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simplified global - local transformation methods

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fixed position bug when posing bones
initial IK method
This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent 7ed0eed7e2
commit 3ee5555652
9 changed files with 204 additions and 78 deletions
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animationController.cpp
+1 -1
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@@ -101,7 +101,7 @@ namespace vb01{
}
channelBone->setPosePos(currentPos);
channelBone->setPoseRot(currentRot);
//channelBone->setPoseRot(currentRot);
//channelBone->setPoseScale(currentScale);
}
}
bone.cpp
+21 -10
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@@ -5,13 +5,22 @@ using namespace std;
namespace vb01{
Bone::Bone(string name, float length, Vector3 pos,Quaternion rot, Vector3 scale) : Node(pos,rot,scale,name){
this->name=name;
this->length=length;
this->name = name;
this->length = length;
}
void Bone::lookAt(Vector3 newDir, Vector3 newUp, Node *par){
Node::lookAt(newDir,newUp,par);
for(int i=0;i<3;i++)
Node::lookAt(newDir, newUp, par);
for(int i = 0; i < 3; i++)
this->initAxis[i] = globalAxis[i];
restPos = pos;
restRot = orientation;
restScale = scale;
}
void Bone::lookAt(Vector3 newDir, Node *par){
Node::lookAt(newDir, par);
for(int i = 0; i < 3; i++)
this->initAxis[i] = globalAxis[i];
restPos = pos;
restRot = orientation;
@@ -21,7 +30,7 @@ namespace vb01{
Vector3 Bone::getModelSpacePos(){
Vector3 modelSpacePos = Vector3::VEC_ZERO;
Bone *rootBone = skeleton->getRootBone();
vector<Node*> boneHierarchy = getAncestors(this, rootBone);
vector<Node*> boneHierarchy = getAncestors(this, rootBone->getParent());
while(!boneHierarchy.empty()){
int id = boneHierarchy.size() - 1;
@@ -43,19 +52,21 @@ namespace vb01{
}
void Bone::setPosePos(Vector3 p){
this->posePos=p;
Vector3 parentSpacePosePos=parent->globalToLocalPosition(localToGlobalPosition(p));
//setPosition(parentSpacePosePos);
this->posePos = p;
setPosition(restPos);
Vector3 parentSpacePosePos = parent->globalToLocalPosition(localToGlobalPosition(p));
setPosition(parentSpacePosePos);
}
void Bone::setPoseRot(Quaternion r){
this->poseRot=r;
this->poseRot = r;
setOrientation(r);
Quaternion parentSpacePoseRot = parent->globalToLocalOrientation(localToGlobalOrientation(r));
setOrientation(parentSpacePoseRot);
}
void Bone::setPoseScale(Vector3 s){
this->poseScale=s;
this->poseScale = s;
//setScale(restScale+poseScale);
}
}
bone.h
+11 -4
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@@ -9,12 +9,17 @@ namespace vb01{
class Bone : public Node{
public:
Bone(std::string,float,Vector3=Vector3::VEC_ZERO,Quaternion=Quaternion::QUAT_W,Vector3=Vector3::VEC_ZERO);
Bone(std::string, float, Vector3 = Vector3::VEC_ZERO, Quaternion = Quaternion::QUAT_W, Vector3 = Vector3::VEC_ZERO);
void setPosePos(Vector3 p);
void setPoseRot(Quaternion r);
void setPoseScale(Vector3 s);
void lookAt(Vector3,Vector3,Node*);
void lookAt(Vector3, Vector3, Node*);
void lookAt(Vector3, Node*);
Vector3 getModelSpacePos();
inline Bone* getIkTarget(){return ikTarget;}
inline void setIkTarget(Bone *target){this->ikTarget = target;}
inline int getIkChainLength(){return ikChainLength;}
inline void setIkChainLength(int ikChainLength){this->ikChainLength = ikChainLength;}
