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head IK and controller IK work again!

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This commit is contained in:
Anthony J. Thibault 2015-11-19 17:30:56 -08:00
parent 982e2c06a9
commit 46d23a9f38
3 changed files with 59 additions and 54 deletions
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3
interface/src/avatar/SkeletonModel.cpp
View file

@ -114,9 +114,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
headParams.leanSideways = head->getFinalLeanSideways();
headParams.leanForward = head->getFinalLeanForward();
headParams.torsoTwist = head->getTorsoTwist();
headParams.localHeadPitch = head->getFinalPitch();
headParams.localHeadYaw = head->getFinalYaw();
headParams.localHeadRoll = head->getFinalRoll();
if (qApp->getAvatarUpdater()->isHMDMode()) {
headParams.isInHMD = true;

88
libraries/animation/src/Rig.cpp
View file

@ -1014,30 +1014,15 @@ void Rig::updateLeanJoint(int index, float leanSideways, float leanForward, floa
}
}
static AnimPose avatarToBonePose(AnimPose pose, AnimSkeleton::ConstPointer skeleton) {
AnimPose rootPose = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Hips"));
AnimPose rotY180(glm::vec3(1.0f), glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)), glm::vec3(0));
return rootPose * rotY180 * pose;
}
#ifdef DEBUG_RENDERING
static AnimPose boneToAvatarPose(AnimPose pose, AnimSkeleton::ConstPointer skeleton) {
AnimPose rootPose = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Hips"));
AnimPose rotY180(glm::vec3(1.0f), glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)), glm::vec3(0));
return (rootPose * rotY180).inverse() * pose;
}
#endif
static void computeHeadNeckAnimVars(AnimSkeleton::ConstPointer skeleton, const AnimPose& avatarHMDPose,
static void computeHeadNeckAnimVars(AnimSkeleton::ConstPointer skeleton, const AnimPose& geometryHMDPose,
glm::vec3& headPositionOut, glm::quat& headOrientationOut,
glm::vec3& neckPositionOut, glm::quat& neckOrientationOut) {
// the input hmd values are in avatar space
// we need to transform them into bone space.
AnimPose hmdPose = avatarToBonePose(avatarHMDPose, skeleton);
AnimPose hmdPose = geometryHMDPose;
const glm::vec3 hmdPosition = hmdPose.trans;
const glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
const glm::quat hmdOrientation = hmdPose.rot * rotY180; // rotY180 will make z forward not -z
const glm::quat hmdOrientation = hmdPose.rot;
// TODO: cache jointIndices
int rightEyeIndex = skeleton->nameToJointIndex("RightEye");
@ -1076,8 +1061,8 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
glm::vec3 headPos, neckPos;
glm::quat headRot, neckRot;
AnimPose avatarHMDPose(glm::vec3(1.0f), params.localHeadOrientation, params.localHeadPosition);
computeHeadNeckAnimVars(_animSkeleton, avatarHMDPose, headPos, headRot, neckPos, neckRot);
AnimPose hmdPose(glm::vec3(1.0f), avatarToGeometryNegZForward(params.localHeadOrientation), avatarToGeometry(params.localHeadPosition));
computeHeadNeckAnimVars(_animSkeleton, hmdPose, headPos, headRot, neckPos, neckRot);
// debug rendering
#ifdef DEBUG_RENDERING
@ -1086,12 +1071,10 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
// transform from bone into avatar space
AnimPose headPose(glm::vec3(1), headRot, headPos);
headPose = boneToAvatarPose(headPose, _animSkeleton);
DebugDraw::getInstance().addMyAvatarMarker("headTarget", headPose.rot, headPose.trans, red);
// transform from bone into avatar space
AnimPose neckPose(glm::vec3(1), neckRot, neckPos);
neckPose = boneToAvatarPose(neckPose, _animSkeleton);
DebugDraw::getInstance().addMyAvatarMarker("neckTarget", neckPose.rot, neckPose.trans, green);
#endif
@ -1105,13 +1088,21 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
} else {
/*
// the params.localHeadOrientation is composed incorrectly, so re-compose it correctly from pitch, yaw and roll.
glm::quat realLocalHeadOrientation = (glm::angleAxis(glm::radians(-params.localHeadRoll), Z_AXIS) *
glm::angleAxis(glm::radians(params.localHeadYaw), Y_AXIS) *
glm::angleAxis(glm::radians(-params.localHeadPitch), X_AXIS));
*/
_animVars.unset("headPosition");
_animVars.set("headRotation", realLocalHeadOrientation);
/*
qCDebug(animation) << "AJT: input orientation " << params.localHeadOrientation;
qCDebug(animation) << "AJT: after transform" << avatarToGeometry(params.localHeadOrientation);
*/
_animVars.set("headRotation", avatarToGeometryNegZForward(params.localHeadOrientation));
