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improved bone test

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remade IK chain bone orientation method
This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent 7111ef24e4
commit b7d9a82eec
7 changed files with 89 additions and 42 deletions
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bone.cpp
+13 -6
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@@ -11,6 +11,10 @@ namespace vb01{
void Bone::lookAt(Vector3 newDir, Vector3 newUp){
Node::lookAt(newDir, newUp);
updateBoneInfo();
}
void Bone::updateBoneInfo(){
for(int i = 0; i < 3; i++)
this->initAxis[i] = globalAxis[i];
restPos = pos;
@@ -18,11 +22,10 @@ namespace vb01{
restScale = scale;
}
Vector3 Bone::getModelSpacePos(){
/*
Vector3 modelSpacePos = Vector3::VEC_ZERO;
Vector3 Bone::getBoneSpaceRestPos(Bone *bone){
Bone *rootBone = skeleton->getRootBone();
vector<Node*> boneHierarchy = getAncestors(rootBone);
Vector3 modelSpacePos = Vector3::VEC_ZERO;
vector<Node*> boneHierarchy = getAncestors(bone);
while(!boneHierarchy.empty()){
int id = boneHierarchy.size() - 1;
@@ -35,11 +38,15 @@ namespace vb01{
curBone != rootBone? par->getInitAxis(2) : Vector3::VEC_K
};
Vector3 rPos = curBone->getRestPos();
Vector3 rPos = (curBone == bone ? Vector3::VEC_ZERO : curBone->getRestPos());
modelSpacePos = modelSpacePos + axis[0] * rPos.x + axis[1] * rPos.y + axis[2] * rPos.z;
boneHierarchy.pop_back();
}
*/
return modelSpacePos;
}
Vector3 Bone::getModelSpacePos(){
Node *modelNode = skeleton->getRootBone()->getParent();
Vector3 modelSpacePos = modelNode->globalToLocalPosition(localToGlobalPosition(Vector3::VEC_ZERO));
bone.h
+3
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@@ -14,6 +14,7 @@ namespace vb01{
void setPoseRot(Quaternion r);
void setPoseScale(Vector3 s);
void lookAt(Vector3, Vector3);
Vector3 getBoneSpaceRestPos(Bone*);
Vector3 getModelSpacePos();
inline Bone* getIkTarget(){return ikTarget;}
inline void setIkTarget(Bone *target){this->ikTarget = target;}
@@ -32,6 +33,8 @@ namespace vb01{
inline Quaternion getPoseRot(){return poseRot;}
inline Vector3 getPoseScale(){return poseScale;}
private:
void updateBoneInfo();
float length;
Bone *ikTarget = nullptr;
int ikChainLength = -1;
boneTest.cpp
+6 -5
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@@ -41,25 +41,26 @@ namespace vb01{
float eps = .0001;
Bone *lowerArm = skeleton->getBone("lowerArm.R");
Vector3 testModelSpacePos = Vector3(-1, 4, 0);
Bone *rootBone = skeleton->getRootBone();
CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
CPPUNIT_ASSERT(lowerArm->getBoneSpaceRestPos(rootBone).getDistanceFrom(testModelSpacePos) <= eps);
modelNode->setPosition(Vector3::VEC_ZERO);
modelNode->setOrientation(Quaternion(.5, Vector3(1, 2, 3).norm()));
CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
CPPUNIT_ASSERT(lowerArm->getBoneSpaceRestPos(rootBone).getDistanceFrom(testModelSpacePos) <= eps);
modelNode->setOrientation(Quaternion::QUAT_W);
modelNode->setPosition(Vector3(10, 20, 30));
CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
CPPUNIT_ASSERT(lowerArm->getBoneSpaceRestPos(rootBone).getDistanceFrom(testModelSpacePos) <= eps);
modelNode->setOrientation(Quaternion(.5, Vector3(1, 2, 3).norm()));
modelNode->setPosition(Vector3(10, 20, 30));
CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
CPPUNIT_ASSERT(lowerArm->getBoneSpaceRestPos(rootBone).getDistanceFrom(testModelSpacePos) <= eps);
modelNodeParent->setOrientation(Quaternion(.3, Vector3(1, 2, 3).norm()));
modelNodeParent->setPosition(Vector3(100, 200, 300));
modelNode->setOrientation(Quaternion(.5, Vector3(1, 2, 3).norm()));
modelNode->setPosition(Vector3(10, 20, 30));
CPPUNIT_ASSERT(lowerArm->getModelSpacePos().getDistanceFrom(testModelSpacePos) <= eps);
CPPUNIT_ASSERT(lowerArm->getBoneSpaceRestPos(rootBone).getDistanceFrom(testModelSpacePos) <= eps);
}
}
ikSolver.cpp
+2 -1
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@@ -7,7 +7,8 @@ namespace vb01{
for(int i = 0; i < chainLength; i++)
sumLengths += boneChain[i]->getLength();
Vector3 startPos = boneChain[chainLength - 1]->getModelSpacePos();
Bone *subBase = (Bone*)boneChain[0]->getIkTarget()->getParent();
Vector3 startPos = boneChain[chainLength - 1]->getBoneSpaceRestPos(subBase);
if(startPos.getDistanceFrom(targetPos) < sumLengths){
int numIterations = 500;
ikSolverTest.cpp
+1 -1
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@@ -51,9 +51,9 @@ namespace vb01{
resetIkData();
IkSolver::calculateFabrik(chainLength, boneChain, ikPos, ikBonePos);
