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further cleaning, broke the arms

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amantley 2019-01-28 13:53:30 -08:00
parent f8bfef6dbd
commit ffd3a24bf2
4 changed files with 29 additions and 69 deletions
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2
interface/resources/avatar/avatar-animation_withSplineIKNode.json
View file

@ -192,8 +192,6 @@
"tipRotationVar": "headRotation", "tipRotationVar": "headRotation",
"alphaVar": "splineIKAlpha", "alphaVar": "splineIKAlpha",
"enabledVar": "splineIKEnabled", "enabledVar": "splineIKEnabled",
"endEffectorRotationVarVar": "splineIKRotationVar",
"endEffectorPositionVarVar": "splineIKPositionVar",
"tipTargetFlexCoefficients": "1.0, 1.0, 1.0, 1.0, 1.0", "tipTargetFlexCoefficients": "1.0, 1.0, 1.0, 1.0, 1.0",
"midTargetFlexCoefficients": "1.0, 1.0, 1.0" "midTargetFlexCoefficients": "1.0, 1.0, 1.0"
}, },

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

@ -594,16 +594,14 @@ static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QStr
READ_STRING(tipRotationVar, jsonObj, id, jsonUrl, nullptr); READ_STRING(tipRotationVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(alphaVar, jsonObj, id, jsonUrl, nullptr); READ_STRING(alphaVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(enabledVar, jsonObj, id, jsonUrl, nullptr); READ_STRING(enabledVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(endEffectorRotationVarVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(endEffectorPositionVarVar, jsonObj, id, jsonUrl, nullptr);
READ_STRING(tipTargetFlexCoefficients, jsonObj, id, jsonUrl, nullptr); READ_STRING(tipTargetFlexCoefficients, jsonObj, id, jsonUrl, nullptr);
READ_STRING(midTargetFlexCoefficients, jsonObj, id, jsonUrl, nullptr); READ_STRING(midTargetFlexCoefficients, jsonObj, id, jsonUrl, nullptr);
auto node = std::make_shared<AnimSplineIK>(id, alpha, enabled, interpDuration, auto node = std::make_shared<AnimSplineIK>(id, alpha, enabled, interpDuration,
baseJointName, midJointName, tipJointName, baseJointName, midJointName, tipJointName,
alphaVar, enabledVar, endEffectorRotationVarVar, endEffectorPositionVarVar,
basePositionVar, baseRotationVar, midPositionVar, midRotationVar, basePositionVar, baseRotationVar, midPositionVar, midRotationVar,
tipPositionVar, tipRotationVar, tipTargetFlexCoefficients, midTargetFlexCoefficients); tipPositionVar, tipRotationVar, alphaVar, enabledVar,
tipTargetFlexCoefficients, midTargetFlexCoefficients);
return node; return node;
} }

