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got rid of the lag in the spline code by setting the flex coeffs to 1.0

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This commit is contained in:
amantley 2019-01-25 17:11:07 -08:00
parent bcbd9323c0
commit f2a7f37950
9 changed files with 20 additions and 41 deletions
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4
interface/resources/avatar/avatar-animation_withIKNode.json
View file

@ -194,8 +194,8 @@
"enabledVar": "splineIKEnabled", "enabledVar": "splineIKEnabled",
"endEffectorRotationVarVar": "splineIKRotationVar", "endEffectorRotationVarVar": "splineIKRotationVar",
"endEffectorPositionVarVar": "splineIKPositionVar", "endEffectorPositionVarVar": "splineIKPositionVar",
"primaryFlexCoefficients": "1, 0.5, 0.25, 0.2, 0.1", "primaryFlexCoefficients": "1.0, 1.0, 1.0, 1.0, 1.0",
"secondaryFlexCoefficients": "1.0, 0.5, 0.25" "secondaryFlexCoefficients": "1.0, 1.0, 1.0"
}, },
"children": [ "children": [
{ {

1
interface/src/Application.cpp
View file

@ -4814,6 +4814,7 @@ void setupCpuMonitorThread() {
void Application::idle() { void Application::idle() {
PerformanceTimer perfTimer("idle"); PerformanceTimer perfTimer("idle");
// Update the deadlock watchdog // Update the deadlock watchdog
updateHeartbeat(); updateHeartbeat();

10
libraries/animation/src/AnimChain.h
View file

@ -82,16 +82,6 @@ public:
return foundIndex; return foundIndex;
} }
const AnimPose& getRelativePoseAtJointIndex(int jointIndex) const {
for (int i = 0; i < _top; i++) {
if (_chain[i].jointIndex == jointIndex) {
return _chain[i].relativePose;
}
}
return AnimPose::identity;
}
void buildDirtyAbsolutePoses() { void buildDirtyAbsolutePoses() {
// the relative and absolute pose is the same for the base of the chain. // the relative and absolute pose is the same for the base of the chain.
_chain[_top - 1].absolutePose = _chain[_top - 1].relativePose; _chain[_top - 1].absolutePose = _chain[_top - 1].relativePose;

6
libraries/animation/src/AnimNodeLoader.cpp
View file

@ -601,9 +601,9 @@ static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QStr
auto node = std::make_shared<AnimSplineIK>(id, alpha, enabled, interpDuration, auto node = std::make_shared<AnimSplineIK>(id, alpha, enabled, interpDuration,
baseJointName, tipJointName, baseJointName, tipJointName,
alphaVar, enabledVar, endEffectorRotationVarVar, endEffectorPositionVarVar, alphaVar, enabledVar, endEffectorRotationVarVar, endEffectorPositionVarVar,
basePositionVar, baseRotationVar, basePositionVar, baseRotationVar,
tipPositionVar, tipRotationVar, secondaryTargetJointName, secondaryTargetPositionVar, tipPositionVar, tipRotationVar, secondaryTargetJointName, secondaryTargetPositionVar,
secondaryTargetRotationVar, primaryFlexCoefficients, secondaryFlexCoefficients); secondaryTargetRotationVar, primaryFlexCoefficients, secondaryFlexCoefficients);
return node; return node;
} }

