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Finally got the rotations figured out; I had forgotten the default pose/bind

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pose distinction.
This commit is contained in:
Andrzej Kapolka 2013-07-05 22:14:32 -07:00
parent ff5d1455aa
commit 9c977450e3
4 changed files with 60 additions and 58 deletions
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7
interface/src/Avatar.cpp
View file

@ -499,12 +499,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
// apply joint data (if any) to skeleton
bool enableHandMovement = true;
for (vector<JointData>::iterator it = _joints.begin(); it != _joints.end(); it++) {
_skeleton.joint[it->jointID].absoluteRotation = orientation * it->rotation;
AvatarJointID parent = _skeleton.joint[it->jointID].parent;
const glm::quat& parentRotation = (parent == AVATAR_JOINT_NULL) ?
orientation : _skeleton.joint[parent].absoluteRotation;
_skeleton.joint[it->jointID].rotation = glm::inverse(parentRotation) * _skeleton.joint[it->jointID].absoluteRotation;
_skeleton.joint[it->jointID].rotation = it->rotation;
// disable hand movement if we have joint info for the right wrist
enableHandMovement &= (it->jointID != AVATAR_JOINT_RIGHT_WRIST);

49
interface/src/Skeleton.cpp
View file

@ -6,6 +6,7 @@
#include "Skeleton.h"
#include "Util.h"
#include "world.h"
const float BODY_SPRING_DEFAULT_TIGHTNESS = 1000.0f;
const float FLOATING_HEIGHT = 0.13f;
@ -18,12 +19,21 @@ void Skeleton::initialize() {
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
joint[b].parent = AVATAR_JOINT_NULL;
joint[b].position = glm::vec3(0.0, 0.0, 0.0);
joint[b].defaultPosePosition = glm::vec3(0.0, 0.0, 0.0);
joint[b].rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
joint[b].length = 0.0;
joint[b].bindRadius = 1.0f / 8;
}
// put the arms at the side
joint[AVATAR_JOINT_LEFT_ELBOW].rotation = glm::quat(glm::vec3(0.0f, 0.0f, PIf * 0.5f));
joint[AVATAR_JOINT_RIGHT_ELBOW].rotation = glm::quat(glm::vec3(0.0f, 0.0f, -PIf * 0.5f));
// bend the knees
joint[AVATAR_JOINT_LEFT_KNEE].rotation = joint[AVATAR_JOINT_RIGHT_KNEE].rotation =
glm::quat(glm::vec3(PIf / 8.0f, 0.0f, 0.0f));
joint[AVATAR_JOINT_LEFT_HEEL].rotation = joint[AVATAR_JOINT_RIGHT_HEEL].rotation =
glm::quat(glm::vec3(-PIf / 4.0f, 0.0f, 0.0f));
// specify the parental hierarchy
joint[ AVATAR_JOINT_PELVIS ].parent = AVATAR_JOINT_NULL;
joint[ AVATAR_JOINT_TORSO ].parent = AVATAR_JOINT_PELVIS;
@ -80,39 +90,9 @@ void Skeleton::initialize() {
joint[ AVATAR_JOINT_RIGHT_HEEL ].bindPosePosition = glm::vec3( 0.00, -0.23, 0.00 );
joint[ AVATAR_JOINT_RIGHT_TOES ].bindPosePosition = glm::vec3( 0.00, 0.00, -0.06 );
// specify the default pose position
joint[ AVATAR_JOINT_PELVIS ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.0 );
joint[ AVATAR_JOINT_TORSO ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
joint[ AVATAR_JOINT_CHEST ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
joint[ AVATAR_JOINT_NECK_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.14, 0.01 );
joint[ AVATAR_JOINT_HEAD_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.04, 0.00 );
joint[ AVATAR_JOINT_HEAD_TOP ].defaultPosePosition = glm::vec3( 0.0, 0.04, 0.00 );
joint[ AVATAR_JOINT_LEFT_COLLAR ].defaultPosePosition = glm::vec3( -0.06, 0.04, 0.01 );
joint[ AVATAR_JOINT_LEFT_SHOULDER ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.01 );
joint[ AVATAR_JOINT_LEFT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
joint[ AVATAR_JOINT_LEFT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
joint[ AVATAR_JOINT_RIGHT_COLLAR ].defaultPosePosition = glm::vec3( 0.06, 0.04, 0.01 );
joint[ AVATAR_JOINT_RIGHT_SHOULDER ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.01 );
joint[ AVATAR_JOINT_RIGHT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
joint[ AVATAR_JOINT_RIGHT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
joint[ AVATAR_JOINT_LEFT_HIP ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.02 );
joint[ AVATAR_JOINT_LEFT_KNEE ].defaultPosePosition = glm::vec3( 0.01, -0.25, -0.03 );
joint[ AVATAR_JOINT_LEFT_HEEL ].defaultPosePosition = glm::vec3( 0.01, -0.22, 0.08 );
joint[ AVATAR_JOINT_LEFT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
joint[ AVATAR_JOINT_RIGHT_HIP ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.02 );
joint[ AVATAR_JOINT_RIGHT_KNEE ].defaultPosePosition = glm::vec3( -0.01, -0.25, -0.03 );
joint[ AVATAR_JOINT_RIGHT_HEEL ].defaultPosePosition = glm::vec3( -0.01, -0.22, 0.08 );
joint[ AVATAR_JOINT_RIGHT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
// calculate bone length, absolute bind positions/rotations
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
joint[b].length = glm::length(joint[b].defaultPosePosition);
joint[b].length = glm::length(joint[b].bindPosePosition);
if (joint[b].parent == AVATAR_JOINT_NULL) {
joint[b].absoluteBindPosePosition = joint[b].bindPosePosition;
@ -121,7 +101,8 @@ void Skeleton::initialize() {
joint[b].absoluteBindPosePosition = joint[ joint[b].parent ].absoluteBindPosePosition +
joint[b].bindPosePosition;
glm::vec3 parentDirection = joint[ joint[b].parent ].absoluteBindPoseRotation * JOINT_DIRECTION;
joint[b].absoluteBindPoseRotation = joint[ joint[b].parent ].absoluteBindPoseRotation;
joint[b].absoluteBindPoseRotation = rotationBetween(parentDirection, joint[b].bindPosePosition) *
joint[ joint[b].parent ].absoluteBindPoseRotation;
}
}
}
@ -139,7 +120,7 @@ void Skeleton::update(float deltaTime, const glm::quat& orientation, glm::vec3 p
joint[b].position = joint[ joint[b].parent ].position;
}
glm::vec3 rotatedJointVector = joint[b].absoluteRotation * joint[b].defaultPosePosition;
glm::vec3 rotatedJointVector = joint[b].absoluteRotation * joint[b].bindPosePosition;
joint[b].position += rotatedJointVector;
}
}

