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

interface/src/avatar/MyAvatar.cpp

@@ -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 {

interface/src/avatar/MySkeletonModel.cpp

@@ -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());

libraries/animation/src/AnimSkeleton.cpp

@@ -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) {
     
@@ -22,47 +23,45 @@ 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());
+    if (notBound) {
-    // _avatarTPoseOffsets[nameToJointIndex("Neck")] = AnimPose(glm::quat(0.0f, 0.707107f, 0.0f, 0.707107f), glm::vec3());
+        notBound = false;
-    
+        for (int i = 0; i < (int)fbxGeometry.meshes.size(); i++) {
-    for (int i = 0; i < (int)fbxGeometry.meshes.size(); i++) {
+            const FBXMesh& mesh = fbxGeometry.meshes.at(i);
-        const FBXMesh& mesh = fbxGeometry.meshes.at(i);
+            for (int j = 0; j < mesh.clusters.size(); j++) {
-        for (int j = 0; j < mesh.clusters.size(); j++) {
 
 
-            // cast into a non-const reference, so we can mutate the FBXCluster
+                // cast into a non-const reference, so we can mutate the FBXCluster
-            FBXCluster& cluster = const_cast<FBXCluster&>(mesh.clusters.at(j));
+                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
+                // AJT: mutate bind pose! this allows us to oreint the skeleton back into the authored orientaiton before
-            // rendering, with no runtime overhead.
+                // rendering, with no runtime overhead.
-            // this works if clusters match joints one for one.
+                // 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);
+                }
 
-            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);
-            }
-
         }
-    }
 
+    }
     
 }	
 
@@ -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);
+            relDefaultPose = _absoluteDefaultPoses[parentIndex].inverse() * newAbsPose;
-        } else {
-            _absoluteDefaultPoses.push_back(relDefaultPose);
         }
+        _relativeDefaultPoses.push_back(relDefaultPose);
+
+        
+        _absoluteDefaultPoses.push_back(newAbsPose);
+        
     }
 
     for (int i = 0; i < _jointsSize; i++) {

libraries/animation/src/Rig.cpp

@@ -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 {