31
libraries/animation/src/AnimSplineIK.cpp
View file

@ -51,7 +51,7 @@ AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float i
_secondaryTargetPositionVar(secondaryTargetPositionVar), _secondaryTargetPositionVar(secondaryTargetPositionVar),
_secondaryTargetRotationVar(secondaryTargetRotationVar) _secondaryTargetRotationVar(secondaryTargetRotationVar)
{ {
QStringList flexCoefficientsValues = primaryFlexCoefficients.split(',', QString::SkipEmptyParts); QStringList flexCoefficientsValues = primaryFlexCoefficients.split(',', QString::SkipEmptyParts);
for (int i = 0; i < flexCoefficientsValues.size(); i++) { for (int i = 0; i < flexCoefficientsValues.size(); i++) {
if (i < MAX_NUMBER_FLEX_VARIABLES) { if (i < MAX_NUMBER_FLEX_VARIABLES) {
@ -134,7 +134,6 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
glm::vec3 hipsTargetTranslation; glm::vec3 hipsTargetTranslation;
// now we override the hips with the hips target pose. // now we override the hips with the hips target pose.
////////////////////////////////////////////////////
if (_poses.size() > 0) { if (_poses.size() > 0) {
AnimPose hipsUnderPose = _skeleton->getAbsolutePose(_hipsIndex, _poses); AnimPose hipsUnderPose = _skeleton->getAbsolutePose(_hipsIndex, _poses);
hipsTargetRotation = animVars.lookupRigToGeometry("hipsRotation", hipsUnderPose.rot()); hipsTargetRotation = animVars.lookupRigToGeometry("hipsRotation", hipsUnderPose.rot());
@ -147,12 +146,11 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
_poses[_hipsIndex] = hipsParentAbsPose.inverse() * absHipsTargetPose; _poses[_hipsIndex] = hipsParentAbsPose.inverse() * absHipsTargetPose;
_poses[_hipsIndex].scale() = glm::vec3(1.0f); _poses[_hipsIndex].scale() = glm::vec3(1.0f);
} }
//////////////////////////////////////////////////////////////////////////////////
AnimPoseVec absolutePoses; AnimPoseVec absolutePoses;
absolutePoses.resize(_poses.size()); absolutePoses.resize(_poses.size());
computeAbsolutePoses(absolutePoses); computeAbsolutePoses(absolutePoses);
IKTarget target; IKTarget target;
if (_tipJointIndex != -1) { if (_tipJointIndex != -1) {
target.setType((int)IKTarget::Type::Spline); target.setType((int)IKTarget::Type::Spline);
@ -165,7 +163,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
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, 0.5f, 0.25f, 0.2f, 0.1f };
target.setFlexCoefficients(_numPrimaryFlexCoefficients, _primaryFlexCoefficients); target.setFlexCoefficients(_numPrimaryFlexCoefficients, _primaryFlexCoefficients);
@ -186,12 +184,10 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimPose afterSolveSecondaryTarget = _skeleton->getAbsolutePose(_secondaryTargetIndex, _poses); AnimPose afterSolveSecondaryTarget = _skeleton->getAbsolutePose(_secondaryTargetIndex, _poses);
glm::quat secondaryTargetRotation = animVars.lookupRigToGeometry(_secondaryTargetRotationVar, afterSolveSecondaryTarget.rot()); glm::quat secondaryTargetRotation = animVars.lookupRigToGeometry(_secondaryTargetRotationVar, afterSolveSecondaryTarget.rot());
updatedSecondaryTarget = AnimPose(secondaryTargetRotation, afterSolveSecondaryTarget.trans());
updatedSecondaryTarget = AnimPose(secondaryTargetRotation, afterSolveSecondaryTarget.trans());
//updatedSecondaryTarget = AnimPose(afterSolveSecondaryTarget.rot(), afterSolveSecondaryTarget.trans()); //updatedSecondaryTarget = AnimPose(afterSolveSecondaryTarget.rot(), afterSolveSecondaryTarget.trans());
} }
IKTarget secondaryTarget; IKTarget secondaryTarget;
computeAbsolutePoses(absolutePoses2); computeAbsolutePoses(absolutePoses2);
if (_secondaryTargetIndex != -1) { if (_secondaryTargetIndex != -1) {
@ -199,14 +195,13 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
secondaryTarget.setIndex(_secondaryTargetIndex); secondaryTarget.setIndex(_secondaryTargetIndex);
float weight2 = 1.0f; float weight2 = 1.0f;
secondaryTarget.setPose(updatedSecondaryTarget.rot(), updatedSecondaryTarget.trans()); secondaryTarget.setPose(updatedSecondaryTarget.rot(), updatedSecondaryTarget.trans());
secondaryTarget.setWeight(weight2); secondaryTarget.setWeight(weight2);
const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f }; const float* flexCoefficients2 = new float[3]{ 1.0f, 0.5f, 0.25f };
secondaryTarget.setFlexCoefficients(_numSecondaryFlexCoefficients, _secondaryFlexCoefficients); secondaryTarget.setFlexCoefficients(_numSecondaryFlexCoefficients, _secondaryFlexCoefficients);
} }
AnimChain secondaryJointChain; AnimChain secondaryJointChain;
AnimPose beforeSolveChestNeck; AnimPose beforeSolveChestNeck;
if (_poses.size() > 0) { if (_poses.size() > 0) {
@ -223,17 +218,11 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
int tipParent = _skeleton->getParentIndex(_tipJointIndex); int tipParent = _skeleton->getParentIndex(_tipJointIndex);
int secondaryTargetParent = _skeleton->getParentIndex(_secondaryTargetIndex); int secondaryTargetParent = _skeleton->getParentIndex(_secondaryTargetIndex);
if ((secondaryTargetParent != -1) && (tipParent != -1) && (_poses.size() > 0)) { if ((secondaryTargetParent != -1) && (tipParent != -1) && (_poses.size() > 0)) {
/*
AnimPose secondaryTargetPose(target2.getRotation(), target2.getTranslation());
AnimPose secondaryTargetRelativePose = _skeleton->getAbsolutePose(secondaryTargetParent, _poses).inverse() * secondaryTargetPose;
_poses[_secondaryTargetIndex] = secondaryTargetRelativePose;
*/
AnimPose secondaryTargetPose(secondaryTarget.getRotation(), secondaryTarget.getTranslation()); AnimPose secondaryTargetPose(secondaryTarget.getRotation(), secondaryTarget.getTranslation());
AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses); AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses);
//AnimPose finalNeckAbsolute = AnimPose(safeLerp(target2.getRotation(), target.getRotation(), 1.0f),neckAbsolute.trans());
_poses[tipParent] = secondaryTargetPose.inverse() * beforeSolveChestNeck; _poses[tipParent] = secondaryTargetPose.inverse() * beforeSolveChestNeck;
AnimPose tipTarget(target.getRotation(),target.getTranslation()); AnimPose tipTarget(target.getRotation(),target.getTranslation());
AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTarget; AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTarget;
_poses[_tipJointIndex] = tipRelativePose; _poses[_tipJointIndex] = tipRelativePose;
@ -314,7 +303,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
} }
_previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets(); _previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets();
return _poses; return _poses;
} }
@ -458,7 +447,7 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTar
relPose.trans() = glm::vec3(0.0f); relPose.trans() = glm::vec3(0.0f);
} }
} }
// note we are ignoring the constrained info for now. // note we are ignoring the constrained info for now.
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!!!!";
} }

