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Refactor of JointChainInfo data structure

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This commit is contained in:
Anthony J. Thibault 2017-06-28 13:31:15 -07:00
parent c7e4bf931b
commit 75e1a4a1e6
2 changed files with 62 additions and 61 deletions
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103
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -23,20 +23,21 @@
#include "CubicHermiteSpline.h"
#include "AnimUtil.h"
static void lookupJointChainInfo(const std::vector<AnimInverseKinematics::JointChainInfo>& jointChainInfoVec,
static void lookupJointInfo(const AnimInverseKinematics::JointChainInfo& jointChainInfo,
int indexA, int indexB,
const AnimInverseKinematics::JointChainInfo** jointChainInfoA,
const AnimInverseKinematics::JointChainInfo** jointChainInfoB) {
*jointChainInfoA = nullptr;
*jointChainInfoB = nullptr;
for (size_t i = 0; i < jointChainInfoVec.size(); i++) {
if (jointChainInfoVec[i].jointIndex == indexA) {
*jointChainInfoA = &jointChainInfoVec[i];
const AnimInverseKinematics::JointInfo** jointInfoA,
const AnimInverseKinematics::JointInfo** jointInfoB) {
*jointInfoA = nullptr;
*jointInfoB = nullptr;
for (size_t i = 0; i < jointChainInfo.jointInfoVec.size(); i++) {
const AnimInverseKinematics::JointInfo* jointInfo = &jointChainInfo.jointInfoVec[i];
if (jointInfo->jointIndex == indexA) {
*jointInfoA = jointInfo;
}
if (jointChainInfoVec[i].jointIndex == indexB) {
*jointChainInfoB = &jointChainInfoVec[i];
if (jointInfo->jointIndex == indexB) {
*jointInfoB = jointInfo;
}
if (*jointChainInfoA && *jointChainInfoB) {
if (*jointInfoA && *jointInfoB) {
break;
}
}
@ -234,14 +235,15 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
accumulator.clearAndClean();
}
// initialize jointChainInfoVecVec, this holds the results for one iteration of each ik chain.
JointChainInfo defaultJointChainInfo = { glm::quat(), glm::vec3(), 0.0f, -1, false };
std::vector<std::vector<JointChainInfo>> jointChainInfoVecVec(targets.size());
// initialize a new jointChainInfoVec, this will holds the results for solving each ik chain.
JointInfo defaultJointInfo = { glm::quat(), glm::vec3(), -1, false };
JointChainInfoVec jointChainInfoVec(targets.size());
for (size_t i = 0; i < targets.size(); i++) {
int chainDepth = _skeleton->getChainDepth(targets[i].getIndex());
jointChainInfoVecVec[i].reserve(chainDepth);
jointChainInfoVec[i].jointInfoVec.reserve(chainDepth);
jointChainInfoVec[i].target = targets[i];
for (size_t j = 0; j < chainDepth; j++) {
jointChainInfoVecVec[i].push_back(defaultJointChainInfo);
jointChainInfoVec[i].jointInfoVec.push_back(defaultJointInfo);
}
}
@ -257,9 +259,9 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// solve all targets
for (size_t i = 0; i < targets.size(); i++) {
if (targets[i].getType() == IKTarget::Type::Spline) {
solveTargetWithSpline(context, targets[i], absolutePoses, debug, jointChainInfoVecVec[i]);
solveTargetWithSpline(context, targets[i], absolutePoses, debug, jointChainInfoVec[i]);
} else {
solveTargetWithCCD(context, targets[i], absolutePoses, debug, jointChainInfoVecVec[i]);
solveTargetWithCCD(context, targets[i], absolutePoses, debug, jointChainInfoVec[i]);
}
}
@ -267,12 +269,13 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// copy jointChainInfoVecs into accumulators
for (size_t i = 0; i < targets.size(); i++) {
const std::vector<JointChainInfo>& jointChainInfoVec = jointChainInfoVecVec[i];
for (size_t j = 0; j < jointChainInfoVec.size(); j++) {
const JointChainInfo& info = jointChainInfoVec[j];
const std::vector<JointInfo>& jointInfoVec = jointChainInfoVec[i].jointInfoVec;
float weight = jointChainInfoVec[i].target.getWeight();
