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took out the theta animvar and just use theta converted to pole vector

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This commit is contained in:
Angus Antley 2019-02-16 14:50:47 -08:00
parent 70764bc3c4
commit 0982c37c5e
3 changed files with 64 additions and 77 deletions
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40
libraries/animation/src/AnimPoleVectorConstraint.cpp
View file

@ -114,17 +114,14 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
glm::vec3 poleVectorProj = poleVector - glm::dot(poleVector, unitAxis) * unitAxis; glm::vec3 poleVectorProj = poleVector - glm::dot(poleVector, unitAxis) * unitAxis;
float poleVectorProjLength = glm::length(poleVectorProj); float poleVectorProjLength = glm::length(poleVectorProj);
#if defined(Q_OS_ANDROID) || defined(USE_Q_OS_ANDROID) // double check for zero length vectors or vectors parallel to rotaiton axis.
if (axisLength > MIN_LENGTH && refVectorLength > MIN_LENGTH && sideVectorLength > MIN_LENGTH &&
refVectorProjLength > MIN_LENGTH && poleVectorProjLength > MIN_LENGTH) {
// get theta set by optimized ik for Quest float dot = glm::clamp(glm::dot(refVectorProj / refVectorProjLength, poleVectorProj / poleVectorProjLength), 0.0f, 1.0f);
if ((_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) || (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex)) { float sideDot = glm::dot(poleVector, sideVector);
float theta = copysignf(1.0f, sideDot) * acosf(dot);
float theta;
if (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex) {
theta = animVars.lookup("thetaLeftElbow", 0.0f);
} else if (_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) {
theta = animVars.lookup("thetaRightElbow", 0.0f);
}
glm::quat deltaRot = glm::angleAxis(theta, unitAxis); glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
@ -136,30 +133,7 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
glm::quat relTipRot = glm::inverse(midPose.rot()) * glm::inverse(deltaRot) * tipPose.rot(); glm::quat relTipRot = glm::inverse(midPose.rot()) * glm::inverse(deltaRot) * tipPose.rot();
ikChain.setRelativePoseAtJointIndex(_tipJointIndex, AnimPose(relTipRot, underPoses[_tipJointIndex].trans())); ikChain.setRelativePoseAtJointIndex(_tipJointIndex, AnimPose(relTipRot, underPoses[_tipJointIndex].trans()));
} }
#else
// double check for zero length vectors or vectors parallel to rotaiton axis.
if (axisLength > MIN_LENGTH && refVectorLength > MIN_LENGTH && sideVectorLength > MIN_LENGTH &&
refVectorProjLength > MIN_LENGTH && poleVectorProjLength > MIN_LENGTH) {
float dot = glm::clamp(glm::dot(refVectorProj / refVectorProjLength, poleVectorProj / poleVectorProjLength), 0.0f, 1.0f);
float sideDot = glm::dot(poleVector, sideVector);
float theta = copysignf(1.0f, sideDot) * acosf(dot);
glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
// transform result back into parent relative frame.
glm::quat relBaseRot = glm::inverse(baseParentPose.rot()) * deltaRot * basePose.rot();
ikChain.setRelativePoseAtJointIndex(_baseJointIndex, AnimPose(relBaseRot, underPoses[_baseJointIndex].trans()));
glm::quat relTipRot = glm::inverse(midPose.rot()) * glm::inverse(deltaRot) * tipPose.rot();
ikChain.setRelativePoseAtJointIndex(_tipJointIndex, AnimPose(relTipRot, underPoses[_tipJointIndex].trans()));
}
#endif
// start off by initializing output poses with the underPoses // start off by initializing output poses with the underPoses
_poses = underPoses; _poses = underPoses;

