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working on the ik dislocation caused by the offsets, head is what I am working on

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This commit is contained in:
amantley 2018-11-06 17:35:53 -08:00
parent e52f2ab7d6
commit 1dbccc814b
5 changed files with 17 additions and 16 deletions
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2
interface/src/avatar/MyAvatar.cpp
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@ -431,7 +431,7 @@ void MyAvatar::reset(bool andRecenter, bool andReload, bool andHead) {
_wasPushing = _isPushing = _isBraking = false;
_follow.deactivate();
if (andReload) {
_skeletonModel->reset();
//_skeletonModel->reset();
}
if (andHead) { // which drives camera in desktop
getHead()->reset();

8
interface/src/avatar/MySkeletonModel.cpp
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@ -91,6 +91,7 @@ static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
// Called within Model::simulate call, below.
void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
const FBXGeometry& geometry = getFBXGeometry();
const QMap<int, glm::quat> jointOffsetMap = _rig.getJointRotationOffsets();
Head* head = _owningAvatar->getHead();
@ -118,8 +119,10 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
// input action is the highest priority source for head orientation.
auto avatarHeadPose = myAvatar->getControllerPoseInAvatarFrame(controller::Action::HEAD);
if (avatarHeadPose.isValid()) {
qCDebug(interfaceapp) << "neck joint offset " << jointOffsetMap[62];
AnimPose jointOffset(jointOffsetMap[62], glm::vec3());
AnimPose pose(avatarHeadPose.getRotation(), avatarHeadPose.getTranslation());
params.primaryControllerPoses[Rig::PrimaryControllerType_Head] = avatarToRigPose * pose;
params.primaryControllerPoses[Rig::PrimaryControllerType_Head] = jointOffset.inverse() * (avatarToRigPose * pose) * jointOffset;
params.primaryControllerFlags[Rig::PrimaryControllerType_Head] = (uint8_t)Rig::ControllerFlags::Enabled;
} else {
// even though full head IK is disabled, the rig still needs the head orientation to rotate the head up and
@ -229,7 +232,8 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
// set spine2 if we have hand controllers
if (myAvatar->getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid() &&
qCDebug(interfaceapp) << "spine 2 joint offset " << jointOffsetMap[13];
if (false && myAvatar->getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid() &&
myAvatar->getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() &&
!(params.primaryControllerFlags[Rig::PrimaryControllerType_Spine2] & (uint8_t)Rig::ControllerFlags::Enabled)) {

15
libraries/animation/src/AnimSkeleton.cpp
View file

@ -41,19 +41,10 @@ AnimSkeleton::AnimSkeleton(const FBXGeometry& fbxGeometry, const QMap<int, glm::
// cast into a non-const reference, so we can mutate the FBXCluster
FBXCluster& cluster = const_cast<FBXCluster&>(mesh.clusters.at(j));
if ((cluster.jointIndex == 62) || (cluster.jointIndex == 13)) {
qCDebug(animation) << "cluster joint equals index " << cluster.jointIndex;
}
// AJT: mutate bind pose! this allows us to oreint the skeleton back into the authored orientaiton before
// rendering, with no runtime overhead.
// this works if clusters match joints one for one.
if (cluster.jointIndex == 63) {
//qCDebug(animation) << "Head";
//qCDebug(animation) << "found a joint offset to add " << cluster.jointIndex << " " << jointOffsets[cluster.jointIndex] << " cluster " << cluster.jointIndex;
//AnimPose localOffset(glm::quat(.7071f, 0.0f, .7071f, 0.0f), glm::vec3());
//cluster.inverseBindMatrix = (glm::mat4)localOffset.inverse() * cluster.inverseBindMatrix;
//cluster.inverseBindTransform.evalFromRawMatrix(cluster.inverseBindMatrix);
}
if (cluster.jointIndex == 62) {
qCDebug(animation) << "Neck";
qCDebug(animation) << "found a joint offset to add " << cluster.jointIndex << " " << jointOffsets[cluster.jointIndex] << " cluster " << cluster.jointIndex;
@ -246,11 +237,11 @@ void AnimSkeleton::buildSkeletonFromJoints(const std::vector<FBXJoint>& joints,
// remember the inverse bind pose already has the offset added into it. the total effect is offset^-1 * relDefPose * offset.
// this gives us the correct transform for the joint that has been put in t-pose with an offset rotation.
//relDefaultPose = relDefaultPose * _avatarTPoseOffsets[i];
QString jointName = getJointName(i);
if (jointOffsets.contains(i)) {
//QString parentIndex = getJointName(parentIndex);
AnimPose localOffset(jointOffsets[i], glm::vec3());
AnimPose localOffset(jointOffsets[i], glm::vec3());
relDefaultPose = relDefaultPose * localOffset;
}
if ((parentIndex >= 0) && jointOffsets.contains(parentIndex)) {

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

@ -267,7 +267,7 @@ void Rig::initJointStates(const FBXGeometry& geometry, const glm::mat4& modelOff
_rigToGeometryTransform = glm::inverse(_geometryToRigTransform);
setModelOffset(modelOffset);
_animSkeleton = std::make_shared<AnimSkeleton>(geometry,_jointRotationOffsets);
_animSkeleton = std::make_shared<AnimSkeleton>(geometry, _jointRotationOffsets);
_internalPoseSet._relativePoses.clear();
_internalPoseSet._relativePoses = _animSkeleton->getRelativeDefaultPoses();
@ -2084,4 +2084,8 @@ void Rig::setJointRotationOffsets(const QMap<QString, glm::quat>& offsets) {
_jointRotationOffsets.insert(spine2Id, glm::quat(0.5f, 0.5f, 0.5f, -0.5f));
}
qCDebug(animation) << "set the neck and spine2 offsets " << spine2Id << " " << neckId;
}
const QMap<int, glm::quat>& Rig::getJointRotationOffsets() const {
return _jointRotationOffsets;
}

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

@ -128,6 +128,7 @@ public:
int getJointStateCount() const;
int indexOfJoint(const QString& jointName) const;
QString nameOfJoint(int jointIndex) const;
const QMap<int, glm::quat>& getJointRotationOffsets() const;
void setModelOffset(const glm::mat4& modelOffsetMat);
@ -422,6 +423,7 @@ protected:
SnapshotBlendPoseHelper _hipsBlendHelper;
ControllerParameters _previousControllerParameters;
bool _alreadyInitialized { false };
};
#endif /* defined(__hifi__Rig__) */