AnimTestbed/3rdparty/ozz-animation/samples/foot_ik/sample_foot_ik.cc

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//----------------------------------------------------------------------------//
// //
// ozz-animation is hosted at http://github.com/guillaumeblanc/ozz-animation //
// and distributed under the MIT License (MIT). //
// //
// Copyright (c) Guillaume Blanc //
// //
// Permission is hereby granted, free of charge, to any person obtaining a //
// copy of this software and associated documentation files (the "Software"), //
// to deal in the Software without restriction, including without limitation //
// the rights to use, copy, modify, merge, publish, distribute, sublicense, //
// and/or sell copies of the Software, and to permit persons to whom the //
// Software is furnished to do so, subject to the following conditions: //
// //
// The above copyright notice and this permission notice shall be included in //
// all copies or substantial portions of the Software. //
// //
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR //
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, //
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL //
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER //
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING //
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER //
// DEALINGS IN THE SOFTWARE. //
// //
//----------------------------------------------------------------------------//
#include <limits>
#include "framework/application.h"
#include "framework/imgui.h"
#include "framework/mesh.h"
#include "framework/renderer.h"
#include "framework/utils.h"
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#include "ozz/animation/runtime/animation.h"
#include "ozz/animation/runtime/ik_aim_job.h"
#include "ozz/animation/runtime/ik_two_bone_job.h"
#include "ozz/animation/runtime/local_to_model_job.h"
#include "ozz/animation/runtime/sampling_job.h"
#include "ozz/animation/runtime/skeleton.h"
#include "ozz/base/log.h"
#include "ozz/base/maths/box.h"
#include "ozz/base/maths/math_ex.h"
#include "ozz/base/maths/simd_math.h"
#include "ozz/base/maths/simd_quaternion.h"
#include "ozz/base/maths/soa_transform.h"
#include "ozz/base/maths/vec_float.h"
#include "ozz/options/options.h"
// Skeleton archive can be specified as an option.
OZZ_OPTIONS_DECLARE_STRING(skeleton,
"Path to the skeleton (ozz archive format).",
"media/skeleton.ozz", false)
// Animation archive can be specified as an option.
OZZ_OPTIONS_DECLARE_STRING(animation,
"Path to the animation (ozz archive format).",
"media/animation.ozz", false)
// Mesh archive can be specified as an option.
OZZ_OPTIONS_DECLARE_STRING(mesh,
"Path to the skinned mesh (ozz archive format).",
"media/mesh.ozz", false)
// Mesh archive can be specified as an option.
OZZ_OPTIONS_DECLARE_STRING(floor,
"Path to the floor mesh (ozz archive format).",
"media/floor.ozz", false)
const char* kLeftJointNames[] = {"LeftUpLeg", "LeftLeg", "LeftFoot"};
const char* kRightJointNames[] = {"RightUpLeg", "RightLeg", "RightFoot"};
const ozz::math::SimdFloat4 kKneeAxis = ozz::math::simd_float4::z_axis();
const ozz::math::SimdFloat4 kAnkleForward = -ozz::math::simd_float4::x_axis();
const ozz::math::SimdFloat4 kAnkleUp = ozz::math::simd_float4::y_axis();
// Structure used to store each leg setup data.
struct LegSetup {
int hip;
int knee;
int ankle;
};
struct LegRayInfo {
ozz::math::Float3 start;
ozz::math::Float3 dir;
bool hit;
ozz::math::Float3 hit_point;
ozz::math::Float3 hit_normal;
};
// Constants
static const ozz::math::Float3 kDown(0.f, -1.f, 0.f);
static const ozz::math::Float3 kCharacterRayHeightOffset(0.f, 10.f, 0.f);
static const ozz::math::Float3 kFootRayHeightOffset(0.f, .5f, 0.f);
class FootIKSampleApplication : public ozz::sample::Application {
public:
FootIKSampleApplication()
: pelvis_offset_(0.f, 0.f, 0.f),
root_translation_(2.17f, 2.f, -2.06f),
root_yaw_(-2.f),
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foot_heigh_(.12f),
weight_(1.f),
soften_(1.f),
auto_character_height_(true),
pelvis_correction_(true),
two_bone_ik_(true),
aim_ik_(true),
show_skin_(true),
show_joints_(false),
show_raycast_(false),
show_ankle_target_(false),
show_root_(false),
show_offsetted_root_(false) {}
protected:
// Updates current animation time and foot ik.
