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compute rotation from derivative of spline

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This should fix bad rotation values for the spine during bowing/touching toes.
This commit is contained in:
Anthony J. Thibault 2017-06-08 15:00:12 -07:00
parent 606c6415ae
commit 8334dff610
3 changed files with 106 additions and 75 deletions
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6
interface/resources/avatar/avatar-animation.json
View file

@ -103,8 +103,8 @@
"rotationVar": "spine2Rotation",
"typeVar": "spine2Type",
"weightVar": "spine2Weight",
"weight": 1.0,
"flexCoefficients": [1.0, 0.5, 0.5]
"weight": 2.0,
"flexCoefficients": [1.0, 0.5, 0.25]
},
{
"jointName": "Head",
@ -113,7 +113,7 @@
"typeVar": "headType",
"weightVar": "headWeight",
"weight": 4.0,
"flexCoefficients": [1, 0.05, 0.25, 0.25, 0.25]
"flexCoefficients": [1, 0.5, 0.25, 0.2, 0.1]
},
{
"jointName": "LeftArm",

159
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -21,6 +21,7 @@
#include "SwingTwistConstraint.h"
#include "AnimationLogging.h"
#include "CubicHermiteSpline.h"
#include "AnimUtil.h"
AnimInverseKinematics::IKTargetVar::IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn) :
@ -475,16 +476,85 @@ static CubicHermiteSplineFunctorWithArcLength computeSplineFromTipAndBase(const
return CubicHermiteSplineFunctorWithArcLength(p0, m0, p1, m1);
}
// pre-compute information about each joint influeced by this spline IK target.
void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) {
std::vector<SplineJointInfo> splineJointInfoVec;
// build spline between the default poses.
AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex());
AnimPose basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
CubicHermiteSplineFunctorWithArcLength spline;
if (target.getIndex() == _headIndex) {
// set gain factors so that more curvature occurs near the tip of the spline.
const float HIPS_GAIN = 0.5f;
const float HEAD_GAIN = 1.0f;
spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
} else {
spline = computeSplineFromTipAndBase(tipPose, basePose);
}
// measure the total arc length along the spline
float totalArcLength = spline.arcLength(1.0f);
glm::vec3 baseToTip = tipPose.trans() - basePose.trans();
float baseToTipLength = glm::length(baseToTip);
glm::vec3 baseToTipNormal = baseToTip / baseToTipLength;
int index = target.getIndex();
int endIndex = _skeleton->getParentIndex(_hipsIndex);
while (index != endIndex) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
float ratio = glm::dot(defaultPose.trans() - basePose.trans(), baseToTipNormal) / baseToTipLength;
// compute offset from spline to the default pose.
float t = spline.arcLengthInverse(ratio * totalArcLength);
// compute the rotation by using the derivative of the spline as the y-axis, and the defaultPose x-axis
glm::vec3 y = glm::normalize(spline.d(t));
glm::vec3 x = defaultPose.rot() * Vectors::UNIT_X;
glm::vec3 u, v, w;
generateBasisVectors(y, x, v, u, w);
glm::mat3 m(u, v, glm::cross(u, v));
glm::quat rot = glm::normalize(glm::quat_cast(m));
AnimPose pose(glm::vec3(1.0f), rot, spline(t));
AnimPose offsetPose = pose.inverse() * defaultPose;
SplineJointInfo splineJointInfo = { index, ratio, offsetPose };
splineJointInfoVec.push_back(splineJointInfo);
index = _skeleton->getParentIndex(index);
}
_splineJointInfoMap[target.getIndex()] = splineJointInfoVec;
}
const std::vector<AnimInverseKinematics::SplineJointInfo>* AnimInverseKinematics::findOrCreateSplineJointInfo(const AnimContext& context, const IKTarget& target) {
// find or create splineJointInfo for this target
auto iter = _splineJointInfoMap.find(target.getIndex());
if (iter != _splineJointInfoMap.end()) {
return &(iter->second);
} else {
computeSplineJointInfosForIKTarget(context, target);
auto iter = _splineJointInfoMap.find(target.getIndex());
if (iter != _splineJointInfoMap.end()) {
return &(iter->second);
}
}
return nullptr;
}
void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug) {
std::map<int, DebugJoint> debugJointMap;
const int baseIndex = _hipsIndex;
// build spline
// build spline from tip to base
AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation());
AnimPose basePose = absolutePoses[baseIndex];
CubicHermiteSplineFunctorWithArcLength spline;
if (target.getIndex() == _headIndex) {
// set gain factors so that more curvature occurs near the tip of the spline.
@ -496,19 +566,6 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
}
float totalArcLength = spline.arcLength(1.0f);
// find or create splineJointInfo for the head target
const std::vector<SplineJointInfo>* splineJointInfoVec = nullptr;
auto iter = _splineJointInfoMap.find(target.getIndex());
if (iter != _splineJointInfoMap.end()) {
splineJointInfoVec = &(iter->second);
} else {
computeSplineJointInfosForIKTarget(context, target);
auto iter = _splineJointInfoMap.find(target.getIndex());
if (iter != _splineJointInfoMap.end()) {
splineJointInfoVec = &(iter->second);
}
}
// This prevents the rotation interpolation from rotating the wrong physical way (but correct mathematical way)
// when the head is arched backwards very far.
glm::quat halfRot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), 0.5f));
@ -516,6 +573,9 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
tipPose.rot() = -tipPose.rot();
}
// find or create splineJointInfo for this target
const std::vector<SplineJointInfo>* splineJointInfoVec = findOrCreateSplineJointInfo(context, target);
if (splineJointInfoVec && splineJointInfoVec->size() > 0) {
const int baseParentIndex = _skeleton->getParentIndex(baseIndex);
AnimPose parentAbsPose = (baseParentIndex >= 0) ? absolutePoses[baseParentIndex] : AnimPose();
@ -526,14 +586,28 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
float t = spline.arcLengthInverse(splineJointInfo.ratio * totalArcLength);
glm::vec3 trans = spline(t);
// for head splines, preform most rotation toward the tip by using ease in function. t^2
// for head splines, preform most twist toward the tip by using ease in function. t^2
float rotT = t;
if (target.getIndex() == _headIndex) {
rotT = t * t;
}
glm::quat rot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), rotT));
AnimPose absPose = AnimPose(glm::vec3(1.0f), rot, trans) * splineJointInfo.offsetPose;
AnimPose relPose = parentAbsPose.inverse() * absPose;
glm::quat twistRot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), rotT));
// compute the rotation by using the derivative of the spline as the y-axis, and the twistRot x-axis
glm::vec3 y = glm::normalize(spline.d(t));
glm::vec3 x = twistRot * Vectors::UNIT_X;
glm::vec3 u, v, w;
generateBasisVectors(y, x, v, u, w);
glm::mat3 m(u, v, glm::cross(u, v));
glm::quat rot = glm::normalize(glm::quat_cast(m));
AnimPose desiredAbsPose = AnimPose(glm::vec3(1.0f), rot, trans) * splineJointInfo.offsetPose;
// apply flex coefficent
AnimPose flexedAbsPose;
::blend(1, &absolutePoses[splineJointInfo.jointIndex], &desiredAbsPose, target.getFlexCoefficient(i), &flexedAbsPose);
AnimPose relPose = parentAbsPose.inverse() * flexedAbsPose;
_rotationAccumulators[splineJointInfo.jointIndex].add(relPose.rot(), target.getWeight());
bool constrained = false;
@ -564,7 +638,7 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
debugJointMap[splineJointInfo.jointIndex] = DebugJoint(relPose.rot(), relPose.trans(), constrained);
}
parentAbsPose = absPose;
parentAbsPose = flexedAbsPose;
}
}
@ -1450,51 +1524,6 @@ void AnimInverseKinematics::initRelativePosesFromSolutionSource(SolutionSource s
}
}
// pre-compute information about each joint influeced by this spline IK target.
void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target) {
std::vector<SplineJointInfo> splineJointInfoVec;
// build spline between the default poses.
AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex());
AnimPose basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
CubicHermiteSplineFunctorWithArcLength spline;
if (target.getIndex() == _headIndex) {
// set gain factors so that more curvature occurs near the tip of the spline.
const float HIPS_GAIN = 0.5f;
const float HEAD_GAIN = 1.0f;
spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
} else {
spline = computeSplineFromTipAndBase(tipPose, basePose);
}
// measure the total arc length along the spline
float totalArcLength = spline.arcLength(1.0f);
glm::vec3 baseToTip = tipPose.trans() - basePose.trans();
float baseToTipLength = glm::length(baseToTip);
glm::vec3 baseToTipNormal = baseToTip / baseToTipLength;
int index = target.getIndex();
int endIndex = _skeleton->getParentIndex(_hipsIndex);
while (index != endIndex) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
float ratio = glm::dot(defaultPose.trans() - basePose.trans(), baseToTipNormal) / baseToTipLength;
// compute offset from spline to the default pose.
float t = spline.arcLengthInverse(ratio * totalArcLength);
AnimPose pose(glm::vec3(1.0f), glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), t)), spline(t));
AnimPose offsetPose = pose.inverse() * defaultPose;
SplineJointInfo splineJointInfo = { index, ratio, offsetPose };
splineJointInfoVec.push_back(splineJointInfo);
index = _skeleton->getParentIndex(index);
}
_splineJointInfoMap[target.getIndex()] = splineJointInfoVec;
}
void AnimInverseKinematics::debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const {
for (auto& target : targets) {

