From 79b7a3d28de7894ce3f29be4abcda89d6a784920 Mon Sep 17 00:00:00 2001
From: luiscuenca <luiscuenca@outboxcode.com>
Date: Mon, 4 Mar 2019 13:15:15 -0700
Subject: [PATCH] Apply kdop computation after reading the joint rotation
offsets
---
libraries/fbx/src/FBXSerializer.cpp | 57 +------------------
libraries/hfm/src/hfm/HFM.cpp | 52 +++++++++++++++++
libraries/hfm/src/hfm/HFM.h | 4 ++
.../model-baker/src/model-baker/Baker.cpp | 1 +
libraries/physics/src/CharacterController.cpp | 2 +-
5 files changed, 61 insertions(+), 55 deletions(-)
diff --git a/libraries/fbx/src/FBXSerializer.cpp b/libraries/fbx/src/FBXSerializer.cpp
index 9e7f422b40..43ff8ee459 100644
--- a/libraries/fbx/src/FBXSerializer.cpp
+++ b/libraries/fbx/src/FBXSerializer.cpp
@@ -301,8 +301,6 @@ QString getString(const QVariant& value) {
return list.isEmpty() ? value.toString() : list.at(0).toString();
}
-typedef std::vector<glm::vec3> ShapeVertices;
-
class AnimationCurve {
public:
QVector<float> values;
@@ -1319,8 +1317,7 @@ HFMModel* FBXSerializer::extractHFMModel(const QVariantHash& mapping, const QStr
}
// NOTE: shapeVertices are in joint-frame
- std::vector<ShapeVertices> shapeVertices;
- shapeVertices.resize(std::max(1, hfmModel.joints.size()) );
+ hfmModel.shapeVertices.resize(std::max(1, hfmModel.joints.size()) );
hfmModel.bindExtents.reset();
hfmModel.meshExtents.reset();
@@ -1511,7 +1508,7 @@ HFMModel* FBXSerializer::extractHFMModel(const QVariantHash& mapping, const QStr
}
glm::mat4 meshToJoint = glm::inverse(joint.bindTransform) * modelTransform;
- ShapeVertices& points = shapeVertices.at(jointIndex);
+ ShapeVertices& points = hfmModel.shapeVertices.at(jointIndex);
for (int j = 0; j < cluster.indices.size(); j++) {
int oldIndex = cluster.indices.at(j);
@@ -1580,7 +1577,7 @@ HFMModel* FBXSerializer::extractHFMModel(const QVariantHash& mapping, const QStr
// transform cluster vertices to joint-frame and save for later
glm::mat4 meshToJoint = glm::inverse(joint.bindTransform) * modelTransform;
- ShapeVertices& points = shapeVertices.at(jointIndex);
+ ShapeVertices& points = hfmModel.shapeVertices.at(jointIndex);
foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
const glm::mat4 vertexTransform = meshToJoint * glm::translate(vertex);
points.push_back(extractTranslation(vertexTransform));
@@ -1600,54 +1597,6 @@ HFMModel* FBXSerializer::extractHFMModel(const QVariantHash& mapping, const QStr
meshIDsToMeshIndices.insert(it.key(), meshIndex);
}
- const float INV_SQRT_3 = 0.57735026918f;
- ShapeVertices cardinalDirections = {
- Vectors::UNIT_X,
- Vectors::UNIT_Y,
- Vectors::UNIT_Z,
- glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
- glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
- glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
- glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3)
- };
-
- // now that all joints have been scanned compute a k-Dop bounding volume of mesh
- for (int i = 0; i < hfmModel.joints.size(); ++i) {
- HFMJoint& joint = hfmModel.joints[i];
-
- // NOTE: points are in joint-frame
- ShapeVertices& points = shapeVertices.at(i);
- if (points.size() > 0) {
- // compute average point
- glm::vec3 avgPoint = glm::vec3(0.0f);
- for (uint32_t j = 0; j < points.size(); ++j) {
- avgPoint += points[j];
- }
- avgPoint /= (float)points.size();
- joint.shapeInfo.avgPoint = avgPoint;
-
- // compute a k-Dop bounding volume
- for (uint32_t j = 0; j < cardinalDirections.size(); ++j) {
- float maxDot = -FLT_MAX;
- float minDot = FLT_MIN;
- for (uint32_t k = 0; k < points.size(); ++k) {
- float kDot = glm::dot(cardinalDirections[j], points[k] - avgPoint);
- if (kDot > maxDot) {
- maxDot = kDot;
- }
- if (kDot < minDot) {
- minDot = kDot;
- }
- }
- joint.shapeInfo.points.push_back(avgPoint + maxDot * cardinalDirections[j]);
- joint.shapeInfo.dots.push_back(maxDot);
- joint.shapeInfo.points.push_back(avgPoint + minDot * cardinalDirections[j]);
- joint.shapeInfo.dots.push_back(-minDot);
- }
