AnimTestbed/3rdparty/ozz-animation/test/animation/offline/animation_optimizer_tests.cc

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#include "ozz/animation/offline/animation_optimizer.h"

#include "gtest/gtest.h"

#include "ozz/base/maths/math_constant.h"

#include "ozz/base/memory/unique_ptr.h"

#include "ozz/animation/offline/animation_builder.h"
#include "ozz/animation/offline/raw_animation.h"

#include "ozz/animation/offline/raw_skeleton.h"
#include "ozz/animation/offline/skeleton_builder.h"
#include "ozz/animation/runtime/skeleton.h"

using ozz::animation::Skeleton;
using ozz::animation::offline::AnimationOptimizer;
using ozz::animation::offline::RawAnimation;
using ozz::animation::offline::RawSkeleton;
using ozz::animation::offline::SkeletonBuilder;

TEST(Error, AnimationOptimizer) {
  AnimationOptimizer optimizer;

  {  // nullptr output.
    RawAnimation input;
    Skeleton skeleton;
    EXPECT_TRUE(input.Validate());

    // Builds animation
    EXPECT_FALSE(optimizer(input, skeleton, nullptr));
  }

  {  // Invalid input animation.
    RawSkeleton raw_skeleton;
    raw_skeleton.roots.resize(1);
    SkeletonBuilder skeleton_builder;
    ozz::unique_ptr<Skeleton> skeleton(skeleton_builder(raw_skeleton));
    ASSERT_TRUE(skeleton);

    RawAnimation input;
    input.duration = -1.f;
    EXPECT_FALSE(input.Validate());

    // Builds animation
    RawAnimation output;
    output.duration = -1.f;
    output.tracks.resize(1);
    EXPECT_FALSE(optimizer(input, *skeleton, &output));
    EXPECT_FLOAT_EQ(output.duration, RawAnimation().duration);
    EXPECT_EQ(output.num_tracks(), 0);
  }

  {  // Invalid skeleton.
    Skeleton skeleton;

    RawAnimation input;
    input.tracks.resize(1);
    EXPECT_TRUE(input.Validate());

    // Builds animation
    RawAnimation output;
    EXPECT_FALSE(optimizer(input, skeleton, &output));
    EXPECT_FLOAT_EQ(output.duration, RawAnimation().duration);
    EXPECT_EQ(output.num_tracks(), 0);
  }
}

TEST(Name, AnimationOptimizer) {
  // Prepares a skeleton.
  RawSkeleton raw_skeleton;
  SkeletonBuilder skeleton_builder;
  ozz::unique_ptr<Skeleton> skeleton(skeleton_builder(raw_skeleton));
  ASSERT_TRUE(skeleton);

  AnimationOptimizer optimizer;

  RawAnimation input;
  input.name = "Test_Animation";
  input.duration = 1.f;

  ASSERT_TRUE(input.Validate());

  RawAnimation output;
  ASSERT_TRUE(optimizer(input, *skeleton, &output));
  EXPECT_EQ(output.num_tracks(), 0);
  EXPECT_STRCASEEQ(output.name.c_str(), "Test_Animation");
}

TEST(Optimize, AnimationOptimizer) {
  // Prepares a skeleton.
  RawSkeleton raw_skeleton;
  raw_skeleton.roots.resize(1);
  raw_skeleton.roots[0].children.resize(1);
  raw_skeleton.roots[0].children[0].children.resize(1);
  raw_skeleton.roots[0].children[0].children[0].children.resize(2);
  SkeletonBuilder skeleton_builder;
  ozz::unique_ptr<Skeleton> skeleton(skeleton_builder(raw_skeleton));
  ASSERT_TRUE(skeleton);

  // Disable non hierarchical optimizations
  AnimationOptimizer optimizer;

  // Disables vertex distance.
  optimizer.setting.distance = 0.f;

  RawAnimation input;
  input.duration = 1.f;
  input.tracks.resize(5);

  // Translations on track 0.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(4.f, 0.f, 0.f)};
    input.tracks[0].translations.push_back(key);
  }

  // Translations on track 1.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(0.f, 0.f, 0.f)};
    input.tracks[1].translations.push_back(key);
  }

  // Translations on track 2.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(5.f, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }
  {
    RawAnimation::TranslationKey key = {.1f, ozz::math::Float3(6.f, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }
  {  // Creates an variation.
    RawAnimation::TranslationKey key = {.2f, ozz::math::Float3(7.1f, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }
  {
    RawAnimation::TranslationKey key = {.3f, ozz::math::Float3(8.f, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }

  // Translations on track 3.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(16.f, 0.f, 0.f)};
    input.tracks[3].translations.push_back(key);
  }
  // Translations on track 4.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(32.f, 0.f, 0.f)};
    input.tracks[4].translations.push_back(key);
  }

  ASSERT_TRUE(input.Validate());

  // Small translation tolerance -> all key maintained
  {
    RawAnimation output;
    optimizer.setting.tolerance = .01f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 4u);
    EXPECT_FLOAT_EQ(translations[0].time, 0.f);
    EXPECT_FLOAT_EQ(translations[1].time, .1f);
    EXPECT_FLOAT_EQ(translations[2].time, .2f);
    EXPECT_FLOAT_EQ(translations[3].time, .3f);
  }

  // High translation tolerance -> all key interpolated
  {
    RawAnimation output;
    optimizer.setting.tolerance = .1f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
    EXPECT_FLOAT_EQ(translations[0].time, 0.f);
    EXPECT_FLOAT_EQ(translations[1].time, .3f);
  }

  // Introduces a 10x scaling upstream that amplifies error
  // Scaling on track 0
  {
    RawAnimation::ScaleKey key = {0.f, ozz::math::Float3(10.f, 0.f, 0.f)};
    input.tracks[0].scales.push_back(key);
  }

  // High translation tolerance -> keys aren't interpolated because of scale
  // effect.
  {
    RawAnimation output;
    optimizer.setting.tolerance = .1f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 4u);
  }

  // Very high tolerance
  {
    RawAnimation output;
    optimizer.setting.tolerance = 1.f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
  }

  // Introduces a -10x scaling upstream that amplifies error
  // Scaling on track 0
  { input.tracks[0].scales[0].value = ozz::math::Float3(0.f, -10.f, 0.f); }

  // High translation tolerance -> keys aren't interpolated because of scale
  // effect.
  {
    RawAnimation output;
    optimizer.setting.tolerance = .1f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 4u);
    EXPECT_FLOAT_EQ(translations[0].time, 0.f);
    EXPECT_FLOAT_EQ(translations[1].time, .1f);
    EXPECT_FLOAT_EQ(translations[2].time, .2f);
    EXPECT_FLOAT_EQ(translations[3].time, .3f);
  }

  // Very high tolerance
  {
    RawAnimation output;
    optimizer.setting.tolerance = 1.f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
    EXPECT_FLOAT_EQ(translations[0].time, 0.f);
    EXPECT_FLOAT_EQ(translations[1].time, .3f);
  }

  // Compenstate scale on next joint
  {
    RawAnimation::ScaleKey key = {0.f, ozz::math::Float3(.1f, 0.f, 0.f)};
    input.tracks[1].scales.push_back(key);
  }

  // High translation tolerance -> keys ar interpolated because of scale
  // compensation.
  {
    RawAnimation output;
    optimizer.setting.tolerance = 1.f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
  }

  // Remove scaling compensation
  { input.tracks[1].scales.clear(); }

  // Introduces a .1x scaling upstream that amplifies error
  // Scaling on track 0
  { input.tracks[0].scales[0].value = ozz::math::Float3(0.f, 0.f, .1f); }

  // High translation tolerance -> keys aren't interpolated because of scale
  // effect.
  {
    RawAnimation output;
    optimizer.setting.tolerance = .001f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 4u);
    EXPECT_FLOAT_EQ(translations[0].time, 0.f);
    EXPECT_FLOAT_EQ(translations[1].time, .1f);
    EXPECT_FLOAT_EQ(translations[2].time, .2f);
    EXPECT_FLOAT_EQ(translations[3].time, .3f);
  }

  // Very high translation tolerance
  {
    RawAnimation output;
    optimizer.setting.tolerance = .01f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
    EXPECT_FLOAT_EQ(translations[0].time, 0.f);
    EXPECT_FLOAT_EQ(translations[1].time, .3f);
  }

