Rig: issue warnings for missing joints

Also, Removed Rig::computeEyesInRigFrame, it was causing warnings because it was looking up
Eye and Head joints for all models, not just avatars.

interface/src/avatar/MyAvatar.cpp

@@ -1766,25 +1766,6 @@ glm::quat MyAvatar::getWorldBodyOrientation() const {
     return glm::quat_cast(_sensorToWorldMatrix * _bodySensorMatrix);
 }
 
-#if 0
-// derive avatar body position and orientation from the current HMD Sensor location.
-// results are in sensor space
-glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
-    if (_rig) {
-        // orientation
-        const glm::quat hmdOrientation = getHMDSensorOrientation();
-        const glm::quat yaw = cancelOutRollAndPitch(hmdOrientation);
-        // position
-        // we flip about yAxis when going from "root" to "avatar" frame
-        // and we must also apply "yaw" to get into HMD frame
-        glm::quat rotY180 = glm::angleAxis((float)M_PI, glm::vec3(0.0f, 1.0f, 0.0f));
-        glm::vec3 eyesInAvatarFrame = rotY180 * yaw * _rig->getEyesInRootFrame();
-        glm::vec3 bodyPos = getHMDSensorPosition() - eyesInAvatarFrame;
-        return createMatFromQuatAndPos(yaw, bodyPos);
-    }
-    return glm::mat4();
-}
-#else
 // old school meat hook style
 glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
 
@@ -1825,7 +1806,6 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
 
     return createMatFromQuatAndPos(hmdOrientationYawOnly, bodyPos);
 }
-#endif
 
 glm::vec3 MyAvatar::getPositionForAudio() {
     switch (_audioListenerMode) {

libraries/animation/src/Rig.cpp

@@ -173,8 +173,6 @@ void Rig::initJointStates(const FBXGeometry& geometry, const glm::mat4& modelOff
 
     _animSkeleton = std::make_shared<AnimSkeleton>(geometry);
 
-    computeEyesInRootFrame(_animSkeleton->getRelativeDefaultPoses());
-
     _internalPoseSet._relativePoses.clear();
     _internalPoseSet._relativePoses = _animSkeleton->getRelativeDefaultPoses();
 
@@ -201,8 +199,6 @@ void Rig::reset(const FBXGeometry& geometry) {
     _geometryOffset = AnimPose(geometry.offset);
     _animSkeleton = std::make_shared<AnimSkeleton>(geometry);
 
-    computeEyesInRootFrame(_animSkeleton->getRelativeDefaultPoses());
-
     _internalPoseSet._relativePoses.clear();
     _internalPoseSet._relativePoses = _animSkeleton->getRelativeDefaultPoses();
 
@@ -237,10 +233,20 @@ int Rig::getJointStateCount() const {
     return (int)_internalPoseSet._relativePoses.size();
 }
 
+static const uint32_t MAX_JOINT_NAME_WARNING_COUNT = 100;
+
 int Rig::indexOfJoint(const QString& jointName) const {
     if (_animSkeleton) {
-        return _animSkeleton->nameToJointIndex(jointName);
+        int result = _animSkeleton->nameToJointIndex(jointName);
+
+        // This is a content error, so we should issue a warning.
+        if (result < 0 && _jointNameWarningCount < MAX_JOINT_NAME_WARNING_COUNT) {
+            qCWarning(animation) << "Rig: Missing joint" << jointName << "in avatar model";
+            _jointNameWarningCount++;
+        }
+        return result;
     } else {
+        // This is normal and can happen when the avatar model has not been dowloaded/loaded yet.
         return -1;
     }
 }
@@ -444,26 +450,6 @@ void Rig::calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds,
     *alphaOut = alpha;
 }
 
-void Rig::computeEyesInRootFrame(const AnimPoseVec& poses) {
-    // TODO: use cached eye/hips indices for these calculations
-    int numPoses = (int)poses.size();
-    int hipsIndex = _animSkeleton->nameToJointIndex(QString("Hips"));
-    int headIndex = _animSkeleton->nameToJointIndex(QString("Head"));
-    if (hipsIndex > 0 && headIndex > 0) {
-        int rightEyeIndex = _animSkeleton->nameToJointIndex(QString("RightEye"));
-        int leftEyeIndex = _animSkeleton->nameToJointIndex(QString("LeftEye"));
-        if (numPoses > rightEyeIndex && numPoses > leftEyeIndex && rightEyeIndex > 0 && leftEyeIndex > 0) {
-            glm::vec3 rightEye = _animSkeleton->getAbsolutePose(rightEyeIndex, poses).trans;
-            glm::vec3 leftEye = _animSkeleton->getAbsolutePose(leftEyeIndex, poses).trans;
-            glm::vec3 hips = _animSkeleton->getAbsolutePose(hipsIndex, poses).trans;
-            _eyesInRootFrame = 0.5f * (rightEye + leftEye) - hips;
-        } else {
-            glm::vec3 hips = _animSkeleton->getAbsolutePose(hipsIndex, poses).trans;
-            _eyesInRootFrame = 0.5f * (DEFAULT_RIGHT_EYE_POS + DEFAULT_LEFT_EYE_POS) - hips;
-        }
-    }
-}
-
 void Rig::setEnableInverseKinematics(bool enable) {
     _enableInverseKinematics = enable;
 }
@@ -893,8 +879,6 @@ void Rig::updateAnimations(float deltaTime, glm::mat4 rootTransform) {
         for (auto& trigger : triggersOut) {
             _animVars.setTrigger(trigger);
         }
-
-        computeEyesInRootFrame(_internalPoseSet._relativePoses);
     }
 
