage('Type "/name <name>" to set your chat name, or "/name" to use your display name. If your display name is not defined, a random name will be used.', null);
logMessage('Type "/shutup" to shut up your overhead chat message.', null); logMessage('Type "/close" to close your overhead chat message.', null);
logMessage('Type "/say <something>" to say something.', null); logMessage('Type "/say <something>" to display a new message.', null);
logMessage('Type "/clear" to clear your cha, nullt log.', null); logMessage('Type "/clear" to clear your chat log.', null);
logMessage('Type "/who" to ask who is h, nullere to chat.', null); logMessage('Type "/who" to ask who is in the chat session.', null);
logMessage('Type "/bigger", "/smaller" or "/normal" to change, null your avatar size.', null); logMessage('Type "/bigger", "/smaller" or "/normal" to change your avatar size.', null);
logMessage('(Sorry, that\'s all there is so far!)', null);
break; break;
case 'name': case 'name':
@ -498,9 +497,9 @@
} }
break; break;
case 'shutup': case 'close':
popDownSpeechBubble(); popDownSpeechBubble();
logMessage('Overhead chat message shut up.', null); logMessage('Overhead chat message closed.', null);
break; break;
case 'say': case 'say':

104
scripts/system/edit.js
View file

@ -1,5 +1,3 @@
"use strict";
// edit.js // edit.js
// //
// Created by Brad Hefta-Gaub on 10/2/14. // Created by Brad Hefta-Gaub on 10/2/14.
@ -17,6 +15,8 @@
(function() { // BEGIN LOCAL_SCOPE (function() { // BEGIN LOCAL_SCOPE
"use strict";
var HIFI_PUBLIC_BUCKET = "http://s3.amazonaws.com/hifi-public/"; var HIFI_PUBLIC_BUCKET = "http://s3.amazonaws.com/hifi-public/";
var EDIT_TOGGLE_BUTTON = "com.highfidelity.interface.system.editButton"; var EDIT_TOGGLE_BUTTON = "com.highfidelity.interface.system.editButton";
var SYSTEM_TOOLBAR = "com.highfidelity.interface.toolbar.system"; var SYSTEM_TOOLBAR = "com.highfidelity.interface.toolbar.system";
@ -41,19 +41,19 @@ Script.include([
var selectionDisplay = SelectionDisplay; var selectionDisplay = SelectionDisplay;
var selectionManager = SelectionManager; var selectionManager = SelectionManager;
const PARTICLE_SYSTEM_URL = Script.resolvePath("assets/images/icon-particles.svg"); var PARTICLE_SYSTEM_URL = Script.resolvePath("assets/images/icon-particles.svg");
const POINT_LIGHT_URL = Script.resolvePath("assets/images/icon-point-light.svg"); var POINT_LIGHT_URL = Script.resolvePath("assets/images/icon-point-light.svg");
const SPOT_LIGHT_URL = Script.resolvePath("assets/images/icon-spot-light.svg"); var SPOT_LIGHT_URL = Script.resolvePath("assets/images/icon-spot-light.svg");
entityIconOverlayManager = new EntityIconOverlayManager(['Light', 'ParticleEffect'], function(entityID) { entityIconOverlayManager = new EntityIconOverlayManager(['Light', 'ParticleEffect'], function(entityID) {
var properties = Entities.getEntityProperties(entityID, ['type', 'isSpotlight']); var properties = Entities.getEntityProperties(entityID, ['type', 'isSpotlight']);
if (properties.type === 'Light') { if (properties.type === 'Light') {
return { return {
url: properties.isSpotlight ? SPOT_LIGHT_URL : POINT_LIGHT_URL, url: properties.isSpotlight ? SPOT_LIGHT_URL : POINT_LIGHT_URL,
} };
} else { } else {
return { return {
url: PARTICLE_SYSTEM_URL, url: PARTICLE_SYSTEM_URL,
} };
} }
}); });
@ -94,7 +94,7 @@ selectionManager.addEventListener(function () {
} }
}); });
const KEY_P = 80; //Key code for letter p used for Parenting hotkey. var KEY_P = 80; //Key code for letter p used for Parenting hotkey.