  // Remove scaling
  { input.tracks[0].scales.clear(); }

  // Rotations on track 0.
  {
    RawAnimation::RotationKey key = {
        0.f, ozz::math::Quaternion::FromEuler(0.f, 0.f, 0.f)};
    input.tracks[0].rotations.push_back(key);
  }
  {                                     // Include error
    const float angle_error = 2.5e-3f;  // creates an arc of .1m at 40m.
    RawAnimation::RotationKey key = {
        .1f, ozz::math::Quaternion::FromEuler(ozz::math::kPi_4 + angle_error,
                                              0.f, 0.f)};
    input.tracks[0].rotations.push_back(key);
  }
  {
    RawAnimation::RotationKey key = {
        .2f, ozz::math::Quaternion::FromEuler(ozz::math::kPi_2, 0.f, 0.f)};
    input.tracks[0].rotations.push_back(key);
  }

  // Big enough tolerance -> keys rejected
  {
    RawAnimation output;
    optimizer.setting.tolerance = .3f;
    optimizer.setting.distance = 40.f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[0].rotations;
    ASSERT_EQ(rotations.size(), 2u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
  }

  // Small enough tolerance -> keys rejected
  {
    RawAnimation output;
    optimizer.setting.tolerance = .05f;
    optimizer.setting.distance = 40.f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[0].rotations;
    ASSERT_EQ(rotations.size(), 3u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 4u);
  }

  // Back to default
  optimizer.setting = AnimationOptimizer::Setting();

  // Small translation tolerance -> all key maintained
  {
    RawAnimation output;
    optimizer.setting.tolerance = .01f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[0].rotations;
    ASSERT_EQ(rotations.size(), 3u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 4u);
  }

  // Introduces a .1x scaling upstream that lowers error
  // Scaling on track 0
  {
    RawAnimation::ScaleKey key = {0.f, ozz::math::Float3(0.f, .1f, 0.f)};
    input.tracks[1].scales.push_back(key);
  }

  // Small translation tolerance, but scaled down -> keys rejected
  {
    RawAnimation output;
    optimizer.setting.tolerance = .011f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[0].rotations;
    ASSERT_EQ(rotations.size(), 2u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
  }

  // More vertex distance -> keys are maintained (translation unaffected)
  {
    RawAnimation output;
    optimizer.setting.tolerance = .01f;
    optimizer.setting.distance = 1.f;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[0].rotations;
    ASSERT_EQ(rotations.size(), 3u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
  }

  // Remove scaling
  { input.tracks[2].scales.clear(); }
}

TEST(OptimizeOverride, AnimationOptimizer) {
  // Prepares a skeleton.
  RawSkeleton raw_skeleton;
  raw_skeleton.roots.resize(1);
  raw_skeleton.roots[0].children.resize(1);
  raw_skeleton.roots[0].children[0].children.resize(1);
  raw_skeleton.roots[0].children[0].children[0].children.resize(2);
  SkeletonBuilder skeleton_builder;
  ozz::unique_ptr<Skeleton> skeleton(skeleton_builder(raw_skeleton));
  ASSERT_TRUE(skeleton);

  // Disable non hierarchical optimizations
  AnimationOptimizer optimizer;
  const AnimationOptimizer::Setting loose_setting(1e-2f,   // 1cm
                                                  1e-3f);  // 1mm
  // Disables vertex distance.
  optimizer.setting.distance = 0.f;

  RawAnimation input;
  input.duration = 1.f;
  input.tracks.resize(5);

  // Translations on track 0.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(.4f, 0.f, 0.f)};
    input.tracks[0].translations.push_back(key);
  }

  // Rotations on track 0.
  {
    RawAnimation::RotationKey key = {
        0.f, ozz::math::Quaternion::FromEuler(0.f, 0.f, 0.f)};
    input.tracks[1].rotations.push_back(key);
  }
  {                                   // Includes an error that
    const float angle_error = 1e-3f;  // creates an arc of 1mm at 1m.
    RawAnimation::RotationKey key = {
        .1f, ozz::math::Quaternion::FromEuler(ozz::math::kPi_4 + angle_error,
                                              0.f, 0.f)};
    input.tracks[1].rotations.push_back(key);
  }
  {
    RawAnimation::RotationKey key = {
        .2f, ozz::math::Quaternion::FromEuler(ozz::math::kPi_2, 0.f, 0.f)};
    input.tracks[1].rotations.push_back(key);
  }

  // Translations on track 1.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(0.f, 0.f, 0.f)};
    input.tracks[1].translations.push_back(key);
  }