for (size_t j = 0; j < jointInfoVec.size(); j++) {
const JointInfo& info = jointInfoVec[j];
if (info.jointIndex >= 0) {
_rotationAccumulators[info.jointIndex].add(info.relRot, info.weight);
_translationAccumulators[info.jointIndex].add(info.relTrans, info.weight);
_rotationAccumulators[info.jointIndex].add(info.rot, weight);
_translationAccumulators[info.jointIndex].add(info.trans, weight);
}
}
}
@ -336,7 +339,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
}
void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec) const {
bool debug, JointChainInfo& jointChainInfoOut) const {
size_t chainDepth = 0;
IKTarget::Type targetType = target.getType();
@ -391,7 +394,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
}
glm::vec3 tipRelativeTranslation = _relativePoses[target.getIndex()].trans();
jointChainInfoVec[chainDepth] = { tipRelativeRotation, tipRelativeTranslation, target.getWeight(), tipIndex, constrained };
jointChainInfoOut.jointInfoVec[chainDepth] = { tipRelativeRotation, tipRelativeTranslation, tipIndex, constrained };
}
// cache tip absolute position
@ -402,7 +405,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
assert(chainDepth < jointChainInfoVec.size());
assert(chainDepth < jointChainInfoOut.jointInfoVec.size());
// compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
@ -503,7 +506,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
}
glm::vec3 newTrans = _relativePoses[pivotIndex].trans();
jointChainInfoVec[chainDepth] = { newRot, newTrans, target.getWeight(), pivotIndex, constrained };
jointChainInfoOut.jointInfoVec[chainDepth] = { newRot, newTrans, pivotIndex, constrained };
// keep track of tip's new transform as we descend towards root
tipPosition = jointPosition + deltaRotation * (tipPosition - jointPosition);
@ -530,20 +533,20 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
AnimPose accum = absolutePoses[_hipsIndex];
AnimPose baseParentPose = absolutePoses[_hipsIndex];
for (int i = (int)chainDepth - 1; i >= 0; i--) {
accum = accum * AnimPose(glm::vec3(1.0f), jointChainInfoVec[i].relRot, jointChainInfoVec[i].relTrans);
accum = accum * AnimPose(glm::vec3(1.0f), jointChainInfoOut.jointInfoVec[i].rot, jointChainInfoOut.jointInfoVec[i].trans);
postAbsPoses[i] = accum;
if (jointChainInfoVec[i].jointIndex == topJointIndex) {
if (jointChainInfoOut.jointInfoVec[i].jointIndex == topJointIndex) {
topChainIndex = i;
topPose = accum;
}
if (jointChainInfoVec[i].jointIndex == midJointIndex) {
if (jointChainInfoOut.jointInfoVec[i].jointIndex == midJointIndex) {
midPose = accum;
}
if (jointChainInfoVec[i].jointIndex == baseJointIndex) {
if (jointChainInfoOut.jointInfoVec[i].jointIndex == baseJointIndex) {
baseChainIndex = i;
basePose = accum;
}
if (jointChainInfoVec[i].jointIndex == baseParentJointIndex) {
if (jointChainInfoOut.jointInfoVec[i].jointIndex == baseParentJointIndex) {
baseParentPose = accum;
}
}
@ -623,16 +626,16 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
}
glm::quat newBaseRelRot = glm::inverse(baseParentPose.rot()) * poleRot * basePose.rot();
jointChainInfoVec[baseChainIndex].relRot = newBaseRelRot;
jointChainInfoOut.jointInfoVec[baseChainIndex].rot = newBaseRelRot;
glm::quat newTopRelRot = glm::inverse(midPose.rot()) * glm::inverse(poleRot) * topPose.rot();
jointChainInfoVec[topChainIndex].relRot = newTopRelRot;
jointChainInfoOut.jointInfoVec[topChainIndex].rot = newTopRelRot;
}
}
}
if (debug) {
debugDrawIKChain(jointChainInfoVec, context);
debugDrawIKChain(jointChainInfoOut, context);
}
}
@ -718,7 +721,7 @@ const std::vector<AnimInverseKinematics::SplineJointInfo>* AnimInverseKinematics
// AJT: TODO: make this const someday
void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec) {
bool debug, JointChainInfo& jointChainInfoOut) {