4
libraries/animation/src/AnimSplineIK.h
View file

@ -21,8 +21,8 @@ public:
AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration, AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration,
const QString& baseJointName, const QString& tipJointName, const QString& baseJointName, const QString& tipJointName,
const QString& alphaVar, const QString& enabledVar, const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar, const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar,
const QString& basePositionVar, const QString& baseRotationVar, const QString& basePositionVar, const QString& baseRotationVar,
const QString& tipPositionVar, const QString& tipRotationVar, const QString& tipPositionVar, const QString& tipRotationVar,
const QString& secondaryTargetJointName, const QString& secondaryTargetJointName,
const QString& secondaryTargetPositionVar, const QString& secondaryTargetPositionVar,

2
libraries/animation/src/AnimTwoBoneIK.cpp
View file

@ -89,7 +89,7 @@ const AnimPoseVec& AnimTwoBoneIK::evaluate(const AnimVariantMap& animVars, const
} }
_enabled = enabled; _enabled = enabled;
// don't build chains or do IK if we are disabled & not interping. // don't build chains or do IK if we are disbled & not interping.
if (_interpType == InterpType::None && !enabled) { if (_interpType == InterpType::None && !enabled) {
_poses = underPoses; _poses = underPoses;
return _poses; return _poses;

2
libraries/animation/src/Rig.cpp
View file

@ -1468,7 +1468,7 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
// need this for two bone ik // need this for two bone ik
_animVars.set(LEFT_HAND_IK_POSITION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_POSITION); _animVars.set(LEFT_HAND_IK_POSITION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_POSITION);
_animVars.set(LEFT_HAND_IK_ROTATION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_ROTATION); _animVars.set(LEFT_HAND_IK_ROTATION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_ROTATION);
_animVars.set("leftHandPoleVectorEnabled", false); _animVars.set("leftHandPoleVectorEnabled", false);
_animVars.unset("leftHandPosition"); _animVars.unset("leftHandPosition");
_animVars.unset("leftHandRotation"); _animVars.unset("leftHandRotation");

1
libraries/fbx/src/FBXSerializer.cpp
View file

@ -1314,7 +1314,6 @@ HFMModel* FBXSerializer::extractHFMModel(const QVariantHash& mapping, const QStr
joint.inverseBindRotation = joint.inverseDefaultRotation; joint.inverseBindRotation = joint.inverseDefaultRotation;
joint.name = fbxModel.name; joint.name = fbxModel.name;
if (hfmModel.hfmToHifiJointNameMapping.contains(hfmModel.hfmToHifiJointNameMapping.key(joint.name))) { if (hfmModel.hfmToHifiJointNameMapping.contains(hfmModel.hfmToHifiJointNameMapping.key(joint.name))) {
// qCDebug(modelformat) << "joint name " << joint.name << " hifi name " << hfmModel.hfmToHifiJointNameMapping.key(fbxModel.name);
joint.name = hfmModel.hfmToHifiJointNameMapping.key(fbxModel.name); joint.name = hfmModel.hfmToHifiJointNameMapping.key(fbxModel.name);
} }