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Merge pull request #13519 from hyperlogic/bug-fix/stable-pole-vector-smoothing

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Bug fix for unexpected avatar knee shifts for users wearing Vive Trackers.
This commit is contained in:
Anthony Thibault 2018-07-03 21:50:57 -07:00 committed by GitHub
commit c840670a54
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 40 additions and 24 deletions
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5
interface/src/avatar/MySkeletonModel.cpp
View file

@ -109,6 +109,11 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
AnimPose avatarToRigPose(glm::vec3(1.0f), Quaternions::Y_180, glm::vec3(0.0f)); AnimPose avatarToRigPose(glm::vec3(1.0f), Quaternions::Y_180, glm::vec3(0.0f));
glm::mat4 rigToAvatarMatrix = Matrices::Y_180;
glm::mat4 avatarToWorldMatrix = createMatFromQuatAndPos(myAvatar->getWorldOrientation(), myAvatar->getWorldPosition());
glm::mat4 sensorToWorldMatrix = myAvatar->getSensorToWorldMatrix();
params.rigToSensorMatrix = glm::inverse(sensorToWorldMatrix) * avatarToWorldMatrix * rigToAvatarMatrix;
// input action is the highest priority source for head orientation. // input action is the highest priority source for head orientation.
auto avatarHeadPose = myAvatar->getControllerPoseInAvatarFrame(controller::Action::HEAD); auto avatarHeadPose = myAvatar->getControllerPoseInAvatarFrame(controller::Action::HEAD);
if (avatarHeadPose.isValid()) { if (avatarHeadPose.isValid()) {

