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Use k-dop collision to prevent hands from entering body.

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This commit is contained in:
Anthony J. Thibault 2017-08-11 14:18:40 -07:00
parent 49adf04913
commit 9e1218b4a4
3 changed files with 150 additions and 31 deletions
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22
interface/src/avatar/MySkeletonModel.cpp
View file

@ -124,12 +124,26 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
}
}
params.bodyCapsuleRadius = myAvatar->getCharacterController()->getCapsuleRadius();
params.bodyCapsuleHalfHeight = myAvatar->getCharacterController()->getCapsuleHalfHeight();
params.bodyCapsuleLocalOffset = myAvatar->getCharacterController()->getCapsuleLocalOffset();
params.isTalking = head->getTimeWithoutTalking() <= 1.5f;
// pass detailed torso k-dops to rig.
int hipsJoint = _rig.indexOfJoint("Hips");
if (hipsJoint >= 0) {
params.hipsShapeInfo = geometry.joints[hipsJoint].shapeInfo;
}
int spineJoint = _rig.indexOfJoint("Spine");
if (spineJoint >= 0) {
params.spineShapeInfo = geometry.joints[spineJoint].shapeInfo;
}
int spine1Joint = _rig.indexOfJoint("Spine1");
if (spine1Joint >= 0) {
params.spine1ShapeInfo = geometry.joints[spine1Joint].shapeInfo;
}
int spine2Joint = _rig.indexOfJoint("Spine2");
if (spine2Joint >= 0) {
params.spine2ShapeInfo = geometry.joints[spine2Joint].shapeInfo;
}
_rig.updateFromControllerParameters(params, deltaTime);
Rig::CharacterControllerState ccState = convertCharacterControllerState(myAvatar->getCharacterController()->getState());

