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in the process of changing the rotation application to being absolute joints not local

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This commit is contained in:
amantley 2018-11-08 17:12:10 -08:00
parent 6b4620b4a1
commit 8735b409ab
4 changed files with 48 additions and 56 deletions
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3
interface/src/avatar/MyAvatar.cpp
View file

@ -2037,9 +2037,7 @@ controller::Pose MyAvatar::getControllerPoseInSensorFrame(controller::Action act
controller::Pose MyAvatar::getControllerPoseInWorldFrame(controller::Action action) const {
auto pose = getControllerPoseInSensorFrame(action);
qCDebug(interfaceapp) << "avatar sensor orientation " << pose.getRotation();
if (pose.valid) {
qCDebug(interfaceapp) << "sensor to world matrix orientation " << extractRotation(getSensorToWorldMatrix());
return pose.transform(getSensorToWorldMatrix());
} else {
return controller::Pose(); // invalid pose
@ -2049,7 +2047,6 @@ controller::Pose MyAvatar::getControllerPoseInWorldFrame(controller::Action acti
controller::Pose MyAvatar::getControllerPoseInAvatarFrame(controller::Action action) const {
auto pose = getControllerPoseInWorldFrame(action);
if (pose.valid) {
qCDebug(interfaceapp) << "avatar world orientation " << getWorldOrientation();
glm::mat4 invAvatarMatrix = glm::inverse(createMatFromQuatAndPos(getWorldOrientation(), getWorldPosition()));
return pose.transform(invAvatarMatrix);
} else {

17
interface/src/avatar/MySkeletonModel.cpp
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@ -119,21 +119,7 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
// input action is the highest priority source for head orientation.
auto avatarHeadPose = myAvatar->getControllerPoseInAvatarFrame(controller::Action::HEAD);
if (avatarHeadPose.isValid()) {
AnimPose previousHeadPose;
bool headUnfuckedWith = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Head"), previousHeadPose);
if (headUnfuckedWith) {
qCDebug(interfaceapp) << "unset head position " << previousHeadPose.trans();
qCDebug(interfaceapp) << "unset head rotation " << previousHeadPose.rot();
}
qCDebug(interfaceapp) << "neck joint offset " << jointOffsetMap[62];
qCDebug(interfaceapp) << "head joint avatar frame " << avatarHeadPose.getRotation();
AnimPose jointOffsetNeck(jointOffsetMap[62], glm::vec3());
AnimPose jointOffsetSpine2(jointOffsetMap[13], glm::vec3());
AnimPose testPose(glm::quat(0.7071f, 0.0f, 0.0f, 0.7071f), glm::vec3());
AnimPose pose(avatarHeadPose.getRotation(), avatarHeadPose.getTranslation());
AnimPose newHeadRot = (avatarToRigPose * pose) * testPose;
AnimPose newHeadRot2(newHeadRot.rot(), avatarHeadPose.getTranslation());
AnimPose identityPose(glm::quat(1.0f,0.0f,0.0f,0.0f), glm::vec3(0.0f,0.57f,0.0f));
params.primaryControllerPoses[Rig::PrimaryControllerType_Head] = avatarToRigPose * pose;
params.primaryControllerFlags[Rig::PrimaryControllerType_Head] = (uint8_t)Rig::ControllerFlags::Enabled;
} else {
@ -244,7 +230,7 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
// set spine2 if we have hand controllers
qCDebug(interfaceapp) << "spine 2 joint offset " << jointOffsetMap[13];
//qCDebug(interfaceapp) << "spine 2 joint offset " << jointOffsetMap[13];
if (myAvatar->getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid() &&
myAvatar->getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() &&
!(params.primaryControllerFlags[Rig::PrimaryControllerType_Spine2] & (uint8_t)Rig::ControllerFlags::Enabled)) {
@ -255,6 +241,7 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
bool spine2Exists = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Spine2"), currentSpine2Pose);
bool headExists = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Head"), currentHeadPose);
bool hipsExists = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Hips"), currentHipsPose);
if (spine2Exists && headExists && hipsExists) {
AnimPose rigSpaceYaw(myAvatar->getSpine2RotationRigSpace());

