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latest spline code with ik node removed started cleanup

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amantley 2019-01-23 17:22:13 -08:00
parent dbd03e2eb4
commit cdd03646c2
5 changed files with 1321 additions and 1957 deletions
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3086
interface/resources/avatar/avatar-animation.json
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4
interface/resources/avatar/avatar-animation_withIKNode.json
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@ -119,7 +119,7 @@
"type": "poleVectorConstraint", "type": "poleVectorConstraint",
"data": { "data": {
"enabled": false, "enabled": false,
"referenceVector": [ 0, 0, 1 ], "referenceVector": [ -1, 0, 0 ],
"baseJointName": "RightArm", "baseJointName": "RightArm",
"midJointName": "RightForeArm", "midJointName": "RightForeArm",
"tipJointName": "RightHand", "tipJointName": "RightHand",
@ -149,7 +149,7 @@
"type": "poleVectorConstraint", "type": "poleVectorConstraint",
"data": { "data": {
"enabled": false, "enabled": false,
"referenceVector": [ 0, 0, 1 ], "referenceVector": [ 1, 0, 0 ],
"baseJointName": "LeftArm", "baseJointName": "LeftArm",
"midJointName": "LeftForeArm", "midJointName": "LeftForeArm",
"tipJointName": "LeftHand", "tipJointName": "LeftHand",

11
libraries/animation/src/AnimInverseKinematics.cpp
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@ -886,8 +886,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
if (dt > MAX_OVERLAY_DT) { if (dt > MAX_OVERLAY_DT) {
dt = MAX_OVERLAY_DT; dt = MAX_OVERLAY_DT;
} }
loadPoses(underPoses);
/*
if (_relativePoses.size() != underPoses.size()) { if (_relativePoses.size() != underPoses.size()) {
loadPoses(underPoses); loadPoses(underPoses);
} else { } else {
@ -974,8 +973,8 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
::blend(1, &prevHipsAbsPose, &absPose, alpha, &absPose); ::blend(1, &prevHipsAbsPose, &absPose, alpha, &absPose);
} }
//_relativePoses[_hipsIndex] = parentAbsPose.inverse() * absPose; _relativePoses[_hipsIndex] = parentAbsPose.inverse() * absPose;
//_relativePoses[_hipsIndex].scale() = glm::vec3(1.0f); _relativePoses[_hipsIndex].scale() = glm::vec3(1.0f);
} }
// if there is an active jointChainInfo for the hips store the post shifted hips into it. // if there is an active jointChainInfo for the hips store the post shifted hips into it.
@ -1043,7 +1042,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
preconditionRelativePosesToAvoidLimbLock(context, targets); preconditionRelativePosesToAvoidLimbLock(context, targets);
//qCDebug(animation) << "hips before ccd" << _relativePoses[_hipsIndex]; //qCDebug(animation) << "hips before ccd" << _relativePoses[_hipsIndex];
//solve(context, targets, dt, jointChainInfoVec); solve(context, targets, dt, jointChainInfoVec);
//qCDebug(animation) << "hips after ccd" << _relativePoses[_hipsIndex]; //qCDebug(animation) << "hips after ccd" << _relativePoses[_hipsIndex];
} }
@ -1055,7 +1054,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
} }
processOutputJoints(triggersOut); processOutputJoints(triggersOut);
*/
return _relativePoses; return _relativePoses;
} }

158
libraries/animation/src/AnimSplineIK.cpp
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@ -71,133 +71,71 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
} }
////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////
// check to see if we actually need absolute poses.
