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sizes and order of IKTargetVarVec and IKTargetVec are now the same.

Browse source 
Also, A change in how the bone name to bone index lookup occurs exposed a bug
in Rig::computeAvatarBoundingCapsule(), basically it was not actually preforming IK,
and the ik targets were in the wrong coordinate frame.  So when IK was actually
performed it would give bad results.  This bug is now fixed.
This commit is contained in:
Anthony J. Thibault 2017-06-30 12:47:01 -07:00
parent 75e1a4a1e6
commit 237872e477
4 changed files with 32 additions and 48 deletions
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56
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -150,24 +150,26 @@ void AnimInverseKinematics::setTargetVars(const QString& jointName, const QStrin
}
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;
bool removeUnfoundJoints = false;
targets.reserve(_targetVarVec.size());
for (auto& targetVar : _targetVarVec) {
// update targetVar jointIndex cache
if (targetVar.jointIndex == -1) {
// this targetVar hasn't been validated yet...
int jointIndex = _skeleton->nameToJointIndex(targetVar.jointName);
if (jointIndex >= 0) {
// this targetVar has a valid joint --> cache the indices
targetVar.jointIndex = jointIndex;
} else {
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));
if (target.getType() != IKTarget::Type::Unknown) {
AnimPose absPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
@ -189,35 +191,16 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
glm::vec3 poleReferenceVector = animVars.lookupRigToGeometryVector(targetVar.poleReferenceVectorVar, Vectors::UNIT_Z);
target.setPoleReferenceVector(glm::normalize(poleReferenceVector));
targets.push_back(target);
if (targetVar.jointIndex > _maxTargetIndex) {
_maxTargetIndex = targetVar.jointIndex;
}
// record the index of the hips ik target.
if (target.getIndex() == _hipsIndex) {
_hipsTargetIndex = (int)targets.size() - 1;
_hipsTargetIndex = (int)targets.size();
}
}
} else {
target.setType((int)IKTarget::Type::Unknown);
}
}
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 {
++i;
}
}
targets.push_back(target);
}
}
@ -258,10 +241,15 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// solve all targets
for (size_t i = 0; i < targets.size(); i++) {
if (targets[i].getType() == IKTarget::Type::Spline) {
switch (targets[i].getType()) {
case IKTarget::Type::Unknown:
break;
case IKTarget::Type::Spline:
solveTargetWithSpline(context, targets[i], absolutePoses, debug, jointChainInfoVec[i]);
} else {
break;
default:
solveTargetWithCCD(context, targets[i], absolutePoses, debug, jointChainInfoVec[i]);
break;
}
}
@ -317,7 +305,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// finally set the relative rotation of each tip to agree with absolute target rotation
for (auto& target: targets) {
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.
if (parentIndex != -1 && !_rotationAccumulators[tipIndex].isDirty() && target.getType() == IKTarget::Type::RotationOnly) {
@ -1430,8 +1418,6 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
targetVar.jointIndex = -1;
}
_maxTargetIndex = -1;
for (auto& accumulator: _rotationAccumulators) {
accumulator.clearAndClean();
}

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

@ -156,10 +156,6 @@ protected:
int _leftHandIndex { -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 };
bool _previousEnableDebugIKTargets { false };
SolutionSource _solutionSource { SolutionSource::RelaxToUnderPoses };

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

@ -57,7 +57,7 @@ private:
bool _poleVectorEnabled { false };
int _index { -1 };
Type _type { Type::RotationAndPosition };
float _weight;
float _weight { 0.0f };
float _flexCoefficients[MAX_FLEX_COEFFICIENTS];
size_t _numFlexCoefficients;
};

18
libraries/animation/src/Rig.cpp
View file

@ -1707,36 +1707,38 @@ void Rig::computeAvatarBoundingCapsule(
AnimPose geometryToRig = _modelOffset * _geometryOffset;
AnimPose hips(glm::vec3(1), glm::quat(), glm::vec3());
glm::vec3 hipsPosition(0.0f);
int hipsIndex = indexOfJoint("Hips");
if (hipsIndex >= 0) {
hips = geometryToRig * _animSkeleton->getAbsoluteBindPose(hipsIndex);
hipsPosition = transformPoint(_geometryToRigTransform, _animSkeleton->getAbsoluteDefaultPose(hipsIndex).trans());
}
AnimVariantMap animVars;
animVars.setRigToGeometryTransform(_rigToGeometryTransform);
glm::quat handRotation = glm::angleAxis(PI, Vectors::UNIT_X);
animVars.set("leftHandPosition", hips.trans());
animVars.set("leftHandPosition", hipsPosition);
animVars.set("leftHandRotation", handRotation);
animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightHandPosition", hips.trans());
animVars.set("rightHandPosition", hipsPosition);
animVars.set("rightHandRotation", handRotation);
animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
int rightFootIndex = indexOfJoint("RightFoot");
int leftFootIndex = indexOfJoint("LeftFoot");
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);
animVars.set("leftFootPosition", foot);
animVars.set("leftFootPosition", footPosition);
animVars.set("leftFootRotation", footRotation);
animVars.set("leftFootType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightFootPosition", foot);
animVars.set("rightFootPosition", footPosition);
animVars.set("rightFootRotation", footRotation);
animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition);
}
// call overlay twice: once to verify AnimPoseVec joints and again to do the IK
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
ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
AnimPoseVec finalPoses = ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());