const int baseIndex = _hipsIndex;
@ -801,22 +804,14 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
}
}
jointChainInfoVec[i] = { relPose.rot(), relPose.trans(), target.getWeight(), splineJointInfo.jointIndex, constrained };
jointChainInfoOut.jointInfoVec[i] = { relPose.rot(), relPose.trans(), splineJointInfo.jointIndex, constrained };
parentAbsPose = flexedAbsPose;
}
}
// AJT: REMOVE
/*
for (size_t i = 0; i < splineJointInfoVec->size(); i++) {
_rotationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relRot, jointChainInfos[i].weight);
_translationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relTrans, jointChainInfos[i].weight);
}
*/
if (debug) {
debugDrawIKChain(jointChainInfoVec, context);
debugDrawIKChain(jointChainInfoOut, context);
}
}
@ -1516,14 +1511,14 @@ void AnimInverseKinematics::debugDrawRelativePoses(const AnimContext& context) c
}
}
void AnimInverseKinematics::debugDrawIKChain(const std::vector<JointChainInfo>& jointChainInfoVec, const AnimContext& context) const {
void AnimInverseKinematics::debugDrawIKChain(const JointChainInfo& jointChainInfo, const AnimContext& context) const {
AnimPoseVec poses = _relativePoses;
// copy debug joint rotations into the relative poses
for (size_t i = 0; i < jointChainInfoVec.size(); i++) {
const JointChainInfo& info = jointChainInfoVec[i];
poses[info.jointIndex].rot() = info.relRot;
poses[info.jointIndex].trans() = info.relTrans;
for (size_t i = 0; i < jointChainInfo.jointInfoVec.size(); i++) {
const JointInfo& info = jointChainInfo.jointInfoVec[i];
poses[info.jointIndex].rot() = info.rot;
poses[info.jointIndex].trans() = info.trans;
}
// convert relative poses to absolute
@ -1540,9 +1535,9 @@ void AnimInverseKinematics::debugDrawIKChain(const std::vector<JointChainInfo>&
// draw each pose
for (int i = 0; i < (int)poses.size(); i++) {
int parentIndex = _skeleton->getParentIndex(i);
const JointChainInfo* jointInfo = nullptr;
const JointChainInfo* parentJointInfo = nullptr;
lookupJointChainInfo(jointChainInfoVec, i, parentIndex, &jointInfo, &parentJointInfo);
const JointInfo* jointInfo = nullptr;
const JointInfo* parentJointInfo = nullptr;
lookupJointInfo(jointChainInfo, i, parentIndex, &jointInfo, &parentJointInfo);
if (jointInfo && parentJointInfo) {
// transform local axes into world space.

20
libraries/animation/src/AnimInverseKinematics.h
View file

@ -26,14 +26,20 @@ class RotationConstraint;
class AnimInverseKinematics : public AnimNode {
public:
struct JointChainInfo {
glm::quat relRot;
glm::vec3 relTrans;
float weight;
struct JointInfo {
glm::quat rot;
glm::vec3 trans;
int jointIndex;
bool constrained;
};
struct JointChainInfo {
std::vector<JointInfo> jointInfoVec;
IKTarget target;
};
using JointChainInfoVec = std::vector<JointChainInfo>;
explicit AnimInverseKinematics(const QString& id);
virtual ~AnimInverseKinematics() override;
@ -74,11 +80,11 @@ protected:
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solve(const AnimContext& context, const std::vector<IKTarget>& targets);
void solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec) const;
bool debug, JointChainInfo& jointChainInfoOut) const;
void solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec);
bool debug, JointChainInfo& jointChainInfoOut);
virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
void debugDrawIKChain(const std::vector<JointChainInfo>& jointChainInfoVec, const AnimContext& context) const;
void debugDrawIKChain(const JointChainInfo& jointChainInfo, const AnimContext& context) const;
void debugDrawRelativePoses(const AnimContext& context) const;
void debugDrawConstraints(const AnimContext& context) const;
void debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const;