78
libraries/animation/src/AnimSplineIK.cpp
View file

@ -21,14 +21,14 @@ AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float i
const QString& baseJointName, const QString& baseJointName,
const QString& midJointName, const QString& midJointName,
const QString& tipJointName, const QString& tipJointName,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar,
const QString& basePositionVar, const QString& basePositionVar,
const QString& baseRotationVar, const QString& baseRotationVar,
const QString& midPositionVar, const QString& midPositionVar,
const QString& midRotationVar, const QString& midRotationVar,
const QString& tipPositionVar, const QString& tipPositionVar,
const QString& tipRotationVar, const QString& tipRotationVar,
const QString& alphaVar,
const QString& enabledVar,
const QString& tipTargetFlexCoefficients, const QString& tipTargetFlexCoefficients,
const QString& midTargetFlexCoefficients) : const QString& midTargetFlexCoefficients) :
AnimNode(AnimNode::Type::SplineIK, id), AnimNode(AnimNode::Type::SplineIK, id),
@ -38,18 +38,14 @@ AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float i
_baseJointName(baseJointName), _baseJointName(baseJointName),
_midJointName(midJointName), _midJointName(midJointName),
_tipJointName(tipJointName), _tipJointName(tipJointName),
_alphaVar(alphaVar),
_enabledVar(enabledVar),
_endEffectorRotationVarVar(endEffectorRotationVarVar),
_endEffectorPositionVarVar(endEffectorPositionVarVar),
_prevEndEffectorRotationVar(),
_prevEndEffectorPositionVar(),
_basePositionVar(basePositionVar), _basePositionVar(basePositionVar),
_baseRotationVar(baseRotationVar), _baseRotationVar(baseRotationVar),
_midPositionVar(midPositionVar), _midPositionVar(midPositionVar),
_midRotationVar(midRotationVar), _midRotationVar(midRotationVar),
_tipPositionVar(tipPositionVar), _tipPositionVar(tipPositionVar),
_tipRotationVar(tipRotationVar) _tipRotationVar(tipRotationVar),
_alphaVar(alphaVar),
_enabledVar(enabledVar)
{ {
QStringList tipTargetFlexCoefficientsValues = tipTargetFlexCoefficients.split(',', QString::SkipEmptyParts); QStringList tipTargetFlexCoefficientsValues = tipTargetFlexCoefficients.split(',', QString::SkipEmptyParts);
@ -101,7 +97,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
return _poses; return _poses;
} }
// guard against size changes // guard against size change
if (underPoses.size() != _poses.size()) { if (underPoses.size() != _poses.size()) {
_poses = underPoses; _poses = underPoses;
} }
@ -130,17 +126,14 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimChain underChain; AnimChain underChain;
underChain.buildFromRelativePoses(_skeleton, underPoses, _tipJointIndex); underChain.buildFromRelativePoses(_skeleton, underPoses, _tipJointIndex);
glm::quat baseTargetRotation; AnimPose baseTargetAbsolutePose;
glm::vec3 baseTargetTranslation;
// now we override the hips with the hips target pose. // now we override the hips with the hips target pose.
// if there is a baseJoint ik target in animvars then use that // if there is a baseJoint ik target in animvars then use that
// otherwise use the underpose // otherwise use the underpose
if (_poses.size() > 0) { if (_poses.size() > 0) {
AnimPose baseJointUnderPose = _skeleton->getAbsolutePose(_baseJointIndex, _poses); AnimPose baseJointUnderPose = _skeleton->getAbsolutePose(_baseJointIndex, _poses);
baseTargetRotation = animVars.lookupRigToGeometry(_baseRotationVar, baseJointUnderPose.rot()); baseTargetAbsolutePose.rot() = animVars.lookupRigToGeometry(_baseRotationVar, baseJointUnderPose.rot());
baseTargetTranslation = animVars.lookupRigToGeometry(_basePositionVar, baseJointUnderPose.trans()); baseTargetAbsolutePose.trans() = animVars.lookupRigToGeometry(_basePositionVar, baseJointUnderPose.trans());
AnimPose absBaseTargetPose(baseTargetRotation, baseTargetTranslation);
int baseParentIndex = _skeleton->getParentIndex(_baseJointIndex); int baseParentIndex = _skeleton->getParentIndex(_baseJointIndex);
AnimPose baseParentAbsPose(Quaternions::IDENTITY,glm::vec3()); AnimPose baseParentAbsPose(Quaternions::IDENTITY,glm::vec3());
@ -148,7 +141,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
baseParentAbsPose = _skeleton->getAbsolutePose(baseParentIndex, _poses); baseParentAbsPose = _skeleton->getAbsolutePose(baseParentIndex, _poses);
} }
_poses[_baseJointIndex] = baseParentAbsPose.inverse() * absBaseTargetPose; _poses[_baseJointIndex] = baseParentAbsPose.inverse() * baseTargetAbsolutePose;
_poses[_baseJointIndex].scale() = glm::vec3(1.0f); _poses[_baseJointIndex].scale() = glm::vec3(1.0f);
} }
@ -193,26 +186,22 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
} }
AnimChain midJointChain; AnimChain midJointChain;
AnimPose beforeSolveChestNeck; int childOfMiddleJointIndex = -1;
int startJoint; AnimPose childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
AnimPose correctJoint;
if (_poses.size() > 0) { if (_poses.size() > 0) {
AnimPoseVec absolutePoses2; childOfMiddleJointIndex = _tipJointIndex;
absolutePoses2.resize(_poses.size());
computeAbsolutePoses(absolutePoses2);
// start at the tip // start at the tip
for (startJoint = _tipJointIndex; _skeleton->getParentIndex(startJoint) != _midJointIndex; startJoint = _skeleton->getParentIndex(startJoint)) { while (_skeleton->getParentIndex(childOfMiddleJointIndex) != _midJointIndex) {