virtual bool OnUpdate(float _dt, float) {
// 1. Updates character main animation.
if (!UpdateBaseAnimation(_dt)) {
return false;
}
// 2. Finds character height on the floor, evaluted at its root position.
if (!UpdateCharacterHeight()) {
return false;
}
// 3. For each leg, raycasts a vector going down from the ankle position.
// This allows to find the intersection point with the floor.
if (!RaycastLegs()) {
return false;
}
// 4. Computes targetted ankles positions, taking floor steepness and foot
// height in consideration.
if (!UpdateAnklesTarget()) {
return false;
}
// 5. Offsets the character down, so that the lowest ankle (lowest from its
// original position) reaches its targetted position. The other leg(s) will
// be ik-ed.
if (!UpdatePelvisOffset()) {
return false;
}
// 6. Updates legs and ankles transforms, so they reach thei targetted
// position and orientation.
if (!UpdateFootIK()) {
return false;
}
return true;
}
// Raycast down from the current position to find character height on the
// floor. It directly updates root translation as output.
bool UpdateCharacterHeight() {
if (!auto_character_height_) {
return true;
}
// Starts the ray from above (kCharacterRayHeightOffset) current character
// position.
ozz::sample::RayIntersectsMeshes(
root_translation_ + kCharacterRayHeightOffset, kDown,
make_span(floors_), &root_translation_, nullptr);
return true;
}
bool UpdateBaseAnimation(float _dt) {
// Updates current animation time.
controller_.Update(animation_, _dt);
// Samples optimized animation at t = animation_time.
ozz::animation::SamplingJob sampling_job;
sampling_job.animation = &animation_;
sampling_job.context = &context_;
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sampling_job.ratio = controller_.time_ratio();
sampling_job.output = make_span(locals_);
if (!sampling_job.Run()) {
return false;
}
// Converts from local space to model space matrices.
ozz::animation::LocalToModelJob ltm_job;
ltm_job.skeleton = &skeleton_;
ltm_job.input = make_span(locals_);
ltm_job.output = make_span(models_);
if (!ltm_job.Run()) {
return false;
}
return true;
}
bool RaycastLegs() {
// Pelvis offset isn't updated yet, it shouldn't be considered. So we're
// using "unoffsetted" root transform.
const ozz::math::Float4x4 root = GetRootTransform();
// Raycast down for each leg to find the intersection point with the floor.
for (size_t l = 0; l < kLegsCount; ++l) {
const LegSetup& leg = legs_setup_[l];
LegRayInfo& ray = rays_info_[l];
// Finds ankle initial world space position
ozz::math::Store3PtrU(TransformPoint(root, models_[leg.ankle].cols[3]),
&ankles_initial_ws_[l].x);
// Builds ray, from above ankle (kFootRayHeightOffset) and going downward.
ray.start = ankles_initial_ws_[l] + kFootRayHeightOffset;
ray.dir = kDown;
ray.hit = ozz::sample::RayIntersectsMeshes(
ray.start, ray.dir, make_span(floors_), &ray.hit_point,
&ray.hit_normal);
}
return true;
}
// Comptutes ankle target position (C), so that the foot is in contact with
// the floor. Because of floor slope (defined by raycast intersection normal),
// ankle position cannot be simply be offseted by foot offset. See geogebra
// diagram for more details: media/doc/samples/foot_ik_ankle.ggb
bool UpdateAnklesTarget() {
for (size_t l = 0; l < kLegsCount; ++l) {
const LegRayInfo& ray = rays_info_[l];
if (!ray.hit) {
continue;
}
// Computes projection of the ray AI (from start to floor intersection
// point) onto floor normal. This gives the length of segment AB.
