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Rig: Switched over to use AnimPoses instead of JointStates

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* fixed debug rendering
* improved jointState/animPose diff detection code.
This commit is contained in:
Anthony J. Thibault 2015-11-19 12:14:04 -08:00
parent 721da29432
commit 982e2c06a9
6 changed files with 135 additions and 50 deletions
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35
interface/src/avatar/MyAvatar.cpp
View file

@ -660,7 +660,7 @@ void MyAvatar::setEnableDebugDrawAnimPose(bool isEnabled) {
_enableDebugDrawAnimPose = isEnabled;
if (!isEnabled) {
AnimDebugDraw::getInstance().removePoses("myAvatar");
AnimDebugDraw::getInstance().removeAbsolutePoses("myAvatar");
}
}
@ -1278,37 +1278,25 @@ void MyAvatar::preRender(RenderArgs* renderArgs) {
glm::quat rotY180 = glm::angleAxis((float)M_PI, glm::vec3(0.0f, 1.0f, 0.0f));
AnimPose xform(glm::vec3(1), getOrientation() * rotY180, getPosition());
/*
if (_enableDebugDrawBindPose && _debugDrawSkeleton) {
glm::vec4 gray(0.2f, 0.2f, 0.2f, 0.2f);
AnimDebugDraw::getInstance().addSkeleton("myAvatar", _debugDrawSkeleton, xform, gray);
}
*/
if (_enableDebugDrawAnimPose && _debugDrawSkeleton) {
glm::vec4 cyan(0.1f, 0.6f, 0.6f, 1.0f);
auto rig = _skeletonModel.getRig();
// AJT: TODO move this into rig!
// build AnimPoseVec from JointStates.
// AJT: TODO THIS SHIT IS ALL BROKEN
AnimPoseVec poses;
poses.reserve(_debugDrawSkeleton->getNumJoints());
for (int i = 0; i < _debugDrawSkeleton->getNumJoints(); i++) {
AnimPose pose = _debugDrawSkeleton->getRelativeBindPose(i);
glm::quat jointRot;
_rig->getJointRotationInConstrainedFrame(i, jointRot);
glm::vec3 jointTrans;
_rig->getJointTranslation(i, jointTrans);
pose.rot = pose.rot * jointRot;
pose.trans = jointTrans;
/*
if (_debugDrawSkeleton->getParentIndex(i) < 0) {
pose = _rig->getGeometryOffset() * pose;
}
*/
poses.push_back(pose);
}
AnimDebugDraw::getInstance().addPoses("myAvatar", _debugDrawSkeleton, poses, xform, cyan);
// build AnimPoseVec from JointStates.
AnimPoseVec absPoses;
absPoses.reserve(_debugDrawSkeleton->getNumJoints());
for (int i = 0; i < _rig->getJointStateCount(); i++) {
absPoses.push_back(AnimPose(_rig->getJointTransform(i)));
}
AnimDebugDraw::getInstance().addAbsolutePoses("myAvatar", _debugDrawSkeleton, absPoses, xform, cyan);
}
}
@ -1789,6 +1777,9 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
int neckIndex = _debugDrawSkeleton->nameToJointIndex("Neck");
int hipsIndex = _debugDrawSkeleton->nameToJointIndex("Hips");
// AJT: TODO: perhaps expose default gets from rig?
// so this can become _rig->getAbsoluteDefaultPose(rightEyeIndex)...
glm::vec3 absRightEyePos = rightEyeIndex != -1 ? geometryOffset * _debugDrawSkeleton->getAbsoluteBindPose(rightEyeIndex).trans : DEFAULT_RIGHT_EYE_POS;
glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? geometryOffset * _debugDrawSkeleton->getAbsoluteBindPose(leftEyeIndex).trans : DEFAULT_LEFT_EYE_POS;
glm::vec3 absNeckPos = neckIndex != -1 ? geometryOffset * _debugDrawSkeleton->getAbsoluteBindPose(neckIndex).trans : DEFAULT_NECK_POS;

2
interface/src/avatar/SkeletonModel.cpp
View file

@ -444,7 +444,7 @@ bool SkeletonModel::getNeckParentRotationFromDefaultOrientation(glm::quat& neckP
bool SkeletonModel::getEyeModelPositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const {
if (!isActive()) {
return false;
}
}
const FBXGeometry& geometry = _geometry->getFBXGeometry();
if (getJointPosition(geometry.leftEyeJointIndex, firstEyePosition) &&
getJointPosition(geometry.rightEyeJointIndex, secondEyePosition)) {

3
libraries/animation/src/AnimPose.cpp
View file

@ -19,7 +19,8 @@ const AnimPose AnimPose::identity = AnimPose(glm::vec3(1.0f),
AnimPose::AnimPose(const glm::mat4& mat) {
scale = extractScale(mat);
if (std::max(std::max(scale.x, scale.y), scale.z) > 1.01f) {
float maxScale = std::max(std::max(scale.x, scale.y), scale.z);
if (maxScale > 1.01f || maxScale <= 0.99f) {
// quat_cast doesn't work so well with scaled matrices, so cancel it out.
mat4 tmp = glm::scale(mat, 1.0f / scale);
rot = glm::normalize(glm::quat_cast(tmp));