// find the child of the midJoint childOfMiddleJointIndex = _skeleton->getParentIndex(childOfMiddleJointIndex);
} }
correctJoint = _skeleton->getAbsolutePose(startJoint, _poses); childOfMiddleJointAbsolutePoseAfterBaseTipSpline = _skeleton->getAbsolutePose(childOfMiddleJointIndex, _poses);
// fix this to deal with no neck AA
beforeSolveChestNeck = _skeleton->getAbsolutePose(_skeleton->nameToJointIndex("Neck"), _poses);
AnimPoseVec absolutePosesAfterBaseTipSpline;
absolutePosesAfterBaseTipSpline.resize(_poses.size());
computeAbsolutePoses(absolutePosesAfterBaseTipSpline);
midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex()); midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
solveTargetWithSpline(context, midTarget, absolutePoses2, false, midJointChain); solveTargetWithSpline(context, midTarget, absolutePosesAfterBaseTipSpline, false, midJointChain);
midJointChain.outputRelativePoses(_poses); midJointChain.outputRelativePoses(_poses);
} }
@ -220,17 +209,8 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
int tipParent = _skeleton->getParentIndex(_tipJointIndex); int tipParent = _skeleton->getParentIndex(_tipJointIndex);
int midTargetParent = _skeleton->getParentIndex(_midJointIndex); int midTargetParent = _skeleton->getParentIndex(_midJointIndex);
if ((midTargetParent != -1) && (tipParent != -1) && (_poses.size() > 0)) { if ((midTargetParent != -1) && (tipParent != -1) && (_poses.size() > 0)) {
AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation()); AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation());
//AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses); _poses[childOfMiddleJointIndex] = midTargetPose.inverse() * childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
//_poses[tipParent] = midTargetPose.inverse() * beforeSolveChestNeck;
_poses[startJoint] = midTargetPose.inverse() * correctJoint;
//AnimPose tipTargetPose(tipTarget.getRotation(),tipTarget.getTranslation());
//AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTargetPose;
//_poses[_tipJointIndex] = tipRelativePose;
} }
// compute chain // compute chain
@ -290,7 +270,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
DebugDraw::getInstance().addMyAvatarMarker(name2, glmExtractRotation(avatarTargetMat2), extractTranslation(avatarTargetMat2), WHITE); DebugDraw::getInstance().addMyAvatarMarker(name2, glmExtractRotation(avatarTargetMat2), extractTranslation(avatarTargetMat2), WHITE);
glm::mat4 geomTargetMat3 = createMatFromQuatAndPos(baseTargetRotation,baseTargetTranslation); glm::mat4 geomTargetMat3 = createMatFromQuatAndPos(baseTargetAbsolutePose.rot(), baseTargetAbsolutePose.trans());
glm::mat4 avatarTargetMat3 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat3; glm::mat4 avatarTargetMat3 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat3;
QString name3 = QString("ikTargetSplineBase"); QString name3 = QString("ikTargetSplineBase");
DebugDraw::getInstance().addMyAvatarMarker(name3, glmExtractRotation(avatarTargetMat3), extractTranslation(avatarTargetMat3), WHITE); DebugDraw::getInstance().addMyAvatarMarker(name3, glmExtractRotation(avatarTargetMat3), extractTranslation(avatarTargetMat3), WHITE);
@ -369,12 +349,7 @@ 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 = absolutePoses[baseIndex];
//if (target.getIndex() == _tipJointIndex) {
// basePose = absolutePoses[tipBaseIndex];
//} else {
basePose = absolutePoses[baseIndex];
//}
CubicHermiteSplineFunctorWithArcLength spline; CubicHermiteSplineFunctorWithArcLength spline;
if (target.getIndex() == _tipJointIndex) { if (target.getIndex() == _tipJointIndex) {
@ -382,7 +357,6 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTar
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);
} else { } else {
spline = computeSplineFromTipAndBase(tipPose, basePose); spline = computeSplineFromTipAndBase(tipPose, basePose);
} }
@ -406,7 +380,7 @@ void AnimSplineIK::solveTargetWithSpline(const AnimContext& context, const IKTar
float t = spline.arcLengthInverse(splineJointInfo.ratio * totalArcLength); float t = spline.arcLengthInverse(splineJointInfo.ratio * totalArcLength);
glm::vec3 trans = spline(t); glm::vec3 trans = spline(t);
// for head splines, preform most twist toward the tip by using ease in function. t^2 // for base->tip splines, preform most twist toward the tip by using ease in function. t^2
float rotT = t; float rotT = t;
if (target.getIndex() == _tipJointIndex) { if (target.getIndex() == _tipJointIndex) {
rotT = t * t; rotT = t * t;
@ -454,9 +428,6 @@ 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;
} }
@ -518,7 +489,6 @@ void AnimSplineIK::computeAndCacheSplineJointInfosForIKTarget(const AnimContext&
int index = target.getIndex(); int index = target.getIndex();
int endIndex; int endIndex;
if (target.getIndex() == _tipJointIndex) { if (target.getIndex() == _tipJointIndex) {
//endIndex = _skeleton->getParentIndex(_secondaryTargetIndex);
endIndex = _skeleton->getParentIndex(_baseJointIndex); endIndex = _skeleton->getParentIndex(_baseJointIndex);
} else { } else {
endIndex = _skeleton->getParentIndex(_baseJointIndex); endIndex = _skeleton->getParentIndex(_baseJointIndex);

