Add joint manipulations in model-frame

interface/src/avatar/SkeletonModel.cpp

@@ -73,8 +73,8 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
         restoreLeftHandPosition(HAND_RESTORATION_RATE, PALM_PRIORITY);
 
     } else {
-        applyPalmData(geometry.leftHandJointIndex, hand->getPalms()[leftPalmIndex]);
-        applyPalmData(geometry.rightHandJointIndex, hand->getPalms()[rightPalmIndex]);
+        applyPalmDataInModelFrame(geometry.leftHandJointIndex, hand->getPalms()[leftPalmIndex]);
+        applyPalmDataInModelFrame(geometry.rightHandJointIndex, hand->getPalms()[rightPalmIndex]);
     }
 }
 
@@ -194,13 +194,64 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
         parentState.setRotation(palmRotation, PALM_PRIORITY);
         // slam parent-relative rotation to identity
         _jointStates[jointIndex]._rotation = glm::quat();
-        
     } else {
         setJointPosition(jointIndex, palm.getPosition(), palmRotation,
             true, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
     }
 }
 
+void SkeletonModel::applyPalmDataInModelFrame(int jointIndex, PalmData& palm) {
+    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
+        return;
+    }
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    float sign = (jointIndex == geometry.rightHandJointIndex) ? 1.0f : -1.0f;
+    int parentJointIndex = geometry.joints.at(jointIndex).parentIndex;
+    if (parentJointIndex == -1) {
+        return;
+    }
+    
+    // rotate palm to align with its normal (normal points out of hand's palm)
+    glm::quat palmRotation;
+    glm::quat r0, r1;
+    if (!Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK) &&
+            Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
+        JointState parentState = _jointStates[parentJointIndex];
+        palmRotation = parentState.getRotationFromBindToModelFrame();
+        r0 = palmRotation;
+    } else {
+        JointState state = _jointStates[jointIndex];
+        palmRotation = state.getRotationFromBindToModelFrame();
+    }
+    glm::quat inverseRotation = glm::inverse(_rotation);
+    glm::vec3 palmNormal = inverseRotation * palm.getNormal();
+    palmRotation = rotationBetween(palmRotation * geometry.palmDirection, palmNormal) * palmRotation;
+    r1 = palmRotation;
+    
+    // rotate palm to align with finger direction
+    glm::vec3 direction = inverseRotation * palm.getFingerDirection();
+    palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction) * palmRotation;
+
+    // set hand position, rotation
+    glm::vec3 palmPosition = inverseRotation * (palm.getPosition() - _translation);
+    if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
+        setHandPositionInModelFrame(jointIndex, palmPosition, palmRotation);  
+        
+    } else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
+        glm::vec3 forearmVector = palmRotation * glm::vec3(sign, 0.0f, 0.0f);
+        setJointPositionInModelFrame(parentJointIndex, palmPosition + forearmVector *
+            geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale),
+            glm::quat(), false, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
+        JointState& parentState = _jointStates[parentJointIndex];
+        parentState.setRotationInModelFrame(palmRotation, PALM_PRIORITY);
+        // slam parent-relative rotation to identity
+        _jointStates[jointIndex]._rotation = glm::quat();
+    } else {
+        setJointPositionInModelFrame(jointIndex, palmPosition, palmRotation,
+            true, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
+    }
+}
+
 void SkeletonModel::updateJointState(int index) {
     JointState& state = _jointStates[index];
     const FBXJoint& joint = state.getFBXJoint();
@@ -365,6 +416,70 @@ void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, c
     JointState& handState = _jointStates[jointIndex];
     handState.setRotation(rotation, PALM_PRIORITY);
 }
+
+void SkeletonModel::setHandPositionInModelFrame(int jointIndex, const glm::vec3& position, const glm::quat& rotation) {
+    // this algorithm is from sample code from sixense
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    int elbowJointIndex = geometry.joints.at(jointIndex).parentIndex;
+    if (elbowJointIndex == -1) {
+        return;
+    }
+    int shoulderJointIndex = geometry.joints.at(elbowJointIndex).parentIndex;
+    glm::vec3 shoulderPosition;
+    if (!getJointPositionInModelFrame(shoulderJointIndex, shoulderPosition)) {
+        return;
+    }
+    // precomputed lengths
+    float scale = extractUniformScale(_scale);
+    float upperArmLength = geometry.joints.at(elbowJointIndex).distanceToParent * scale;
+    float lowerArmLength = geometry.joints.at(jointIndex).distanceToParent * scale;
+    
+    // first set wrist position
+    glm::vec3 wristPosition = position;
+    
+    glm::vec3 shoulderToWrist = wristPosition - shoulderPosition;
+    float distanceToWrist = glm::length(shoulderToWrist);
+    
+    // prevent gimbal lock
+    if (distanceToWrist > upperArmLength + lowerArmLength - EPSILON) {
+        distanceToWrist = upperArmLength + lowerArmLength - EPSILON;
+        shoulderToWrist = glm::normalize(shoulderToWrist) * distanceToWrist;
+        wristPosition = shoulderPosition + shoulderToWrist;
+    }
+    
+    // cosine of angle from upper arm to hand vector 
+    float cosA = (upperArmLength * upperArmLength + distanceToWrist * distanceToWrist - lowerArmLength * lowerArmLength) / 
+        (2 * upperArmLength * distanceToWrist);
+    float mid = upperArmLength * cosA;
+    float height = sqrt(upperArmLength * upperArmLength + mid * mid - 2 * upperArmLength * mid * cosA);
+    
+    // direction of the elbow
+    glm::vec3 handNormal = glm::cross(rotation * glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow rotating with wrist
+    glm::vec3 relaxedNormal = glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow pointing straight down
+    const float NORMAL_WEIGHT = 0.5f;
+    glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
+    
+    bool rightHand = (jointIndex == geometry.rightHandJointIndex);
+    if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
+        finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
+    }
+    
+    glm::vec3 tangent = glm::normalize(glm::cross(shoulderToWrist, finalNormal));
+    
+    // ik solution
+    glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
+    glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
+    glm::quat shoulderRotation = rotationBetween(forwardVector, elbowPosition - shoulderPosition);
+
+    JointState& shoulderState = _jointStates[shoulderJointIndex];
+    shoulderState.setRotationInModelFrame(shoulderRotation, PALM_PRIORITY);
+    
+    JointState& elbowState = _jointStates[elbowJointIndex];
+    elbowState.setRotationInModelFrame(rotationBetween(shoulderRotation * forwardVector, wristPosition - elbowPosition) * shoulderRotation, PALM_PRIORITY);
+    
+    JointState& handState = _jointStates[jointIndex];
+    handState.setRotationInModelFrame(rotation, PALM_PRIORITY);
+}
     
