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working on the two bone ik for the hands

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amantley 2019-01-18 17:55:19 -08:00
parent 7115796fc4
commit 3a2697fa8c
2 changed files with 2262 additions and 45 deletions
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2213
interface/resources/avatar/avatar-animation_twoboneIK.json Normal file
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94
libraries/animation/src/AnimSplineIK.cpp
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@ -52,11 +52,11 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
// check to see if we actually need absolute poses. // check to see if we actually need absolute poses.
AnimPoseVec absolutePoses; AnimPoseVec absolutePoses;
absolutePoses.resize(_poses.size()); absolutePoses.resize(_poses.size());
//computeAbsolutePoses(absolutePoses); computeAbsolutePoses(absolutePoses);
AnimPoseVec absolutePoses2; AnimPoseVec absolutePoses2;
absolutePoses2.resize(_poses.size()); absolutePoses2.resize(_poses.size());
// do this later // do this later
computeAbsolutePoses(absolutePoses2); //computeAbsolutePoses(absolutePoses2);
int jointIndex2 = _skeleton->nameToJointIndex("Spine2"); int jointIndex2 = _skeleton->nameToJointIndex("Spine2");
AnimPose origSpine2PoseAbs = _skeleton->getAbsolutePose(jointIndex2, _poses); AnimPose origSpine2PoseAbs = _skeleton->getAbsolutePose(jointIndex2, _poses);
@ -68,44 +68,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
qCDebug(animation) << "original relative spine2 " << origSpine2PoseAbs; qCDebug(animation) << "original relative spine2 " << origSpine2PoseAbs;
} }
IKTarget target2;
//int jointIndex2 = _skeleton->nameToJointIndex("Spine2");
if (jointIndex2 != -1) {
target2.setType(animVars.lookup("spine2Type", (int)IKTarget::Type::RotationAndPosition));
target2.setIndex(jointIndex2);
AnimPose absPose2 = _skeleton->getAbsolutePose(jointIndex2, _poses);
glm::quat rotation2 = animVars.lookupRigToGeometry("spine2Rotation", absPose2.rot());
glm::vec3 translation2 = animVars.lookupRigToGeometry("spine2Position", absPose2.trans());
float weight2 = animVars.lookup("spine2Weight", "2.0");
qCDebug(animation) << "rig to geometry" << rotation2;
target2.setPose(rotation2, translation2);
//target2.setPose(targetSpine2.rot(), targetSpine2.trans());
target2.setWeight(weight2);
const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f };
target2.setFlexCoefficients(3, flexCoefficients2);
}
AnimChain jointChain2;
if (_poses.size() > 0) {
// _snapshotChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain2.buildFromRelativePoses(_skeleton, underPoses, target2.getIndex());
jointChain2.buildFromRelativePoses(_skeleton, _poses, target2.getIndex());
// for each target solve target with spline
solveTargetWithSpline(context, target2, absolutePoses2, false, jointChain2);
//jointChain.outputRelativePoses(_poses);
jointChain2.outputRelativePoses(_poses);
computeAbsolutePoses(absolutePoses);
//qCDebug(animation) << "Spine2 spline";
//jointChain2.dump();
//qCDebug(animation) << "Spine2Pose trans after spine2 spline: " << _skeleton->getAbsolutePose(jointIndex2, _poses).trans();
}
IKTarget target; IKTarget target;
int jointIndex = _skeleton->nameToJointIndex("Head"); int jointIndex = _skeleton->nameToJointIndex("Head");
@ -158,9 +121,9 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimPose latestSpine2Relative(originalSpine2Relative.rot(), afterSolveSpine2Rel.trans()); AnimPose latestSpine2Relative(originalSpine2Relative.rot(), afterSolveSpine2Rel.trans());
//jointChain.setRelativePoseAtJointIndex(jointIndex2, finalSpine2); //jointChain.setRelativePoseAtJointIndex(jointIndex2, finalSpine2);
jointChain.outputRelativePoses(_poses); jointChain.outputRelativePoses(_poses);
_poses[_headIndex] = jointChain.getRelativePoseAtJointIndex(_headIndex); //_poses[_headIndex] = jointChain.getRelativePoseAtJointIndex(_headIndex);
_poses[_skeleton->nameToJointIndex("Neck")] = jointChain.getRelativePoseAtJointIndex(_skeleton->nameToJointIndex("Neck")); //_poses[_skeleton->nameToJointIndex("Neck")] = jointChain.getRelativePoseAtJointIndex(_skeleton->nameToJointIndex("Neck"));