AnimPoseVec absolutePoses; AnimPoseVec absolutePoses;
absolutePoses.resize(_poses.size()); absolutePoses.resize(_poses.size());
computeAbsolutePoses(absolutePoses); computeAbsolutePoses(absolutePoses);
AnimPoseVec absolutePoses2;
absolutePoses2.resize(_poses.size());
// do this later
//computeAbsolutePoses(absolutePoses2);
int jointIndex2 = _skeleton->nameToJointIndex("Spine2");
AnimPose origSpine2PoseAbs = _skeleton->getAbsolutePose(jointIndex2, _poses);
if ((jointIndex2 != -1) && (_poses.size() > 0)) {
AnimPose origSpine2 = _skeleton->getAbsolutePose(jointIndex2, _poses);
AnimPose origSpine1 = _skeleton->getAbsolutePose(_skeleton->nameToJointIndex("Spine1"),_poses);
//origSpine2PoseRel = origSpine1.inverse() * origSpine2;
//qCDebug(animation) << "origSpine2Pose: " << origSpine2Pose.rot();
//qCDebug(animation) << "original relative spine2 " << origSpine2PoseAbs;
}
IKTarget target; IKTarget target;
int jointIndex = _skeleton->nameToJointIndex("Head"); if (_headIndex != -1) {
if (jointIndex != -1) {
target.setType(animVars.lookup("headType", (int)IKTarget::Type::RotationAndPosition)); target.setType(animVars.lookup("headType", (int)IKTarget::Type::RotationAndPosition));
target.setIndex(jointIndex); target.setIndex(_headIndex);
AnimPose absPose = _skeleton->getAbsolutePose(jointIndex, _poses); AnimPose absPose = _skeleton->getAbsolutePose(_headIndex, _poses);
glm::quat rotation = animVars.lookupRigToGeometry("headRotation", absPose.rot()); glm::quat rotation = animVars.lookupRigToGeometry("headRotation", absPose.rot());
glm::vec3 translation = animVars.lookupRigToGeometry("headPosition", absPose.trans()); glm::vec3 translation = animVars.lookupRigToGeometry("headPosition", absPose.trans());
float weight = animVars.lookup("headWeight", "4.0"); float weight = animVars.lookup("headWeight", "4.0");
//qCDebug(animation) << "target 1 rotation absolute" << rotation;
target.setPose(rotation, translation); target.setPose(rotation, translation);
target.setWeight(weight); target.setWeight(weight);
//const float* flexCoefficients = new float[5]{ 1.0f, 0.5f, 0.25f, 0.2f, 0.1f }; const float* flexCoefficients = new float[5]{ 1.0f, 1.0f, 1.0f, 1.0f, 1.0f };
const float* flexCoefficients = new float[2]{ 1.0f, 0.5f }; //const float* flexCoefficients = new float[2]{ 0.0f, 1.0f };
target.setFlexCoefficients(2, flexCoefficients); target.setFlexCoefficients(5, flexCoefficients);
// record the index of the hips ik target.
if (target.getIndex() == _hipsIndex) {
_hipsTargetIndex = 1;
}
} }
AnimPose origAbsAfterHeadSpline;
AnimPose finalSpine2;
AnimChain jointChain; AnimChain jointChain;
AnimPose targetSpine2; AnimPose targetSpine2;
AnimPoseVec absolutePoses2;
absolutePoses2.resize(_poses.size());
if (_poses.size() > 0) { if (_poses.size() > 0) {
_snapshotChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex()); //_snapshotChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex()); jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain2.buildFromRelativePoses(_skeleton, _poses, target2.getIndex());
// for each target solve target with spline
//qCDebug(animation) << "before head spline";
//jointChain.dump();
solveTargetWithSpline(context, target, absolutePoses, false, jointChain); solveTargetWithSpline(context, target, absolutePoses, false, jointChain);
AnimPose afterSolveSpine2 = jointChain.getAbsolutePoseFromJointIndex(jointIndex2);
AnimPose afterSolveSpine1 = jointChain.getAbsolutePoseFromJointIndex(_skeleton->nameToJointIndex("Spine1"));
AnimPose afterSolveSpine2Rel = afterSolveSpine1.inverse() * afterSolveSpine2;
AnimPose originalSpine2Relative = afterSolveSpine1.inverse() * origSpine2PoseAbs;
glm::quat rotation3 = animVars.lookupRigToGeometry("spine2Rotation", afterSolveSpine2.rot());
glm::vec3 translation3 = animVars.lookupRigToGeometry("spine2Position", afterSolveSpine2.trans());
targetSpine2 = AnimPose(rotation3, afterSolveSpine2.trans());
finalSpine2 = afterSolveSpine1.inverse() * targetSpine2;
//qCDebug(animation) << "relative spine2 after solve" << afterSolveSpine2Rel;