inline float getLength(){return length;}
inline void setSkeleton(Skeleton *sk){this->skeleton = sk;}
inline Vector3 getInitAxis(int i){return initAxis[i];}
@@ -27,9 +32,11 @@ namespace vb01{
inline Vector3 getPoseScale(){return poseScale;}
private:
float length;
Bone *ikTarget = nullptr;
int ikChainLength = -1;
Skeleton *skeleton = nullptr;
Vector3 initAxis[3],restPos,posePos=Vector3::VEC_ZERO,restScale,poseScale=Vector3::VEC_IJK;
Quaternion restRot,poseRot=Quaternion::QUAT_W;
Vector3 initAxis[3], restPos, posePos = Vector3::VEC_ZERO, restScale, poseScale = Vector3::VEC_IJK;
Quaternion restRot, poseRot = Quaternion::QUAT_W;
};
}
node.cpp
+73 -49
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@@ -101,14 +101,22 @@ namespace vb01{
text->setNode(this);
}
void Node::lookAt(Vector3 newDir,Vector3 newUp,Node *node){
void Node::lookAt(Vector3 newDir, Vector3 newUp, Node *node){
adjustDir(newDir, node);
adjustUp(newUp, node);
}
void Node::lookAt(Vector3 newDir, Node *node){
adjustDir(newDir, node);
}
void Node::adjustDir(Vector3 newDir, Node *node){
Vector3 parAxis[]{
node->getGlobalAxis(0),
node->getGlobalAxis(1),
node->getGlobalAxis(2)
};
newDir=(parAxis[0]*newDir.x+parAxis[1]*newDir.y+parAxis[2]*newDir.z).norm();
newUp=(parAxis[0]*newUp.x+parAxis[1]*newUp.y+parAxis[2]*newUp.z).norm();
float angle=globalAxis[2].getAngleBetween(newDir);
Vector3 rotAxis=globalAxis[2].cross(newDir).norm();
@@ -118,6 +126,15 @@ namespace vb01{
Quaternion oldRot = node->localToGlobalOrientation(orientation);
Quaternion newRot = node->globalToLocalOrientation(Quaternion(angle,rotAxis));
setOrientation(newRot*oldRot);
}
void Node::adjustUp(Vector3 newUp, Node *node){
Vector3 parAxis[]{
node->getGlobalAxis(0),
node->getGlobalAxis(1),
node->getGlobalAxis(2)
};
newUp=(parAxis[0]*newUp.x+parAxis[1]*newUp.y+parAxis[2]*newUp.z).norm();
mat3 mat;
mat[0][0]=globalAxis[0].x;
@@ -133,10 +150,10 @@ namespace vb01{
vec3 nu=vec3(newUp.x,newUp.y,newUp.z)*mat;
newUp=(globalAxis[0]*nu.x+globalAxis[1]*nu.y).norm();
angle=globalAxis[1].getAngleBetween(newUp);
float angle=globalAxis[1].getAngleBetween(newUp);
oldRot = node->localToGlobalOrientation(orientation);
newRot = node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),globalAxis[2]));
Quaternion oldRot = node->localToGlobalOrientation(orientation);
Quaternion newRot = node->globalToLocalOrientation(Quaternion(angle*(nu.x<0?1:-1),globalAxis[2]));
setOrientation(newRot*oldRot);
}
@@ -151,7 +168,7 @@ namespace vb01{
vector<Node*> Node::getAncestors(Node *node, Node *topAncestor){
vector<Node*> ancestors;
Node *parent=node;
Node *parent = node;
if(!topAncestor)
topAncestor = Root::getSingleton()->getRootNode();
@@ -159,7 +176,7 @@ namespace vb01{
ancestors.push_back(parent);
if(parent == topAncestor)
break;
parent=parent->getParent();
parent = parent->getParent();
}
return ancestors;
}
@@ -171,34 +188,25 @@ namespace vb01{
parent->getGlobalAxis(2)
};
float rotAngle=orientation.getAngle();
Vector3 rotAxis=orientation.getAxis();
Vector3 newAxis=(parGlobalAxis[0]*rotAxis.x+parGlobalAxis[1]*rotAxis.y+parGlobalAxis[2]*rotAxis.z).norm();
float rotAngle = orientation.getAngle();
Vector3 rotAxis = orientation.getAxis();
Vector3 newAxis = (parGlobalAxis[0] * rotAxis.x + parGlobalAxis[1] * rotAxis.y + parGlobalAxis[2] * rotAxis.z).norm();
Quaternion rotQuat=Quaternion(rotAngle,newAxis);
for(int i=0;i<3;i++)