_poses[_spine2Index] = jointChain.getRelativePoseAtJointIndex(_spine2Index); //_poses[_spine2Index] = jointChain.getRelativePoseAtJointIndex(_spine2Index);
//custom output code for the head. just do the head neck and spine2 //custom output code for the head. just do the head neck and spine2
@ -168,11 +131,50 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
//qCDebug(animation) << "after head spline"; //qCDebug(animation) << "after head spline";
//jointChain.dump(); //jointChain.dump();
//computeAbsolutePoses(absolutePoses2); computeAbsolutePoses(absolutePoses2);
//origAbsAfterHeadSpline = _skeleton->getAbsolutePose(jointIndex2, _poses); //origAbsAfterHeadSpline = _skeleton->getAbsolutePose(jointIndex2, _poses);
// qCDebug(animation) << "Spine2 trans after head spline: " << origAbsAfterHeadSpline.trans(); // qCDebug(animation) << "Spine2 trans after head spline: " << origAbsAfterHeadSpline.trans();
} }
IKTarget target2;
//int jointIndex2 = _skeleton->nameToJointIndex("Spine2");
if (jointIndex2 != -1) {
target2.setType(animVars.lookup("spine2Type", (int)IKTarget::Type::RotationAndPosition));
target2.setIndex(jointIndex2);
AnimPose absPose2 = _skeleton->getAbsolutePose(jointIndex2, _poses);
glm::quat rotation2 = animVars.lookupRigToGeometry("spine2Rotation", absPose2.rot());
glm::vec3 translation2 = animVars.lookupRigToGeometry("spine2Position", absPose2.trans());
float weight2 = animVars.lookup("spine2Weight", "2.0");
qCDebug(animation) << "rig to geometry" << rotation2;
//target2.setPose(rotation2, translation2);
target2.setPose(targetSpine2.rot(), targetSpine2.trans());
target2.setWeight(weight2);
const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f };
target2.setFlexCoefficients(3, flexCoefficients2);
}
AnimChain jointChain2;
if (_poses.size() > 0) {
// _snapshotChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain2.buildFromRelativePoses(_skeleton, underPoses, target2.getIndex());
jointChain2.buildFromRelativePoses(_skeleton, _poses, target2.getIndex());
// for each target solve target with spline
solveTargetWithSpline(context, target2, absolutePoses2, false, jointChain2);
//jointChain.outputRelativePoses(_poses);
jointChain2.outputRelativePoses(_poses);
//computeAbsolutePoses(absolutePoses);
//qCDebug(animation) << "Spine2 spline";
//jointChain2.dump();
//qCDebug(animation) << "Spine2Pose trans after spine2 spline: " << _skeleton->getAbsolutePose(jointIndex2, _poses).trans();
}
@ -246,7 +248,7 @@ static CubicHermiteSplineFunctorWithArcLength computeSplineFromTipAndBase(const
void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug, AnimChain& chainInfoOut) const { void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug, AnimChain& chainInfoOut) const {
const int baseIndex = _hipsIndex; const int baseIndex = _hipsIndex;
const int headBaseIndex = _spine2Index; const int headBaseIndex = _spine2Index;
// build spline from tip to base // build spline from tip to base
AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation()); AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation());
@ -369,6 +371,7 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex()); AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex());
AnimPose basePose; AnimPose basePose;
if (target.getIndex() == _headIndex) { if (target.getIndex() == _headIndex) {
//basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
basePose = _skeleton->getAbsoluteDefaultPose(_spine2Index); basePose = _skeleton->getAbsoluteDefaultPose(_spine2Index);
} else { } else {
basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex); basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
@ -396,6 +399,7 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
int endIndex; int endIndex;
if (target.getIndex() == _headIndex) { if (target.getIndex() == _headIndex) {
endIndex = _skeleton->getParentIndex(_spine2Index); endIndex = _skeleton->getParentIndex(_spine2Index);
// endIndex = _skeleton->getParentIndex(_hipsIndex);
} else { } else {
endIndex = _skeleton->getParentIndex(_hipsIndex); endIndex = _skeleton->getParentIndex(_hipsIndex);
} }