From 9a2bd87278e964f8623d7c5f2f7fdfde1e441834 Mon Sep 17 00:00:00 2001 From: Anthony Thibault Date: Thu, 28 Feb 2019 18:02:07 -0800 Subject: [PATCH] Fix for case when animated joints are missing from the target avatar skeleton By copying the animation rotations over to the target avatar in absolute frame, rather then relative, we can properly "combine" animated rotations that aren't in the target avatar skeleton. --- libraries/animation/src/AnimClip.cpp | 99 ++++++++++++++++-------- libraries/animation/src/AnimSkeleton.cpp | 11 +++ libraries/animation/src/AnimSkeleton.h | 1 + 3 files changed, 78 insertions(+), 33 deletions(-) diff --git a/libraries/animation/src/AnimClip.cpp b/libraries/animation/src/AnimClip.cpp index a35e0237d0..18e97cf0a1 100644 --- a/libraries/animation/src/AnimClip.cpp +++ b/libraries/animation/src/AnimClip.cpp @@ -95,57 +95,85 @@ void AnimClip::setCurrentFrameInternal(float frame) { _frame = ::accumulateTime(_startFrame, _endFrame, _timeScale, frame + _startFrame, dt, _loopFlag, _id, triggers); } +static std::vector buildJointIndexMap(const AnimSkeleton& dstSkeleton, const AnimSkeleton& srcSkeleton) { + std::vector jointIndexMap; + int srcJointCount = srcSkeleton.getNumJoints(); + jointIndexMap.reserve(srcJointCount); + for (int srcJointIndex = 0; srcJointIndex < srcJointCount; srcJointIndex++) { + QString srcJointName = srcSkeleton.getJointName(srcJointIndex); + int dstJointIndex = dstSkeleton.nameToJointIndex(srcJointName); + jointIndexMap.push_back(dstJointIndex); + } + return jointIndexMap; +} + void AnimClip::copyFromNetworkAnim() { assert(_networkAnim && _networkAnim->isLoaded() && _skeleton); _anim.clear(); auto avatarSkeleton = getSkeleton(); - - // build a mapping from animation joint indices to avatar joint indices. - // by matching joints with the same name. const HFMModel& animModel = _networkAnim->getHFMModel(); AnimSkeleton animSkeleton(animModel); const int animJointCount = animSkeleton.getNumJoints(); const int avatarJointCount = avatarSkeleton->getNumJoints(); - std::vector animToAvatarJointIndexMap; - animToAvatarJointIndexMap.reserve(animJointCount); - for (int animJointIndex = 0; animJointIndex < animJointCount; animJointIndex++) { - QString animJointName = animSkeleton.getJointName(animJointIndex); - int avatarJointIndex = avatarSkeleton->nameToJointIndex(animJointName); - animToAvatarJointIndexMap.push_back(avatarJointIndex); - } + + // build a mapping from animation joint indices to avatar joint indices by matching joints with the same name. + std::vector avatarToAnimJointIndexMap = buildJointIndexMap(animSkeleton, *avatarSkeleton); const int animFrameCount = animModel.animationFrames.size(); _anim.resize(animFrameCount); for (int frame = 0; frame < animFrameCount; frame++) { - const HFMAnimationFrame& animFrame = animModel.animationFrames[frame]; - // init all joints in animation to default pose - // this will give us a resonable result for bones in the avatar skeleton but not in the animation. - _anim[frame].reserve(avatarJointCount); - for (int avatarJointIndex = 0; avatarJointIndex < avatarJointCount; avatarJointIndex++) { - _anim[frame].push_back(avatarSkeleton->getRelativeDefaultPose(avatarJointIndex)); + // extract the full rotations from the animFrame (including pre and post rotations from the animModel). + std::vector animRotations; + animRotations.reserve(animJointCount); + for (int i = 0; i < animJointCount; i++) { + animRotations.push_back(animModel.joints[i].preRotation * animFrame.rotations[i] * animModel.joints[i].postRotation); } - for (int animJointIndex = 0; animJointIndex < animJointCount; animJointIndex++) { - int avatarJointIndex = animToAvatarJointIndexMap[animJointIndex]; + // convert rotations into absolute frame + animSkeleton.convertRelativeRotationsToAbsolute(animRotations); - // skip joints that are in the animation but not in the avatar. - if (avatarJointIndex >= 0 && avatarJointIndex < avatarJointCount) { + // build absolute rotations for the avatar + std::vector avatarRotations; + avatarRotations.reserve(avatarJointCount); + for (int avatarJointIndex = 0; avatarJointIndex < avatarJointCount; avatarJointIndex++) { + int animJointIndex = avatarToAnimJointIndexMap[avatarJointIndex]; + if (animJointIndex >= 0) { + // This joint is in both animation and avatar. + // Set the absolute rotation