12
libraries/animation/src/AnimSplineIK.h
View file

@ -20,13 +20,12 @@ class AnimSplineIK : public AnimNode {
public: 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& midJointName, const QString& tipJointName, const QString& baseJointName, const QString& midJointName, const QString& tipJointName,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar,
const QString& basePositionVar, const QString& baseRotationVar, const QString& basePositionVar, const QString& baseRotationVar,
const QString& midPositionVar, const QString& midRotationVar, const QString& midPositionVar, const QString& midRotationVar,
const QString& tipPositionVar, const QString& tipRotationVar, const QString& tipPositionVar, const QString& tipRotationVar,
const QString& primaryFlexCoefficients, const QString& alphaVar, const QString& enabledVar,
const QString& secondaryFlexCoefficients); const QString& tipTargetFlexCoefficients,
const QString& midTargetFlexCoefficients);
virtual ~AnimSplineIK() override; virtual ~AnimSplineIK() override;
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) override; virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) override;
@ -79,11 +78,6 @@ protected:
QString _alphaVar; // float - (0, 1) 0 means underPoses only, 1 means IK only. QString _alphaVar; // float - (0, 1) 0 means underPoses only, 1 means IK only.
QString _enabledVar; // bool QString _enabledVar; // bool
QString _endEffectorRotationVarVar; // string
QString _endEffectorPositionVarVar; // string
QString _prevEndEffectorRotationVar;
QString _prevEndEffectorPositionVar;
bool _previousEnableDebugIKTargets { false }; bool _previousEnableDebugIKTargets { false };