 bool SkeletonModel::getLeftHandPosition(glm::vec3& position) const {
     return getJointPosition(getLeftHandJointIndex(), position);

interface/src/avatar/SkeletonModel.h

@@ -94,6 +94,7 @@ protected:
     void applyHandPosition(int jointIndex, const glm::vec3& position);
     
     void applyPalmData(int jointIndex, PalmData& palm);
+    void applyPalmDataInModelFrame(int jointIndex, PalmData& palm);
     
     /// Updates the state of the joint at the specified index.
     virtual void updateJointState(int index);   
@@ -106,6 +107,7 @@ private:
 
     void renderJointConstraints(int jointIndex);
     void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
+    void setHandPositionInModelFrame(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
     
     Avatar* _owningAvatar;
 };

interface/src/renderer/Model.cpp

@@ -756,6 +756,14 @@ bool Model::getJointPosition(int jointIndex, glm::vec3& position) const {
     return true;
 }
 
+bool Model::getJointPositionInModelFrame(int jointIndex, glm::vec3& position) const {
+    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
+        return false;
+    }
+    position = extractTranslation(_jointStates[jointIndex].getTransformInModelFrame());
+    return true;
+}
+
 bool Model::getJointRotationInWorldFrame(int jointIndex, glm::quat& rotation) const {
     if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
         return false;
@@ -1369,6 +1377,94 @@ bool Model::setJointPosition(int jointIndex, const glm::vec3& translation, const
     return true;
 }
 