directly + avatarRotations.push_back(animRotations[animJointIndex]); + } else { + // This joint is NOT in the animation at all. + // Set it so that the default relative rotation remains unchanged. + glm::quat avatarRelativeDefaultRot = avatarSkeleton->getRelativeDefaultPose(avatarJointIndex).rot(); + glm::quat avatarParentAbsoluteRot; + int avatarParentJointIndex = avatarSkeleton->getParentIndex(avatarJointIndex); + if (avatarParentJointIndex >= 0) { + avatarParentAbsoluteRot = avatarRotations[avatarParentJointIndex]; + } + avatarRotations.push_back(avatarParentAbsoluteRot * avatarRelativeDefaultRot); + } + } + // convert avatar rotations into relative frame + avatarSkeleton->convertAbsoluteRotationsToRelative(avatarRotations); + + _anim[frame].reserve(avatarJointCount); + + for (int avatarJointIndex = 0; avatarJointIndex < avatarJointCount; avatarJointIndex++) { + const AnimPose& avatarDefaultPose = avatarSkeleton->getRelativeDefaultPose(avatarJointIndex); + + // copy scale over from avatar default pose + glm::vec3 relativeScale = avatarDefaultPose.scale(); + + glm::vec3 relativeTranslation; + int animJointIndex = avatarToAnimJointIndexMap[avatarJointIndex]; + if (animJointIndex >= 0) { + // This joint is in both animation and avatar. const glm::vec3& animTrans = animFrame.translations[animJointIndex]; - const glm::quat& animRot = animFrame.rotations[animJointIndex]; - - const AnimPose& animPreRotPose = animSkeleton.getPreRotationPose(animJointIndex); - AnimPose animPostRotPose = animSkeleton.getPostRotationPose(animJointIndex); - AnimPose animRotPose(glm::vec3(1.0f), animRot, glm::vec3()); - - // adjust anim scale to equal the scale from the avatar joint. - // we do not support animated scale. - const AnimPose& avatarDefaultPose = avatarSkeleton->getRelativeDefaultPose(avatarJointIndex); - animPostRotPose.scale() = avatarDefaultPose.scale(); // retarget translation from animation to avatar const glm::vec3& animZeroTrans = animModel.animationFrames[0].translations[animJointIndex]; @@ -154,10 +182,15 @@ void AnimClip::copyFromNetworkAnim() { if (fabsf(glm::length(animZeroTrans)) > EPSILON) { boneLengthScale = glm::length(avatarDefaultPose.trans()) / glm::length(animZeroTrans); } - AnimPose animTransPose = AnimPose(glm::vec3(1.0f), glm::quat(), avatarDefaultPose.trans() + boneLengthScale * (animTrans - animZeroTrans)); - - _anim[frame][avatarJointIndex] = animTransPose * animPreRotPose * animRotPose * animPostRotPose; + relativeTranslation = avatarDefaultPose.trans() + boneLengthScale * (animTrans - animZeroTrans); + } else { + // This joint is NOT in the animation at all. + // preserve the default translation. + relativeTranslation = avatarDefaultPose.trans(); } + + // build the final pose + _anim[frame].push_back(AnimPose(relativeScale, avatarRotations[avatarJointIndex], relativeTranslation)); } } diff --git a/libraries/animation/src/AnimSkeleton.cpp b/libraries/animation/src/AnimSkeleton.cpp index 03e3ac6ebd..993a2c6632 100644 --- a/libraries/animation/src/AnimSkeleton.cpp +++ b/libraries/animation/src/AnimSkeleton.cpp @@ -149,6 +149,17 @@ void AnimSkeleton::convertAbsolutePosesToRelative(AnimPoseVec& poses) const { } } +void AnimSkeleton::convertRelativeRotationsToAbsolute(std::vector& rotations) const { + // poses start off relative and leave in absolute frame + int lastIndex = std::min((int)rotations.size(), _jointsSize); + for (int i = 0; i < lastIndex; ++i) { + int parentIndex = _parentIndices[i]; + if (parentIndex != -1) { + rotations[i] = rotations[parentIndex] * rotations[i]; + } + } +} + void AnimSkeleton::convertAbsoluteRotationsToRelative(std::vector& rotations) const { // poses start off absolute and leave in relative frame int lastIndex = std::min((int)rotations.size(), _jointsSize); diff --git a/libraries/animation/src/AnimSkeleton.h b/libraries/animation/src/AnimSkeleton.h index 0eefbf973e..5309d26354 100644 --- a/libraries/animation/src/AnimSkeleton.h +++ b/libraries/animation/src/AnimSkeleton.h @@ -54,6 +54,7 @@ public: void convertRelativePosesToAbsolute(AnimPoseVec& poses) const; void convertAbsolutePosesToRelative(AnimPoseVec& poses) const; + void convertRelativeRotationsToAbsolute(std::vector& rotations) const; void convertAbsoluteRotationsToRelative(std::vector& rotations) const; void saveNonMirroredPoses(const AnimPoseVec& poses) const;