  // Translations on track 2.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(.05f, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }
  {
    RawAnimation::TranslationKey key = {.1f, ozz::math::Float3(.06f, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }
  {  // Creates a variation.
    const float trans_err = 5e-4f;
    RawAnimation::TranslationKey key = {
        .2f, ozz::math::Float3(.07f + trans_err, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }
  {
    RawAnimation::TranslationKey key = {.3f, ozz::math::Float3(.08f, 0.f, 0.f)};
    input.tracks[2].translations.push_back(key);
  }

  // Translations on track 3.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(.16f, 0.f, 0.f)};
    input.tracks[3].translations.push_back(key);
  }
  // Translations on track 4.
  {
    RawAnimation::TranslationKey key = {0.f, ozz::math::Float3(.32f, 0.f, 0.f)};
    input.tracks[4].translations.push_back(key);
  }

  ASSERT_TRUE(input.Validate());

  // Default global tolerances
  {
    RawAnimation output;
    optimizer.setting = loose_setting;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    ASSERT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[1].rotations;
    ASSERT_EQ(rotations.size(), 2u);
    EXPECT_FLOAT_EQ(rotations[0].time, 0.f);
    EXPECT_FLOAT_EQ(rotations[1].time, .2f);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);
    EXPECT_FLOAT_EQ(translations[0].time, 0.f);
    EXPECT_FLOAT_EQ(translations[1].time, .3f);
  }

  // Overriding root has no effect on its child, even with small tolerance.
  {
    RawAnimation output;
    optimizer.setting = loose_setting;
    const AnimationOptimizer::Setting joint_override(1e-6f, 1e6f);
    optimizer.joints_setting_override[0] = joint_override;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    ASSERT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[1].rotations;
    EXPECT_EQ(rotations.size(), 2u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    EXPECT_EQ(translations.size(), 2u);

    optimizer.joints_setting_override.clear();
  }

  // Overriding a joint has effect on itself.
  {
    RawAnimation output;
    optimizer.setting = loose_setting;
    const AnimationOptimizer::Setting joint_override(1e-3f,  // 1mm
                                                     1e-2f);  // 1cm
    optimizer.joints_setting_override[1] = joint_override;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[1].rotations;
    EXPECT_EQ(rotations.size(), 2u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    EXPECT_EQ(translations.size(), 2u);

    optimizer.joints_setting_override.clear();
  }

  // Overriding leaf has effect up to the root though.
  {
    RawAnimation output;
    optimizer.setting = loose_setting;
    const AnimationOptimizer::Setting joint_override(1e-3f,  // 1mm
                                                     10.f);   // 10m
    optimizer.joints_setting_override[2] = joint_override;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[1].rotations;
    ASSERT_EQ(rotations.size(), 3u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    ASSERT_EQ(translations.size(), 2u);

    optimizer.joints_setting_override.clear();
  }

  // Scale at root affects rotation and translation.
  {
    RawAnimation::ScaleKey key = {0.f, ozz::math::Float3(.1f, 2.f, .1f)};
    input.tracks[0].scales.push_back(key);

    RawAnimation output;
    optimizer.setting = loose_setting;
    const AnimationOptimizer::Setting joint_override(1.e-3f,  // > 1mm
                                                     1.f);    // 1m
    optimizer.joints_setting_override[1] = joint_override;
    optimizer.joints_setting_override[2] = joint_override;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[1].rotations;
    EXPECT_EQ(rotations.size(), 3u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    EXPECT_EQ(translations.size(), 3u);

    optimizer.joints_setting_override.clear();
    input.tracks[0].scales.clear();
  }

  // Scale at leaf doesn't affect anything but the leaf.
  {
    RawAnimation::ScaleKey key = {0.f, ozz::math::Float3(.1f, 2.f, .1f)};
    input.tracks[4].scales.push_back(key);

    RawAnimation output;
    optimizer.setting = loose_setting;
    const AnimationOptimizer::Setting joint_override(1e-3f,  // < 1mm
                                                     .5f);   // .5m
    optimizer.joints_setting_override[1] = joint_override;
    ASSERT_TRUE(optimizer(input, *skeleton, &output));
    EXPECT_EQ(output.num_tracks(), 5);

    const RawAnimation::JointTrack::Rotations& rotations =
        output.tracks[1].rotations;
    EXPECT_EQ(rotations.size(), 2u);

    const RawAnimation::JointTrack::Translations& translations =
        output.tracks[2].translations;
    EXPECT_EQ(translations.size(), 2u);

    optimizer.joints_setting_override.clear();
    input.tracks[4].scales.clear();
  }
}