var DEGREES_TO_RADIANS = Math.PI / 180.0; var DEGREES_TO_RADIANS = Math.PI / 180.0;
var RADIANS_TO_DEGREES = 180.0 / Math.PI; var RADIANS_TO_DEGREES = 180.0 / Math.PI;
@ -123,6 +123,8 @@ var SETTING_EASE_ON_FOCUS = "cameraEaseOnFocus";
var SETTING_SHOW_LIGHTS_AND_PARTICLES_IN_EDIT_MODE = "showLightsAndParticlesInEditMode"; var SETTING_SHOW_LIGHTS_AND_PARTICLES_IN_EDIT_MODE = "showLightsAndParticlesInEditMode";
var SETTING_SHOW_ZONES_IN_EDIT_MODE = "showZonesInEditMode"; var SETTING_SHOW_ZONES_IN_EDIT_MODE = "showZonesInEditMode";
var CREATE_ENABLED_ICON = "icons/tablet-icons/edit-i.svg";
var CREATE_DISABLED_ICON = "icons/tablet-icons/edit-disabled.svg";
// marketplace info, etc. not quite ready yet. // marketplace info, etc. not quite ready yet.
var SHOULD_SHOW_PROPERTY_MENU = false; var SHOULD_SHOW_PROPERTY_MENU = false;
@ -130,6 +132,7 @@ var INSUFFICIENT_PERMISSIONS_ERROR_MSG = "You do not have the necessary permissi
var INSUFFICIENT_PERMISSIONS_IMPORT_ERROR_MSG = "You do not have the necessary permissions to place items on this domain."; var INSUFFICIENT_PERMISSIONS_IMPORT_ERROR_MSG = "You do not have the necessary permissions to place items on this domain.";
var isActive = false; var isActive = false;
var createButton = null;
var IMPORTING_SVO_OVERLAY_WIDTH = 144; var IMPORTING_SVO_OVERLAY_WIDTH = 144;
var IMPORTING_SVO_OVERLAY_HEIGHT = 30; var IMPORTING_SVO_OVERLAY_HEIGHT = 30;
@ -397,13 +400,15 @@ var toolBar = (function () {
} }
}); });
var createButtonIconRsrc = ((Entities.canRez() || Entities.canRezTmp()) ? CREATE_ENABLED_ICON : CREATE_DISABLED_ICON);
tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system"); tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
activeButton = tablet.addButton({ activeButton = tablet.addButton({
icon: "icons/tablet-icons/edit-i.svg", icon: createButtonIconRsrc,
activeIcon: "icons/tablet-icons/edit-a.svg", activeIcon: "icons/tablet-icons/edit-a.svg",
text: "CREATE", text: "CREATE",
sortOrder: 10 sortOrder: 10
}); });
createButton = activeButton;
tablet.screenChanged.connect(function (type, url) { tablet.screenChanged.connect(function (type, url) {
if (isActive && (type !== "QML" || url !== "Edit.qml")) { if (isActive && (type !== "QML" || url !== "Edit.qml")) {
that.toggle(); that.toggle();
@ -411,7 +416,12 @@ var toolBar = (function () {
}); });
tablet.fromQml.connect(fromQml); tablet.fromQml.connect(fromQml);
activeButton.clicked.connect(function() { createButton.clicked.connect(function() {
if ( ! (Entities.canRez() || Entities.canRezTmp()) ) {
Window.notifyEditError(INSUFFICIENT_PERMISSIONS_ERROR_MSG);
return;
}
that.toggle(); that.toggle();
}); });
@ -642,7 +652,7 @@ var toolBar = (function () {
grid.setEnabled(true); grid.setEnabled(true);
propertiesTool.setVisible(true); propertiesTool.setVisible(true);
selectionDisplay.triggerMapping.enable(); selectionDisplay.triggerMapping.enable();
print("starting tablet in landscape mode") print("starting tablet in landscape mode");
tablet.landscape = true; tablet.landscape = true;
// Not sure what the following was meant to accomplish, but it currently causes // Not sure what the following was meant to accomplish, but it currently causes
// everybody else to think that Interface has lost focus overall. fogbugzid:558 // everybody else to think that Interface has lost focus overall. fogbugzid:558
@ -760,8 +770,38 @@ function handleOverlaySelectionToolUpdates(channel, message, sender) {
} }
} }