// Note that ray.hit_normal is normalized already.
const float ABl = Dot(ray.start - ray.hit_point, ray.hit_normal);
if (ABl == 0.f) {
// Early out if the two are perpandicular.
continue;
}
// Knowing A, AB length and direction, we can compute B position.
const ozz::math::Float3 B = ray.start - ray.hit_normal * ABl;
// Computes sebgment IB and its length (IBl)
const ozz::math::Float3 IB = B - ray.hit_point;
const float IBl = Length(IB);
if (IBl <= 0.f) {
// If B is at raycast intersection (I), then we still need to update
// corrected ankle position (world-space) to take into account foot
// height.
ankles_target_ws_[l] = ray.hit_point + ray.hit_normal * foot_heigh_;
} else {
// HC length is known (as foot height). So we're using Thales theorem to
// find H position.
const float IHl = IBl * foot_heigh_ / ABl;
const ozz::math::Float3 IH = IB * (IHl / IBl);
const ozz::math::Float3 H = ray.hit_point + IH;
// C (Corrected ankle) position can now be found.
const ozz::math::Float3 C = H + ray.hit_normal * foot_heigh_;
// Override ankle position with result.
ankles_target_ws_[l] = C;
}
}
return true;
}
// Recomputes pelvis offset.
// Strategy is to move the pelvis along "down" axis (ray axis), enough for
// the lowest foot (lowest from its original position) to reaches ankle
// target. The other foot will be ik-ed.
bool UpdatePelvisOffset() {
pelvis_offset_ = ozz::math::Float3(0.f, 0.f, 0.f);
float max_dot = -std::numeric_limits<float>::max();
if (pelvis_correction_) {
for (size_t l = 0; l < kLegsCount; ++l) {
const LegRayInfo& ray = rays_info_[l];
if (!ray.hit) {
continue;
}
// Check if this ankle is lower (in down direction) compared to the
// previous one.
const ozz::math::Float3 ankle_to_target =
ankles_target_ws_[l] - ankles_initial_ws_[l];
const float dot = Dot(ankle_to_target, kDown);
if (dot > max_dot) {
max_dot = dot;
// Compute offset using the maximum displacement that the legs should
// have to touch ground.
pelvis_offset_ = kDown * dot;
}
}
}
return true;
}
// Applies two bone IK to the leg, and aim IK to the ankle
bool UpdateFootIK() {
// Pelvis offset needs to be considered when converting to medel space. So
// we're using "offsetted" root transform.
const ozz::math::Float4x4 root = GetOffsettedRootTransform();
const ozz::math::Float4x4 inv_root = Invert(root);
ozz::animation::LocalToModelJob ltm_job;
ltm_job.skeleton = &skeleton_;
ltm_job.input = make_span(locals_);
ltm_job.output = make_span(models_);
// Perform IK
for (size_t l = 0; l < kLegsCount; ++l) {
const LegRayInfo& ray = rays_info_[l];
if (!ray.hit) {
continue;
}
const LegSetup& leg = legs_setup_[l];
// Updates leg joint chain so ankle reaches its targetted position.
if (two_bone_ik_ &&
!ApplyLegTwoBoneIK(leg, ankles_target_ws_[l], inv_root)) {
return false;
}
// Updates leg joints model-space transforms.
// Update will go from hip to ankle. Ankle's siblings might no be updated
// as local-to-model will stop as soon as ankle joint is reached.
ltm_job.from = leg.hip;
ltm_job.to = leg.ankle;
if (!ltm_job.Run()) {
return false;
}
// Computes ankle orientation so it's aligned to the floor normal.
const ozz::math::Float3 aim_ik_target(ankles_target_ws_[l] +
ray.hit_normal);
if (aim_ik_ && !ApplyAnkleAimIK(leg, aim_ik_target, inv_root)) {
return false;
}
// Updates model-space transformation now ankle local changes is done.