99
libraries/animation/src/Rig.cpp
View file

@ -1459,20 +1459,13 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm"); int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm"); int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm");
if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) { if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
#if defined(Q_OS_ANDROID) || defined(USE_Q_OS_ANDROID)
bool isLeft = true;
float poleTheta;
bool usePoleTheta = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, isLeft, poleTheta);
if (usePoleTheta) {
_animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X);
_animVars.set("thetaLeftElbow", poleTheta);
} else {
_animVars.set("leftHandPoleVectorEnabled", false);
}
#else
glm::vec3 poleVector; glm::vec3 poleVector;
#if defined(Q_OS_ANDROID) || defined(USE_Q_OS_ANDROID)
bool isLeft = true;
bool usePoleVector = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, isLeft, poleVector);
#else
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector); bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
#endif
if (usePoleVector) { if (usePoleVector) {
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector); glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
_animVars.set("leftHandPoleVectorEnabled", true); _animVars.set("leftHandPoleVectorEnabled", true);
@ -1481,8 +1474,6 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
} else { } else {
_animVars.set("leftHandPoleVectorEnabled", false); _animVars.set("leftHandPoleVectorEnabled", false);
} }
#endif
} else { } else {
_animVars.set("leftHandPoleVectorEnabled", false); _animVars.set("leftHandPoleVectorEnabled", false);
} }
@ -1528,21 +1519,13 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("LeftArm"); int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) { if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
#if defined(Q_OS_ANDROID) || defined(USE_Q_OS_ANDROID)
bool isLeft = false;
float poleTheta;
bool usePoleTheta = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, isLeft, poleTheta);
if (usePoleTheta) {
_animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleReferenceVector", -Vectors::UNIT_X);
_animVars.set("thetaRightElbow", poleTheta);
} else {
_animVars.set("rightHandPoleVectorEnabled", false);
}
#else
glm::vec3 poleVector; glm::vec3 poleVector;
#if defined(Q_OS_ANDROID) || defined(USE_Q_OS_ANDROID)
bool isLeft = false;
bool usePoleVector = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, isLeft, poleVector);
#else
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector); bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
#endif
if (usePoleVector) { if (usePoleVector) {
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector); glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
_animVars.set("rightHandPoleVectorEnabled", true); _animVars.set("rightHandPoleVectorEnabled", true);
@ -1551,8 +1534,6 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
} else { } else {
_animVars.set("rightHandPoleVectorEnabled", false); _animVars.set("rightHandPoleVectorEnabled", false);
} }
#endif
} else { } else {
_animVars.set("rightHandPoleVectorEnabled", false); _animVars.set("rightHandPoleVectorEnabled", false);
} }
@ -1710,7 +1691,7 @@ void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm
} }
} }
bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, float& poleTheta) { bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, glm::vec3& poleVector) {
// get the default poses for the upper and lower arm // get the default poses for the upper and lower arm
// then use this length to judge how far the hand is away from the shoulder. // then use this length to judge how far the hand is away from the shoulder.
// then create weights that make the elbow angle less when the x value is large in either direction. // then create weights that make the elbow angle less when the x value is large in either direction.
@ -1735,6 +1716,13 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
const float zWeightBottom = -100.0f; const float zWeightBottom = -100.0f;
const glm::vec3 weights(-50.0f, 60.0f, 260.0f); const glm::vec3 weights(-50.0f, 60.0f, 260.0f);
glm::vec3 armToHand = handPose.trans() - shoulderPose.trans(); glm::vec3 armToHand = handPose.trans() - shoulderPose.trans();
glm::vec3 unitAxis;
float axisLength = glm::length(armToHand);
if (axisLength > 0.0f) {
unitAxis = armToHand / axisLength;
} else {
unitAxis = Vectors::UNIT_Y;
}
float yFactor = (fabsf(armToHand[1] / defaultArmLength) * weights[1]) + biases[1]; float yFactor = (fabsf(armToHand[1] / defaultArmLength) * weights[1]) + biases[1];
float zFactor; float zFactor;
@ -1764,8 +1752,24 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
theta *= -1.0f; theta *= -1.0f;
} }
float deltaTheta = 0.0f;
if (left) {
deltaTheta = theta - _lastThetaLeft;
} else {
deltaTheta = theta - _lastThetaRight;
}
float deltaThetaRadians = (deltaTheta / 180.0f)*PI;
AnimPose deltaRot(glm::angleAxis(deltaThetaRadians, unitAxis), glm::vec3());
AnimPose relMid = shoulderPose.inverse() * elbowPose;
AnimPose updatedBase = shoulderPose * deltaRot;
AnimPose newAbsMid = updatedBase * relMid;
// now we calculate the contribution of the hand rotation relative to the arm // now we calculate the contribution of the hand rotation relative to the arm
glm::quat relativeHandRotation = (elbowPose.inverse() * handPose).rot(); // we are adding in the delta rotation so that we have the hand correction relative to the
// latest theta for hand position
glm::quat relativeHandRotation = (newAbsMid.inverse() * handPose).rot();
//glm::quat relativeHandRotation = (elbowPose.inverse() * handPose).rot();
if (relativeHandRotation.w < 0.0f) { if (relativeHandRotation.w < 0.0f) {
relativeHandRotation *= -1.0f; relativeHandRotation *= -1.0f;
} }
@ -1959,6 +1963,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
} }
// global limiting // global limiting
float thetaRadians = 0.0f;
if (left) { if (left) {
// final global smoothing // final global smoothing
_lastThetaLeft = 0.5f * _lastThetaLeft + 0.5f * theta; _lastThetaLeft = 0.5f * _lastThetaLeft + 0.5f * theta;
@ -1972,9 +1977,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
_lastThetaLeft = glm::sign(_lastThetaLeft) * 175.0f; _lastThetaLeft = glm::sign(_lastThetaLeft) * 175.0f;
} }
// convert to radians and make 180 0 to match pole vector theta // convert to radians and make 180 0 to match pole vector theta
float thetaRadians = ((180.0f - _lastThetaLeft) / 180.0f)*PI; thetaRadians = ((180.0f - _lastThetaLeft) / 180.0f)*PI;
poleTheta = thetaRadians;
} else { } else {
// final global smoothing // final global smoothing
_lastThetaRight = 0.5f * _lastThetaRight + 0.5f * theta; _lastThetaRight = 0.5f * _lastThetaRight + 0.5f * theta;
@ -1988,26 +1991,32 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
_lastThetaRight = glm::sign(_lastThetaRight) * 175.0f; _lastThetaRight = glm::sign(_lastThetaRight) * 175.0f;
} }
// convert to radians and make 180 0 to match pole vector theta // convert to radians and make 180 0 to match pole vector theta
float thetaRadians = ((180.0f - _lastThetaRight) / 180.0f)*PI; thetaRadians = ((180.0f - _lastThetaRight) / 180.0f)*PI;
poleTheta = thetaRadians;
} }
float xValue = sin(poleTheta); float xValue = -1.0f * sin(thetaRadians);
float yValue = cos(poleTheta); float yValue = -1.0f * cos(thetaRadians);
float zValue = 0.0f; float zValue = 0.0f;
glm::vec3 thetaVector(xValue, yValue, zValue); glm::vec3 thetaVector(xValue, yValue, zValue);
//glm::vec3 thetaVector(1.0f, 0.0f, 0.0f);
glm::vec3 xAxis = glm::cross(Vectors::UNIT_Y, armToHand); glm::vec3 xAxis = glm::cross(Vectors::UNIT_Y, armToHand);
glm::vec3 up = glm::cross(armToHand, xAxis); glm::vec3 up = glm::cross(armToHand, xAxis);
glm::quat armAxisRotation; glm::quat armAxisRotation;
glm::vec3 u, v, w; glm::vec3 u, v, w;
glm::vec3 fwd = armToHand/glm::length(armToHand); glm::vec3 fwd = armToHand/glm::length(armToHand);
generateBasisVectors(Vectors::UNIT_Y, fwd, u, v, w); generateBasisVectors(fwd, Vectors::UNIT_Y, u, v, w);
AnimPose armAxisPose(glm::mat4(glm::vec4(w, 0.0f), glm::vec4(u, 0.0f), glm::vec4(v, 0.0f), glm::vec4(glm::vec3(0.0f, 0.0f, 0.0f), 1.0f))); AnimPose armAxisPose(glm::mat4(glm::vec4(-w, 0.0f), glm::vec4(v, 0.0f), glm::vec4(u, 0.0f), glm::vec4(glm::vec3(0.0f, 0.0f, 0.0f), 1.0f)));
glm::vec3 pole = armAxisPose * thetaVector; poleVector = armAxisPose * thetaVector;
qCDebug(animation) << "the pole from theta is " << pole;
if (left) {
qCDebug(animation) << "theta vector " << thetaVector;
//qCDebug(animation) << "fwd " << fwd;
//qCDebug(animation) << "the x is " << w;
//qCDebug(animation) << "the y is " << v;
//qCDebug(animation) << "the z is " << u;
}
return true; return true;
} }
@ -2082,6 +2091,10 @@ bool Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex,
correctionVector = forwardAmount * frontVector; correctionVector = forwardAmount * frontVector;
} }
poleVector = glm::normalize(attenuationVector + fullPoleVector + correctionVector); poleVector = glm::normalize(attenuationVector + fullPoleVector + correctionVector);
if (handIndex == _animSkeleton->nameToJointIndex("LeftHand")) {
qCDebug(animation) << "the pole vector is " << poleVector;
}
return true; return true;
} }