// Handles any edit mode updates required when domains have switched
function handleDomainChange() {
if ( (createButton === null) || (createButton === undefined) ){
//--EARLY EXIT--( nothing to safely update )
return;
}
var hasRezPermissions = (Entities.canRez() || Entities.canRezTmp());
createButton.editProperties({
icon: (hasRezPermissions ? CREATE_ENABLED_ICON : CREATE_DISABLED_ICON),
});
}
function handleMessagesReceived(channel, message, sender) {
switch( channel ){
case 'entityToolUpdates': {
handleOverlaySelectionToolUpdates( channel, message, sender );
break;
}
case 'Toolbar-DomainChanged': {
handleDomainChange();
break;
}
default: {
return;
}
}
}
Messages.subscribe('Toolbar-DomainChanged');
Messages.subscribe("entityToolUpdates"); Messages.subscribe("entityToolUpdates");
Messages.messageReceived.connect(handleOverlaySelectionToolUpdates); Messages.messageReceived.connect(handleMessagesReceived);
var mouseHasMovedSincePress = false; var mouseHasMovedSincePress = false;
var mousePressStartTime = 0; var mousePressStartTime = 0;
@ -1180,6 +1220,8 @@ Script.scriptEnding.connect(function () {
Messages.messageReceived.disconnect(handleOverlaySelectionToolUpdates); Messages.messageReceived.disconnect(handleOverlaySelectionToolUpdates);
Messages.unsubscribe("entityToolUpdates"); Messages.unsubscribe("entityToolUpdates");
Messages.unsubscribe("Toolbar-DomainChanged");
createButton = null;
}); });
var lastOrientation = null; var lastOrientation = null;
@ -1305,7 +1347,7 @@ function unparentSelectedEntities() {
if (parentId !== null && parentId.length > 0 && parentId !== "{00000000-0000-0000-0000-000000000000}") { if (parentId !== null && parentId.length > 0 && parentId !== "{00000000-0000-0000-0000-000000000000}") {
parentCheck = true; parentCheck = true;
} }
Entities.editEntity(id, {parentID: null}) Entities.editEntity(id, {parentID: null});
return true; return true;
}); });
if (parentCheck) { if (parentCheck) {
@ -1340,7 +1382,7 @@ function parentSelectedEntities() {
if (parentId !== lastEntityId) { if (parentId !== lastEntityId) {
parentCheck = true; parentCheck = true;
} }
Entities.editEntity(id, {parentID: lastEntityId}) Entities.editEntity(id, {parentID: lastEntityId});
} }
}); });
@ -1513,9 +1555,9 @@ function importSVO(importURL) {
var entityPositions = []; var entityPositions = [];
var entityParentIDs = []; var entityParentIDs = [];
var properties = Entities.getEntityProperties(pastedEntityIDs[0], ["type"]); var propType = Entities.getEntityProperties(pastedEntityIDs[0], ["type"]).type;
var NO_ADJUST_ENTITY_TYPES = ["Zone", "Light", "ParticleEffect"]; var NO_ADJUST_ENTITY_TYPES = ["Zone", "Light", "ParticleEffect"];
if (NO_ADJUST_ENTITY_TYPES.indexOf(properties.type) === -1) { if (NO_ADJUST_ENTITY_TYPES.indexOf(propType) === -1) {
var targetDirection; var targetDirection;
if (Camera.mode === "entity" || Camera.mode === "independent") { if (Camera.mode === "entity" || Camera.mode === "independent") {
targetDirection = Camera.orientation; targetDirection = Camera.orientation;
@ -1528,36 +1570,36 @@ function importSVO(importURL) {
var deltaParallel = HALF_TREE_SCALE; // Distance to move entities parallel to targetDirection. var deltaParallel = HALF_TREE_SCALE; // Distance to move entities parallel to targetDirection.
var deltaPerpendicular = Vec3.ZERO; // Distance to move entities perpendicular to targetDirection. var deltaPerpendicular = Vec3.ZERO; // Distance to move entities perpendicular to targetDirection.