_animVars.set("headAndNeckType", (int)IKTarget::Type::RotationOnly);
_animVars.set("headType", (int)IKTarget::Type::RotationOnly);
_animVars.unset("neckPosition");
@ -1141,16 +1132,36 @@ void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm
}
}
glm::vec3 Rig::avatarToGeometry(const glm::vec3& pos) const {
// AJT: TODO cache transform
glm::quat yFlip = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
AnimPose geometryToAvatarTransform = AnimPose(glm::vec3(1), yFlip, glm::vec3()) * _modelOffset * _geometryOffset;
glm::vec3 result = geometryToAvatarTransform.inverse() * pos;
return result;
}
glm::quat Rig::avatarToGeometryNegZForward(const glm::quat& quat) const {
// AJT: TODO cache transform
AnimPose yFlip(glm::vec3(1), glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)), glm::vec3());
AnimPose geometryToAvatarTransform = yFlip * _modelOffset * _geometryOffset;
return (geometryToAvatarTransform.inverse() * AnimPose(glm::vec3(1), quat, glm::vec3()) * yFlip).rot;
}
glm::quat Rig::avatarToGeometryZForward(const glm::quat& quat) const {
// AJT: TODO cache transform
AnimPose yFlip(glm::vec3(1), glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)), glm::vec3());
AnimPose geometryToAvatarTransform = yFlip * _modelOffset * _geometryOffset;
return (geometryToAvatarTransform.inverse() * AnimPose(glm::vec3(1), quat, glm::vec3())).rot;
}
void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
if (_animSkeleton && _animNode) {
// TODO: figure out how to obtain the yFlip from where it is actually stored
glm::quat yFlipHACK = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
AnimPose rootBindPose = _animSkeleton->getRootAbsoluteBindPoseByChildName("LeftHand");
if (params.isLeftEnabled) {
_animVars.set("leftHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.leftPosition);
_animVars.set("leftHandRotation", rootBindPose.rot * yFlipHACK * params.leftOrientation);
_animVars.set("leftHandPosition", avatarToGeometry(params.leftPosition));
_animVars.set("leftHandRotation", avatarToGeometryZForward(params.leftOrientation));
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
} else {
_animVars.unset("leftHandPosition");
@ -1158,8 +1169,8 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
_animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
}
if (params.isRightEnabled) {
_animVars.set("rightHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.rightPosition);
_animVars.set("rightHandRotation", rootBindPose.rot * yFlipHACK * params.rightOrientation);
_animVars.set("rightHandPosition", avatarToGeometry(params.rightPosition));
_animVars.set("rightHandRotation", avatarToGeometryZForward(params.rightOrientation));
_animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
} else {
_animVars.unset("rightHandPosition");
@ -1187,7 +1198,6 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
_animVars.set("leftHandOverlayAlpha", _leftHandOverlayAlpha);
_animVars.set("leftHandGrabBlend", params.leftTrigger);
// set leftHand grab vars
_animVars.set("isRightHandIdle", false);
_animVars.set("isRightHandPoint", false);
@ -1307,7 +1317,7 @@ glm::mat4 Rig::getJointTransform(int jointIndex) const {
//if (_jointStates.size() == 73) {
// check for differences between jointStates and _absolutePoses!
if (false) {
if (true) {
glm::mat4 oldMat = _jointStates[jointIndex].getTransform();
AnimPose oldPose(oldMat);
@ -1316,24 +1326,20 @@ glm::mat4 Rig::getJointTransform(int jointIndex) const {
AnimPose newPose(newMat);
bool badTrans = false;
const float TRANS_EPSILON = 0.01f;
if (glm::length(newPose.trans - oldPose.trans) > TRANS_EPSILON) {
const float TRANS_EPSILON = 0.001f;
if (glm::length(newPose.trans - oldPose.trans) / glm::length(oldPose.trans) > TRANS_EPSILON) {
badTrans = true;
}
bool badScale = false;
const float SCALE_EPSILON = 0.00001f;
if (glm::length(newPose.scale - oldPose.scale) > SCALE_EPSILON) {
const float SCALE_EPSILON = 0.0001f;
if (glm::length(newPose.scale - oldPose.scale) / glm::length(oldPose.scale) > SCALE_EPSILON) {
badScale = true;
}
bool badRot = false;
const float ROT_EPSILON = 0.0001f;
glm::quat oldLog = glm::log(newPose.rot);
glm::quat newLog = glm::log(oldPose.rot);
glm::vec3 oldLogVec(oldLog.x, oldLog.y, oldLog.z);
glm::vec3 newLogVec(newLog.x, newLog.y, newLog.z);
if (glm::length(oldLogVec - newLogVec) > ROT_EPSILON) {
const float ROT_EPSILON = 0.00001f;
if (1.0f - fabsf(glm::dot(newPose.rot, oldPose.rot)) > ROT_EPSILON) {
badRot = true;
}