for(int i = 0; i < 3; i++)
globalAxis[i] = (rotQuat * parGlobalAxis[i]).norm();
for(Node *ch : children)
ch->updateAxis();
}
Vector3 Node::localToGlobalPosition(Vector3 localPos){
vector<Node*> ancestors=getAncestors(this);
Vector3 origin=Vector3::VEC_ZERO;
vector<Node*> ancestors = getAncestors(this);
Vector3 origin = Vector3::VEC_ZERO;
Quaternion quat;
while(!ancestors.empty()){
int id=ancestors.size()-1;
Node *par=ancestors[id]->getParent();
Vector3 parAxis[]={
par?par->getGlobalAxis(0):Vector3::VEC_I,
par?par->getGlobalAxis(1):Vector3::VEC_J,
par?par->getGlobalAxis(2):Vector3::VEC_K
};
Vector3 p=ancestors[id]->getPosition();
origin=origin+parAxis[0]*p.x+parAxis[1]*p.y+parAxis[2]*p.z;
ancestors.pop_back();
}
return origin+globalAxis[0]*localPos.x+globalAxis[1]*localPos.y+globalAxis[2]*localPos.z;
adjustPosOrRot(ancestors, origin, quat, true);
return origin + globalAxis[0] * localPos.x + globalAxis[1] * localPos.y + globalAxis[2] * localPos.z;
}
Vector3 Node::globalToLocalPosition(Vector3 globalPos){
@@ -219,43 +227,59 @@ namespace vb01{
}
Quaternion Node::localToGlobalOrientation(Quaternion localRot){
Quaternion origin=Quaternion::QUAT_W;
vector<Node*> ancestors=getAncestors(this);
Vector3 vec;
Quaternion origin = Quaternion::QUAT_W;
vector<Node*> ancestors = getAncestors(this);
while(!ancestors.empty()){
int id=ancestors.size()-1;
Vector3 ancAxis[]{
ancestors[id]->getGlobalAxis(0),
ancestors[id]->getGlobalAxis(1),
ancestors[id]->getGlobalAxis(2)
};
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Quaternion o = Quaternion(angle, (ancAxis[0]*axis.x+ancAxis[1]*axis.y+ancAxis[2]*axis.z).norm());
origin=o*origin;
ancestors.pop_back();
}
return localRot*origin;
adjustPosOrRot(ancestors, vec, origin, true);
return localRot * origin;
}
Quaternion Node::globalToLocalOrientation(Quaternion globalRot){
Quaternion origin=globalRot;
vector<Node*> ancestors=getAncestors(this);
Vector3 vec;
Quaternion origin = globalRot;
vector<Node*> ancestors = getAncestors(this);
adjustPosOrRot(ancestors, vec, origin, false);
return origin;
}
void Node::adjustPosOrRot(vector<Node*> ancestors, Vector3 &adjustablePos, Quaternion &adjustableRot, bool localToGlobal){
Vector3 pOrigin = Vector3::VEC_ZERO;
Quaternion rOrigin = Quaternion::QUAT_W;
while(!ancestors.empty()){
int id=ancestors.size()-1;
Vector3 ancAxis[]{
int id = ancestors.size() - 1;
Vector3 parAxis[]{
ancestors[id]->getGlobalAxis(0),
ancestors[id]->getGlobalAxis(1),
ancestors[id]->getGlobalAxis(2)
};
Vector3 p = ancestors[id]->getPosition();
pOrigin = pOrigin + parAxis[0] * p.x + parAxis[1] * p.y + parAxis[2] * p.z;
float angle = ancestors[id]->getOrientation().getAngle();
Vector3 axis = ancestors[id]->getOrientation().getAxis();
Quaternion o = Quaternion(-angle, (ancAxis[0]*axis.x+ancAxis[1]*axis.y+ancAxis[2]*axis.z).norm());
origin=origin*o;
Vector3 rotAxis = (parAxis[0] * axis.x + parAxis[1] * axis.y + parAxis[2] * axis.z).norm();
Quaternion o;
if(localToGlobal){
o = Quaternion(angle, rotAxis);
rOrigin = rOrigin * o;
}
else{
o = Quaternion(-angle, rotAxis);
rOrigin = o * rOrigin;
}
ancestors.pop_back();
}
return origin;
adjustablePos = pOrigin;
adjustableRot = rOrigin;
}
void Node::updateShaders(){
node.h
+9 -4
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@@ -16,11 +16,11 @@ namespace vb01{
class Node{
public:
struct Transform{