64
libraries/animation/src/Rig.cpp
View file

@ -167,6 +167,7 @@ void Rig::initJointStates(const FBXGeometry& geometry, glm::mat4 modelOffset, in
int leftHandJointIndex, int leftElbowJointIndex, int leftShoulderJointIndex,
int rightHandJointIndex, int rightElbowJointIndex, int rightShoulderJointIndex) {
setModelOffset(modelOffset);
_geometryOffset = AnimPose(geometry.offset);
_animSkeleton = std::make_shared<AnimSkeleton>(geometry);
@ -221,8 +222,6 @@ void Rig::initJointStates(const FBXGeometry& geometry, glm::mat4 modelOffset, in
_rightHandJointIndex = rightHandJointIndex;
_rightElbowJointIndex = rightElbowJointIndex;
_rightShoulderJointIndex = rightShoulderJointIndex;
setModelOffset(modelOffset);
}
bool Rig::jointStatesEmpty() {
@ -732,6 +731,8 @@ void Rig::updateAnimationStateHandlers() { // called on avatar update thread (wh
void Rig::updateAnimations(float deltaTime, glm::mat4 rootTransform) {
setModelOffset(rootTransform);
if (_animNode) {
updateAnimationStateHandlers();
@ -763,7 +764,7 @@ void Rig::updateAnimations(float deltaTime, glm::mat4 rootTransform) {
computeEyesInRootFrame(_relativePoses);
}
setModelOffset(rootTransform);
// AJT: enable this for script
//applyOverridePoses();
buildAbsolutePoses();
@ -1263,8 +1264,9 @@ void Rig::buildAbsolutePoses() {
}
}
AnimPose rootTransform(_modelOffset * _geometryOffset);
for (int i = 0; i < (int)_absolutePoses.size(); i++) {
_absolutePoses[i] = _modelOffset * _geometryOffset * _absolutePoses[i];
_absolutePoses[i] = rootTransform * _absolutePoses[i];
// AJT: REMOVE
/*
_absolutePoses[i].trans = _modelOffset.trans + _absolutePoses[i].trans;
@ -1306,29 +1308,57 @@ glm::mat4 Rig::getJointTransform(int jointIndex) const {
// check for differences between jointStates and _absolutePoses!
if (false) {
// should display for model entities
glm::mat4 newMat = _absolutePoses[jointIndex];
glm::mat4 oldMat = _jointStates[jointIndex].getTransform();
AnimPose oldPose(oldMat);
const float EPSILON = 0.01f;
if (glm::length(newMat[0] - oldMat[0]) > EPSILON ||
glm::length(newMat[1] - oldMat[1]) > EPSILON ||
glm::length(newMat[2] - oldMat[2]) > EPSILON ||
glm::length(newMat[3] - oldMat[3]) > EPSILON) {
glm::mat4 newMat = _absolutePoses[jointIndex];
AnimPose newPose(newMat);
// error?
bool badTrans = false;
const float TRANS_EPSILON = 0.01f;
if (glm::length(newPose.trans - oldPose.trans) > TRANS_EPSILON) {
badTrans = true;
}
bool badScale = false;
const float SCALE_EPSILON = 0.00001f;
if (glm::length(newPose.scale - oldPose.scale) > SCALE_EPSILON) {
badScale = true;
}
bool badRot = false;
const float ROT_EPSILON = 0.0001f;
glm::quat oldLog = glm::log(newPose.rot);
glm::quat newLog = glm::log(oldPose.rot);
glm::vec3 oldLogVec(oldLog.x, oldLog.y, oldLog.z);
glm::vec3 newLogVec(newLog.x, newLog.y, newLog.z);
if (glm::length(oldLogVec - newLogVec) > ROT_EPSILON) {
badRot = true;
}
if (badTrans || badScale || badRot) {
qCDebug(animation).nospace() << "AJT: mismatch for " << _animSkeleton->getJointName(jointIndex) << ", joint[" << jointIndex << "]";
qCDebug(animation) << "AJT: oldMat = " << AnimPose(oldMat);
qCDebug(animation) << "AJT: newMat = " << AnimPose(newMat);
if (badTrans) {
qCDebug(animation) << "AJT: oldTrans = " << oldPose.trans;
qCDebug(animation) << "AJT: newTrans = " << newPose.trans;
}
if (badRot) {
qCDebug(animation) << "AJT: oldRot = " << oldPose.rot << "log =" << glm::log(oldPose.rot);
qCDebug(animation) << "AJT: newRot = " << newPose.rot << "log =" << glm::log(newPose.rot);
}
if (badScale) {
qCDebug(animation) << "AJT: oldScale = " << oldPose.scale;
qCDebug(animation) << "AJT: newScale = " << newPose.scale;
}
}
}
// AJT: LEGACY
{
return _jointStates[jointIndex].getTransform();
//return _jointStates[jointIndex].getTransform();
}
//return _absolutePoses[jointIndex];
return _absolutePoses[jointIndex];
}