1
interface/src/Skeleton.h
View file

@ -63,7 +63,6 @@ public:
{
AvatarJointID parent; // which joint is this joint connected to?
glm::vec3 position; // the position at the "end" of the joint - in global space
glm::vec3 defaultPosePosition; // the parent relative position when the avatar is in the default pose
glm::vec3 bindPosePosition; // the parent relative position when the avatar is in the "T-pose"
glm::vec3 absoluteBindPosePosition; // the absolute position when the avatar is in the "T-pose"
glm::quat absoluteBindPoseRotation; // the absolute rotation when the avatar is in the "T-pose"

61
interface/src/Webcam.cpp
View file

@ -219,7 +219,7 @@ void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const Rota
if (!_joints[i].isValid) {
continue;
}
const float JOINT_SMOOTHING = 0.95f;
const float JOINT_SMOOTHING = 0.5f;
_estimatedJoints[i].isValid = true;
_estimatedJoints[i].position = glm::mix(_joints[i].position - origin,
_estimatedJoints[i].position, JOINT_SMOOTHING);
@ -279,30 +279,49 @@ FrameGrabber::~FrameGrabber() {
#ifdef HAVE_OPENNI
static AvatarJointID xnToAvatarJoint(XnSkeletonJoint joint) {
switch (joint) {
case XN_SKEL_HEAD: return AVATAR_JOINT_HEAD_BASE;
case XN_SKEL_NECK: return AVATAR_JOINT_NECK_BASE;
case XN_SKEL_TORSO: return AVATAR_JOINT_TORSO;
case XN_SKEL_HEAD: return AVATAR_JOINT_HEAD_TOP;
case XN_SKEL_NECK: return AVATAR_JOINT_HEAD_BASE;
case XN_SKEL_TORSO: return AVATAR_JOINT_CHEST;
case XN_SKEL_LEFT_SHOULDER: return AVATAR_JOINT_RIGHT_COLLAR;
case XN_SKEL_LEFT_ELBOW: return AVATAR_JOINT_RIGHT_SHOULDER;
case XN_SKEL_LEFT_HAND: return AVATAR_JOINT_RIGHT_ELBOW;
case XN_SKEL_LEFT_SHOULDER: return AVATAR_JOINT_RIGHT_ELBOW;
case XN_SKEL_LEFT_ELBOW: return AVATAR_JOINT_RIGHT_WRIST;
case XN_SKEL_RIGHT_SHOULDER: return AVATAR_JOINT_LEFT_COLLAR;
case XN_SKEL_RIGHT_ELBOW: return AVATAR_JOINT_LEFT_SHOULDER;
case XN_SKEL_RIGHT_HAND: return AVATAR_JOINT_LEFT_ELBOW;
case XN_SKEL_RIGHT_SHOULDER: return AVATAR_JOINT_LEFT_ELBOW;
case XN_SKEL_RIGHT_ELBOW: return AVATAR_JOINT_LEFT_WRIST;
case XN_SKEL_LEFT_HIP: return AVATAR_JOINT_RIGHT_HIP;
case XN_SKEL_LEFT_KNEE: return AVATAR_JOINT_RIGHT_KNEE;
case XN_SKEL_LEFT_FOOT: return AVATAR_JOINT_RIGHT_HEEL;
case XN_SKEL_LEFT_HIP: return AVATAR_JOINT_RIGHT_KNEE;
case XN_SKEL_LEFT_KNEE: return AVATAR_JOINT_RIGHT_HEEL;
case XN_SKEL_LEFT_FOOT: return AVATAR_JOINT_RIGHT_TOES;
case XN_SKEL_RIGHT_HIP: return AVATAR_JOINT_LEFT_HIP;
case XN_SKEL_RIGHT_KNEE: return AVATAR_JOINT_LEFT_KNEE;
case XN_SKEL_RIGHT_FOOT: return AVATAR_JOINT_LEFT_HEEL;
case XN_SKEL_RIGHT_HIP: return AVATAR_JOINT_LEFT_KNEE;
case XN_SKEL_RIGHT_KNEE: return AVATAR_JOINT_LEFT_HEEL;
case XN_SKEL_RIGHT_FOOT: return AVATAR_JOINT_LEFT_TOES;
default: return AVATAR_JOINT_NULL;
}
}
static int getParentJoint(XnSkeletonJoint joint) {
switch (joint) {
case XN_SKEL_HEAD: return XN_SKEL_NECK;
case XN_SKEL_TORSO: return -1;
case XN_SKEL_LEFT_ELBOW: return XN_SKEL_LEFT_SHOULDER;
case XN_SKEL_LEFT_HAND: return XN_SKEL_LEFT_ELBOW;
case XN_SKEL_RIGHT_ELBOW: return XN_SKEL_RIGHT_SHOULDER;
case XN_SKEL_RIGHT_HAND: return XN_SKEL_RIGHT_ELBOW;
case XN_SKEL_LEFT_KNEE: return XN_SKEL_LEFT_HIP;
case XN_SKEL_LEFT_FOOT: return XN_SKEL_LEFT_KNEE;
case XN_SKEL_RIGHT_KNEE: return XN_SKEL_RIGHT_HIP;
case XN_SKEL_RIGHT_FOOT: return XN_SKEL_RIGHT_KNEE;
default: return XN_SKEL_TORSO;
}
}
static glm::vec3 xnToGLM(const XnVector3D& vector, bool flip = false) {
return glm::vec3(vector.X * (flip ? -1 : 1), vector.Y, vector.Z);
}
@ -386,9 +405,17 @@ void FrameGrabber::grabFrame() {
_userGenerator.GetSkeletonCap().GetSkeletonJoint(_userID, activeJoints[i], transform);
XnVector3D projected;
_depthGenerator.ConvertRealWorldToProjective(1, &transform.position.position, &projected);
glm::quat rotation = xnToGLM(transform.orientation.orientation);
int parentJoint = getParentJoint(activeJoints[i]);
if (parentJoint != -1) {
XnSkeletonJointOrientation parentOrientation;
_userGenerator.GetSkeletonCap().GetSkeletonJointOrientation(
_userID, (XnSkeletonJoint)parentJoint, parentOrientation);
rotation = glm::inverse(xnToGLM(parentOrientation.orientation)) * rotation;
}
const float METERS_PER_MM = 1.0f / 1000.0f;
joints[avatarJoint] = Joint(xnToGLM(transform.position.position, true) * METERS_PER_MM,
xnToGLM(transform.orientation.orientation), xnToGLM(projected));
rotation, xnToGLM(projected));
}
}
}