Vector3 position=Vector3::VEC_ZERO,scale=Vector3::VEC_IJK;
Quaternion orientation=Quaternion::QUAT_W;
Vector3 position = Vector3::VEC_ZERO, scale = Vector3::VEC_IJK;
Quaternion orientation = Quaternion::QUAT_W;
};
Node(Vector3=Vector3::VEC_ZERO,Quaternion=Quaternion::QUAT_W,Vector3=Vector3::VEC_IJK,std::string="");
Node(Vector3 = Vector3::VEC_ZERO, Quaternion = Quaternion::QUAT_W, Vector3 = Vector3::VEC_IJK, std::string = "");
virtual ~Node();
void attachMesh(Mesh*);
void attachParticleEmitter(ParticleEmitter*);
@@ -30,7 +30,8 @@ namespace vb01{
void addLight(Light*);
void removeLight(int);
void addText(Text*);
virtual void lookAt(Vector3,Vector3,Node*);
virtual void lookAt(Vector3, Vector3, Node*);
virtual void lookAt(Vector3, Node*);
void updateAxis();
void setOrientation(Quaternion);
void getDescendants(Node*,std::vector<Node*>&);
@@ -61,6 +62,10 @@ namespace vb01{
inline bool isVisible(){return visible;}
inline std::string getName(){return name;}
inline void setVisible(bool v){this->visible=v;}
private:
void adjustUp(Vector3, Node*);
void adjustDir(Vector3, Node*);
void adjustPosOrRot(std::vector<Node*>, Vector3&, Quaternion&, bool);
protected:
void updateShaders();
script.py
+24 -2
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@@ -20,7 +20,25 @@ def exportData(ob):
tail=bone.tail
xAxis=bone.x_axis
yAxis=bone.y_axis
file.write("\n"+bone.name+": "+('None' if bone.parent is None else bone.parent.name)+" "+str(bone.length)+" "+str(head.x)+" "+str(head.y)+" "+str(head.z)+" "+str(xAxis.x)+" "+str(xAxis.y)+" "+str(xAxis.z)+" "+str(yAxis.x)+" "+str(yAxis.y)+" "+str(yAxis.z)+" ")
ikTarget = '-'
chainLength = -1
ikConstraint = None
for constr in ob.pose.bones[bone.name].constraints:
if constr.name == 'IK':
ikConstraint = constr
if(ikConstraint is not None and ikConstraint.subtarget):
ikTarget = ikConstraint.subtarget
if ikConstraint.chain_count == 0:
chainLength = 1
bonePar = bone.parent
while(bonePar is not None):
chainLength = chain_count + 1
bonePar = bonePar.parent
else:
chainLength = ikConstraint.chain_count
file.write('\n'+bone.name+': '+('None' if bone.parent is None else bone.parent.name)+" "+str(bone.length)+" "+str(head.x)+" "+str(head.y)+" "+str(head.z)+" "+str(xAxis.x)+" "+str(xAxis.y)+" "+str(xAxis.z)+" "+str(yAxis.x)+" "+str(yAxis.y)+" "+str(yAxis.z)+ " " + ikTarget + ' ' + str(chainLength) + ' ')
if numAnims>0:
file.write("\nanimations: "+str(numAnims))
@@ -85,7 +103,11 @@ def exportData(ob):
file.write(str(keyframe.handle_right_type)+" "+str(keyframe.handle_right.x)+" "+str(keyframe.handle_right.y))
file.write("\n")
elif(ob.type=="MESH"):
file.write('skeleton: ' + ob.modifiers['Armature'].object.name + '\n')
skeletonName = '-'
skeleton = ob.modifiers['Armature'].object
if(skeleton):
skeletonName = skeleton.name
file.write('skeleton: ' + skeletonName + '\n')
mesh=ob.data
numFaces=len(mesh.polygons)
skeleton.cpp
+47 -4
View File
@@ -12,13 +12,56 @@ namespace vb01{
}
void Skeleton::update(){
/*
for(Bone *b : bones)
b->update();
*/
for(Bone *b : bones){
//b->update();
if(b->getIkTarget())
solveIk(b);
}
controller->update();
}
void Skeleton::solveIk(Bone *ikBone){
const int chainLength = ikBone->getIkChainLength();
Bone *ikTarget = ikBone->getIkTarget();
Bone *boneChain[chainLength];
Bone *ikBoneAncestor = ikBone;
Vector3 boneIkPos[chainLength], targetPos = ikTarget->getModelSpacePos();