//qCDebug(animation) << "relative spine2 orig" << originalSpine2Relative;
AnimPose latestSpine2Relative(originalSpine2Relative.rot(), afterSolveSpine2Rel.trans());
//jointChain.setRelativePoseAtJointIndex(jointIndex2, finalSpine2);
jointChain.outputRelativePoses(_poses); jointChain.outputRelativePoses(_poses);
//_poses[_headIndex] = jointChain.getRelativePoseAtJointIndex(_headIndex);
//_poses[_skeleton->nameToJointIndex("Neck")] = jointChain.getRelativePoseAtJointIndex(_skeleton->nameToJointIndex("Neck"));
//_poses[_spine2Index] = jointChain.getRelativePoseAtJointIndex(_spine2Index);
//custom output code for the head. just do the head neck and spine2
AnimPose afterSolveSpine2 = _skeleton->getAbsolutePose(_spine2Index, _poses);
//qCDebug(animation) << "after head spline"; glm::quat spine2RotationTarget = animVars.lookupRigToGeometry("spine2Rotation", afterSolveSpine2.rot());
//jointChain.dump();
computeAbsolutePoses(absolutePoses2);
//origAbsAfterHeadSpline = _skeleton->getAbsolutePose(jointIndex2, _poses);
// qCDebug(animation) << "Spine2 trans after head spline: " << origAbsAfterHeadSpline.trans();
targetSpine2 = AnimPose(spine2RotationTarget, afterSolveSpine2.trans());
} }
/*
IKTarget target2; IKTarget target2;
//int jointIndex2 = _skeleton->nameToJointIndex("Spine2"); computeAbsolutePoses(absolutePoses2);
if (jointIndex2 != -1) { if (_spine2Index != -1) {
target2.setType(animVars.lookup("spine2Type", (int)IKTarget::Type::RotationAndPosition)); target2.setType(animVars.lookup("spine2Type", (int)IKTarget::Type::RotationAndPosition));
target2.setIndex(jointIndex2); target2.setIndex(_spine2Index);
AnimPose absPose2 = _skeleton->getAbsolutePose(jointIndex2, _poses);
glm::quat rotation2 = animVars.lookupRigToGeometry("spine2Rotation", absPose2.rot());
glm::vec3 translation2 = animVars.lookupRigToGeometry("spine2Position", absPose2.trans());
float weight2 = animVars.lookup("spine2Weight", "2.0");
// qCDebug(animation) << "rig to geometry" << rotation2;
//target2.setPose(rotation2, translation2); float weight2 = animVars.lookup("spine2Weight", "2.0");
target2.setPose(targetSpine2.rot(), targetSpine2.trans()); target2.setPose(targetSpine2.rot(), targetSpine2.trans());
target2.setWeight(weight2); target2.setWeight(weight2);
const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f };
const float* flexCoefficients2 = new float[3]{ 1.0f, 1.0f, 1.0f };
target2.setFlexCoefficients(3, flexCoefficients2); target2.setFlexCoefficients(3, flexCoefficients2);
} }
AnimChain jointChain2; AnimChain jointChain2;
AnimPose beforeSolveChestNeck;
if (_poses.size() > 0) { if (_poses.size() > 0) {
// _snapshotChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex());
// jointChain.buildFromRelativePoses(_skeleton, _poses, target.getIndex()); beforeSolveChestNeck = _skeleton->getAbsolutePose(_skeleton->nameToJointIndex("Neck"), _poses);
// jointChain2.buildFromRelativePoses(_skeleton, underPoses, target2.getIndex());
jointChain2.buildFromRelativePoses(_skeleton, _poses, target2.getIndex()); jointChain2.buildFromRelativePoses(_skeleton, _poses, target2.getIndex());
// for each target solve target with spline
solveTargetWithSpline(context, target2, absolutePoses2, false, jointChain2); solveTargetWithSpline(context, target2, absolutePoses2, false, jointChain2);
//jointChain.outputRelativePoses(_poses);
jointChain2.outputRelativePoses(_poses); jointChain2.outputRelativePoses(_poses);
//computeAbsolutePoses(absolutePoses);
//qCDebug(animation) << "Spine2 spline";
//jointChain2.dump();
//qCDebug(animation) << "Spine2Pose trans after spine2 spline: " << _skeleton->getAbsolutePose(jointIndex2, _poses).trans();
} }
*/
const float FRAMES_PER_SECOND = 30.0f; const float FRAMES_PER_SECOND = 30.0f;
@ -209,9 +147,26 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
// make the prevchain // make the prevchain
// interp from the previous chain to the new chain/or underposes if the ik is disabled. // interp from the previous chain to the new chain/or underposes if the ik is disabled.