// Ankle rotation has already been updated, but its siblings (or it's
// parent siblings) might are not. So we local-to-model update must
// be complete starting from hip.
ltm_job.from = leg.hip;
ltm_job.to = ozz::animation::Skeleton::kMaxJoints;
if (!ltm_job.Run()) {
return false;
}
}
return true;
}
// This function will compute two bone IK on the leg, updating hip and knee
// rotations so that ankle can reach its targetted position.
bool ApplyLegTwoBoneIK(const LegSetup& _leg,
const ozz::math::Float3& _target_ws,
const ozz::math::Float4x4& _inv_root) {
// Target position and pole vectors must be in model space.
const ozz::math::SimdFloat4 target_ms = TransformPoint(
_inv_root, ozz::math::simd_float4::Load3PtrU(&_target_ws.x));
const ozz::math::SimdFloat4 pole_vector_ms = models_[_leg.knee].cols[1];
// Builds two bone IK job.
ozz::animation::IKTwoBoneJob ik_job;
ik_job.target = target_ms;
ik_job.pole_vector = pole_vector_ms;
// Mid axis (knee) is constant (usualy), and arbitratry defined by
// skeleton/rig setup.
ik_job.mid_axis = kKneeAxis;
ik_job.weight = weight_;
ik_job.soften = soften_;
ik_job.start_joint = &models_[_leg.hip];
ik_job.mid_joint = &models_[_leg.knee];
ik_job.end_joint = &models_[_leg.ankle];
ozz::math::SimdQuaternion start_correction;
ik_job.start_joint_correction = &start_correction;
ozz::math::SimdQuaternion mid_correction;
ik_job.mid_joint_correction = &mid_correction;
if (!ik_job.Run()) {
return false;
}
// Apply IK quaternions to their respective local-space transforms.
// Model-space transformations needs to be updated after a call to this
// function.
ozz::sample::MultiplySoATransformQuaternion(_leg.hip, start_correction,
make_span(locals_));
ozz::sample::MultiplySoATransformQuaternion(_leg.knee, mid_correction,
make_span(locals_));
return true;
}
// This function will compute aim IK on the ankle, updating its rotations so
// it can be aligned with the floor.
// The strategy is to align ankle up vector in the direction of the floor
// normal. The forward direction of the foot is then driven by the pole
// vector, which polls the foot (ankle forward vector) toward it's original
// (animated) direction.
bool ApplyAnkleAimIK(const LegSetup& _leg,
const ozz::math::Float3& _target_ws,
const ozz::math::Float4x4& _inv_root) {
// Target position and pole vectors must be in model space.
const ozz::math::SimdFloat4 target_ms = TransformPoint(
_inv_root, ozz::math::simd_float4::Load3PtrU(&_target_ws.x));
ozz::animation::IKAimJob ik_job;
// Forward and up vectors are constant (usualy), and arbitratry defined by
// skeleton/rig setup.
ik_job.forward = kAnkleForward;
ik_job.up = kAnkleUp;
// Model space targetted direction (floor normal in this case).
ik_job.target = target_ms;
// Uses constant ankle Y (skeleton/rig setup dependent) as pole vector. That
// allows to maintain foot direction.
ik_job.pole_vector = models_[_leg.ankle].cols[1];
ik_job.joint = &models_[_leg.ankle];
ik_job.weight = weight_;
ozz::math::SimdQuaternion correction;
ik_job.joint_correction = &correction;
if (!ik_job.Run()) {
return false;
}
// Apply IK quaternions to their respective local-space transforms.
