WIP: initial implementation of flexCoefficients

interface/resources/avatar/avatar-animation.json

@@ -56,43 +56,50 @@
                                     "jointName": "Hips",
                                     "positionVar": "hipsPosition",
                                     "rotationVar": "hipsRotation",
-                                    "typeVar": "hipsType"
+                                    "typeVar": "hipsType",
+                                    "flexCoefficients": [1]
                                 },
                                 {
                                     "jointName": "RightHand",
                                     "positionVar": "rightHandPosition",
                                     "rotationVar": "rightHandRotation",
-                                    "typeVar": "rightHandType"
+                                    "typeVar": "rightHandType",
+                                    "flexCoefficients": [1, 0.5, 0.5, 0.5, 0.25, 0.1, 0.1, 0.1, 0.1]
                                 },
                                 {
                                     "jointName": "LeftHand",
                                     "positionVar": "leftHandPosition",
                                     "rotationVar": "leftHandRotation",
-                                    "typeVar": "leftHandType"
+                                    "typeVar": "leftHandType",
+                                    "flexCoefficients": [1, 0.5, 0.5, 0.5, 0.25, 0.1, 0.1, 0.1, 0.1]
                                 },
                                 {
                                     "jointName": "RightFoot",
                                     "positionVar": "rightFootPosition",
                                     "rotationVar": "rightFootRotation",
-                                    "typeVar": "rightFootType"
+                                    "typeVar": "rightFootType",
+                                    "flexCoefficients": [1, 0.45, 0.45]
                                 },
                                 {
                                     "jointName": "LeftFoot",
                                     "positionVar": "leftFootPosition",
                                     "rotationVar": "leftFootRotation",
-                                    "typeVar": "leftFootType"
+                                    "typeVar": "leftFootType",
+                                    "flexCoefficients": [1, 0.45, 0.45]
                                 },
                                 {
                                     "jointName": "Spine2",
                                     "positionVar": "spine2Position",
                                     "rotationVar": "spine2Rotation",
-                                    "typeVar": "spine2Type"
+                                    "typeVar": "spine2Type",
+                                    "flexCoefficients": [0.45, 0.45]
                                 },
                                 {
                                     "jointName": "Head",
                                     "positionVar": "headPosition",
                                     "rotationVar": "headRotation",
-                                    "typeVar": "headType"
+                                    "typeVar": "headType",
+                                    "flexCoefficients": [1, 0.5, 0.25, 0.25, 0.25]
                                 }
                             ]
                         },

libraries/animation/src/AnimInverseKinematics.cpp

@@ -21,6 +21,35 @@
 #include "SwingTwistConstraint.h"
 #include "AnimationLogging.h"
 
+AnimInverseKinematics::IKTargetVar::IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
+                                                const QString& typeVarIn, const std::vector<float>& flexCoefficientsIn) :
+    positionVar(positionVarIn),
+    rotationVar(rotationVarIn),
+    typeVar(typeVarIn),
+    jointName(jointNameIn),
+    numFlexCoefficients(flexCoefficientsIn.size()),
+    jointIndex(-1)
+{
+    numFlexCoefficients = std::min(numFlexCoefficients, MAX_FLEX_COEFFICIENTS);
+    for (size_t i = 0; i < numFlexCoefficients; i++) {
+        flexCoefficients[i] = flexCoefficientsIn[i];
+    }
+}
+
+AnimInverseKinematics::IKTargetVar::IKTargetVar(const IKTargetVar& orig) :
+    positionVar(orig.positionVar),
+    rotationVar(orig.rotationVar),
+    typeVar(orig.typeVar),
+    jointName(orig.jointName),
+    numFlexCoefficients(orig.numFlexCoefficients),
+    jointIndex(orig.jointIndex)
+{
+    numFlexCoefficients = std::min(numFlexCoefficients, MAX_FLEX_COEFFICIENTS);
+    for (size_t i = 0; i < numFlexCoefficients; i++) {
+        flexCoefficients[i] = orig.flexCoefficients[i];
+    }
+}
+
 AnimInverseKinematics::AnimInverseKinematics(const QString& id) : AnimNode(AnimNode::Type::InverseKinematics, id) {
 }
 
@@ -60,26 +89,22 @@ void AnimInverseKinematics::computeAbsolutePoses(AnimPoseVec& absolutePoses) con
     }
 }
 
