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Merge pull request #5504 from sethalves/rig

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set-hand-position in rig
This commit is contained in:
Howard Stearns 2015-08-05 09:05:29 -07:00
commit 6ea06ffc3c
8 changed files with 146 additions and 78 deletions
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83
interface/src/avatar/SkeletonModel.cpp
View file

@ -42,7 +42,23 @@ SkeletonModel::~SkeletonModel() {
void SkeletonModel::initJointStates(QVector<JointState> states) {
const FBXGeometry& geometry = _geometry->getFBXGeometry();
glm::mat4 parentTransform = glm::scale(_scale) * glm::translate(_offset) * geometry.offset;
_boundingRadius = _rig->initJointStates(states, parentTransform);
int rootJointIndex = geometry.rootJointIndex;
int leftHandJointIndex = geometry.leftHandJointIndex;
int leftElbowJointIndex = leftHandJointIndex >= 0 ? geometry.joints.at(leftHandJointIndex).parentIndex : -1;
int leftShoulderJointIndex = leftElbowJointIndex >= 0 ? geometry.joints.at(leftElbowJointIndex).parentIndex : -1;
int rightHandJointIndex = geometry.rightHandJointIndex;
int rightElbowJointIndex = rightHandJointIndex >= 0 ? geometry.joints.at(rightHandJointIndex).parentIndex : -1;
int rightShoulderJointIndex = rightElbowJointIndex >= 0 ? geometry.joints.at(rightElbowJointIndex).parentIndex : -1;
_boundingRadius = _rig->initJointStates(states, parentTransform,
rootJointIndex,
leftHandJointIndex,
leftElbowJointIndex,
leftShoulderJointIndex,
rightHandJointIndex,
rightElbowJointIndex,
rightShoulderJointIndex);
// Determine the default eye position for avatar scale = 1.0
int headJointIndex = _geometry->getFBXGeometry().headJointIndex;
@ -227,7 +243,7 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), fingerDirection) * palmRotation;
if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
setHandPosition(jointIndex, palmPosition, palmRotation);
_rig->setHandPosition(jointIndex, palmPosition, palmRotation, extractUniformScale(_scale), PALM_PRIORITY);
} else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
float forearmLength = geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale);
glm::vec3 forearm = palmRotation * glm::vec3(sign * forearmLength, 0.0f, 0.0f);
@ -332,69 +348,6 @@ void SkeletonModel::renderOrientationDirections(gpu::Batch& batch, int jointInde
geometryCache->renderLine(batch, position, pFront, blue, jointLineIDs._front);
}
void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation) {
// this algorithm is from sample code from sixense
const FBXGeometry& geometry = _geometry->getFBXGeometry();
int elbowJointIndex = geometry.joints.at(jointIndex).parentIndex;
if (elbowJointIndex == -1) {
return;
}
int shoulderJointIndex = geometry.joints.at(elbowJointIndex).parentIndex;
glm::vec3 shoulderPosition;
if (!getJointPosition(shoulderJointIndex, shoulderPosition)) {
return;
}
// precomputed lengths
float scale = extractUniformScale(_scale);
float upperArmLength = geometry.joints.at(elbowJointIndex).distanceToParent * scale;
float lowerArmLength = geometry.joints.at(jointIndex).distanceToParent * scale;
// first set wrist position
glm::vec3 wristPosition = position;
glm::vec3 shoulderToWrist = wristPosition - shoulderPosition;
float distanceToWrist = glm::length(shoulderToWrist);
// prevent gimbal lock
if (distanceToWrist > upperArmLength + lowerArmLength - EPSILON) {
distanceToWrist = upperArmLength + lowerArmLength - EPSILON;
shoulderToWrist = glm::normalize(shoulderToWrist) * distanceToWrist;
wristPosition = shoulderPosition + shoulderToWrist;
}
// cosine of angle from upper arm to hand vector
float cosA = (upperArmLength * upperArmLength + distanceToWrist * distanceToWrist - lowerArmLength * lowerArmLength) /
(2 * upperArmLength * distanceToWrist);
float mid = upperArmLength * cosA;
float height = sqrt(upperArmLength * upperArmLength + mid * mid - 2 * upperArmLength * mid * cosA);
// direction of the elbow
glm::vec3 handNormal = glm::cross(rotation * glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow rotating with wrist
glm::vec3 relaxedNormal = glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow pointing straight down
const float NORMAL_WEIGHT = 0.5f;
glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
bool rightHand = (jointIndex == geometry.rightHandJointIndex);
if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
}
glm::vec3 tangent = glm::normalize(glm::cross(shoulderToWrist, finalNormal));
// ik solution
glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
glm::quat shoulderRotation = rotationBetween(forwardVector, elbowPosition - shoulderPosition);
_rig->setJointRotationInBindFrame(shoulderJointIndex, shoulderRotation, PALM_PRIORITY);
_rig->setJointRotationInBindFrame(elbowJointIndex,
rotationBetween(shoulderRotation * forwardVector, wristPosition - elbowPosition) *
shoulderRotation, PALM_PRIORITY);
_rig->setJointRotationInBindFrame(jointIndex, rotation, PALM_PRIORITY);
}
bool SkeletonModel::getLeftHandPosition(glm::vec3& position) const {
return getJointPositionInWorldFrame(getLeftHandJointIndex(), position);
}

