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Simplified/Improved avatar capsule calculation

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IK is no longer performed during capsule calculation, This fixes an issue with the mannequin avatar in the marketplace.
Specifically, it was causing the hips to rise during IK which would result in an incorrectly sized and offset capsule.
This commit is contained in:
Anthony J. Thibault 2017-08-15 13:44:03 -07:00
parent 342f8acff5
commit f46198c2fd
1 changed files with 6 additions and 55 deletions
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61
libraries/animation/src/Rig.cpp
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@ -1761,59 +1761,11 @@ void Rig::computeAvatarBoundingCapsule(
return;
}
AnimInverseKinematics ikNode("boundingShape");
ikNode.setSkeleton(_animSkeleton);
ikNode.setTargetVars("LeftHand", "leftHandPosition", "leftHandRotation",
"leftHandType", "leftHandWeight", 1.0f, {},
QString(), QString(), QString());
ikNode.setTargetVars("RightHand", "rightHandPosition", "rightHandRotation",
"rightHandType", "rightHandWeight", 1.0f, {},
QString(), QString(), QString());
ikNode.setTargetVars("LeftFoot", "leftFootPosition", "leftFootRotation",
"leftFootType", "leftFootWeight", 1.0f, {},
QString(), QString(), QString());
ikNode.setTargetVars("RightFoot", "rightFootPosition", "rightFootRotation",
"rightFootType", "rightFootWeight", 1.0f, {},
QString(), QString(), QString());
glm::vec3 hipsPosition(0.0f);
int hipsIndex = indexOfJoint("Hips");
if (hipsIndex >= 0) {
hipsPosition = transformPoint(_geometryToRigTransform, _animSkeleton->getAbsoluteDefaultPose(hipsIndex).trans());
}
AnimVariantMap animVars;
animVars.setRigToGeometryTransform(_rigToGeometryTransform);
glm::quat handRotation = glm::angleAxis(PI, Vectors::UNIT_X);
animVars.set("leftHandPosition", hipsPosition);
animVars.set("leftHandRotation", handRotation);
animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightHandPosition", hipsPosition);
animVars.set("rightHandRotation", handRotation);
animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
int rightFootIndex = indexOfJoint("RightFoot");
int leftFootIndex = indexOfJoint("LeftFoot");
if (rightFootIndex != -1 && leftFootIndex != -1) {
glm::vec3 geomFootPosition = glm::vec3(0.0f, _animSkeleton->getAbsoluteDefaultPose(rightFootIndex).trans().y, 0.0f);
glm::vec3 footPosition = transformPoint(_geometryToRigTransform, geomFootPosition);
glm::quat footRotation = glm::angleAxis(0.5f * PI, Vectors::UNIT_X);
animVars.set("leftFootPosition", footPosition);
animVars.set("leftFootRotation", footRotation);
animVars.set("leftFootType", (int)IKTarget::Type::RotationAndPosition);
animVars.set("rightFootPosition", footPosition);
animVars.set("rightFootRotation", footRotation);
animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition);
}
// call overlay twice: once to verify AnimPoseVec joints and again to do the IK
AnimNode::Triggers triggersOut;
AnimContext context(false, false, false, _geometryToRigTransform, _rigToGeometryTransform);
float dt = 1.0f; // the value of this does not matter
ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
AnimPoseVec finalPoses = ikNode.overlay(animVars, context, dt, triggersOut, _animSkeleton->getRelativeBindPoses());
// convert relative poses to absolute
_animSkeleton->convertRelativePosesToAbsolute(finalPoses);
// compute bounding box that encloses all points
Extents totalExtents;
@ -1824,15 +1776,15 @@ void Rig::computeAvatarBoundingCapsule(
// even if they do not have legs (default robot)
totalExtents.addPoint(glm::vec3(0.0f));
// HACK to reduce the radius of the bounding capsule to be tight with the torso, we only consider joints
// To reduce the radius of the bounding capsule to be tight with the torso, we only consider joints
// from the head to the hips when computing the rest of the bounding capsule.
int index = indexOfJoint("Head");
while (index != -1) {
const FBXJointShapeInfo& shapeInfo = geometry.joints.at(index).shapeInfo;
AnimPose pose = finalPoses[index];
AnimPose pose = _animSkeleton->getAbsoluteDefaultPose(index);
if (shapeInfo.points.size() > 0) {
for (size_t j = 0; j < shapeInfo.points.size(); ++j) {
totalExtents.addPoint((pose * shapeInfo.points[j]));
for (auto& point : shapeInfo.points) {
totalExtents.addPoint((pose * point));
}
}
index = _animSkeleton->getParentIndex(index);
@ -1846,7 +1798,6 @@ void Rig::computeAvatarBoundingCapsule(
radiusOut = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
heightOut = diagonal.y - 2.0f * radiusOut;
glm::vec3 rootPosition = finalPoses[geometry.rootJointIndex].trans();
glm::vec3 rigCenter = transformPoint(_geometryToRigTransform, (0.5f * (totalExtents.maximum + totalExtents.minimum)));
localOffsetOut = rigCenter - transformPoint(_geometryToRigTransform, rootPosition);
glm::vec3 capsuleCenter = transformPoint(_geometryToRigTransform, (0.5f * (totalExtents.maximum + totalExtents.minimum)));
localOffsetOut = capsuleCenter - hipsPosition;
}