2
libraries/animation/src/Rig.h
View file

@ -258,7 +258,7 @@ protected:
void calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds, float* alphaOut) const; void calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds, float* alphaOut) const;
bool calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int oppositeArmIndex, glm::vec3& poleVector) const; bool calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int oppositeArmIndex, glm::vec3& poleVector) const;
bool calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, float& poleTheta); bool calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int shoulderIndex, bool left, glm::vec3& poleVector);
glm::vec3 calculateKneePoleVector(int footJointIndex, int kneeJoint, int upLegIndex, int hipsIndex, const AnimPose& targetFootPose) const; glm::vec3 calculateKneePoleVector(int footJointIndex, int kneeJoint, int upLegIndex, int hipsIndex, const AnimPose& targetFootPose) const;
glm::vec3 deflectHandFromTorso(const glm::vec3& handPosition, const HFMJointShapeInfo& hipsShapeInfo, const HFMJointShapeInfo& spineShapeInfo, glm::vec3 deflectHandFromTorso(const glm::vec3& handPosition, const HFMJointShapeInfo& hipsShapeInfo, const HFMJointShapeInfo& spineShapeInfo,
const HFMJointShapeInfo& spine1ShapeInfo, const HFMJointShapeInfo& spine2ShapeInfo) const; const HFMJointShapeInfo& spine1ShapeInfo, const HFMJointShapeInfo& spine2ShapeInfo) const;