for (var i = 0, length = pastedEntityIDs.length; i < length; i++) { for (var i = 0, length = pastedEntityIDs.length; i < length; i++) {
var properties = Entities.getEntityProperties(pastedEntityIDs[i], ["position", "dimensions", var curLoopEntityProps = Entities.getEntityProperties(pastedEntityIDs[i], ["position", "dimensions",
"registrationPoint", "rotation", "parentID"]); "registrationPoint", "rotation", "parentID"]);
var adjustedPosition = adjustPositionPerBoundingBox(targetPosition, targetDirection, var adjustedPosition = adjustPositionPerBoundingBox(targetPosition, targetDirection,
properties.registrationPoint, properties.dimensions, properties.rotation); curLoopEntityProps.registrationPoint, curLoopEntityProps.dimensions, curLoopEntityProps.rotation);
var delta = Vec3.subtract(adjustedPosition, properties.position); var delta = Vec3.subtract(adjustedPosition, curLoopEntityProps.position);
var distance = Vec3.dot(delta, targetDirection); var distance = Vec3.dot(delta, targetDirection);
deltaParallel = Math.min(distance, deltaParallel); deltaParallel = Math.min(distance, deltaParallel);
deltaPerpendicular = Vec3.sum(Vec3.subtract(delta, Vec3.multiply(distance, targetDirection)), deltaPerpendicular = Vec3.sum(Vec3.subtract(delta, Vec3.multiply(distance, targetDirection)),
deltaPerpendicular); deltaPerpendicular);
entityPositions[i] = properties.position; entityPositions[i] = curLoopEntityProps.position;
entityParentIDs[i] = properties.parentID; entityParentIDs[i] = curLoopEntityProps.parentID;
} }
deltaPerpendicular = Vec3.multiply(1 / pastedEntityIDs.length, deltaPerpendicular); deltaPerpendicular = Vec3.multiply(1 / pastedEntityIDs.length, deltaPerpendicular);
deltaPosition = Vec3.sum(Vec3.multiply(deltaParallel, targetDirection), deltaPerpendicular); deltaPosition = Vec3.sum(Vec3.multiply(deltaParallel, targetDirection), deltaPerpendicular);
} }
if (grid.getSnapToGrid()) { if (grid.getSnapToGrid()) {
var properties = Entities.getEntityProperties(pastedEntityIDs[0], ["position", "dimensions", var firstEntityProps = Entities.getEntityProperties(pastedEntityIDs[0], ["position", "dimensions",
"registrationPoint"]); "registrationPoint"]);
var position = Vec3.sum(deltaPosition, properties.position); var positionPreSnap = Vec3.sum(deltaPosition, firstEntityProps.position);
position = grid.snapToSurface(grid.snapToGrid(position, false, properties.dimensions, position = grid.snapToSurface(grid.snapToGrid(positionPreSnap, false, firstEntityProps.dimensions,
properties.registrationPoint), properties.dimensions, properties.registrationPoint); firstEntityProps.registrationPoint), firstEntityProps.dimensions, firstEntityProps.registrationPoint);
deltaPosition = Vec3.subtract(position, properties.position); deltaPosition = Vec3.subtract(position, firstEntityProps.position);
} }
if (!Vec3.equal(deltaPosition, Vec3.ZERO)) { if (!Vec3.equal(deltaPosition, Vec3.ZERO)) {
for (var i = 0, length = pastedEntityIDs.length; i < length; i++) { for (var editEntityIndex = 0, numEntities = pastedEntityIDs.length; editEntityIndex < numEntities; editEntityIndex++) {
if (Uuid.isNull(entityParentIDs[i])) { if (Uuid.isNull(entityParentIDs[editEntityIndex])) {
Entities.editEntity(pastedEntityIDs[i], { Entities.editEntity(pastedEntityIDs[editEntityIndex], {
position: Vec3.sum(deltaPosition, entityPositions[i]) position: Vec3.sum(deltaPosition, entityPositions[editEntityIndex])
}); });
} }
} }
@ -2203,7 +2245,7 @@ entityListTool.webView.webEventReceived.connect(function (data) {
try { try {
data = JSON.parse(data); data = JSON.parse(data);
} catch(e) { } catch(e) {
print("edit.js: Error parsing JSON: " + e.name + " data " + data) print("edit.js: Error parsing JSON: " + e.name + " data " + data);
return; return;
} }