// Model-space transformations needs to be updated after a call to this
// function.
ozz::sample::MultiplySoATransformQuaternion(_leg.ankle, correction,
make_span(locals_));
return true;
}
virtual bool OnDisplay(ozz::sample::Renderer* _renderer) {
const float kAxeScale = .1f;
const ozz::math::Float4x4 kAxesScale =
ozz::math::Float4x4::Scaling(ozz::math::simd_float4::Load1(kAxeScale));
const ozz::math::Float4x4 identity = ozz::math::Float4x4::identity();
const ozz::math::Float4x4 offsetted_root = GetOffsettedRootTransform();
bool success = true;
// Renders floor meshes.
for (size_t i = 0; i < floors_.size(); ++i) {
success &= _renderer->DrawMesh(floors_[i], identity);
}
// Renders character.
if (show_skin_) {
// Builds skinning matrices.
// The mesh might not use (aka be skinned by) all skeleton joints. We
// use the joint remapping table (available from the mesh object) to
// reorder model-space matrices and build skinning ones.
for (size_t m = 0; m < meshes_.size(); ++m) {
const ozz::sample::Mesh& mesh = meshes_[m];
for (size_t i = 0; i < mesh.joint_remaps.size(); ++i) {
skinning_matrices_[i] =
models_[mesh.joint_remaps[i]] * mesh.inverse_bind_poses[i];
}
success &= _renderer->DrawSkinnedMesh(
mesh, make_span(skinning_matrices_), offsetted_root);
}
} else {
// Renders skeleton only.
success &=
_renderer->DrawPosture(skeleton_, make_span(models_), offsetted_root);
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}
// Showing joints
if (show_joints_) {
for (size_t l = 0; l < kLegsCount; ++l) {
const LegSetup& leg = legs_setup_[l];
for (size_t i = 0; i < 3; ++i) {
const int joints[3] = {leg.hip, leg.knee, leg.ankle};
const ozz::math::Float4x4& transform =
offsetted_root * models_[joints[i]];
success &= _renderer->DrawAxes(transform * kAxesScale);
}
}
}
// Shows raycast results
if (show_raycast_) {
for (size_t l = 0; l < kLegsCount; ++l) {
const LegRayInfo& ray = rays_info_[l];
if (ray.hit) {
success &= _renderer->DrawSegment(ray.start, ray.hit_point,
ozz::sample::kGreen, identity);
success &= _renderer->DrawSegment(
ray.hit_point, ray.hit_point + ray.hit_normal * .5f,
ozz::sample::kRed, identity);
} else {
success &=
_renderer->DrawSegment(ray.start, ray.start + ray.dir * 10.f,
ozz::sample::kWhite, identity);
}
}
}
// Shows two bone ik ankle target
if (show_ankle_target_) {
for (size_t l = 0; l < kLegsCount; ++l) {
const LegRayInfo& ray = rays_info_[l];
if (ray.hit) {
const ozz::math::Float4x4& transform =
ozz::math::Float4x4::Translation(
ozz::math::simd_float4::Load3PtrU(&ankles_target_ws_[l].x));
success &= _renderer->DrawAxes(transform * kAxesScale);
}
}
}
if (show_root_) {
const ozz::math::Float4x4 root = GetRootTransform();
success &= _renderer->DrawAxes(root);
}
if (show_offsetted_root_) {
success &= _renderer->DrawAxes(offsetted_root);
}
return success;
}
virtual bool OnInitialize() {
// Reading skeleton.
if (!ozz::sample::LoadSkeleton(OPTIONS_skeleton, &skeleton_)) {
return false;
}
// Reading animation.
if (!ozz::sample::LoadAnimation(OPTIONS_animation, &animation_)) {
return false;
}
// Allocates runtime buffers.
const int num_soa_joints = skeleton_.num_soa_joints();
locals_.resize(num_soa_joints);
const int num_joints = skeleton_.num_joints();
models_.resize(num_joints);
// Allocates a context that matches animation requirements.
context_.Resize(num_joints);
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// Finds left and right joints.
if (!SetupLeg(skeleton_, kLeftJointNames, &legs_setup_[kLeft]) ||
!SetupLeg(skeleton_, kRightJointNames, &legs_setup_[kRight])) {
ozz::log::Err()
<< "At least a joint wasn't found in the skeleton hierarchy."