+bool Model::setJointPositionInModelFrame(int jointIndex, const glm::vec3& position, const glm::quat& rotation, bool useRotation,
+       int lastFreeIndex, bool allIntermediatesFree, const glm::vec3& alignment, float priority) {
+    if (jointIndex == -1 || _jointStates.isEmpty()) {
+        return false;
+    }
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    const QVector<int>& freeLineage = geometry.joints.at(jointIndex).freeLineage;
+    if (freeLineage.isEmpty()) {
+        return false;
+    }
+    if (lastFreeIndex == -1) {
+        lastFreeIndex = freeLineage.last();
+    }
+    
+    // this is a cyclic coordinate descent algorithm: see
+    // http://www.ryanjuckett.com/programming/animation/21-cyclic-coordinate-descent-in-2d
+    const int ITERATION_COUNT = 1;
+    glm::vec3 worldAlignment = alignment;
+    for (int i = 0; i < ITERATION_COUNT; i++) {
+        // first, try to rotate the end effector as close as possible to the target rotation, if any
+        glm::quat endRotation;
+        if (useRotation) {
+            JointState& state = _jointStates[jointIndex];
+
+            // TODO: figure out what this is trying to do and combine it into one JointState method
+            endRotation = state.getJointRotation();
+            state.applyRotationDelta(rotation * glm::inverse(endRotation), true, priority);
+            endRotation = state.getJointRotation();
+        }    
+        
+        // then, we go from the joint upwards, rotating the end as close as possible to the target
+        glm::vec3 endPosition = extractTranslation(_jointStates[jointIndex].getTransformInModelFrame());
+        for (int j = 1; freeLineage.at(j - 1) != lastFreeIndex; j++) {
+            int index = freeLineage.at(j);
+            JointState& state = _jointStates[index];
+            const FBXJoint& joint = state.getFBXJoint();
+            if (!(joint.isFree || allIntermediatesFree)) {
+                continue;
+            }
+            glm::vec3 jointPosition = extractTranslation(state.getTransformInModelFrame());
+            glm::vec3 jointVector = endPosition - jointPosition;
+            glm::quat oldCombinedRotation = state.getRotationInModelFrame();
+            glm::quat combinedDelta;
+            float combinedWeight;
+            if (useRotation) {
+                combinedDelta = safeMix(rotation * glm::inverse(endRotation),
+                    rotationBetween(jointVector, position - jointPosition), 0.5f);
+                combinedWeight = 2.0f;
+                
+            } else {
+                combinedDelta = rotationBetween(jointVector, position - jointPosition);
+                combinedWeight = 1.0f;
+            }
+            if (alignment != glm::vec3() && j > 1) {
+                jointVector = endPosition - jointPosition;
+                glm::vec3 positionSum;
+                for (int k = j - 1; k > 0; k--) {
+                    int index = freeLineage.at(k);
+                    updateJointState(index);
+                    positionSum += extractTranslation(_jointStates.at(index).getTransformInModelFrame());
+                }
+                glm::vec3 projectedCenterOfMass = glm::cross(jointVector,
+                    glm::cross(positionSum / (j - 1.0f) - jointPosition, jointVector));
+                glm::vec3 projectedAlignment = glm::cross(jointVector, glm::cross(worldAlignment, jointVector));
+                const float LENGTH_EPSILON = 0.001f;
+                if (glm::length(projectedCenterOfMass) > LENGTH_EPSILON && glm::length(projectedAlignment) > LENGTH_EPSILON) {
+                    combinedDelta = safeMix(combinedDelta, rotationBetween(projectedCenterOfMass, projectedAlignment),
+                        1.0f / (combinedWeight + 1.0f));
+                }
+            }
+            state.applyRotationDeltaInModelFrame(combinedDelta, true, priority);
+            glm::quat actualDelta = state.getRotationInModelFrame() * glm::inverse(oldCombinedRotation);
+            endPosition = actualDelta * jointVector + jointPosition;
+            if (useRotation) {
+                endRotation = actualDelta * endRotation;
+            }
+        }       
+    }
+     
+    // now update the joint states from the top
+    for (int j = freeLineage.size() - 1; j >= 0; j--) {
+        updateJointState(freeLineage.at(j));
+    }
+    _shapesAreDirty = true;
+        
+    return true;
+}
+
 bool Model::restoreJointPosition(int jointIndex, float fraction, float priority) {
     if (jointIndex == -1 || _jointStates.isEmpty()) {
         return false;
@@ -2072,6 +2168,10 @@ glm::quat JointState::getJointRotation() const {
     return _combinedRotation * _fbxJoint->inverseBindRotation;
 }
 