16
libraries/animation/src/AnimInverseKinematics.h
View file

@ -74,10 +74,18 @@ protected:
void debugDrawRelativePoses(const AnimContext& context) const;
void debugDrawConstraints(const AnimContext& context) const;
void debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const;
void computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target);
void initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPose);
void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor);
// used to pre-compute information about each joint influeced by a spline IK target.
struct SplineJointInfo {
int jointIndex; // joint in the skeleton that this information pertains to.
float ratio; // percentage (0..1) along the spline for this joint.
AnimPose offsetPose; // local offset from the spline to the joint.
};
void computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target);
const std::vector<SplineJointInfo>* findOrCreateSplineJointInfo(const AnimContext& context, const IKTarget& target);
// for AnimDebugDraw rendering
virtual const AnimPoseVec& getPosesInternal() const override { return _relativePoses; }
@ -117,12 +125,6 @@ protected:
AnimPoseVec _relativePoses; // current relative poses
AnimPoseVec _limitCenterPoses; // relative
// used to pre-compute information about each joint influeced by a spline IK target.
struct SplineJointInfo {
int jointIndex; // joint in the skeleton that this information pertains to.
float ratio; // percentage (0..1) along the spline for this joint.
AnimPose offsetPose; // local offset from the spline to the joint.
};
std::map<int, std::vector<SplineJointInfo>> _splineJointInfoMap;
// experimental data for moving hips during IK