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Better head IK when in an HMD.

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Because the current IK system doesn't quite handle what we need
for the head and neck IK, we do it procedurally in the rig, and
manually set both neck and head IK targets.
This commit is contained in:
Anthony J. Thibault 2015-09-22 19:58:21 -07:00
parent d04f4d4b2b
commit 9ce43a57f1
3 changed files with 102 additions and 16 deletions
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34
interface/src/avatar/SkeletonModel.cpp
View file

@ -21,6 +21,7 @@
#include "SkeletonModel.h"
#include "Util.h"
#include "InterfaceLogging.h"
#include "AnimDebugDraw.h"
SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent, RigPointer rig) :
Model(rig, parent),
@ -126,19 +127,36 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
headParams.leanSideways = head->getFinalLeanSideways();
headParams.leanForward = head->getFinalLeanForward();
headParams.torsoTwist = head->getTorsoTwist();
headParams.localHeadOrientation = head->getFinalOrientationInLocalFrame();
headParams.localHeadPitch = head->getFinalPitch();
headParams.localHeadYaw = head->getFinalYaw();
headParams.localHeadRoll = head->getFinalRoll();
headParams.isInHMD = qApp->getAvatarUpdater()->isHMDMode();
// get HMD position from sensor space into world space, and back into model space
glm::mat4 worldToModel = glm::inverse(createMatFromQuatAndPos(myAvatar->getOrientation(), myAvatar->getPosition()));
glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
glm::vec3 hmdPosition = glm::angleAxis((float)M_PI, yAxis) * transformPoint(worldToModel * myAvatar->getSensorToWorldMatrix(), myAvatar->getHMDSensorPosition());
headParams.localHeadPosition = hmdPosition;
headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
if (qApp->getAvatarUpdater()->isHMDMode()) {
headParams.isInHMD = true;
// get HMD position from sensor space into world space, and back into model space
AnimPose avatarToWorld(glm::vec3(1), myAvatar->getOrientation(), myAvatar->getPosition());
glm::mat4 worldToAvatar = (glm::mat4)avatarToWorld.inverse();
glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() * myAvatar->getHMDSensorMatrix();
glm::mat4 hmdMat = worldToAvatar * worldHMDMat;
// in local avatar space (i.e. relative to avatar pos/orientation.)
glm::vec3 hmdPosition = extractTranslation(hmdMat);
glm::quat hmdOrientation = extractRotation(hmdMat);
headParams.localHeadPosition = hmdPosition;
headParams.localHeadOrientation = hmdOrientation;
headParams.worldHeadOrientation = extractRotation(worldHMDMat);
} else {
headParams.isInHMD = false;
// We don't have a valid localHeadPosition.
headParams.localHeadOrientation = head->getFinalOrientationInLocalFrame();
headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
}
headParams.eyeLookAt = head->getLookAtPosition();
headParams.eyeSaccade = head->getSaccade();
headParams.leanJointIndex = geometry.leanJointIndex;