/*
CPPUNIT_ASSERT(ikPos[1].getDistanceFrom(Vector3(0.171451, 1.98516, 0)) <= eps);
CPPUNIT_ASSERT(ikPos[0].getDistanceFrom(Vector3(1.08232, 2.39756, 0)) <= eps);
/*
*/
}
skeleton.cpp
+63 -28
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@@ -3,8 +3,11 @@
#include "animationController.h"
#include "box.h"
#include "ikSolver.h"
#include <glm.hpp>
#include <glm/gtc/matrix_inverse.hpp>
using namespace std;
using namespace glm;
namespace vb01{
Skeleton::Skeleton(string name){
@@ -22,51 +25,83 @@ namespace vb01{
}
void Skeleton::solveIk(Bone *ikBone){
const int chainLength = ikBone->getIkChainLength();
Bone *rootBone = getRootBone();
Bone *ikTarget = ikBone->getIkTarget();
Bone *subBase = (Bone*)ikTarget->getParent();
const int chainLength = ikBone->getIkChainLength();
Vector3 boneIkPos[chainLength];
Bone *boneChain[chainLength];
Bone *ikBoneAncestor = ikBone;
Vector3 boneIkPos[chainLength];
Vector3 targetPos = rootBone->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
for(int i = 0; i < chainLength; i++){
boneChain[i] = ikBoneAncestor;
ikBoneAncestor = (Bone*)ikBoneAncestor->getParent();
boneIkPos[i] = rootBone->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
boneIkPos[i] = boneChain[i]->getModelSpacePos();
boneIkPos[i] = boneChain[i]->getBoneSpaceRestPos(subBase);
}
Vector3 targetPos = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
IkSolver::calculateFabrik(chainLength, boneChain, boneIkPos, targetPos);
transformIkChain(chainLength, boneChain, boneIkPos, targetPos);
transformIkChain(chainLength, boneChain, boneIkPos, ikTarget);
}
void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos){
Node *rootBone = getRootBone()->getParent();
float boneAngles[chainLength];
Vector3 axis[chainLength];
for(int i = chainLength - 1; i >= 0; i--){
boneChain[i]->setOrientation(boneChain[i]->getRestRot());
Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneIkPos[i]).norm();
Vector3 boneAxis =
(rootBone->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_J)) -
rootBone->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO)))
.norm();
void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Bone* ikTarget){
Bone *subBase = (Bone*)ikTarget->getParent();
Vector3 rotAxis[chainLength];
float angles[chainLength];
Vector3 rotAxis = boneAxis.cross(dir).norm();
float angle = boneAxis.getAngleBetween(dir);
if(rotAxis == Vector3::VEC_ZERO){
angle = 0;
rotAxis = Vector3::VEC_I;
for(int i = 0; i < chainLength; i++){
Vector3 tailPosBoneSpace;
Vector3 tailRestPosBoneSpace;
if(i == 0){
tailPosBoneSpace = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
tailRestPosBoneSpace = ikTarget->getBoneSpaceRestPos(subBase);
}
else{
tailPosBoneSpace = boneIkPos[i - 1];
tailRestPosBoneSpace = boneChain[i - 1]->getBoneSpaceRestPos(subBase);
}
Vector3 headRestPosBoneSpace = boneChain[i]->getBoneSpaceRestPos(subBase);
Vector3 headDir = (tailPosBoneSpace - headRestPosBoneSpace).norm();
Vector3 boneDir = (tailRestPosBoneSpace - headRestPosBoneSpace).norm();
boneAngles[i] = angle;
axis[i] = rotAxis;
float angle = boneDir.getAngleBetween(headDir);
angles[i] = angle;
boneChain[i]->setPoseRot(Quaternion(angle, rotAxis));
Vector3 axis = boneDir.cross(headDir).norm();
if(axis == Vector3::VEC_ZERO)
axis = Vector3::VEC_I;
axis = (
subBase->getInitAxis(0) * axis.x +
subBase->getInitAxis(1) * axis.y +
subBase->getInitAxis(2) * axis.z
).norm();
mat3 mat;
mat[0][0] = boneChain[i]->getInitAxis(0).x;
mat[1][0] = boneChain[i]->getInitAxis(0).y;
mat[2][0] = boneChain[i]->getInitAxis(0).z;
mat[0][1] = boneChain[i]->getInitAxis(1).x;
mat[1][1] = boneChain[i]->getInitAxis(1).y;
mat[2][1] = boneChain[i]->getInitAxis(1).z;
mat[0][2] = boneChain[i]->getInitAxis(2).x;
mat[1][2] = boneChain[i]->getInitAxis(2).y;
mat[2][2] = boneChain[i]->getInitAxis(2).z;
vec3 localAxis = vec3(axis.x, axis.y, axis.z) * inverse(mat);
rotAxis[i] = Vector3(localAxis.x, localAxis.y, localAxis.z).norm();
}
for(int i = 0; i < chainLength; i++){
for(int j = i + 1; j < chainLength; j++)
angles[i] -= angles[j];
if(angles[i] < 0)
angles[i] = 0;
}
for(int i = 0; i < chainLength; i++)
boneChain[i]->setPoseRot(Quaternion(angles[i], rotAxis[i]));
}
void Skeleton::addBone(Bone *bone, Bone *parent){
skeleton.h
+1 -1
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@@ -23,7 +23,7 @@ namespace vb01{
inline int getNumBones(){return bones.size();}
private:
void solveIk(Bone*);
void transformIkChain(int, Bone*[], Vector3[], Vector3);
void transformIkChain(int, Bone*[], Vector3[], Bone*);
std::string name;
std::vector<Bone*> bones;