71
libraries/render-utils/src/AnimDebugDraw.cpp
View file

@ -169,12 +169,20 @@ void AnimDebugDraw::removeAnimNode(const std::string& key) {
_animNodes.erase(key);
}
void AnimDebugDraw::addPoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color) {
_poses[key] = PosesInfo(skeleton, poses, rootPose, color);
void AnimDebugDraw::addRelativePoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color) {
_relativePoses[key] = PosesInfo(skeleton, poses, rootPose, color);
}
void AnimDebugDraw::removePoses(const std::string& key) {
_poses.erase(key);
void AnimDebugDraw::removeRelativePoses(const std::string& key) {
_relativePoses.erase(key);
}
void AnimDebugDraw::addAbsolutePoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color) {
_absolutePoses[key] = PosesInfo(skeleton, poses, rootPose, color);
}
void AnimDebugDraw::removeAbsolutePoses(const std::string& key) {
_absolutePoses.erase(key);
}
static const uint32_t red = toRGBA(255, 0, 0, 255);
@ -338,6 +346,9 @@ void AnimDebugDraw::update() {
// figure out how many verts we will need.
int numVerts = 0;
// AJT: FIX ME
/*
for (auto& iter : _skeletons) {
AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
numVerts += skeleton->getNumJoints() * VERTICES_PER_BONE;
@ -362,7 +373,19 @@ void AnimDebugDraw::update() {
}
}
for (auto& iter : _poses) {
for (auto& iter : _relativePoses) {
AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
numVerts += skeleton->getNumJoints() * VERTICES_PER_BONE;
for (int i = 0; i < skeleton->getNumJoints(); i++) {
auto parentIndex = skeleton->getParentIndex(i);
if (parentIndex >= 0) {
numVerts += VERTICES_PER_LINK;
}
}
}
*/
for (auto& iter : _absolutePoses) {
AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
numVerts += skeleton->getNumJoints() * VERTICES_PER_BONE;
for (int i = 0; i < skeleton->getNumJoints(); i++) {
@ -379,9 +402,14 @@ void AnimDebugDraw::update() {
auto myAvatarMarkerMap = DebugDraw::getInstance().getMyAvatarMarkerMap();
numVerts += myAvatarMarkerMap.size() * VERTICES_PER_BONE;
// allocate verts!
data._vertexBuffer->resize(sizeof(Vertex) * numVerts);
Vertex* verts = (Vertex*)data._vertexBuffer->editData();
Vertex* v = verts;
// AJT: fixme
// draw skeletons
/*
for (auto& iter : _skeletons) {
AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
AnimPose rootPose = std::get<1>(iter.second);
@ -408,7 +436,11 @@ void AnimDebugDraw::update() {
}
}
}
*/
// AJT: FIXME
/*
// draw animNodes
for (auto& iter : _animNodes) {
AnimNode::ConstPointer& animNode = std::get<0>(iter.second);
AnimPose rootPose = std::get<1>(iter.second);
@ -446,8 +478,12 @@ void AnimDebugDraw::update() {
}
}
}
*/
for (auto& iter : _poses) {
// AJT: FIX ME
/*
// draw relative poses
for (auto& iter : _relativePoses) {
AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
AnimPoseVec& poses = std::get<1>(iter.second);
AnimPose rootPose = std::get<2>(iter.second);
@ -482,6 +518,29 @@ void AnimDebugDraw::update() {
}
}
}
*/
// draw absolute poses
for (auto& iter : _absolutePoses) {
AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
AnimPoseVec& absPoses = std::get<1>(iter.second);
AnimPose rootPose = std::get<2>(iter.second);
glm::vec4 color = std::get<3>(iter.second);
for (int i = 0; i < skeleton->getNumJoints(); i++) {
const float radius = BONE_RADIUS / (absPoses[i].scale.x * rootPose.scale.x);
// draw bone
addBone(rootPose, absPoses[i], radius, v);
// draw link to parent
auto parentIndex = skeleton->getParentIndex(i);
if (parentIndex >= 0) {
assert(parentIndex < skeleton->getNumJoints());
addLink(rootPose, absPoses[i], absPoses[parentIndex], radius, color, v);
}
}
}
// draw markers from shared DebugDraw singleton
for (auto& iter : markerMap) {

10
libraries/render-utils/src/AnimDebugDraw.h
View file

@ -38,8 +38,11 @@ public:
void removeAnimNode(const std::string& key);
// draw a set of poses with a skeleton
void addPoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color);
void removePoses(const std::string& key);
void addRelativePoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color);
void removeRelativePoses(const std::string& key);
void addAbsolutePoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color);
void removeAbsolutePoses(const std::string& key);
void update();
@ -56,7 +59,8 @@ protected:
std::unordered_map<std::string, SkeletonInfo> _skeletons;
std::unordered_map<std::string, AnimNodeInfo> _animNodes;
std::unordered_map<std::string, PosesInfo> _poses;
std::unordered_map<std::string, PosesInfo> _relativePoses;
std::unordered_map<std::string, PosesInfo> _absolutePoses;
// no copies
AnimDebugDraw(const AnimDebugDraw&) = delete;