82
libraries/animation/src/AnimSkeleton.cpp
View file

@ -15,6 +15,7 @@
#include <GLMHelpers.h>
#include "AnimationLogging.h"
static bool notBound = true;
AnimSkeleton::AnimSkeleton(const FBXGeometry& fbxGeometry, const QMap<int, glm::quat> jointOffsets) {
@ -22,48 +23,46 @@ AnimSkeleton::AnimSkeleton(const FBXGeometry& fbxGeometry, const QMap<int, glm::
// convert to std::vector of joints
std::vector<FBXJoint> joints;
joints.reserve(fbxGeometry.joints.size());
//_avatarTPoseOffsets.reserve(_jointsSize);
for (auto& joint : fbxGeometry.joints) {
joints.push_back(joint);
//_avatarTPoseOffsets.push_back(AnimPose(glm::quat(), glm::vec3()));
}
buildSkeletonFromJoints(joints, jointOffsets);
// add offsets for spine2 and the neck
// _avatarTPoseOffsets[nameToJointIndex("Spine2")] = AnimPose(glm::quat(-0.707107f, 0.0f, 0.0f, 0.707107f), glm::vec3());
// _avatarTPoseOffsets[nameToJointIndex("Neck")] = AnimPose(glm::quat(0.0f, 0.707107f, 0.0f, 0.707107f), glm::vec3());
for (int i = 0; i < (int)fbxGeometry.meshes.size(); i++) {
const FBXMesh& mesh = fbxGeometry.meshes.at(i);
for (int j = 0; j < mesh.clusters.size(); j++) {
// cast into a non-const reference, so we can mutate the FBXCluster
FBXCluster& cluster = const_cast<FBXCluster&>(mesh.clusters.at(j));
if (notBound) {
notBound = false;
for (int i = 0; i < (int)fbxGeometry.meshes.size(); i++) {
const FBXMesh& mesh = fbxGeometry.meshes.at(i);
for (int j = 0; j < mesh.clusters.size(); j++) {
// AJT: mutate bind pose! this allows us to oreint the skeleton back into the authored orientaiton before
// rendering, with no runtime overhead.
// this works if clusters match joints one for one.
if (cluster.jointIndex == 62) {
qCDebug(animation) << "Neck";
qCDebug(animation) << "found a joint offset to add " << cluster.jointIndex << " " << jointOffsets[cluster.jointIndex] << " cluster " << cluster.jointIndex;
AnimPose localOffset(jointOffsets[cluster.jointIndex], glm::vec3());
cluster.inverseBindMatrix = (glm::mat4)localOffset.inverse() * cluster.inverseBindMatrix;
cluster.inverseBindTransform.evalFromRawMatrix(cluster.inverseBindMatrix);
}
if (cluster.jointIndex == 13) {
qCDebug(animation) << "Spine2";
qCDebug(animation) << "found a joint offset to add " << cluster.jointIndex << " " << jointOffsets[cluster.jointIndex] << " cluster " << cluster.jointIndex;
AnimPose localOffset(jointOffsets[cluster.jointIndex], glm::vec3());
cluster.inverseBindMatrix = (glm::mat4)localOffset.inverse() * cluster.inverseBindMatrix;
cluster.inverseBindTransform.evalFromRawMatrix(cluster.inverseBindMatrix);
}
// cast into a non-const reference, so we can mutate the FBXCluster
FBXCluster& cluster = const_cast<FBXCluster&>(mesh.clusters.at(j));
// AJT: mutate bind pose! this allows us to oreint the skeleton back into the authored orientaiton before
// rendering, with no runtime overhead.
// this works if clusters match joints one for one.
if (cluster.jointIndex == 62) {
qCDebug(animation) << "Neck";
qCDebug(animation) << "found a joint offset to add " << cluster.jointIndex << " " << jointOffsets[cluster.jointIndex] << " cluster " << cluster.jointIndex;