147
libraries/animation/src/Rig.cpp
View file

@ -1099,35 +1099,139 @@ void Rig::updateHead(bool headEnabled, bool hipsEnabled, const AnimPose& headPos
}
}
void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnabled, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
float bodyCapsuleRadius, float bodyCapsuleHalfHeight, const glm::vec3& bodyCapsuleLocalOffset) {
const float INV_SQRT_3 = 1.0f / sqrtf(3.0f);
const int DOP14_COUNT = 14;
const glm::vec3 DOP14_NORMALS[DOP14_COUNT] = {
Vectors::UNIT_X,
-Vectors::UNIT_X,
Vectors::UNIT_Y,
-Vectors::UNIT_Y,
Vectors::UNIT_Z,
-Vectors::UNIT_Z,
glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
-glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
-glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
-glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3),
-glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3)
};
// Use this capsule to represent the avatar body.
int hipsIndex = indexOfJoint("Hips");
glm::vec3 hipsTrans;
if (hipsIndex >= 0) {
hipsTrans = _internalPoseSet._absolutePoses[hipsIndex].trans();
// returns true if the given point lies in side of the k-dop, specified by shapeInfo & shapePose.
// if the given point does lie within the k-dop, it also returns the amount of displacement necessary to push that point outward
// such that it lies on the surface of the kdop.
static bool findPointKDopDisplacement(const glm::vec3& point, const AnimPose& shapePose, const FBXJointShapeInfo& shapeInfo, glm::vec3& displacementOut) {
// transform point into local space of jointShape.
glm::vec3 localPoint = shapePose.inverse().xformPoint(point);
// Only works for 14-dop shape infos.
assert(shapeInfo.dots.size() == DOP14_COUNT);
if (shapeInfo.dots.size() != DOP14_COUNT) {
return false;
}
const glm::vec3 bodyCapsuleCenter = hipsTrans - bodyCapsuleLocalOffset;
const glm::vec3 bodyCapsuleStart = bodyCapsuleCenter - glm::vec3(0, bodyCapsuleHalfHeight, 0);
const glm::vec3 bodyCapsuleEnd = bodyCapsuleCenter + glm::vec3(0, bodyCapsuleHalfHeight, 0);
glm::vec3 minDisplacement(FLT_MAX);
float minDisplacementLen = FLT_MAX;
glm::vec3 p = localPoint - shapeInfo.avgPoint;
float pLen = glm::length(p);
if (pLen > 0.0f) {
int slabCount = 0;
for (int i = 0; i < DOP14_COUNT; i++) {
float dot = glm::dot(p, DOP14_NORMALS[i]);
if (dot > 0.0f && dot < shapeInfo.dots[i]) {
slabCount++;
float distToPlane = pLen * (shapeInfo.dots[i] / dot);
float displacementLen = distToPlane - pLen;
// keep track of the smallest displacement
if (displacementLen < minDisplacementLen) {
minDisplacementLen = displacementLen;
minDisplacement = (p / pLen) * displacementLen;
}
}
}
if (slabCount == (DOP14_COUNT / 2) && minDisplacementLen != FLT_MAX) {
// we are within the k-dop so push the point along the minimum displacement found
displacementOut = shapePose.xformVectorFast(minDisplacement);
return true;
} else {
// point is outside of kdop
return false;
}
} else {
// point is directly on top of shapeInfo.avgPoint.
// push the point out along the x axis.
displacementOut = shapePose.xformVectorFast(shapeInfo.points[0]);
return true;
}
}
glm::vec3 Rig::deflectHandFromTorso(const glm::vec3& handPosition, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) const {
glm::vec3 position = handPosition;
glm::vec3 displacement;
int hipsJoint = indexOfJoint("Hips");
if (hipsJoint >= 0) {
AnimPose hipsPose;
if (getAbsoluteJointPoseInRigFrame(hipsJoint, hipsPose)) {
if (findPointKDopDisplacement(position, hipsPose, hipsShapeInfo, displacement)) {
position += displacement;
}
}
}
int spineJoint = indexOfJoint("Spine");
if (spineJoint >= 0) {
AnimPose spinePose;
if (getAbsoluteJointPoseInRigFrame(spineJoint, spinePose)) {
if (findPointKDopDisplacement(position, spinePose, spineShapeInfo, displacement)) {
position += displacement;
}
}
}
int spine1Joint = indexOfJoint("Spine1");
if (spine1Joint >= 0) {
AnimPose spine1Pose;
if (getAbsoluteJointPoseInRigFrame(spine1Joint, spine1Pose)) {
if (findPointKDopDisplacement(position, spine1Pose, spine1ShapeInfo, displacement)) {
position += displacement;
}
}
}
int spine2Joint = indexOfJoint("Spine2");
if (spine2Joint >= 0) {
AnimPose spine2Pose;
if (getAbsoluteJointPoseInRigFrame(spine2Joint, spine2Pose)) {
if (findPointKDopDisplacement(position, spine2Pose, spine2ShapeInfo, displacement)) {
position += displacement;
}
}
}
return position;
}
void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnabled, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) {
const float HAND_RADIUS = 0.05f;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f;
int hipsIndex = indexOfJoint("Hips");
if (leftHandEnabled) {
glm::vec3 handPosition = leftHandPose.trans();
glm::quat handRotation = leftHandPose.rot();
if (!hipsEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
}
// prevent the hand IK targets from intersecting the torso
handPosition = deflectHandFromTorso(handPosition, hipsShapeInfo, spineShapeInfo, spine1ShapeInfo, spine2ShapeInfo);
}
_animVars.set("leftHandPosition", handPosition);
@ -1173,11 +1277,8 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
glm::quat handRotation = rightHandPose.rot();
if (!hipsEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
}
// prevent the hand IK targets from intersecting the torso
handPosition = deflectHandFromTorso(handPosition, hipsShapeInfo, spineShapeInfo, spine1ShapeInfo, spine2ShapeInfo);
}
_animVars.set("rightHandPosition", handPosition);
@ -1414,7 +1515,7 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, leftArmEnabled, rightArmEnabled, dt,
params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
params.bodyCapsuleRadius, params.bodyCapsuleHalfHeight, params.bodyCapsuleLocalOffset);
params.hipsShapeInfo, params.spineShapeInfo, params.spine1ShapeInfo, params.spine2ShapeInfo);
updateFeet(leftFootEnabled, rightFootEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot]);

12
libraries/animation/src/Rig.h
View file

@ -75,9 +75,10 @@ public:
AnimPose secondaryControllerPoses[NumSecondaryControllerTypes]; // rig space
bool secondaryControllerActiveFlags[NumSecondaryControllerTypes];
bool isTalking;
float bodyCapsuleRadius;
float bodyCapsuleHalfHeight;
glm::vec3 bodyCapsuleLocalOffset;
FBXJointShapeInfo hipsShapeInfo;
FBXJointShapeInfo spineShapeInfo;
FBXJointShapeInfo spine1ShapeInfo;
FBXJointShapeInfo spine2ShapeInfo;
};
struct EyeParameters {
@ -249,7 +250,8 @@ protected:
void updateHead(bool headEnabled, bool hipsEnabled, const AnimPose& headMatrix);
void updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnabled, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
float bodyCapsuleRadius, float bodyCapsuleHalfHeight, const glm::vec3& bodyCapsuleLocalOffset);
const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo);
void updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose);
void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::vec3& lookAt, const glm::vec3& saccade);
@ -257,6 +259,8 @@ protected:
glm::vec3 calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int hipsIndex, bool isLeft) const;
glm::vec3 calculateKneePoleVector(int footJointIndex, int kneeJoint, int upLegIndex, int hipsIndex, const AnimPose& targetFootPose) const;
glm::vec3 deflectHandFromTorso(const glm::vec3& handPosition, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) const;
AnimPose _modelOffset; // model to rig space
AnimPose _geometryOffset; // geometry to model space (includes unit offset & fst offsets)