44
libraries/animation/src/Rig.cpp
View file

@ -1244,7 +1244,8 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
bool leftArmEnabled, bool rightArmEnabled, float dt, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose, const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) { const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix) {
const bool ENABLE_POLE_VECTORS = false; const bool ENABLE_POLE_VECTORS = false;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f; const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f;
@ -1271,19 +1272,20 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm"); int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
if (ENABLE_POLE_VECTORS && !leftArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) { if (ENABLE_POLE_VECTORS && !leftArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) {
glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, true); glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, true);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter // smooth toward desired pole vector from previous pole vector... to reduce jitter
if (!_prevLeftHandPoleVectorValid) { if (!_prevLeftHandPoleVectorValid) {
_prevLeftHandPoleVectorValid = true; _prevLeftHandPoleVectorValid = true;
_prevLeftHandPoleVector = poleVector; _prevLeftHandPoleVector = sensorPoleVector;
} }
glm::quat deltaRot = rotationBetween(_prevLeftHandPoleVector, poleVector); glm::quat deltaRot = rotationBetween(_prevLeftHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR); glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector; _prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector;
_animVars.set("leftHandPoleVectorEnabled", true); _animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X); _animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X);
_animVars.set("leftHandPoleVector", _prevLeftHandPoleVector); _animVars.set("leftHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevLeftHandPoleVector));
} else { } else {
_prevLeftHandPoleVectorValid = false; _prevLeftHandPoleVectorValid = false;
_animVars.set("leftHandPoleVectorEnabled", false); _animVars.set("leftHandPoleVectorEnabled", false);
@ -1318,19 +1320,20 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm"); int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm");
if (ENABLE_POLE_VECTORS && !rightArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) { if (ENABLE_POLE_VECTORS && !rightArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) {
glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, false); glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, false);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter // smooth toward desired pole vector from previous pole vector... to reduce jitter
if (!_prevRightHandPoleVectorValid) { if (!_prevRightHandPoleVectorValid) {
_prevRightHandPoleVectorValid = true; _prevRightHandPoleVectorValid = true;
_prevRightHandPoleVector = poleVector; _prevRightHandPoleVector = sensorPoleVector;
} }
glm::quat deltaRot = rotationBetween(_prevRightHandPoleVector, poleVector); glm::quat deltaRot = rotationBetween(_prevRightHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR); glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector; _prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector;
_animVars.set("rightHandPoleVectorEnabled", true); _animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleReferenceVector", -Vectors::UNIT_X); _animVars.set("rightHandPoleReferenceVector", -Vectors::UNIT_X);
_animVars.set("rightHandPoleVector", _prevRightHandPoleVector); _animVars.set("rightHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevRightHandPoleVector));
} else { } else {
_prevRightHandPoleVectorValid = false; _prevRightHandPoleVectorValid = false;
_animVars.set("rightHandPoleVectorEnabled", false); _animVars.set("rightHandPoleVectorEnabled", false);
@ -1345,7 +1348,8 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
} }
} }
void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose) { void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix) {
const float KNEE_POLE_VECTOR_BLEND_FACTOR = 0.95f; const float KNEE_POLE_VECTOR_BLEND_FACTOR = 0.95f;
@ -1360,19 +1364,20 @@ void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose
int kneeJointIndex = _animSkeleton->nameToJointIndex("LeftLeg"); int kneeJointIndex = _animSkeleton->nameToJointIndex("LeftLeg");
int upLegJointIndex = _animSkeleton->nameToJointIndex("LeftUpLeg"); int upLegJointIndex = _animSkeleton->nameToJointIndex("LeftUpLeg");
glm::vec3 poleVector = calculateKneePoleVector(footJointIndex, kneeJointIndex, upLegJointIndex, hipsIndex, leftFootPose); glm::vec3 poleVector = calculateKneePoleVector(footJointIndex, kneeJointIndex, upLegJointIndex, hipsIndex, leftFootPose);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter // smooth toward desired pole vector from previous pole vector... to reduce jitter, but in sensor space.
if (!_prevLeftFootPoleVectorValid) { if (!_prevLeftFootPoleVectorValid) {
_prevLeftFootPoleVectorValid = true; _prevLeftFootPoleVectorValid = true;
_prevLeftFootPoleVector = poleVector; _prevLeftFootPoleVector = sensorPoleVector;
} }
glm::quat deltaRot = rotationBetween(_prevLeftFootPoleVector, poleVector); glm::quat deltaRot = rotationBetween(_prevLeftFootPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, KNEE_POLE_VECTOR_BLEND_FACTOR); glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, KNEE_POLE_VECTOR_BLEND_FACTOR);
_prevLeftFootPoleVector = smoothDeltaRot * _prevLeftFootPoleVector; _prevLeftFootPoleVector = smoothDeltaRot * _prevLeftFootPoleVector;
_animVars.set("leftFootPoleVectorEnabled", true); _animVars.set("leftFootPoleVectorEnabled", true);
_animVars.set("leftFootPoleReferenceVector", Vectors::UNIT_Z); _animVars.set("leftFootPoleReferenceVector", Vectors::UNIT_Z);
_animVars.set("leftFootPoleVector", _prevLeftFootPoleVector); _animVars.set("leftFootPoleVector", transformVectorFast(sensorToRigMatrix, _prevLeftFootPoleVector));
} else { } else {
_animVars.unset("leftFootPosition"); _animVars.unset("leftFootPosition");
_animVars.unset("leftFootRotation"); _animVars.unset("leftFootRotation");
@ -1390,19 +1395,20 @@ void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose
int kneeJointIndex = _animSkeleton->nameToJointIndex("RightLeg"); int kneeJointIndex = _animSkeleton->nameToJointIndex("RightLeg");
int upLegJointIndex = _animSkeleton->nameToJointIndex("RightUpLeg"); int upLegJointIndex = _animSkeleton->nameToJointIndex("RightUpLeg");
glm::vec3 poleVector = calculateKneePoleVector(footJointIndex, kneeJointIndex, upLegJointIndex, hipsIndex, rightFootPose); glm::vec3 poleVector = calculateKneePoleVector(footJointIndex, kneeJointIndex, upLegJointIndex, hipsIndex, rightFootPose);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter // smooth toward desired pole vector from previous pole vector... to reduce jitter
if (!_prevRightFootPoleVectorValid) { if (!_prevRightFootPoleVectorValid) {
_prevRightFootPoleVectorValid = true; _prevRightFootPoleVectorValid = true;
_prevRightFootPoleVector = poleVector; _prevRightFootPoleVector = sensorPoleVector;
} }
glm::quat deltaRot = rotationBetween(_prevRightFootPoleVector, poleVector); glm::quat deltaRot = rotationBetween(_prevRightFootPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, KNEE_POLE_VECTOR_BLEND_FACTOR); glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, KNEE_POLE_VECTOR_BLEND_FACTOR);
_prevRightFootPoleVector = smoothDeltaRot * _prevRightFootPoleVector; _prevRightFootPoleVector = smoothDeltaRot * _prevRightFootPoleVector;
_animVars.set("rightFootPoleVectorEnabled", true); _animVars.set("rightFootPoleVectorEnabled", true);
_animVars.set("rightFootPoleReferenceVector", Vectors::UNIT_Z); _animVars.set("rightFootPoleReferenceVector", Vectors::UNIT_Z);
_animVars.set("rightFootPoleVector", _prevRightFootPoleVector); _animVars.set("rightFootPoleVector", transformVectorFast(sensorToRigMatrix, _prevRightFootPoleVector));
} else { } else {
_animVars.unset("rightFootPosition"); _animVars.unset("rightFootPosition");
_animVars.unset("rightFootRotation"); _animVars.unset("rightFootRotation");
@ -1546,16 +1552,18 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
bool spine2Enabled = params.primaryControllerFlags[PrimaryControllerType_Spine2] & (uint8_t)ControllerFlags::Enabled; bool spine2Enabled = params.primaryControllerFlags[PrimaryControllerType_Spine2] & (uint8_t)ControllerFlags::Enabled;
bool leftArmEnabled = params.secondaryControllerFlags[SecondaryControllerType_LeftArm] & (uint8_t)ControllerFlags::Enabled; bool leftArmEnabled = params.secondaryControllerFlags[SecondaryControllerType_LeftArm] & (uint8_t)ControllerFlags::Enabled;
bool rightArmEnabled = params.secondaryControllerFlags[SecondaryControllerType_RightArm] & (uint8_t)ControllerFlags::Enabled; bool rightArmEnabled = params.secondaryControllerFlags[SecondaryControllerType_RightArm] & (uint8_t)ControllerFlags::Enabled;
glm::mat4 sensorToRigMatrix = glm::inverse(params.rigToSensorMatrix);
updateHead(headEnabled, hipsEnabled, params.primaryControllerPoses[PrimaryControllerType_Head]); updateHead(headEnabled, hipsEnabled, params.primaryControllerPoses[PrimaryControllerType_Head]);
updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, hipsEstimated, leftArmEnabled, rightArmEnabled, dt, updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, hipsEstimated, leftArmEnabled, rightArmEnabled, dt,
params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand], params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
params.hipsShapeInfo, params.spineShapeInfo, params.spine1ShapeInfo, params.spine2ShapeInfo); params.hipsShapeInfo, params.spineShapeInfo, params.spine1ShapeInfo, params.spine2ShapeInfo,
params.rigToSensorMatrix, sensorToRigMatrix);
updateFeet(leftFootEnabled, rightFootEnabled, updateFeet(leftFootEnabled, rightFootEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot]); params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot],
params.rigToSensorMatrix, sensorToRigMatrix);
if (headEnabled) { if (headEnabled) {
// Blend IK chains toward the joint limit centers, this should stablize head and hand ik. // Blend IK chains toward the joint limit centers, this should stablize head and hand ik.