// update the relative poses and then we are done // update the relative poses and then we are done
/**/ // set the tip/head rotation to match the absolute rotation of the target.
int headParent = _skeleton->getParentIndex(_headIndex);
int spine2Parent = _skeleton->getParentIndex(_spine2Index);
if ((spine2Parent != -1) && (headParent != -1) && (_poses.size() > 0)) {
/*
AnimPose spine2Target(target2.getRotation(), target2.getTranslation());
AnimPose finalSpine2RelativePose = _skeleton->getAbsolutePose(spine2Parent, _poses).inverse() * spine2Target;
_poses[_spine2Index] = finalSpine2RelativePose;
AnimPose neckAbsolute = _skeleton->getAbsolutePose(headParent, _poses);
AnimPose finalNeckAbsolute = AnimPose(safeLerp(target2.getRotation(), target.getRotation(), 1.0f),neckAbsolute.trans());
_poses[headParent] = spine2Target.inverse() * beforeSolveChestNeck;
*/
AnimPose headTarget(target.getRotation(),target.getTranslation());
AnimPose finalHeadRelativePose = _skeleton->getAbsolutePose(headParent,_poses).inverse() * headTarget;
_poses[_headIndex] = finalHeadRelativePose;
}
return _poses; return _poses;
} }
@ -275,19 +230,19 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTar
// build spline from tip to base // build spline from tip to base
AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation()); AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation());
AnimPose basePose; AnimPose basePose;
if (target.getIndex() == _headIndex) { //if (target.getIndex() == _headIndex) {
basePose = absolutePoses[headBaseIndex]; // basePose = absolutePoses[headBaseIndex];
} else { //} else {
basePose = absolutePoses[baseIndex]; basePose = absolutePoses[baseIndex];
} //}
CubicHermiteSplineFunctorWithArcLength spline; CubicHermiteSplineFunctorWithArcLength spline;
if (target.getIndex() == _headIndex) { if (target.getIndex() == _headIndex) {
// set gain factors so that more curvature occurs near the tip of the spline. // set gain factors so that more curvature occurs near the tip of the spline.
const float HIPS_GAIN = 0.5f; const float HIPS_GAIN = 0.5f;
const float HEAD_GAIN = 1.0f; const float HEAD_GAIN = 1.0f;
//spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN); spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
spline = computeSplineFromTipAndBase(tipPose, basePose); // spline = computeSplineFromTipAndBase(tipPose, basePose);
} else { } else {
spline = computeSplineFromTipAndBase(tipPose, basePose); spline = computeSplineFromTipAndBase(tipPose, basePose);
} }
@ -359,6 +314,9 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTar
if (!chainInfoOut.setRelativePoseAtJointIndex(splineJointInfo.jointIndex, relPose)) { if (!chainInfoOut.setRelativePoseAtJointIndex(splineJointInfo.jointIndex, relPose)) {
qCDebug(animation) << "we didn't find the joint index for the spline!!!!"; qCDebug(animation) << "we didn't find the joint index for the spline!!!!";
} }
if (splineJointInfo.jointIndex == _skeleton->nameToJointIndex("Neck")) {
qCDebug(animation) << "neck is " << relPose;
}
parentAbsPose = flexedAbsPose; parentAbsPose = flexedAbsPose;
} }
@ -393,8 +351,8 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex()); AnimPose tipPose = _skeleton->getAbsoluteDefaultPose(target.getIndex());
AnimPose basePose; AnimPose basePose;
if (target.getIndex() == _headIndex) { if (target.getIndex() == _headIndex) {
//basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex); basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
basePose = _skeleton->getAbsoluteDefaultPose(_spine2Index); //basePose = _skeleton->getAbsoluteDefaultPose(_spine2Index);
} else { } else {
basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex); basePose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
} }
@ -404,8 +362,8 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
// set gain factors so that more curvature occurs near the tip of the spline. // set gain factors so that more curvature occurs near the tip of the spline.
