Fix for local eye tracking in AnimGraph

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.

interface/src/avatar/SkeletonModel.cpp

@@ -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(),
+        Rig::EyeParameters eyeParams;
-                              head->getFinalOrientationInWorldFrame(), head->getCorrectedLookAtPosition());
+        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);
      }
 }
 

libraries/animation/src/Rig.cpp

@@ -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);

libraries/animation/src/Rig.h

@@ -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;
+        glm::quat modelRotation = glm::quat();
-        int neckJointIndex = -1;
         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,
+    void updateFromEyeParameters(const EyeParameters& params, float dt);
-                         const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade = glm::vec3(0.0f));
 
     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;