5
interface/src/avatar/SkeletonModel.h
View file

@ -131,11 +131,6 @@ private:
QHash<int, OrientationLineIDs> _jointOrientationLines;
int _triangleFanID;
/// \param jointIndex index of joint in model
/// \param position position of joint in model-frame
/// \param rotation rotation of joint in model-frame
void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
bool getEyeModelPositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const;
Avatar* _owningAvatar;

72
libraries/animation/src/AvatarRig.cpp
View file

@ -20,15 +20,81 @@ void AvatarRig::updateJointState(int index, glm::mat4 parentTransform) {
const FBXJoint& joint = state.getFBXJoint();
// compute model transforms
int parentIndex = joint.parentIndex;
if (parentIndex == -1) {
if (index == _rootJointIndex) {
// we always zero-out the translation part of an avatar's root join-transform.
state.computeTransform(parentTransform);
clearJointTransformTranslation(index);
} else {
// guard against out-of-bounds access to _jointStates
if (joint.parentIndex >= 0 && joint.parentIndex < _jointStates.size()) {
int parentIndex = joint.parentIndex;
if (parentIndex >= 0 && parentIndex < _jointStates.size()) {
const JointState& parentState = _jointStates.at(parentIndex);
state.computeTransform(parentState.getTransform(), parentState.getTransformChanged());
}
}
}
void AvatarRig::setHandPosition(int jointIndex,
const glm::vec3& position, const glm::quat& rotation,
float scale, float priority) {
bool rightHand = (jointIndex == _rightHandJointIndex);
int elbowJointIndex = rightHand ? _rightElbowJointIndex : _leftElbowJointIndex;
int shoulderJointIndex = rightHand ? _rightShoulderJointIndex : _leftShoulderJointIndex;
// this algorithm is from sample code from sixense
if (elbowJointIndex == -1 || shoulderJointIndex == -1) {
return;
}
glm::vec3 shoulderPosition;
if (!getJointPosition(shoulderJointIndex, shoulderPosition)) {
return;
}
// precomputed lengths
float upperArmLength = _jointStates[elbowJointIndex].getFBXJoint().distanceToParent * scale;
float lowerArmLength = _jointStates[jointIndex].getFBXJoint().distanceToParent * scale;
// first set wrist position
glm::vec3 wristPosition = position;
glm::vec3 shoulderToWrist = wristPosition - shoulderPosition;
float distanceToWrist = glm::length(shoulderToWrist);
// prevent gimbal lock
if (distanceToWrist > upperArmLength + lowerArmLength - EPSILON) {
distanceToWrist = upperArmLength + lowerArmLength - EPSILON;
shoulderToWrist = glm::normalize(shoulderToWrist) * distanceToWrist;
wristPosition = shoulderPosition + shoulderToWrist;
}
// cosine of angle from upper arm to hand vector
float cosA = (upperArmLength * upperArmLength + distanceToWrist * distanceToWrist - lowerArmLength * lowerArmLength) /
(2 * upperArmLength * distanceToWrist);
float mid = upperArmLength * cosA;
float height = sqrt(upperArmLength * upperArmLength + mid * mid - 2 * upperArmLength * mid * cosA);
// direction of the elbow
glm::vec3 handNormal = glm::cross(rotation * glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow rotating with wrist
glm::vec3 relaxedNormal = glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow pointing straight down
const float NORMAL_WEIGHT = 0.5f;
glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
}
glm::vec3 tangent = glm::normalize(glm::cross(shoulderToWrist, finalNormal));
// ik solution
glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
glm::quat shoulderRotation = rotationBetween(forwardVector, elbowPosition - shoulderPosition);
setJointRotationInBindFrame(shoulderJointIndex, shoulderRotation, priority);
setJointRotationInBindFrame(elbowJointIndex,
rotationBetween(shoulderRotation * forwardVector, wristPosition - elbowPosition) *
shoulderRotation, priority);
setJointRotationInBindFrame(jointIndex, rotation, priority);
}

2
libraries/animation/src/AvatarRig.h
View file

@ -22,6 +22,8 @@ class AvatarRig : public Rig {
public:
~AvatarRig() {}
virtual void updateJointState(int index, glm::mat4 parentTransform);
virtual void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation,
float scale, float priority);
};
#endif // hifi_AvatarRig_h

2
libraries/animation/src/EntityRig.h
View file

@ -22,6 +22,8 @@ class EntityRig : public Rig {
public:
~EntityRig() {}
virtual void updateJointState(int index, glm::mat4 parentTransform);
virtual void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation,
float scale, float priority) {}
};
#endif // hifi_EntityRig_h

18
libraries/animation/src/Rig.cpp
View file

@ -180,8 +180,24 @@ void Rig::deleteAnimations() {
_animationHandles.clear();
}
float Rig::initJointStates(QVector<JointState> states, glm::mat4 parentTransform) {
float Rig::initJointStates(QVector<JointState> states, glm::mat4 parentTransform,
int rootJointIndex,
int leftHandJointIndex,
int leftElbowJointIndex,
int leftShoulderJointIndex,
int rightHandJointIndex,
int rightElbowJointIndex,
int rightShoulderJointIndex) {
_jointStates = states;
_rootJointIndex = rootJointIndex;
_leftHandJointIndex = leftHandJointIndex;
_leftElbowJointIndex = leftElbowJointIndex;
_leftShoulderJointIndex = leftShoulderJointIndex;
_rightHandJointIndex = rightHandJointIndex;
_rightElbowJointIndex = rightElbowJointIndex;
_rightShoulderJointIndex = rightShoulderJointIndex;
initJointTransforms(parentTransform);
int numStates = _jointStates.size();

24
libraries/animation/src/Rig.h
View file

@ -42,7 +42,6 @@
class AnimationHandle;
typedef std::shared_ptr<AnimationHandle> AnimationHandlePointer;
// typedef QWeakPointer<AnimationHandle> WeakAnimationHandlePointer;
class Rig;
typedef std::shared_ptr<Rig> RigPointer;
@ -91,7 +90,14 @@ public:
float priority = 1.0f, bool loop = false, bool hold = false, float firstFrame = 0.0f,
float lastFrame = FLT_MAX, const QStringList& maskedJoints = QStringList(), bool startAutomatically = false);
float initJointStates(QVector<JointState> states, glm::mat4 parentTransform);
float initJointStates(QVector<JointState> states, glm::mat4 parentTransform,
int rootJointIndex,
int leftHandJointIndex,
int leftElbowJointIndex,
int leftShoulderJointIndex,
int rightHandJointIndex,
int rightElbowJointIndex,
int rightShoulderJointIndex);
bool jointStatesEmpty() { return _jointStates.isEmpty(); };
int getJointStateCount() const { return _jointStates.size(); }
int indexOfJoint(const QString& jointName) ;
@ -150,6 +156,9 @@ public:
void updateFromHeadParameters(const HeadParameters& params);
virtual void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation,
float scale, float priority) = 0;
protected:
void updateLeanJoint(int index, float leanSideways, float leanForward, float torsoTwist);
@ -157,6 +166,15 @@ public:
void updateEyeJoint(int index, const glm::quat& worldHeadOrientation, const glm::vec3& lookAt, const glm::vec3& saccade);
QVector<JointState> _jointStates;
int _rootJointIndex = -1;
int _leftHandJointIndex = -1;
int _leftElbowJointIndex = -1;
int _leftShoulderJointIndex = -1;
int _rightHandJointIndex = -1;
int _rightElbowJointIndex = -1;
int _rightShoulderJointIndex = -1;
QList<AnimationHandlePointer> _animationHandles;
QList<AnimationHandlePointer> _runningAnimations;
@ -164,6 +182,6 @@ public:
bool _enableRig;
glm::vec3 _lastFront;
glm::vec3 _lastPosition;
};
};
#endif /* defined(__hifi__Rig__) */

18
libraries/render-utils/src/Model.cpp
View file

@ -473,7 +473,23 @@ bool Model::updateGeometry() {
void Model::initJointStates(QVector<JointState> states) {
const FBXGeometry& geometry = _geometry->getFBXGeometry();
glm::mat4 parentTransform = glm::scale(_scale) * glm::translate(_offset) * geometry.offset;
_boundingRadius = _rig->initJointStates(states, parentTransform);
int rootJointIndex = geometry.rootJointIndex;
int leftHandJointIndex = geometry.leftHandJointIndex;
int leftElbowJointIndex = leftHandJointIndex >= 0 ? geometry.joints.at(leftHandJointIndex).parentIndex : -1;
int leftShoulderJointIndex = leftElbowJointIndex >= 0 ? geometry.joints.at(leftElbowJointIndex).parentIndex : -1;
int rightHandJointIndex = geometry.rightHandJointIndex;
int rightElbowJointIndex = rightHandJointIndex >= 0 ? geometry.joints.at(rightHandJointIndex).parentIndex : -1;
int rightShoulderJointIndex = rightElbowJointIndex >= 0 ? geometry.joints.at(rightElbowJointIndex).parentIndex : -1;
_boundingRadius = _rig->initJointStates(states, parentTransform,
rootJointIndex,
leftHandJointIndex,
leftElbowJointIndex,
leftShoulderJointIndex,
rightHandJointIndex,
rightElbowJointIndex,
rightShoulderJointIndex);
}
bool Model::findRayIntersectionAgainstSubMeshes(const glm::vec3& origin, const glm::vec3& direction, float& distance,