-void AnimInverseKinematics::setTargetVars(
+void AnimInverseKinematics::setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
-        const QString& jointName,
+                                          const QString& typeVar, const std::vector<float>& flexCoefficients) {
-        const QString& positionVar,
+    IKTargetVar targetVar(jointName, positionVar, rotationVar, typeVar, flexCoefficients);
-        const QString& rotationVar,
+
-        const QString& typeVar) {
     // if there are dups, last one wins.
     bool found = false;
-    for (auto& targetVar: _targetVarVec) {
+    for (auto& targetVarIter: _targetVarVec) {
-        if (targetVar.jointName == jointName) {
+        if (targetVarIter.jointName == jointName) {
-            // update existing targetVar
+            targetVarIter = targetVar;
-            targetVar.positionVar = positionVar;
-            targetVar.rotationVar = rotationVar;
-            targetVar.typeVar = typeVar;
             found = true;
             break;
         }
     }
     if (!found) {
         // create a new entry
-        _targetVarVec.push_back(IKTargetVar(jointName, positionVar, rotationVar, typeVar));
+        _targetVarVec.push_back(targetVar);
     }
 }
 
@@ -110,7 +135,10 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
 
                 target.setPose(rotation, translation);
                 target.setIndex(targetVar.jointIndex);
+                target.setFlexCoefficients(targetVar.numFlexCoefficients, targetVar.flexCoefficients);
+
                 targets.push_back(target);
+
                 if (targetVar.jointIndex > _maxTargetIndex) {
                     _maxTargetIndex = targetVar.jointIndex;
                 }
@@ -271,6 +299,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
     // cache tip absolute position
     glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
 
+    int chainDepth = 1;
+
     // descend toward root, pivoting each joint to get tip closer to target position
     while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
         // compute the two lines that should be aligned
@@ -312,9 +342,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
                 float angle = acosf(cosAngle);
                 const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
                 if (angle > MIN_ADJUSTMENT_ANGLE) {
-                    // reduce angle by a fraction (for stability)
+                    // reduce angle by a flexCoefficient
-                    const float STABILITY_FRACTION = 0.5f;
+                    angle *= target.getFlexCoefficient(chainDepth);
-                    angle *= STABILITY_FRACTION;
                     deltaRotation = glm::angleAxis(angle, axis);
 
                     // The swing will re-orient the tip but there will tend to be be a non-zero delta between the tip's
@@ -385,6 +414,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
 
         pivotIndex = pivotsParentIndex;
         pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
+
+        chainDepth++;
     }
     return lowestMovedIndex;
 }

libraries/animation/src/AnimInverseKinematics.h

@@ -32,7 +32,8 @@ public:
     void loadPoses(const AnimPoseVec& poses);
     void computeAbsolutePoses(AnimPoseVec& absolutePoses) const;
 
-    void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar, const QString& typeVar);
+    void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
+                       const QString& typeVar, const std::vector<float>& flexCoefficients);
 
     virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimNode::Triggers& triggersOut) override;
     virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
@@ -77,22 +78,18 @@ protected:
     AnimInverseKinematics(const AnimInverseKinematics&) = delete;
     AnimInverseKinematics& operator=(const AnimInverseKinematics&) = delete;
 
+    static const size_t MAX_FLEX_COEFFICIENTS = 10;
     struct IKTargetVar {
-        IKTargetVar(const QString& jointNameIn,
+        IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
-                const QString& positionVarIn,
+                    const QString& typeVarIn, const std::vector<float>& flexCoefficientsIn);
-                const QString& rotationVarIn,
+        IKTargetVar(const IKTargetVar& orig);
-                const QString& typeVarIn) :
-            positionVar(positionVarIn),
-            rotationVar(rotationVarIn),
-            typeVar(typeVarIn),
-            jointName(jointNameIn),
-            jointIndex(-1)
-        {}
 
         QString positionVar;
         QString rotationVar;
         QString typeVar;
         QString jointName;
+        float flexCoefficients[MAX_FLEX_COEFFICIENTS];
+        size_t numFlexCoefficients;
         int jointIndex; // cached joint index
     };
 

libraries/animation/src/AnimNodeLoader.cpp

@@ -471,7 +471,18 @@ AnimNode::Pointer loadInverseKinematicsNode(const QJsonObject& jsonObj, const QS
         READ_STRING(rotationVar, targetObj, id, jsonUrl, nullptr);
         READ_OPTIONAL_STRING(typeVar, targetObj);
 