22
libraries/animation/src/Rig.h
View file

@ -42,12 +42,9 @@ public:
float leanForward = 0.0f; // degrees
float torsoTwist = 0.0f; // degrees
bool enableLean = false;
glm::quat worldHeadOrientation = glm::quat();
glm::quat localHeadOrientation = glm::quat();
float localHeadPitch = 0.0f; // degrees
float localHeadYaw = 0.0f; // degrees
float localHeadRoll = 0.0f; // degrees
glm::vec3 localHeadPosition = glm::vec3();
glm::quat worldHeadOrientation = glm::quat(); // world space (-z forward)
glm::quat localHeadOrientation = glm::quat(); // avatar space (-z forward)
glm::vec3 localHeadPosition = glm::vec3(); // avatar space
bool isInHMD = false;
int leanJointIndex = -1;
int neckJointIndex = -1;
@ -67,10 +64,10 @@ public:
struct HandParameters {
bool isLeftEnabled;
bool isRightEnabled;
glm::vec3 leftPosition = glm::vec3();
glm::quat leftOrientation = glm::quat();
glm::vec3 rightPosition = glm::vec3();
glm::quat rightOrientation = glm::quat();
glm::vec3 leftPosition = glm::vec3(); // avatar space
glm::quat leftOrientation = glm::quat(); // avatar space (z forward)
glm::vec3 rightPosition = glm::vec3(); // avatar space
glm::quat rightOrientation = glm::quat(); // avatar space (z forward)
float leftTrigger = 0.0f;
float rightTrigger = 0.0f;
};
@ -167,6 +164,7 @@ public:
const glm::vec3& getEyesInRootFrame() const { return _eyesInRootFrame; }
protected:
void updateAnimationStateHandlers();
void applyOverridePoses();
@ -179,6 +177,10 @@ public:
void computeEyesInRootFrame(const AnimPoseVec& poses);
glm::vec3 Rig::avatarToGeometry(const glm::vec3& pos) const;
glm::quat Rig::avatarToGeometryZForward(const glm::quat& quat) const;
glm::quat Rig::avatarToGeometryNegZForward(const glm::quat& quat) const;
// AJT: TODO: LEGACY
QVector<JointState> _jointStates;
glm::mat4 _legacyModelOffset;