<< std::endl;
return false;
}
// Reading character mesh.
if (!ozz::sample::LoadMeshes(OPTIONS_mesh, &meshes_)) {
return false;
}
// The number of joints of the mesh needs to match skeleton.
for (size_t m = 0; m < meshes_.size(); ++m) {
const ozz::sample::Mesh& mesh = meshes_[m];
if (num_joints < mesh.highest_joint_index()) {
ozz::log::Err() << "The provided mesh doesn't match skeleton "
"(joint count mismatch)."
<< std::endl;
return false;
}
}
skinning_matrices_.resize(num_joints);
// Reading collision/rendering floor mesh.
if (!ozz::sample::LoadMeshes(OPTIONS_floor, &floors_)) {
return false;
}
return true;
}
bool SetupLeg(const ozz::animation::Skeleton& _skeleton,
const char* _joint_names[3], LegSetup* _leg) {
int found = 0;
int joints[3] = {0};
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for (int i = 0; i < _skeleton.num_joints() && found != 3; i++) {
const char* joint_name = _skeleton.joint_names()[i];
if (std::strcmp(joint_name, _joint_names[found]) == 0) {
joints[found] = i;
++found;
}
}
_leg->hip = joints[0];
_leg->knee = joints[1];
_leg->ankle = joints[2];
return found == 3;
}
virtual void OnDestroy() {}
virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
char txt[32];
// Main options
{
static bool opened = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "Sample options", &opened);
if (opened) {
_im_gui->DoCheckBox("Auto character height", &auto_character_height_);
_im_gui->DoCheckBox("Pelvis correction", &pelvis_correction_);
_im_gui->DoCheckBox("Two bone IK (legs)", &two_bone_ik_);
_im_gui->DoCheckBox("Aim IK (ankles)", &aim_ik_);
}
}
// Exposes animation runtime playback controls.
{
static bool open = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "Animation control", &open);
if (open) {
controller_.OnGui(animation_, _im_gui);
}
}
// Settings
{
static bool opened = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "IK settings", &opened);
if (opened) {
sprintf(txt, "Foot height %.2g", foot_heigh_);
_im_gui->DoSlider(txt, 0.f, .3f, &foot_heigh_);
sprintf(txt, "Weight %.2g", weight_);
_im_gui->DoSlider(txt, 0.f, 1.f, &weight_);
sprintf(txt, "Soften %.2g", soften_);
_im_gui->DoSlider(txt, 0.f, 1.f, &soften_, 1.f, two_bone_ik_);
}
}
{ // Root
static bool opened = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "Root transformation", &opened);
if (opened) {
bool moved = false;
// Translation
_im_gui->DoLabel("Translation");
sprintf(txt, "x %.2g", root_translation_.x);
moved |= _im_gui->DoSlider(txt, -10.f, 10.f, &root_translation_.x);
sprintf(txt, "y %.2g", root_translation_.y);
moved |= _im_gui->DoSlider(txt, 0.f, 5.f, &root_translation_.y, 1.f,
!auto_character_height_);
sprintf(txt, "z %.2g", root_translation_.z);
moved |= _im_gui->DoSlider(txt, -10.f, 10.f, &root_translation_.z);
// Rotation (in euler form)
_im_gui->DoLabel("Rotation");
sprintf(txt, "yaw %.3g", root_yaw_ * ozz::math::kRadianToDegree);
moved |=
_im_gui->DoSlider(txt, -ozz::math::kPi, ozz::math::kPi, &root_yaw_);
// Character position shouldn't be changed after the update. In this
// case, because UI is updated after "game" update, we need to recompute
// character offset and IK.