const float HIPS_GAIN = 0.5f; const float HIPS_GAIN = 0.5f;
const float HEAD_GAIN = 1.0f; const float HEAD_GAIN = 1.0f;
// spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN); spline = computeSplineFromTipAndBase(tipPose, basePose, HIPS_GAIN, HEAD_GAIN);
spline = computeSplineFromTipAndBase(tipPose, basePose); // spline = computeSplineFromTipAndBase(tipPose, basePose);
} else { } else {
spline = computeSplineFromTipAndBase(tipPose, basePose); spline = computeSplineFromTipAndBase(tipPose, basePose);
} }

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

@ -1544,6 +1544,7 @@ void Rig::updateHands2(bool leftHandEnabled, bool rightHandEnabled, bool headEna
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm"); int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm");
glm::vec3 poleVector; glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, oppositeArmJointIndex, poleVector); bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, oppositeArmJointIndex, poleVector);
//glm::vec3 poleVector = calculateKneePoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, hipsIndex, rightHandPose);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector); glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter, but in sensor space. // smooth toward desired pole vector from previous pole vector... to reduce jitter, but in sensor space.
@ -1556,7 +1557,7 @@ void Rig::updateHands2(bool leftHandEnabled, bool rightHandEnabled, bool headEna
_prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector; _prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector;
_animVars.set("leftHandPoleVectorEnabled", true); _animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevLeftFootPoleVector)); _animVars.set("leftHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevLeftHandPoleVector));
} else { } else {
// We want to drive the IK from the underlying animation. // We want to drive the IK from the underlying animation.
// This gives us the ability to squat while in the HMD, without the feet from dipping under the floor. // This gives us the ability to squat while in the HMD, without the feet from dipping under the floor.
@ -1595,7 +1596,7 @@ void Rig::updateHands2(bool leftHandEnabled, bool rightHandEnabled, bool headEna
_prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector; _prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector;
_animVars.set("rightHandPoleVectorEnabled", true); _animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevRightFootPoleVector)); _animVars.set("rightHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevRightHandPoleVector));
} else { } else {
// We want to drive the IK from the underlying animation. // We want to drive the IK from the underlying animation.
// This gives us the ability to squat while in the HMD, without the feet from dipping under the floor. // This gives us the ability to squat while in the HMD, without the feet from dipping under the floor.
@ -1856,14 +1857,14 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
updateHead(_headEnabled, hipsEnabled, params.primaryControllerPoses[PrimaryControllerType_Head]); updateHead(_headEnabled, hipsEnabled, params.primaryControllerPoses[PrimaryControllerType_Head]);
//updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, hipsEstimated, leftArmEnabled, rightArmEnabled, _headEnabled, dt, updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, hipsEstimated, leftArmEnabled, rightArmEnabled, _headEnabled, 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); params.rigToSensorMatrix, sensorToRigMatrix);
updateHands2(leftHandEnabled, rightHandEnabled, _headEnabled, //updateHands2(leftHandEnabled, rightHandEnabled, _headEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand], // params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
params.rigToSensorMatrix, sensorToRigMatrix); // params.rigToSensorMatrix, sensorToRigMatrix);
updateFeet(leftFootEnabled, rightFootEnabled, _headEnabled, updateFeet(leftFootEnabled, rightFootEnabled, _headEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot], params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot],