Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 14:03:55 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

More work on voxeltars; added rotations.

Browse source
This commit is contained in:
Andrzej Kapolka 2013-06-03 13:00:54 -07:00
parent a6daa296ff
commit 73f8fca2af
6 changed files with 103 additions and 70 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

8
interface/src/Avatar.cpp
View file

@ -909,6 +909,8 @@ void Avatar::updateBodyBalls(float deltaTime) {
if (glm::length(_position - _bodyBall[AVATAR_JOINT_PELVIS].position) > BEYOND_BODY_SPRING_RANGE) {
resetBodyBalls();
}
glm::quat orientation = getOrientation();
glm::vec3 jointDirection = orientation * JOINT_DIRECTION;
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
glm::vec3 springVector(_bodyBall[b].position);
@ -955,7 +957,11 @@ void Avatar::updateBodyBalls(float deltaTime) {
_bodyBall[b].position += _bodyBall[b].velocity * deltaTime;
// update rotation
_bodyBall[b].rotation = _skeleton.joint[b].rotation;
if (_skeleton.joint[b].parent == AVATAR_JOINT_NULL || length < 0.1f) {
_bodyBall[b].rotation = orientation * _skeleton.joint[b].absoluteBindPoseRotation;
} else {
_bodyBall[b].rotation = rotationBetween(jointDirection, springVector) * orientation;
}
}
}

9
interface/src/AvatarVoxelSystem.cpp
View file

@ -144,10 +144,11 @@ void AvatarVoxelSystem::applyScaleAndBindProgram(bool texture) {
glm::vec3 position;
glm::quat orientation;
_avatar->getBodyBallTransform((AvatarJointID)i, position, orientation);
boneMatrices[i].translate(position.x, position.y, position.z);
boneMatrices[i].translate(position.x, position.y, position.z);
orientation = orientation * glm::inverse(_avatar->getSkeleton().joint[i].absoluteBindPoseRotation);
boneMatrices[i].rotate(QQuaternion(orientation.w, orientation.x, orientation.y, orientation.z));
const glm::vec3& defaultPosition = _avatar->getSkeleton().joint[i].absoluteDefaultPosePosition;
boneMatrices[i].translate(-defaultPosition.x, -defaultPosition.y, -defaultPosition.z);
const glm::vec3& bindPosition = _avatar->getSkeleton().joint[i].absoluteBindPosePosition;
boneMatrices[i].translate(-bindPosition.x, -bindPosition.y, -bindPosition.z);
boneMatrices[i] *= baseMatrix;
}
_skinProgram->setUniformValueArray(_boneMatricesLocation, boneMatrices, NUM_AVATAR_JOINTS);
@ -182,7 +183,7 @@ void AvatarVoxelSystem::computeBoneIndicesAndWeights(const glm::vec3& vertex, Bo
// find the nearest four joints (TODO: use a better data structure for the pose positions to speed this up)
IndexDistance nearest[BONE_ELEMENTS_PER_VERTEX];
for (int i = 0; i < NUM_AVATAR_JOINTS; i++) {
float distance = glm::distance(jointVertex, _avatar->getSkeleton().joint[i].absoluteDefaultPosePosition);
float distance = glm::distance(jointVertex, _avatar->getSkeleton().joint[i].absoluteBindPosePosition);
for (int j = 0; j < BONE_ELEMENTS_PER_VERTEX; j++) {
if (distance < nearest[j].distance) {
// move the rest of the indices down

65
interface/src/Skeleton.cpp
View file

@ -5,6 +5,7 @@
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
#include "Skeleton.h"
#include "Util.h"
const float BODY_SPRING_DEFAULT_TIGHTNESS = 1000.0f;
const float FLOATING_HEIGHT = 0.13f;
@ -17,7 +18,7 @@ void Skeleton::initialize() {
for (int b=0; b<NUM_AVATAR_JOINTS; b++) {
joint[b].parent = AVATAR_JOINT_NULL;
joint[b].position = glm::vec3(0.0, 0.0, 0.0);
joint[b].defaultPosePosition = glm::vec3(0.0, 0.0, 0.0);
joint[b].bindPosePosition = glm::vec3(0.0, 0.0, 0.0);
joint[b].rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
joint[b].length = 0.0;
}
@ -49,46 +50,46 @@ void Skeleton::initialize() {
joint[ AVATAR_JOINT_RIGHT_TOES ].parent = AVATAR_JOINT_RIGHT_HEEL;
// specify the default pose position
joint[ AVATAR_JOINT_PELVIS ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.0 );
joint[ AVATAR_JOINT_TORSO ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
joint[ AVATAR_JOINT_CHEST ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
joint[ AVATAR_JOINT_NECK_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.14, 0.01 );
joint[ AVATAR_JOINT_HEAD_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.04, 0.00 );
joint[ AVATAR_JOINT_PELVIS ].bindPosePosition = glm::vec3( 0.0, 0.0, 0.0 );
joint[ AVATAR_JOINT_TORSO ].bindPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
joint[ AVATAR_JOINT_CHEST ].bindPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
joint[ AVATAR_JOINT_NECK_BASE ].bindPosePosition = glm::vec3( 0.0, 0.14, 0.01 );
joint[ AVATAR_JOINT_HEAD_BASE ].bindPosePosition = glm::vec3( 0.0, 0.04, 0.00 );
joint[ AVATAR_JOINT_LEFT_COLLAR ].defaultPosePosition = glm::vec3( -0.06, 0.04, 0.01 );
joint[ AVATAR_JOINT_LEFT_SHOULDER ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.01 );
joint[ AVATAR_JOINT_LEFT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
joint[ AVATAR_JOINT_LEFT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
joint[ AVATAR_JOINT_LEFT_COLLAR ].bindPosePosition = glm::vec3( -0.06, 0.04, 0.01 );
joint[ AVATAR_JOINT_LEFT_SHOULDER ].bindPosePosition = glm::vec3( -0.05, 0.0, 0.01 );
joint[ AVATAR_JOINT_LEFT_ELBOW ].bindPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
joint[ AVATAR_JOINT_LEFT_WRIST ].bindPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].bindPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
joint[ AVATAR_JOINT_RIGHT_COLLAR ].defaultPosePosition = glm::vec3( 0.06, 0.04, 0.01 );
joint[ AVATAR_JOINT_RIGHT_SHOULDER ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.01 );
joint[ AVATAR_JOINT_RIGHT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
joint[ AVATAR_JOINT_RIGHT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
joint[ AVATAR_JOINT_RIGHT_COLLAR ].bindPosePosition = glm::vec3( 0.06, 0.04, 0.01 );
joint[ AVATAR_JOINT_RIGHT_SHOULDER ].bindPosePosition = glm::vec3( 0.05, 0.0, 0.01 );
joint[ AVATAR_JOINT_RIGHT_ELBOW ].bindPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
joint[ AVATAR_JOINT_RIGHT_WRIST ].bindPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].bindPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
joint[ AVATAR_JOINT_LEFT_HIP ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.02 );
joint[ AVATAR_JOINT_LEFT_KNEE ].defaultPosePosition = glm::vec3( 0.01, -0.25, -0.03 );
joint[ AVATAR_JOINT_LEFT_HEEL ].defaultPosePosition = glm::vec3( 0.01, -0.22, 0.08 );
joint[ AVATAR_JOINT_LEFT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
joint[ AVATAR_JOINT_LEFT_HIP ].bindPosePosition = glm::vec3( -0.05, 0.0, 0.02 );
joint[ AVATAR_JOINT_LEFT_KNEE ].bindPosePosition = glm::vec3( 0.01, -0.25, -0.03 );
joint[ AVATAR_JOINT_LEFT_HEEL ].bindPosePosition = glm::vec3( 0.01, -0.22, 0.08 );
joint[ AVATAR_JOINT_LEFT_TOES ].bindPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
joint[ AVATAR_JOINT_RIGHT_HIP ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.02 );
joint[ AVATAR_JOINT_RIGHT_KNEE ].defaultPosePosition = glm::vec3( -0.01, -0.25, -0.03 );
joint[ AVATAR_JOINT_RIGHT_HEEL ].defaultPosePosition = glm::vec3( -0.01, -0.22, 0.08 );
joint[ AVATAR_JOINT_RIGHT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
joint[ AVATAR_JOINT_RIGHT_HIP ].bindPosePosition = glm::vec3( 0.05, 0.0, 0.02 );
joint[ AVATAR_JOINT_RIGHT_KNEE ].bindPosePosition = glm::vec3( -0.01, -0.25, -0.03 );
joint[ AVATAR_JOINT_RIGHT_HEEL ].bindPosePosition = glm::vec3( -0.01, -0.22, 0.08 );
joint[ AVATAR_JOINT_RIGHT_TOES ].bindPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
// calculate bone length, absolute positions
// calculate bone length, absolute positions/rotations
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
joint[b].length = glm::length(joint[b].defaultPosePosition);
joint[b].length = glm::length(joint[b].bindPosePosition);
if (joint[b].parent == AVATAR_JOINT_NULL) {
joint[b].absoluteDefaultPosePosition = glm::vec3(0.0f, 0.0f, 0.0f);
joint[b].absoluteBindPosePosition = joint[b].bindPosePosition;
joint[b].absoluteBindPoseRotation = glm::quat();
} else {
joint[b].absoluteDefaultPosePosition = joint[ joint[b].parent ].absoluteDefaultPosePosition;
joint[b].absoluteBindPosePosition = joint[ joint[b].parent ].absoluteBindPosePosition +
joint[b].bindPosePosition;
joint[b].absoluteBindPoseRotation = rotationBetween(JOINT_DIRECTION, joint[b].bindPosePosition);
}
glm::vec3 rotatedJointVector = joint[b].defaultPosePosition;
joint[b].absoluteDefaultPosePosition += rotatedJointVector;
}
}
@ -105,7 +106,7 @@ void Skeleton::update(float deltaTime, const glm::quat& orientation, glm::vec3 p
joint[b].position = joint[ joint[b].parent ].position;
}
glm::vec3 rotatedJointVector = joint[b].rotation * joint[b].defaultPosePosition;
glm::vec3 rotatedJointVector = joint[b].rotation * joint[b].bindPosePosition;
joint[b].position += rotatedJointVector;
}
}

68
interface/src/Skeleton.h
View file

@ -13,35 +13,36 @@
enum AvatarJointID
{
AVATAR_JOINT_NULL = -1,
AVATAR_JOINT_PELVIS,
AVATAR_JOINT_TORSO,
AVATAR_JOINT_CHEST,
AVATAR_JOINT_NECK_BASE,
AVATAR_JOINT_HEAD_BASE,
AVATAR_JOINT_HEAD_TOP,
AVATAR_JOINT_LEFT_COLLAR,
AVATAR_JOINT_LEFT_SHOULDER,
AVATAR_JOINT_LEFT_ELBOW,
AVATAR_JOINT_LEFT_WRIST,
AVATAR_JOINT_LEFT_FINGERTIPS,
AVATAR_JOINT_RIGHT_COLLAR,
AVATAR_JOINT_RIGHT_SHOULDER,
AVATAR_JOINT_RIGHT_ELBOW,
AVATAR_JOINT_RIGHT_WRIST,
AVATAR_JOINT_RIGHT_FINGERTIPS,
AVATAR_JOINT_LEFT_HIP,
AVATAR_JOINT_LEFT_KNEE,
AVATAR_JOINT_LEFT_HEEL,
AVATAR_JOINT_LEFT_TOES,
AVATAR_JOINT_RIGHT_HIP,
AVATAR_JOINT_RIGHT_KNEE,
AVATAR_JOINT_RIGHT_HEEL,
AVATAR_JOINT_RIGHT_TOES,
AVATAR_JOINT_NULL = -1,
AVATAR_JOINT_PELVIS,
AVATAR_JOINT_TORSO,
AVATAR_JOINT_CHEST,
AVATAR_JOINT_NECK_BASE,
AVATAR_JOINT_HEAD_BASE,
AVATAR_JOINT_HEAD_TOP,
AVATAR_JOINT_LEFT_COLLAR,
AVATAR_JOINT_LEFT_SHOULDER,
AVATAR_JOINT_LEFT_ELBOW,
AVATAR_JOINT_LEFT_WRIST,
AVATAR_JOINT_LEFT_FINGERTIPS,
AVATAR_JOINT_RIGHT_COLLAR,
AVATAR_JOINT_RIGHT_SHOULDER,
AVATAR_JOINT_RIGHT_ELBOW,
AVATAR_JOINT_RIGHT_WRIST,
AVATAR_JOINT_RIGHT_FINGERTIPS,
AVATAR_JOINT_LEFT_HIP,
AVATAR_JOINT_LEFT_KNEE,
AVATAR_JOINT_LEFT_HEEL,
AVATAR_JOINT_LEFT_TOES,
AVATAR_JOINT_RIGHT_HIP,
AVATAR_JOINT_RIGHT_KNEE,
AVATAR_JOINT_RIGHT_HEEL,
AVATAR_JOINT_RIGHT_TOES,
NUM_AVATAR_JOINTS
NUM_AVATAR_JOINTS
};
const glm::vec3 JOINT_DIRECTION = glm::vec3(1.0f, 0.0f, 0.0f);
class Skeleton {
public:
@ -58,15 +59,16 @@ public:
struct AvatarJoint
{
AvatarJointID parent; // which joint is this joint connected to?
glm::vec3 position; // the position at the "end" of the joint - in global space
glm::vec3 defaultPosePosition; // the parent relative position when the avatar is in the "T-pose"
glm::vec3 absoluteDefaultPosePosition; // the absolute position when the avatar is in the "T-pose"
glm::quat rotation; // the parent-relative rotation (orientation) of the joint as a quaternion
float length; // the length of vector connecting the joint and its parent
AvatarJointID parent; // which joint is this joint connected to?
glm::vec3 position; // the position at the "end" of the joint - in global space
glm::vec3 bindPosePosition; // the parent relative position when the avatar is in the "T-pose"
glm::vec3 absoluteBindPosePosition; // the absolute position when the avatar is in the "T-pose"
glm::quat absoluteBindPoseRotation; // the absolute rotation when the avatar is in the "T-pose"
glm::quat rotation; // the parent-relative rotation (orientation) of the joint as a quaternion
float length; // the length of vector connecting the joint and its parent
};
AvatarJoint joint[ NUM_AVATAR_JOINTS ];
AvatarJoint joint[ NUM_AVATAR_JOINTS ];
};
#endif

21
interface/src/Util.cpp
View file

@ -72,6 +72,27 @@ float angleBetween(const glm::vec3& v1, const glm::vec3& v2) {
return acos((glm::dot(v1, v2)) / (glm::length(v1) * glm::length(v2))) * 180.f / PI;
}
// Helper function return the rotation from the first vector onto the second
glm::quat rotationBetween(const glm::vec3& v1, const glm::vec3& v2) {
float angle = angleBetween(v1, v2);
if (isnan(angle) || angle < EPSILON) {
return glm::quat();
}
glm::vec3 axis = glm::cross(v1, v2);
if (angle > 179.99f) { // 180 degree rotation; must use another axis
axis = glm::cross(v1, glm::vec3(1.0f, 0.0f, 0.0f));
float axisLength = glm::length(axis);
if (axisLength < EPSILON) { // parallel to x; y will work
axis = glm::normalize(glm::cross(v1, glm::vec3(0.0f, 1.0f, 0.0f)));
} else {
axis /= axisLength;
}
} else {
axis = glm::normalize(glm::cross(v1, v2));
}
return glm::angleAxis(angle, axis);
}
// Safe version of glm::eulerAngles; uses the factorization method described in David Eberly's
// http://www.geometrictools.com/Documentation/EulerAngles.pdf (via Clyde,
// https://github.com/threerings/clyde/blob/master/src/main/java/com/threerings/math/Quaternion.java)

2
interface/src/Util.h
View file

@ -45,6 +45,8 @@ void drawVector(glm::vec3* vector);
float angleBetween(const glm::vec3& v1, const glm::vec3& v2);
glm::quat rotationBetween(const glm::vec3& v1, const glm::vec3& v2);
glm::vec3 safeEulerAngles(const glm::quat& q);
glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float alpha);