-        node->setTargetVars(jointName, positionVar, rotationVar, typeVar);
+        auto flexCoefficientsValue = targetObj.value("flexCoefficients");
+        if (!flexCoefficientsValue.isArray()) {
+            qCCritical(animation) << "AnimNodeLoader, bad or missing flexCoefficients array in \"targets\", id =" << id << ", url =" << jsonUrl.toDisplayString();
+            return nullptr;
+        }
+        auto flexCoefficientsArray = flexCoefficientsValue.toArray();
+        std::vector<float> flexCoefficients;
+        for (const auto& value : flexCoefficientsArray) {
+            flexCoefficients.push_back((float)value.toDouble());
+        }
+
+        node->setTargetVars(jointName, positionVar, rotationVar, typeVar, flexCoefficients);
     };
 
     READ_OPTIONAL_STRING(solutionSource, jsonObj);

libraries/animation/src/IKTarget.cpp

@@ -14,6 +14,22 @@ void IKTarget::setPose(const glm::quat& rotation, const glm::vec3& translation)
     _pose.trans() = translation;
 }
 
+void IKTarget::setFlexCoefficients(size_t numFlexCoefficientsIn, const float* flexCoefficientsIn) {
+    _numFlexCoefficients = std::min(numFlexCoefficientsIn, MAX_FLEX_COEFFICIENTS);
+    for (size_t i = 0; i < _numFlexCoefficients; i++) {
+        _flexCoefficients[i] = flexCoefficientsIn[i];
+    }
+}
+
+float IKTarget::getFlexCoefficient(int chainDepth) const {
+    const float DEFAULT_FLEX_COEFFICIENT = 0.5f;
+    if (chainDepth >= 0 && chainDepth < _numFlexCoefficients) {
+        return _flexCoefficients[chainDepth];
+    } else {
+        return DEFAULT_FLEX_COEFFICIENT;
+    }
+}
+
 void IKTarget::setType(int type) {
     switch (type) {
         case (int)Type::RotationAndPosition:

libraries/animation/src/IKTarget.h

@@ -35,15 +35,19 @@ public:
     void setPose(const glm::quat& rotation, const glm::vec3& translation);
     void setIndex(int index) { _index = index; }
     void setType(int);
+    void setFlexCoefficients(size_t numFlexCoefficientsIn, const float* flexCoefficientsIn);
+    float getFlexCoefficient(int chainDepth) const;
 
     // HACK: give HmdHead targets more "weight" during IK algorithm
     float getWeight() const { return _type == Type::HmdHead ? HACK_HMD_TARGET_WEIGHT : 1.0f; }
 
+    static const size_t MAX_FLEX_COEFFICIENTS = 10;
 private:
     AnimPose _pose;
     int _index{-1};
     Type _type{Type::RotationAndPosition};
-
+    float _flexCoefficients[MAX_FLEX_COEFFICIENTS];
+    size_t _numFlexCoefficients;
 };
 
 #endif // hifi_IKTarget_h

libraries/animation/src/Rig.cpp

@@ -1400,22 +1400,24 @@ void Rig::computeAvatarBoundingCapsule(
 
     AnimInverseKinematics ikNode("boundingShape");
     ikNode.setSkeleton(_animSkeleton);
+
+    // AJT: FIX ME!!!!! ensure that empty weights vector does something reasonable....
     ikNode.setTargetVars("LeftHand",
                          "leftHandPosition",
                          "leftHandRotation",
-                         "leftHandType");
+                         "leftHandType", {});
     ikNode.setTargetVars("RightHand",
                          "rightHandPosition",
                          "rightHandRotation",
-                         "rightHandType");
+                         "rightHandType", {});
     ikNode.setTargetVars("LeftFoot",
                          "leftFootPosition",
                          "leftFootRotation",
-                         "leftFootType");
+                         "leftFootType", {});
     ikNode.setTargetVars("RightFoot",
                          "rightFootPosition",
                          "rightFootRotation",
-                         "rightFootType");
+                         "rightFootType", {});
 
     AnimPose geometryToRig = _modelOffset * _geometryOffset;