float sumLengths = 0;
for(int i = 0; i < chainLength; i++){
sumLengths += ikBoneAncestor->getLength();
boneChain[i] = ikBoneAncestor;
ikBoneAncestor = (Bone*)ikBoneAncestor->getParent();
boneIkPos[i] = boneChain[i]->getModelSpacePos();
}
Vector3 startPos = boneChain[chainLength - 1]->getModelSpacePos();
if(startPos.getDistanceFrom(targetPos) < sumLengths){
int numIterations = 500;
for(int i = 0 ; i < numIterations; i++){
bool backward = i % 2;
for(int j = 0; j < chainLength; j++){
int boneId = (backward ? j : chainLength - 1 - j);
Vector3 ikPos = (j == 0 ? (backward ? targetPos : startPos) : boneIkPos[boneId]);
Vector3 fromBoneToIkPos = ikPos - boneChain[boneId]->getModelSpacePos();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * boneChain[boneId]->getLength();
}
}
}
/*
else{
Vector3 fromStartToTarget = targetPos - startPos;
for(int i = 0; i < chainLength; i++){
}
}
*/
Bone *rootBone = getRootBone();
for(int i = 0; i < chainLength; i++)
(boneChain[i])->lookAt(boneIkPos[i], rootBone->getParent());
}
void Skeleton::addBone(Bone *bone, Bone *parent){
if(parent)
parent->attachChild(bone);
skeleton.h
+4 -2
View File
@@ -11,9 +11,9 @@ namespace vb01{
class Skeleton{
public:
Skeleton(std::string="");
Skeleton(std::string = "");
void update();
void addBone(Bone*,Bone*);
void addBone(Bone*, Bone*);
Bone* getBone(std::string);
inline AnimationController* getAnimationController(){return controller;}
inline Bone* getBone(int i){return bones[i];}
@@ -22,6 +22,8 @@ namespace vb01{
inline std::string getName(){return name;}
inline int getNumBones(){return bones.size();}
private:
void solveIk(Bone*);
std::string name;
std::vector<Bone*> bones;
AnimationController *controller = nullptr;
vbModelReader.cpp
+14 -2
View File
@@ -92,12 +92,13 @@ namespace vb01{
meshData.clear();
readFile(path, meshData, boneStartLine, boneStartLine + numBones);
vector<string> ikRelationships;
for(string line : meshData){
int colonId = getCharId(line, ':');
string preColon = line.substr(0, colonId);
string postColon = line.substr(colonId + 2, string::npos);
string postColon = line.substr(colonId + 2);
int numData = 11;
int numData = 13;
string data[numData];
getLineData(postColon, data, numData);
@@ -105,6 +106,8 @@ namespace vb01{
Vector3 head = Vector3(atof(data[2].c_str()), atof(data[3].c_str()), atof(data[4].c_str()));
Vector3 xAxis = Vector3(atof(data[5].c_str()), atof(data[6].c_str()), atof(data[7].c_str()));
Vector3 yAxis = Vector3(atof(data[8].c_str()), atof(data[9].c_str()), atof(data[10].c_str()));
string ikTarget = data[11].c_str();
int ikChainLength = atoi(data[12].c_str());
Vector3 zAxis = xAxis.cross(yAxis);
Vector3 pos = head;
@@ -123,8 +126,17 @@ namespace vb01{
pos = pos + Vector3(0, ((Bone*)parent)->getLength(), 0);
Bone *bone = new Bone(preColon, length, pos);
bone->setIkChainLength(ikChainLength);
skeleton->addBone(bone, (Bone*)parent);
bone->lookAt(zAxis, yAxis, parent);
if(ikTarget != "-")
ikRelationships.push_back(preColon + " " + ikTarget);
}
for(string ikRelationship : ikRelationships){
int spaceId = getCharId(ikRelationship, ' ');
string targetBoneName = ikRelationship.substr(0, spaceId);
string ikTargetBoneName = ikRelationship.substr(spaceId + 1);
skeleton->getBone(targetBoneName)->setIkTarget(skeleton->getBone(ikTargetBoneName));
}
AnimationController *controller = skeleton->getAnimationController();