+glm::quat JointState::getRotationFromBindToModelFrame() const {
+    return _rotationInModelFrame * _fbxJoint->inverseBindRotation;
+}
+
 void JointState::restoreRotation(float fraction, float priority) {
     assert(_fbxJoint != NULL);
     if (priority == _animationPriority) {
@@ -2088,6 +2188,14 @@ void JointState::setRotation(const glm::quat& rotation, float priority) {
     }
 }
 
+void JointState::setRotationInModelFrame(const glm::quat& rotation, float priority) {
+    assert(_fbxJoint != NULL);
+    if (priority >= _animationPriority) {
+        _rotation = _rotation * glm::inverse(_rotationInModelFrame) * rotation * glm::inverse(_fbxJoint->inverseBindRotation);
+        _animationPriority = priority;
+    }
+}
+
 void JointState::clearTransformTranslation() {
     _transform[3][0] = 0.0f;
     _transform[3][1] = 0.0f;
@@ -2117,8 +2225,7 @@ void JointState::applyRotationDelta(const glm::quat& delta, bool constrain, floa
     _rotation = newRotation;
 }
 
-/*
-void JointState::applyRotationDelta(const glm::quat& delta, bool constrain, float priority) {
+void JointState::applyRotationDeltaInModelFrame(const glm::quat& delta, bool constrain, float priority) {
     assert(_fbxJoint != NULL);
     if (priority < _animationPriority) {
         return;
@@ -2137,7 +2244,6 @@ void JointState::applyRotationDelta(const glm::quat& delta, bool constrain, floa
     _rotationInModelFrame = _rotationInModelFrame * glm::inverse(_rotation) * newRotation;
     _rotation = newRotation;
 }
-*/
 
 const glm::vec3& JointState::getDefaultTranslationInParentFrame() const {
     assert(_fbxJoint != NULL);

interface/src/renderer/Model.h

@@ -54,8 +54,10 @@ public:
 
     /// \return rotation from the joint's default (or bind) frame to world frame
     glm::quat getJointRotation() const;
+    glm::quat getRotationFromBindToModelFrame() const;
 
     void applyRotationDelta(const glm::quat& delta, bool constrain = true, float priority = 1.0f);
+    void applyRotationDeltaInModelFrame(const glm::quat& delta, bool constrain = true, float priority = 1.0f);
 
     const glm::vec3& getDefaultTranslationInParentFrame() const;
 
@@ -65,6 +67,7 @@ public:
     /// computes parent relative _rotation and sets that
     /// \warning no combined transforms are updated!
     void setRotation(const glm::quat& rotation, float priority);
+    void setRotationInModelFrame(const glm::quat& rotation, float priority);
 
     const glm::mat4& getHybridTransform() const { return _transform; }
     //const glm::quat& getRotationInWorldFrame() const { return _combinedRotation; }
@@ -176,6 +179,8 @@ public:
     bool getJointRotationInWorldFrame(int jointIndex, glm::quat& rotation) const;
     bool getJointCombinedRotation(int jointIndex, glm::quat& rotation) const;
 
+    bool getJointPositionInModelFrame(int jointIndex, glm::vec3& position) const;
+
     QStringList getJointNames() const;
     
     AnimationHandlePointer createAnimationHandle();
@@ -266,6 +271,10 @@ protected:
     bool setJointPosition(int jointIndex, const glm::vec3& translation, const glm::quat& rotation = glm::quat(),
         bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
         const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
+
+    bool setJointPositionInModelFrame(int jointIndex, const glm::vec3& translation, const glm::quat& rotation = glm::quat(),
+        bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
+        const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
     
     /// Restores the indexed joint to its default position.
     /// \param fraction the fraction of the default position to apply (i.e., 0.25f to slerp one fourth of the way to