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implementing the spline ik for the spline as an anim node

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This commit is contained in:
amantley 2019-01-08 15:26:46 -08:00
parent 4e5d275768
commit 4fd80ff6bc
4 changed files with 176 additions and 0 deletions
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1
libraries/animation/src/AnimContext.h
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@ -28,6 +28,7 @@ enum class AnimNodeType {
InverseKinematics,
DefaultPose,
TwoBoneIK,
SplineIK,
PoleVectorConstraint,
NumTypes
};

22
libraries/animation/src/AnimNodeLoader.cpp
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@ -26,6 +26,7 @@
#include "AnimInverseKinematics.h"
#include "AnimDefaultPose.h"
#include "AnimTwoBoneIK.h"
#include "AnimSplineIK.h"
#include "AnimPoleVectorConstraint.h"
using NodeLoaderFunc = AnimNode::Pointer (*)(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
@ -41,6 +42,7 @@ static AnimNode::Pointer loadManipulatorNode(const QJsonObject& jsonObj, const Q
static AnimNode::Pointer loadInverseKinematicsNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadDefaultPoseNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadTwoBoneIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadPoleVectorConstraintNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static const float ANIM_GRAPH_LOAD_PRIORITY = 10.0f;
@ -123,6 +125,7 @@ static NodeLoaderFunc animNodeTypeToLoaderFunc(AnimNode::Type type) {
case AnimNode::Type::InverseKinematics: return loadInverseKinematicsNode;
case AnimNode::Type::DefaultPose: return loadDefaultPoseNode;
case AnimNode::Type::TwoBoneIK: return loadTwoBoneIKNode;
case AnimNode::Type::SplineIK: return loadSplineIKNode;
case AnimNode::Type::PoleVectorConstraint: return loadPoleVectorConstraintNode;
case AnimNode::Type::NumTypes: return nullptr;
};
@ -140,6 +143,7 @@ static NodeProcessFunc animNodeTypeToProcessFunc(AnimNode::Type type) {
case AnimNode::Type::InverseKinematics: return processDoNothing;
case AnimNode::Type::DefaultPose: return processDoNothing;
case AnimNode::Type::TwoBoneIK: return processDoNothing;
case AnimNode::Type::SplineIK: return processDoNothing;
case AnimNode::Type::PoleVectorConstraint: return processDoNothing;
case AnimNode::Type::NumTypes: return nullptr;
};
@ -574,6 +578,24 @@ static AnimNode::Pointer loadDefaultPoseNode(const QJsonObject& jsonObj, const Q
return node;
}
static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl) {
READ_FLOAT(alpha, jsonObj, id, jsonUrl, nullptr);
READ_BOOL(enabled, jsonObj, id, jsonUrl, nullptr);
READ_FLOAT(interpDuration, jsonObj, id, jsonUrl, nullptr);
READ_STRING(baseJointName, jsonObj, id, jsonUrl, nullptr);
READ_STRING(tipJointName, jsonObj, id, jsonUrl, nullptr);
READ_STRING(alphaVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(enabledVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(endEffectorRotationVarVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(endEffectorPositionVarVar, jsonObj, id, jsonUrl, nullptr);
auto node = std::make_shared<AnimSplineIK>(id, alpha, enabled, interpDuration,
baseJointName, tipJointName,
alphaVar, enabledVar,
endEffectorRotationVarVar, endEffectorPositionVarVar);
return node;
}
static AnimNode::Pointer loadTwoBoneIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl) {
READ_FLOAT(alpha, jsonObj, id, jsonUrl, nullptr);
READ_BOOL(enabled, jsonObj, id, jsonUrl, nullptr);

77
libraries/animation/src/AnimSplineIK.cpp Normal file
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@ -0,0 +1,77 @@
//
// AnimSplineIK.cpp
//
// Created by Angus Antley on 1/7/19.
// Copyright (c) 2019 High Fidelity, Inc. All rights reserved.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "AnimSplineIK.h"
#include "AnimationLogging.h"
#include "CubicHermiteSpline.h"
#include <DebugDraw.h>
#include "AnimUtil.h"
AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration,
const QString& baseJointName,
const QString& tipJointName,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar) :
AnimNode(AnimNode::Type::SplineIK, id),
_alpha(alpha),
_enabled(enabled),
_interpDuration(interpDuration),
_baseJointName(baseJointName),
_tipJointName(tipJointName),
_alphaVar(alphaVar),
_enabledVar(enabledVar),
_endEffectorRotationVarVar(endEffectorRotationVarVar),
_endEffectorPositionVarVar(endEffectorPositionVarVar),
_prevEndEffectorRotationVar(),
_prevEndEffectorPositionVar() {
}
AnimSplineIK::~AnimSplineIK() {
}
const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
qCDebug(animation) << "evaluating the spline function";
assert(_children.size() == 1);
if (_children.size() != 1) {
return _poses;
}
// evalute underPoses
AnimPoseVec underPoses = _children[0]->evaluate(animVars, context, dt, triggersOut);
_poses = underPoses;
return _poses;
}
void AnimSplineIK::lookUpIndices() {
assert(_skeleton);
// look up bone indices by name
std::vector<int> indices = _skeleton->lookUpJointIndices({ _baseJointName, _tipJointName });
// cache the results
_baseJointIndex = indices[0];
_tipJointIndex = indices[1];
if (_baseJointIndex != -1) {
_baseParentJointIndex = _skeleton->getParentIndex(_baseJointIndex);
}
}
// for AnimDebugDraw rendering
const AnimPoseVec& AnimSplineIK::getPosesInternal() const {
return _poses;
}
void AnimSplineIK::setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) {
AnimNode::setSkeletonInternal(skeleton);
lookUpIndices();
}

76
libraries/animation/src/AnimSplineIK.h Normal file
View file

@ -0,0 +1,76 @@
//
// AnimSplineIK.h
//
// Created by Angus Antley on 1/7/19.
// Copyright (c) 2019 High Fidelity, Inc. All rights reserved.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_AnimSplineIK_h
#define hifi_AnimSplineIK_h
#include "AnimNode.h"
#include "AnimChain.h"
// Spline IK for the spine
class AnimSplineIK : public AnimNode {
public:
AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration,
const QString& baseJointName, const QString& tipJointName,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar);
virtual ~AnimSplineIK() override;
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) override;
protected:
enum class InterpType {
None = 0,
SnapshotToUnderPoses,
SnapshotToSolve,
NumTypes
};
// for AnimDebugDraw rendering
virtual const AnimPoseVec& getPosesInternal() const override;
virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
void lookUpIndices();
AnimPoseVec _poses;
float _alpha;
bool _enabled;
float _interpDuration;
QString _baseJointName;
QString _tipJointName;
int _baseParentJointIndex{ -1 };
int _baseJointIndex{ -1 };
int _tipJointIndex{ -1 };
QString _alphaVar; // float - (0, 1) 0 means underPoses only, 1 means IK only.
QString _enabledVar; // bool
QString _endEffectorRotationVarVar; // string
QString _endEffectorPositionVarVar; // string
QString _prevEndEffectorRotationVar;
QString _prevEndEffectorPositionVar;
InterpType _interpType{ InterpType::None };
float _interpAlphaVel{ 0.0f };
float _interpAlpha{ 0.0f };
AnimChain _snapshotChain;
bool _lastEnableDebugDrawIKTargets{ false };
// no copies
AnimSplineIK(const AnimSplineIK&) = delete;
AnimSplineIK& operator=(const AnimSplineIK&) = delete;
};
#endif // hifi_AnimSplineIK_h