     applyOverridePoses();
@@ -1070,7 +1054,7 @@ void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm
 
         glm::quat desiredQuat = rotationBetween(IDENTITY_FRONT, zAxis);
         glm::quat headQuat;
-        int headIndex = _animSkeleton->nameToJointIndex("Head");
+        int headIndex = indexOfJoint("Head");
         if (headIndex >= 0) {
             headQuat = _internalPoseSet._absolutePoses[headIndex].rot;
         }
@@ -1093,7 +1077,11 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
         const float MIN_LENGTH = 1.0e-4f;
 
         // project the hips onto the xz plane.
-        auto hipsTrans = _internalPoseSet._absolutePoses[_animSkeleton->nameToJointIndex("Hips")].trans;
+        int hipsIndex = indexOfJoint("Hips");
+        glm::vec3 hipsTrans;
+        if (hipsIndex >= 0) {
+            hipsTrans = _internalPoseSet._absolutePoses[hipsIndex].trans;
+        }
         const glm::vec2 bodyCircleCenter(hipsTrans.x, hipsTrans.z);
 
         if (params.isLeftEnabled) {
@@ -1278,7 +1266,11 @@ void Rig::computeAvatarBoundingCapsule(
 
     AnimPose geometryToRig = _modelOffset * _geometryOffset;
 
-    AnimPose hips = geometryToRig * _animSkeleton->getAbsoluteBindPose(_animSkeleton->nameToJointIndex("Hips"));
+    AnimPose hips(glm::vec3(1), glm::quat(), glm::vec3());
+    int hipsIndex = indexOfJoint("Hips");
+    if (hipsIndex >= 0) {
+        hips = geometryToRig * _animSkeleton->getAbsoluteBindPose(hipsIndex);
+    }
     AnimVariantMap animVars;
     glm::quat handRotation = glm::angleAxis(PI, Vectors::UNIT_X);
     animVars.set("leftHandPosition", hips.trans);
@@ -1288,8 +1280,8 @@ void Rig::computeAvatarBoundingCapsule(
     animVars.set("rightHandRotation", handRotation);
     animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
 
-    int rightFootIndex = _animSkeleton->nameToJointIndex("RightFoot");
-    int leftFootIndex = _animSkeleton->nameToJointIndex("LeftFoot");
+    int rightFootIndex = indexOfJoint("RightFoot");
+    int leftFootIndex = indexOfJoint("LeftFoot");
     if (rightFootIndex != -1 && leftFootIndex != -1) {
         glm::vec3 foot = Vectors::ZERO;
         glm::quat footRotation = glm::angleAxis(0.5f * PI, Vectors::UNIT_X);
@@ -1321,7 +1313,7 @@ void Rig::computeAvatarBoundingCapsule(
 
     // HACK to reduce the radius of the bounding capsule to be tight with the torso, we only consider joints
     // from the head to the hips when computing the rest of the bounding capsule.
-    int index = _animSkeleton->nameToJointIndex(QString("Head"));
+    int index = indexOfJoint("Head");
     while (index != -1) {
         const FBXJointShapeInfo& shapeInfo = geometry.joints.at(index).shapeInfo;
         AnimPose pose = finalPoses[index];
@@ -1344,3 +1336,5 @@ void Rig::computeAvatarBoundingCapsule(
     glm::vec3 rigCenter = (geometryToRig * (0.5f * (totalExtents.maximum + totalExtents.minimum)));
     localOffsetOut = rigCenter - (geometryToRig * rootPosition);
 }
+
+

libraries/animation/src/Rig.h

@@ -231,8 +231,6 @@ public:
     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;
 
-    void computeEyesInRootFrame(const AnimPoseVec& poses);
-
     AnimPose _modelOffset;  // model to rig space
     AnimPose _geometryOffset; // geometry to model space (includes unit offset & fst offsets)
 
@@ -305,6 +303,8 @@ public:
     bool _lastEnableInverseKinematics { true };
     bool _enableInverseKinematics { true };
 
+    mutable uint32_t _jointNameWarningCount { 0 };
+
 private:
     QMap<int, StateHandler> _stateHandlers;
     int _nextStateHandlerId { 0 };