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Fix for local eye tracking in AnimGraph

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Also moved Rig::updateAnimations() now occurs after
Rig::updateFromHeadParameters() and Rig::updateFromHandParameters().
This should remove a frame of lag for head and hand IK targets.

Rig::updateFromEyeParameters() occurs after Rig::updateAnimations().
But now the eye JointStates are re-computed, this is the actual
fix for the local eye tracking issue.
This commit is contained in:
Anthony J. Thibault 2015-10-27 18:30:35 -07:00
parent 85a975b1f4
commit ae8938cadc
3 changed files with 47 additions and 50 deletions
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43
interface/src/avatar/SkeletonModel.cpp
View file

@ -114,15 +114,12 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
if (_owningAvatar->isMyAvatar()) {
_rig->computeMotionAnimationState(deltaTime, _owningAvatar->getPosition(), _owningAvatar->getVelocity(), _owningAvatar->getOrientation());
}
Model::updateRig(deltaTime, parentTransform);
Head* head = _owningAvatar->getHead();
if (_owningAvatar->isMyAvatar()) {
MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
const FBXGeometry& geometry = _geometry->getFBXGeometry();
Rig::HeadParameters headParams;
headParams.modelRotation = getRotation();
headParams.modelTranslation = getTranslation();
headParams.enableLean = qApp->getAvatarUpdater()->isHMDMode();
headParams.leanSideways = head->getFinalLeanSideways();
headParams.leanForward = head->getFinalLeanForward();
@ -156,19 +153,13 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
}
headParams.eyeLookAt = head->getLookAtPosition();
headParams.eyeSaccade = head->getSaccade();
headParams.leanJointIndex = geometry.leanJointIndex;
headParams.neckJointIndex = geometry.neckJointIndex;
headParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
headParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
_rig->updateFromHeadParameters(headParams, deltaTime);
Rig::HandParameters handParams;
const PalmData* leftPalm = getPalmWithIndex(myAvatar->getHand(), LEFT_HAND_INDEX);
if (leftPalm && leftPalm->isActive()) {
handParams.isLeftEnabled = true;
@ -191,7 +182,28 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
_rig->updateFromHandParameters(handParams, deltaTime);
// evaluate AnimGraph animation and update jointStates.
Model::updateRig(deltaTime, parentTransform);
Rig::EyeParameters eyeParams;
eyeParams.worldHeadOrientation = headParams.worldHeadOrientation;
eyeParams.eyeLookAt = head->getLookAtPosition();
eyeParams.eyeSaccade = head->getSaccade();
eyeParams.modelRotation = getRotation();
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig->updateFromEyeParameters(eyeParams, deltaTime);
// rebuild the jointState transform for the eyes only
_rig->updateJointState(eyeParams.leftEyeJointIndex, parentTransform);
_rig->updateJointState(eyeParams.rightEyeJointIndex, parentTransform);
} else {
Model::updateRig(deltaTime, parentTransform);
// This is a little more work than we really want.
//
// Other avatars joint, including their eyes, should already be set just like any other joints
@ -208,9 +220,16 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
head->setBasePitch(glm::degrees(-eulers.x));
head->setBaseYaw(glm::degrees(eulers.y));
head->setBaseRoll(glm::degrees(-eulers.z));
_rig->updateEyeJoints(geometry.leftEyeJointIndex, geometry.rightEyeJointIndex,
getTranslation(), getRotation(),
head->getFinalOrientationInWorldFrame(), head->getCorrectedLookAtPosition());
Rig::EyeParameters eyeParams;
eyeParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
eyeParams.eyeLookAt = head->getCorrectedLookAtPosition();
eyeParams.eyeSaccade = glm::vec3(0);
eyeParams.modelRotation = getRotation();
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig->updateFromEyeParameters(eyeParams, deltaTime);
}
}

