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WIP: first steps toward smoothing ik chains

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This commit is contained in:
Anthony J. Thibault 2017-06-27 19:23:59 -07:00
parent b22daa9a6f
commit c7e4bf931b
4 changed files with 85 additions and 47 deletions
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109
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -23,18 +23,18 @@
#include "CubicHermiteSpline.h"
#include "AnimUtil.h"
static void lookupJointChainInfo(AnimInverseKinematics::JointChainInfo* jointChainInfos, size_t numJointChainInfos,
static void lookupJointChainInfo(const std::vector<AnimInverseKinematics::JointChainInfo>& jointChainInfoVec,
int indexA, int indexB,
AnimInverseKinematics::JointChainInfo** jointChainInfoA,
AnimInverseKinematics::JointChainInfo** jointChainInfoB) {
const AnimInverseKinematics::JointChainInfo** jointChainInfoA,
const AnimInverseKinematics::JointChainInfo** jointChainInfoB) {
*jointChainInfoA = nullptr;
*jointChainInfoB = nullptr;
for (size_t i = 0; i < numJointChainInfos; i++) {
if (jointChainInfos[i].jointIndex == indexA) {
*jointChainInfoA = jointChainInfos + i;
for (size_t i = 0; i < jointChainInfoVec.size(); i++) {
if (jointChainInfoVec[i].jointIndex == indexA) {
*jointChainInfoA = &jointChainInfoVec[i];
}
if (jointChainInfos[i].jointIndex == indexB) {
*jointChainInfoB = jointChainInfos + i;
if (jointChainInfoVec[i].jointIndex == indexB) {
*jointChainInfoB = &jointChainInfoVec[i];
}
if (*jointChainInfoA && *jointChainInfoB) {
break;
@ -234,6 +234,17 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
accumulator.clearAndClean();
}
// initialize jointChainInfoVecVec, this holds the results for one iteration of each ik chain.
JointChainInfo defaultJointChainInfo = { glm::quat(), glm::vec3(), 0.0f, -1, false };
std::vector<std::vector<JointChainInfo>> jointChainInfoVecVec(targets.size());
for (size_t i = 0; i < targets.size(); i++) {
int chainDepth = _skeleton->getChainDepth(targets[i].getIndex());
jointChainInfoVecVec[i].reserve(chainDepth);
for (size_t j = 0; j < chainDepth; j++) {
jointChainInfoVecVec[i].push_back(defaultJointChainInfo);
}
}
float maxError = FLT_MAX;
int numLoops = 0;
const int MAX_IK_LOOPS = 16;
@ -244,11 +255,25 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
bool debug = context.getEnableDebugDrawIKChains() && numLoops == MAX_IK_LOOPS;
// solve all targets
for (auto& target: targets) {
if (target.getType() == IKTarget::Type::Spline) {
solveTargetWithSpline(context, target, absolutePoses, debug);
for (size_t i = 0; i < targets.size(); i++) {
if (targets[i].getType() == IKTarget::Type::Spline) {
solveTargetWithSpline(context, targets[i], absolutePoses, debug, jointChainInfoVecVec[i]);
} else {
solveTargetWithCCD(context, target, absolutePoses, debug);
solveTargetWithCCD(context, targets[i], absolutePoses, debug, jointChainInfoVecVec[i]);
}
}
// TODO: do smooth interpolation of joint chains here, if necessary.
// copy jointChainInfoVecs into accumulators
for (size_t i = 0; i < targets.size(); i++) {
const std::vector<JointChainInfo>& jointChainInfoVec = jointChainInfoVecVec[i];
for (size_t j = 0; j < jointChainInfoVec.size(); j++) {
const JointChainInfo& info = jointChainInfoVec[j];
if (info.jointIndex >= 0) {
_rotationAccumulators[info.jointIndex].add(info.relRot, info.weight);
_translationAccumulators[info.jointIndex].add(info.relTrans, info.weight);
}
}
}
@ -310,7 +335,8 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
}
}
void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug) {
void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec) const {
size_t chainDepth = 0;
IKTarget::Type targetType = target.getType();
@ -338,9 +364,6 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// the tip's parent-relative as we proceed up the chain
glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot();
const size_t MAX_CHAIN_DEPTH = 30;
JointChainInfo jointChainInfos[MAX_CHAIN_DEPTH];
// NOTE: if this code is removed, the head will remain rigid, causing the spine/hips to thrust forward backward
// as the head is nodded.
if (targetType == IKTarget::Type::HmdHead ||
@ -368,7 +391,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
}
glm::vec3 tipRelativeTranslation = _relativePoses[target.getIndex()].trans();
jointChainInfos[chainDepth] = { tipRelativeRotation, tipRelativeTranslation, target.getWeight(), tipIndex, constrained };
jointChainInfoVec[chainDepth] = { tipRelativeRotation, tipRelativeTranslation, target.getWeight(), tipIndex, constrained };
}
// cache tip absolute position
@ -379,7 +402,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
assert(chainDepth < MAX_CHAIN_DEPTH);
assert(chainDepth < jointChainInfoVec.size());
// compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
@ -480,7 +503,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
}
glm::vec3 newTrans = _relativePoses[pivotIndex].trans();
jointChainInfos[chainDepth] = { newRot, newTrans, target.getWeight(), pivotIndex, constrained };
jointChainInfoVec[chainDepth] = { newRot, newTrans, target.getWeight(), pivotIndex, constrained };
// keep track of tip's new transform as we descend towards root
tipPosition = jointPosition + deltaRotation * (tipPosition - jointPosition);
@ -502,24 +525,25 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
int baseParentJointIndex = _skeleton->getParentIndex(baseJointIndex);
AnimPose topPose, midPose, basePose;
int topChainIndex = -1, baseChainIndex = -1;
const size_t MAX_CHAIN_DEPTH = 30;
AnimPose postAbsPoses[MAX_CHAIN_DEPTH];
AnimPose accum = absolutePoses[_hipsIndex];
AnimPose baseParentPose = absolutePoses[_hipsIndex];
for (int i = (int)chainDepth - 1; i >= 0; i--) {
accum = accum * AnimPose(glm::vec3(1.0f), jointChainInfos[i].relRot, jointChainInfos[i].relTrans);
accum = accum * AnimPose(glm::vec3(1.0f), jointChainInfoVec[i].relRot, jointChainInfoVec[i].relTrans);
postAbsPoses[i] = accum;
if (jointChainInfos[i].jointIndex == topJointIndex) {
if (jointChainInfoVec[i].jointIndex == topJointIndex) {
topChainIndex = i;
topPose = accum;
}
if (jointChainInfos[i].jointIndex == midJointIndex) {
if (jointChainInfoVec[i].jointIndex == midJointIndex) {
midPose = accum;
}
if (jointChainInfos[i].jointIndex == baseJointIndex) {
if (jointChainInfoVec[i].jointIndex == baseJointIndex) {
baseChainIndex = i;
basePose = accum;
}
if (jointChainInfos[i].jointIndex == baseParentJointIndex) {
if (jointChainInfoVec[i].jointIndex == baseParentJointIndex) {
baseParentPose = accum;
}
}
@ -599,21 +623,16 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
}
glm::quat newBaseRelRot = glm::inverse(baseParentPose.rot()) * poleRot * basePose.rot();
jointChainInfos[baseChainIndex].relRot = newBaseRelRot;
jointChainInfoVec[baseChainIndex].relRot = newBaseRelRot;
glm::quat newTopRelRot = glm::inverse(midPose.rot()) * glm::inverse(poleRot) * topPose.rot();
jointChainInfos[topChainIndex].relRot = newTopRelRot;
jointChainInfoVec[topChainIndex].relRot = newTopRelRot;
}
}
}
for (size_t i = 0; i < chainDepth; i++) {
_rotationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relRot, jointChainInfos[i].weight);
_translationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relTrans, jointChainInfos[i].weight);
}
if (debug) {
debugDrawIKChain(jointChainInfos, chainDepth, context);
debugDrawIKChain(jointChainInfoVec, context);
}
}
@ -697,10 +716,9 @@ const std::vector<AnimInverseKinematics::SplineJointInfo>* AnimInverseKinematics
return nullptr;
}
void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug) {
const size_t MAX_CHAIN_DEPTH = 30;
JointChainInfo jointChainInfos[MAX_CHAIN_DEPTH];
// AJT: TODO: make this const someday
void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec) {
const int baseIndex = _hipsIndex;
@ -783,19 +801,22 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
}
}
jointChainInfos[i] = { relPose.rot(), relPose.trans(), target.getWeight(), splineJointInfo.jointIndex, constrained };
jointChainInfoVec[i] = { relPose.rot(), relPose.trans(), target.getWeight(), splineJointInfo.jointIndex, constrained };
parentAbsPose = flexedAbsPose;
}
}
// AJT: REMOVE
/*
for (size_t i = 0; i < splineJointInfoVec->size(); i++) {
_rotationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relRot, jointChainInfos[i].weight);
_translationAccumulators[jointChainInfos[i].jointIndex].add(jointChainInfos[i].relTrans, jointChainInfos[i].weight);
}
*/
if (debug) {
debugDrawIKChain(jointChainInfos, splineJointInfoVec->size(), context);
debugDrawIKChain(jointChainInfoVec, context);
}
}
@ -1495,12 +1516,12 @@ void AnimInverseKinematics::debugDrawRelativePoses(const AnimContext& context) c
}
}
void AnimInverseKinematics::debugDrawIKChain(JointChainInfo* jointChainInfos, size_t numJointChainInfos, const AnimContext& context) const {
void AnimInverseKinematics::debugDrawIKChain(const std::vector<JointChainInfo>& jointChainInfoVec, const AnimContext& context) const {
AnimPoseVec poses = _relativePoses;
// copy debug joint rotations into the relative poses
for (size_t i = 0; i < numJointChainInfos; i++) {
const JointChainInfo& info = jointChainInfos[i];
for (size_t i = 0; i < jointChainInfoVec.size(); i++) {
const JointChainInfo& info = jointChainInfoVec[i];
poses[info.jointIndex].rot() = info.relRot;
poses[info.jointIndex].trans() = info.relTrans;
}
@ -1519,9 +1540,9 @@ void AnimInverseKinematics::debugDrawIKChain(JointChainInfo* jointChainInfos, si
// draw each pose
for (int i = 0; i < (int)poses.size(); i++) {
int parentIndex = _skeleton->getParentIndex(i);
JointChainInfo* jointInfo = nullptr;
JointChainInfo* parentJointInfo = nullptr;
lookupJointChainInfo(jointChainInfos, numJointChainInfos, i, parentIndex, &jointInfo, &parentJointInfo);
const JointChainInfo* jointInfo = nullptr;
const JointChainInfo* parentJointInfo = nullptr;
lookupJointChainInfo(jointChainInfoVec, i, parentIndex, &jointInfo, &parentJointInfo);
if (jointInfo && parentJointInfo) {
// transform local axes into world space.

8
libraries/animation/src/AnimInverseKinematics.h
View file

@ -73,10 +73,12 @@ public:
protected:
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solve(const AnimContext& context, const std::vector<IKTarget>& targets);
void solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug);
void solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug);
void solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec) const;
void solveTargetWithSpline(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses,
bool debug, std::vector<JointChainInfo>& jointChainInfoVec);
virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
void debugDrawIKChain(JointChainInfo* jointChainInfos, size_t numJointChainInfos, const AnimContext& context) const;
void debugDrawIKChain(const std::vector<JointChainInfo>& jointChainInfoVec, const AnimContext& context) const;
void debugDrawRelativePoses(const AnimContext& context) const;
void debugDrawConstraints(const AnimContext& context) const;
void debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const;

14
libraries/animation/src/AnimSkeleton.cpp
View file

@ -42,6 +42,20 @@ int AnimSkeleton::getNumJoints() const {
return _jointsSize;
}
int AnimSkeleton::getChainDepth(int jointIndex) const {
if (jointIndex >= 0) {
int chainDepth = 0;
int index = jointIndex;
do {
chainDepth++;
index = _joints[index].parentIndex;
} while (index != -1);
return chainDepth;
} else {
return 0;
}
}
const AnimPose& AnimSkeleton::getAbsoluteBindPose(int jointIndex) const {
return _absoluteBindPoses[jointIndex];
}

1
libraries/animation/src/AnimSkeleton.h
View file

@ -28,6 +28,7 @@ public:
int nameToJointIndex(const QString& jointName) const;
const QString& getJointName(int jointIndex) const;
int getNumJoints() const;
int getChainDepth(int jointIndex) const;
// absolute pose, not relative to parent
const AnimPose& getAbsoluteBindPose(int jointIndex) const;