79
libraries/animation/src/Rig.cpp
View file

@ -14,9 +14,11 @@
#include <glm/gtx/vector_angle.hpp>
#include <queue>
#include "NumericalConstants.h"
#include "AnimationHandle.h"
#include "AnimationLogging.h"
#include "AnimSkeleton.h"
#include "DebugDraw.h"
#include "Rig.h"
@ -983,19 +985,80 @@ void Rig::updateLeanJoint(int index, float leanSideways, float leanForward, floa
}
}
}
static void hmdHeadNeckModel(AnimSkeleton::ConstPointer skeleton, const glm::vec3& hmdPosition, const glm::quat& origHMDOrientation,
glm::vec3& headPositionOut, glm::quat& headOrientationOut,
glm::vec3& neckPositionOut, glm::quat& neckOrientationOut) {
// hmd orientation comes in as -z forward, we need z forward for the translations to work correctly.
glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
glm::quat hmdOrientation = origHMDOrientation * rotY180;
// TODO: cache jointIndices
// Use absolute bindPose positions just in case the relBindPose have rotations we don't expect.
glm::vec3 absRightEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("RightEye")).trans;
glm::vec3 absLeftEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("LeftEye")).trans;
glm::vec3 absHeadPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Head")).trans;
glm::vec3 absNeckPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Neck")).trans;
glm::vec3 absCenterEyePos = (absRightEyePos + absLeftEyePos) / 2.0f;
glm::vec3 eyeOffset = absCenterEyePos - absHeadPos;
glm::vec3 headOffset = absHeadPos - absNeckPos;
// apply simplistic head/neck model
// head
headPositionOut = hmdPosition - hmdOrientation * eyeOffset;
headOrientationOut = hmdOrientation;
// neck
neckPositionOut = hmdPosition - hmdOrientation * (headOffset + eyeOffset);
// slerp between bind orientation and hmdOrientation
neckOrientationOut = safeMix(hmdOrientation, skeleton->getRelativeBindPose(skeleton->nameToJointIndex("Neck")).rot, 0.5f);
}
void Rig::updateNeckJoint(int index, const HeadParameters& params) {
if (index >= 0 && _jointStates[index].getParentIndex() >= 0) {
if (_enableAnimGraph && _animSkeleton) {
// the params.localHeadOrientation is composed incorrectly, so re-compose it correctly from pitch, yaw and roll.
glm::quat realLocalHeadOrientation = (glm::angleAxis(glm::radians(-params.localHeadRoll), Z_AXIS) *
glm::angleAxis(glm::radians(params.localHeadYaw), Y_AXIS) *
glm::angleAxis(glm::radians(-params.localHeadPitch), X_AXIS));
_animVars.set("headRotation", realLocalHeadOrientation);
// There's a theory that when not in hmd, we should _animVars.unset("headPosition").
// However, until that works well, let's always request head be positioned where requested by hmd, camera, or default.
_animVars.set("headPosition", params.localHeadPosition);
if (params.isInHMD) {
glm::vec3 headPos, neckPos;
glm::quat headRot, neckRot;
// the input hmd values are in avatar space
// apply rotY180 to values to get them into bone space which has z forward.
glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
glm::vec3 hmdPos = rotY180 * params.localHeadPosition;
glm::quat hmdRot = rotY180 * params.localHeadOrientation;
hmdHeadNeckModel(_animSkeleton, hmdPos, hmdRot, headPos, headRot, neckPos, neckRot);
// debug rendering
/*
// apply rotY180 again to transform into avatar space.
glm::vec4 red(1.0f, 0.0f, 0.0f, 1.0f);
glm::vec4 green(0.0f, 1.0f, 0.0f, 1.0f);
DebugDraw::getInstance().addMyAvatarMarker("headTarget", rotY180 * headRot, rotY180 * headPos, red);
DebugDraw::getInstance().addMyAvatarMarker("neckTarget", rotY180 * neckRot, rotY180 * neckPos, green);
*/
_animVars.set("headPosition", headPos);
_animVars.set("headRotation", headRot);
_animVars.set("neckPosition", neckPos);
_animVars.set("neckRotation", neckRot);
} else {
// the params.localHeadOrientation is composed incorrectly, so re-compose it correctly from pitch, yaw and roll.
glm::quat realLocalHeadOrientation = (glm::angleAxis(glm::radians(-params.localHeadRoll), Z_AXIS) *
glm::angleAxis(glm::radians(params.localHeadYaw), Y_AXIS) *
glm::angleAxis(glm::radians(-params.localHeadPitch), X_AXIS));
_animVars.unset("headPosition");
_animVars.set("headRotation", realLocalHeadOrientation);
_animVars.unset("neckPosition");
_animVars.unset("neckRotation");
}
} else if (!_enableAnimGraph) {
auto& state = _jointStates[index];

5
tests/animation/src/data/avatar.json
View file

@ -23,6 +23,11 @@
"positionVar": "leftHandPosition",
"rotationVar": "leftHandRotation"
},
{
"jointName": "Neck",
"positionVar": "neckPosition",
"rotationVar": "neckRotation"
},
{
"jointName": "Head",
"positionVar": "headPosition",