15
libraries/animation/src/Rig.h
View file

@ -75,6 +75,7 @@ public:
}; };
struct ControllerParameters { struct ControllerParameters {
glm::mat4 rigToSensorMatrix;
AnimPose primaryControllerPoses[NumPrimaryControllerTypes]; // rig space AnimPose primaryControllerPoses[NumPrimaryControllerTypes]; // rig space
uint8_t primaryControllerFlags[NumPrimaryControllerTypes]; uint8_t primaryControllerFlags[NumPrimaryControllerTypes];
AnimPose secondaryControllerPoses[NumSecondaryControllerTypes]; // rig space AnimPose secondaryControllerPoses[NumSecondaryControllerTypes]; // rig space
@ -231,8 +232,10 @@ protected:
bool leftArmEnabled, bool rightArmEnabled, float dt, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose, const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo); const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo,
void updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose); const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);
void updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);
void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::vec3& lookAt, const glm::vec3& saccade); void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::vec3& lookAt, const glm::vec3& saccade);
void calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds, float* alphaOut) const; void calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds, float* alphaOut) const;
@ -359,16 +362,16 @@ protected:
int _nextStateHandlerId { 0 }; int _nextStateHandlerId { 0 };
QMutex _stateMutex; QMutex _stateMutex;
glm::vec3 _prevRightFootPoleVector { Vectors::UNIT_Z }; glm::vec3 _prevRightFootPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevRightFootPoleVectorValid { false }; bool _prevRightFootPoleVectorValid { false };
glm::vec3 _prevLeftFootPoleVector { Vectors::UNIT_Z }; glm::vec3 _prevLeftFootPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevLeftFootPoleVectorValid { false }; bool _prevLeftFootPoleVectorValid { false };
glm::vec3 _prevRightHandPoleVector { -Vectors::UNIT_Z }; glm::vec3 _prevRightHandPoleVector { -Vectors::UNIT_Z }; // sensor space
bool _prevRightHandPoleVectorValid { false }; bool _prevRightHandPoleVectorValid { false };
glm::vec3 _prevLeftHandPoleVector { -Vectors::UNIT_Z }; glm::vec3 _prevLeftHandPoleVector { -Vectors::UNIT_Z }; // sensor space
bool _prevLeftHandPoleVectorValid { false }; bool _prevLeftHandPoleVectorValid { false };
int _rigId; int _rigId;