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Ensure that JointData is in the absolute rig coordinate frame.

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This commit is contained in:
Anthony J. Thibault 2016-05-12 15:55:48 -07:00
parent 55b0060df9
commit 36c175d4cc
2 changed files with 20 additions and 25 deletions
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42
libraries/animation/src/Rig.cpp
View file

@ -430,23 +430,6 @@ void Rig::calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds,
*alphaOut = alpha;
}
bool Rig::getJointData(int index, JointData& jointDataOut) const {
if (isIndexValid(index)) {
jointDataOut.rotation = _internalPoseSet._absolutePoses[index].rot;
jointDataOut.rotationSet = !isEqual(jointDataOut.rotation, _animSkeleton->getAbsoluteDefaultPose(index).rot);
// geometry offset is used here so that translations are in meters, this is what the avatar mixer expects
jointDataOut.translation = _geometryOffset * _internalPoseSet._absolutePoses[index].trans;
jointDataOut.translationSet = !isEqual(jointDataOut.translation, _animSkeleton->getAbsoluteDefaultPose(index).trans);
return true;
} else {
jointDataOut.translationSet = false;
jointDataOut.rotationSet = false;
return false;
}
}
void Rig::setEnableInverseKinematics(bool enable) {
_enableInverseKinematics = enable;
}
@ -1230,10 +1213,22 @@ glm::mat4 Rig::getJointTransform(int jointIndex) const {
}
void Rig::copyJointsIntoJointData(QVector<JointData>& jointDataVec) const {
const AnimPose geometryToRigPose(_geometryToRigTransform);
jointDataVec.resize((int)getJointStateCount());
for (auto i = 0; i < jointDataVec.size(); i++) {
JointData& data = jointDataVec[i];
getJointData(i, data);
if (isIndexValid(i)) {
AnimPose defaultPose = geometryToRigPose * _animSkeleton->getAbsoluteDefaultPose(i);
data.rotation = _internalPoseSet._absolutePoses[i].rot;
data.rotationSet = !isEqual(data.rotation, defaultPose.rot);
data.translation = _internalPoseSet._absolutePoses[i].trans;
data.translationSet = !isEqual(data.translation, defaultPose.trans);
} else {
data.translationSet = false;
data.rotationSet = false;
}
}
}
@ -1243,8 +1238,11 @@ void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
std::vector<bool> overrideFlags(_internalPoseSet._overridePoses.size(), false);
AnimPoseVec overridePoses = _animSkeleton->getAbsoluteDefaultPoses(); // start with the default poses.
for (int i = 0; i < overridePoses.size(); i++) {
overridePoses[i] = AnimPose(_geometryToRigTransform) * overridePoses[i];
}
ASSERT(overrideFlags.size() == absoluteOverridePoses.size());
ASSERT(overrideFlags.size() == overridePoses.size());
for (int i = 0; i < jointDataVec.size(); i++) {
if (isIndexValid(i)) {
@ -1255,8 +1253,7 @@ void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
}
if (data.translationSet) {
overrideFlags[i] = true;
// convert from meters back into geometry units.
overridePoses[i].trans = _invGeometryOffset * data.translation;
overridePoses[i].trans = data.translation;
}
}
}
@ -1265,10 +1262,11 @@ void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
_animSkeleton->convertAbsolutePosesToRelative(overridePoses);
AnimPose rigToGeometryPose(_rigToGeometryTransform);
for (int i = 0; i < jointDataVec.size(); i++) {
if (overrideFlags[i]) {
_internalPoseSet._overrideFlags[i] = true;
_internalPoseSet._overridePoses[i] = overridePoses[i];
_internalPoseSet._overridePoses[i] = rigToGeometryPose * overridePoses[i];
}
}
}

3
libraries/animation/src/Rig.h
View file

@ -229,9 +229,6 @@ protected:
void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAt, const glm::vec3& saccade);
void calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds, float* alphaOut) const;
// geometry space
bool getJointData(int index, JointData& jointDataOut) const;
AnimPose _modelOffset; // model to rig space
AnimPose _geometryOffset; // geometry to model space (includes unit offset & fst offsets)
AnimPose _invGeometryOffset;