- generateBoundryLinesForDop14(joint.shapeInfo.dots, joint.shapeInfo.avgPoint, joint.shapeInfo.debugLines);
- }
- }
-
// attempt to map any meshes to a named model
for (QHash<QString, int>::const_iterator m = meshIDsToMeshIndices.constBegin();
m != meshIDsToMeshIndices.constEnd(); m++) {
diff --git a/libraries/hfm/src/hfm/HFM.cpp b/libraries/hfm/src/hfm/HFM.cpp
index f0fc97c5c7..e930f30d1a 100644
--- a/libraries/hfm/src/hfm/HFM.cpp
+++ b/libraries/hfm/src/hfm/HFM.cpp
@@ -154,3 +154,55 @@ QString HFMModel::getModelNameOfMesh(int meshIndex) const {
}
return QString();
}
+
+void HFMModel::computeKdops() {
+ const float INV_SQRT_3 = 0.57735026918f;
+ ShapeVertices cardinalDirections = {
+ Vectors::UNIT_X,
+ Vectors::UNIT_Y,
+ Vectors::UNIT_Z,
+ glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
+ glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
+ glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
+ glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3)
+ };
+
+ // now that all joints have been scanned compute a k-Dop bounding volume of mesh
+ for (int i = 0; i < joints.size(); ++i) {
+ HFMJoint& joint = joints[i];
+
+ // NOTE: points are in joint-frame
+ ShapeVertices& points = shapeVertices.at(i);
+ glm::quat rotOffset = jointRotationOffsets.contains(i) ? glm::inverse(jointRotationOffsets[i]) : quat();
+ if (points.size() > 0) {
+ // compute average point
+ glm::vec3 avgPoint = glm::vec3(0.0f);
+ for (uint32_t j = 0; j < points.size(); ++j) {
+ points[j] = rotOffset * points[j];
+ avgPoint += points[j];
+ }
+ avgPoint /= (float)points.size();
+ joint.shapeInfo.avgPoint = avgPoint;
+
+ // compute a k-Dop bounding volume
+ for (uint32_t j = 0; j < cardinalDirections.size(); ++j) {
+ float maxDot = -FLT_MAX;
+ float minDot = FLT_MIN;
+ for (uint32_t k = 0; k < points.size(); ++k) {
+ float kDot = glm::dot(cardinalDirections[j], points[k] - avgPoint);
+ if (kDot > maxDot) {
+ maxDot = kDot;
+ }
+ if (kDot < minDot) {
+ minDot = kDot;
+ }
+ }
+ joint.shapeInfo.points.push_back(avgPoint + maxDot * cardinalDirections[j]);
+ joint.shapeInfo.dots.push_back(maxDot);
+ joint.shapeInfo.points.push_back(avgPoint + minDot * cardinalDirections[j]);
+ joint.shapeInfo.dots.push_back(-minDot);
+ }
+ generateBoundryLinesForDop14(joint.shapeInfo.dots, joint.shapeInfo.avgPoint, joint.shapeInfo.debugLines);
+ }
+ }
+}
diff --git a/libraries/hfm/src/hfm/HFM.h b/libraries/hfm/src/hfm/HFM.h
index 9f3de3302c..c9df45cde3 100644
--- a/libraries/hfm/src/hfm/HFM.h
+++ b/libraries/hfm/src/hfm/HFM.h
@@ -53,6 +53,8 @@ using ColorType = glm::vec3;
const int MAX_NUM_PIXELS_FOR_FBX_TEXTURE = 2048 * 2048;
+using ShapeVertices = std::vector<glm::vec3>;
+
// High Fidelity Model namespace
namespace hfm {
@@ -319,6 +321,8 @@ public:
QList<QString> blendshapeChannelNames;
QMap<int, glm::quat> jointRotationOffsets;
+ std::vector<ShapeVertices> shapeVertices;
+ void computeKdops();
};
};
diff --git a/libraries/model-baker/src/model-baker/Baker.cpp b/libraries/model-baker/src/model-baker/Baker.cpp
index dfb18eef86..ab41914d08 100644
--- a/libraries/model-baker/src/model-baker/Baker.cpp
+++ b/libraries/model-baker/src/model-baker/Baker.cpp
@@ -111,6 +111,7 @@ namespace baker {
hfmModelOut->joints = QVector<hfm::Joint>::fromStdVector(input.get2());
hfmModelOut->jointRotationOffsets = input.get3();
hfmModelOut->jointIndices = input.get4();
+ hfmModelOut->computeKdops();
output = hfmModelOut;
}
};
diff --git a/libraries/physics/src/CharacterController.cpp b/libraries/physics/src/CharacterController.cpp
index 66ce5f32bf..02dc6e3b4d 100755
--- a/libraries/physics/src/CharacterController.cpp
+++ b/libraries/physics/src/CharacterController.cpp
@@ -436,7 +436,7 @@ void CharacterController::setLocalBoundingBox(const glm::vec3& minCorner, const
float z = scale.z;
float radius = 0.5f * sqrtf(0.5f * (x * x + z * z));
float halfHeight = 0.5f * scale.y - radius;
- float MIN_HALF_HEIGHT = 0.1f;
+ float MIN_HALF_HEIGHT = 0.0f;
if (halfHeight < MIN_HALF_HEIGHT) {
halfHeight = MIN_HALF_HEIGHT;
}