if (moved && auto_character_height_) {
OnUpdate(0.f, 0.f);
}
}
}
// Options
{
static bool opened = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "Debug options", &opened);
if (opened) {
_im_gui->DoCheckBox("Show skin", &show_skin_);
_im_gui->DoCheckBox("Show joints", &show_joints_);
_im_gui->DoCheckBox("Show raycasts", &show_raycast_);
_im_gui->DoCheckBox("Show ankle target", &show_ankle_target_);
_im_gui->DoCheckBox("Show root", &show_root_);
_im_gui->DoCheckBox("Show offsetted root", &show_offsetted_root_);
}
}
return true;
}
virtual bool GetCameraInitialSetup(ozz::math::Float3* _center,
ozz::math::Float2* _angles,
float* _distance) const {
*_center = ozz::math::Float3(4.7f, 2.3f, -.13f);
*_angles = ozz::math::Float2(-.14f, -2.1f);
*_distance = 5.9f;
return true;
}
virtual void GetSceneBounds(ozz::math::Box* _box) const {
*_box = ozz::math::Box();
}
ozz::math::Float4x4 GetRootTransform() const {
return ozz::math::Float4x4::Translation(
ozz::math::simd_float4::Load3PtrU(&root_translation_.x)) *
ozz::math::Float4x4::FromEuler(
ozz::math::simd_float4::LoadX(root_yaw_));
}
ozz::math::Float4x4 GetOffsettedRootTransform() const {
if (!pelvis_correction_) {
return GetRootTransform();
}
const ozz::math::Float3 offsetted_translation =
pelvis_offset_ + root_translation_;
return ozz::math::Float4x4::Translation(
ozz::math::simd_float4::Load3PtrU(&offsetted_translation.x)) *
ozz::math::Float4x4::FromEuler(
ozz::math::simd_float4::LoadX(root_yaw_));
}
private:
// Playback animation controller. This is a utility class that helps with
// controlling animation playback time.
ozz::sample::PlaybackController controller_;
// Runtime skeleton.
ozz::animation::Skeleton skeleton_;
// Runtime animation.
ozz::animation::Animation animation_;
// Sampling context.
ozz::animation::SamplingJob::Context context_;
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// Buffer of local transforms as sampled from animation_.
ozz::vector<ozz::math::SoaTransform> locals_;
// Buffer of model space matrices.
ozz::vector<ozz::math::Float4x4> models_;
// Buffer of skinning matrices, result of the joint multiplication of the
// inverse rest pose with the model space matrix.
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ozz::vector<ozz::math::Float4x4> skinning_matrices_;
// The mesh used by the sample.
ozz::vector<ozz::sample::Mesh> meshes_;
enum { kLeft, kRight };
enum { kLegsCount = 2 };
LegSetup legs_setup_[kLegsCount];
LegRayInfo rays_info_[kLegsCount];
ozz::math::Float3 ankles_initial_ws_[kLegsCount];
ozz::math::Float3 ankles_target_ws_[kLegsCount];
LegRayInfo capsule;
ozz::math::Float3 pelvis_offset_;
// The floor meshes used by the sample (collision and rendering).
ozz::vector<ozz::sample::Mesh> floors_;
// Root transformation.
ozz::math::Float3 root_translation_;
float root_yaw_;
// Foot height setting
float foot_heigh_;
float weight_;
float soften_;
bool auto_character_height_;
bool pelvis_correction_;
bool two_bone_ik_;
bool aim_ik_;
bool show_skin_;
bool show_joints_;
bool show_raycast_;
bool show_ankle_target_;
bool show_root_;
bool show_offsetted_root_;
};
int main(int _argc, const char** _argv) {
const char* title = "Ozz-animation sample: Foot IK";
return FootIKSampleApplication().Run(_argc, _argv, "1.0", title);
}