35
libraries/animation/src/Rig.cpp
View file

@ -22,34 +22,6 @@
#include "AnimSkeleton.h"
#include "IKTarget.h"
void Rig::HeadParameters::dump() const {
qCDebug(animation, "HeadParameters =");
qCDebug(animation, " leanSideways = %0.5f", (double)leanSideways);
qCDebug(animation, " leanForward = %0.5f", (double)leanForward);
qCDebug(animation, " torsoTwist = %0.5f", (double)torsoTwist);
glm::vec3 axis = glm::axis(localHeadOrientation);
float theta = glm::angle(localHeadOrientation);
qCDebug(animation, " localHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
axis = glm::axis(worldHeadOrientation);
theta = glm::angle(worldHeadOrientation);
qCDebug(animation, " localHead pitch = %.5f, yaw = %.5f, roll = %.5f", (double)localHeadPitch, (double)localHeadYaw, (double)localHeadRoll);
qCDebug(animation, " localHeadPosition = (%.5f, %.5f, %.5f)", (double)localHeadPosition.x, (double)localHeadPosition.y, (double)localHeadPosition.z);
qCDebug(animation, " isInHMD = %s", isInHMD ? "true" : "false");
qCDebug(animation, " worldHeadOrientation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
axis = glm::axis(modelRotation);
theta = glm::angle(modelRotation);
qCDebug(animation, " modelRotation axis = (%.5f, %.5f, %.5f), theta = %0.5f", (double)axis.x, (double)axis.y, (double)axis.z, (double)theta);
qCDebug(animation, " modelTranslation = (%.5f, %.5f, %.5f)", (double)modelTranslation.x, (double)modelTranslation.y, (double)modelTranslation.z);
qCDebug(animation, " eyeLookAt = (%.5f, %.5f, %.5f)", (double)eyeLookAt.x, (double)eyeLookAt.y, (double)eyeLookAt.z);
qCDebug(animation, " eyeSaccade = (%.5f, %.5f, %.5f)", (double)eyeSaccade.x, (double)eyeSaccade.y, (double)eyeSaccade.z);
qCDebug(animation, " leanJointIndex = %.d", leanJointIndex);
qCDebug(animation, " neckJointIndex = %.d", neckJointIndex);
qCDebug(animation, " leftEyeJointIndex = %.d", leftEyeJointIndex);
qCDebug(animation, " rightEyeJointIndex = %.d", rightEyeJointIndex);
qCDebug(animation, " isTalking = %s", isTalking ? "true" : "false");
}
void insertSorted(QList<AnimationHandlePointer>& handles, const AnimationHandlePointer& handle) {
for (QList<AnimationHandlePointer>::iterator it = handles.begin(); it != handles.end(); it++) {
if (handle->getPriority() > (*it)->getPriority()) {
@ -981,8 +953,6 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
_animVars.unset("lean");
}
updateNeckJoint(params.neckJointIndex, params);
updateEyeJoints(params.leftEyeJointIndex, params.rightEyeJointIndex, params.modelTranslation, params.modelRotation,
params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
if (_enableAnimGraph) {
_animVars.set("isTalking", params.isTalking);
@ -990,6 +960,11 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
}
}
void Rig::updateFromEyeParameters(const EyeParameters& params, float dt) {
updateEyeJoints(params.leftEyeJointIndex, params.rightEyeJointIndex, params.modelTranslation, params.modelRotation,
params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
}
static const glm::vec3 X_AXIS(1.0f, 0.0f, 0.0f);
static const glm::vec3 Y_AXIS(0.0f, 1.0f, 0.0f);
static const glm::vec3 Z_AXIS(0.0f, 0.0f, 1.0f);

19
libraries/animation/src/Rig.h
View file

@ -57,24 +57,26 @@ public:
float leanForward = 0.0f; // degrees
float torsoTwist = 0.0f; // degrees
bool enableLean = false;
glm::quat modelRotation = glm::quat();
glm::quat worldHeadOrientation = glm::quat();
glm::quat localHeadOrientation = glm::quat();
float localHeadPitch = 0.0f; // degrees
float localHeadYaw = 0.0f; // degrees
float localHeadRoll = 0.0f; // degrees
glm::vec3 localHeadPosition = glm::vec3();
bool isInHMD = false;
int leanJointIndex = -1;
int neckJointIndex = -1;
bool isTalking = false;
};
struct EyeParameters {
glm::quat worldHeadOrientation = glm::quat();
glm::vec3 eyeLookAt = glm::vec3(); // world space
glm::vec3 eyeSaccade = glm::vec3(); // world space
glm::vec3 modelTranslation = glm::vec3();
int leanJointIndex = -1;
int neckJointIndex = -1;
glm::quat modelRotation = glm::quat();
int leftEyeJointIndex = -1;
int rightEyeJointIndex = -1;
bool isTalking = false;
void dump() const;
};
struct HandParameters {
@ -185,8 +187,7 @@ public:
bool getEnableAnimGraph() const { return _enableAnimGraph; }
void updateFromHeadParameters(const HeadParameters& params, float dt);
void updateEyeJoints(int leftEyeIndex, int rightEyeIndex, const glm::vec3& modelTranslation, const glm::quat& modelRotation,
const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade = glm::vec3(0.0f));
void updateFromEyeParameters(const EyeParameters& params, float dt);
void updateFromHandParameters(const HandParameters& params, float dt);
@ -207,6 +208,8 @@ public:
void updateLeanJoint(int index, float leanSideways, float leanForward, float torsoTwist);
void updateNeckJoint(int index, const HeadParameters& params);
void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAt, const glm::vec3& saccade);
void updateEyeJoints(int leftEyeIndex, int rightEyeIndex, const glm::vec3& modelTranslation, const glm::quat& modelRotation,
const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade);
QVector<JointState> _jointStates;
int _rootJointIndex = -1;