AnimPose localOffset(jointOffsets[cluster.jointIndex], glm::vec3());
cluster.inverseBindMatrix = (glm::mat4)localOffset.inverse() * cluster.inverseBindMatrix;
cluster.inverseBindTransform.evalFromRawMatrix(cluster.inverseBindMatrix);
}
if (cluster.jointIndex == 13) {
qCDebug(animation) << "Spine2";
qCDebug(animation) << "found a joint offset to add " << cluster.jointIndex << " " << jointOffsets[cluster.jointIndex] << " cluster " << cluster.jointIndex;
AnimPose localOffset(jointOffsets[cluster.jointIndex], glm::vec3());
cluster.inverseBindMatrix = (glm::mat4)localOffset.inverse() * cluster.inverseBindMatrix;
cluster.inverseBindTransform.evalFromRawMatrix(cluster.inverseBindMatrix);
}
}
}
}
}
AnimSkeleton::AnimSkeleton(const std::vector<FBXJoint>& joints, const QMap<int, glm::quat> jointOffsets) {
@ -232,6 +231,12 @@ void AnimSkeleton::buildSkeletonFromJoints(const std::vector<FBXJoint>& joints,
qCDebug(animation) << "relative default pose for joint " << i << " " << relDefaultPose.trans() << " " << relDefaultPose.rot();
int parentIndex = getParentIndex(i);
AnimPose newAbsPose;
if (parentIndex >= 0) {
newAbsPose = _absoluteDefaultPoses[parentIndex] * AnimPose(relDefaultPose.rot(),glm::vec3());
} else {
newAbsPose = relDefaultPose;
}
// putting the pipeline code is
// remember the inverse bind pose already has the offset added into it. the total effect is offset^-1 * relDefPose * offset.
@ -242,20 +247,21 @@ void AnimSkeleton::buildSkeletonFromJoints(const std::vector<FBXJoint>& joints,
if (jointOffsets.contains(i)) {
//QString parentIndex = getJointName(parentIndex);
AnimPose localOffset(jointOffsets[i], glm::vec3());
relDefaultPose = relDefaultPose * localOffset;
newAbsPose = newAbsPose * localOffset;
}
if ((parentIndex >= 0) && jointOffsets.contains(parentIndex)) {
AnimPose localParentOffset(jointOffsets[parentIndex], glm::vec3());
relDefaultPose = localParentOffset.inverse() * AnimPose(glm::quat(), relDefaultPose.trans()) * localParentOffset * AnimPose(relDefaultPose.rot(), glm::vec3());
newAbsPose = localParentOffset.inverse() * AnimPose(glm::quat(), relDefaultPose.trans()) * localParentOffset * AnimPose(newAbsPose.rot(), glm::vec3());
}
_relativeDefaultPoses.push_back(relDefaultPose);
if (parentIndex >= 0) {
_absoluteDefaultPoses.push_back(_absoluteDefaultPoses[parentIndex] * relDefaultPose);
} else {
_absoluteDefaultPoses.push_back(relDefaultPose);
relDefaultPose = _absoluteDefaultPoses[parentIndex].inverse() * newAbsPose;
}
_relativeDefaultPoses.push_back(relDefaultPose);
_absoluteDefaultPoses.push_back(newAbsPose);
}
for (int i = 0; i < _jointsSize; i++) {

2
libraries/animation/src/Rig.cpp
View file

@ -2084,6 +2084,8 @@ void Rig::setJointRotationOffsets(const QMap<QString, glm::quat>& offsets) {
_jointRotationOffsets.insert(spine2Id, glm::quat(0.5f, 0.5f, 0.5f, -0.5f));
}
qCDebug(animation) << "set the neck and spine2 offsets " << spine2Id << " " << neckId;
glm::quat testRot(glm::vec3(0.000018095f, -4.74360667058f, -89.9994155926f));
qCDebug(animation) << "test rot from euler" << testRot;
}
const QMap<int, glm::quat>& Rig::getJointRotationOffsets() const {