534 lines
20 KiB
C++
534 lines
20 KiB
C++
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//----------------------------------------------------------------------------//
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// //
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// ozz-animation is hosted at http://github.com/guillaumeblanc/ozz-animation //
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// and distributed under the MIT License (MIT). //
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// //
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// Copyright (c) Guillaume Blanc //
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// //
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// Permission is hereby granted, free of charge, to any person obtaining a //
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// copy of this software and associated documentation files (the "Software"), //
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// to deal in the Software without restriction, including without limitation //
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// the rights to use, copy, modify, merge, publish, distribute, sublicense, //
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// and/or sell copies of the Software, and to permit persons to whom the //
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// Software is furnished to do so, subject to the following conditions: //
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// //
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// The above copyright notice and this permission notice shall be included in //
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// all copies or substantial portions of the Software. //
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// //
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR //
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, //
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL //
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// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER //
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING //
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER //
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// DEALINGS IN THE SOFTWARE. //
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// //
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//----------------------------------------------------------------------------//
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#include "ozz/animation/runtime/animation.h"
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#include "ozz/animation/runtime/ik_aim_job.h"
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#include "ozz/animation/runtime/local_to_model_job.h"
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#include "ozz/animation/runtime/sampling_job.h"
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#include "ozz/animation/runtime/skeleton.h"
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#include "ozz/base/log.h"
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#include "ozz/base/maths/box.h"
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#include "ozz/base/maths/simd_math.h"
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#include "ozz/base/maths/simd_quaternion.h"
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#include "ozz/base/maths/soa_transform.h"
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#include "ozz/base/maths/vec_float.h"
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#include "ozz/options/options.h"
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#include "framework/application.h"
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#include "framework/imgui.h"
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#include "framework/mesh.h"
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#include "framework/renderer.h"
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#include "framework/utils.h"
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// Skeleton archive can be specified as an option.
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OZZ_OPTIONS_DECLARE_STRING(skeleton,
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"Path to the skeleton (ozz archive format).",
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"media/skeleton.ozz", false)
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// Animation archive can be specified as an option.
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OZZ_OPTIONS_DECLARE_STRING(animation,
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"Path to the animation (ozz archive format).",
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"media/animation.ozz", false)
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// Mesh archive can be specified as an option.
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OZZ_OPTIONS_DECLARE_STRING(mesh,
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"Path to the skinned mesh (ozz archive format).",
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"media/mesh.ozz", false)
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// Defines IK chain joint names.
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// Joints must be from the same hierarchy (all ancestors of the first joint
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// listed) and ordered from child to parent.
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const char* kJointNames[] = {"Head", "Spine3", "Spine2", "Spine1"};
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const size_t kMaxChainLength = OZZ_ARRAY_SIZE(kJointNames);
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// Forward vector in head local-space.
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const ozz::math::SimdFloat4 kHeadForward = ozz::math::simd_float4::y_axis();
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// Defines Up vectors for each joint. This is skeleton/rig dependant.
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const ozz::math::SimdFloat4 kJointUpVectors[] = {
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ozz::math::simd_float4::x_axis(), ozz::math::simd_float4::x_axis(),
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ozz::math::simd_float4::x_axis(), ozz::math::simd_float4::x_axis()};
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static_assert(OZZ_ARRAY_SIZE(kJointUpVectors) == kMaxChainLength,
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"Array size mismatch.");
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class LookAtSampleApplication : public ozz::sample::Application {
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public:
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LookAtSampleApplication()
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: target_offset_(.2f, 1.5f, -.3f),
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target_extent_(1.f),
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eyes_offset_(.07f, .1f, 0.f),
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enable_ik_(true),
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chain_length_(kMaxChainLength),
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joint_weight_(.5f),
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chain_weight_(1.f),
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show_skin_(true),
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show_joints_(false),
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show_target_(true),
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show_eyes_offset_(false),
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show_forward_(false) {}
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protected:
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// Updates current animation time and skeleton pose.
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virtual bool OnUpdate(float _dt, float _time) {
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// Animates target position.
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MoveTarget(_time);
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// Updates current animation time.
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controller_.Update(animation_, _dt);
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// Samples optimized animation at t = animation_time_.
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ozz::animation::SamplingJob sampling_job;
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sampling_job.animation = &animation_;
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sampling_job.cache = &cache_;
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sampling_job.ratio = controller_.time_ratio();
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sampling_job.output = make_span(locals_);
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if (!sampling_job.Run()) {
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return false;
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}
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// Converts from local-space to model-space matrices.
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ozz::animation::LocalToModelJob ltm_job;
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ltm_job.skeleton = &skeleton_;
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ltm_job.input = make_span(locals_);
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ltm_job.output = make_span(models_);
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if (!ltm_job.Run()) {
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return false;
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}
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// Early out if IK is disabled.
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if (!enable_ik_) {
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return true;
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}
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// IK aim job setup.
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ozz::animation::IKAimJob ik_job;
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// Pole vector and target position are constant for the whole algorithm, in
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// model-space.
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ik_job.pole_vector = ozz::math::simd_float4::y_axis();
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ik_job.target = ozz::math::simd_float4::Load3PtrU(&target_.x);
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// The same quaternion will be used each time the job is run.
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ozz::math::SimdQuaternion correction;
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ik_job.joint_correction = &correction;
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// The algorithm iteratively updates from the first joint (closer to the
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// head) to the last (the further ancestor, closer to the pelvis). Joints
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// order is already validated. For the first joint, aim IK is applied with
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// the global forward and offset, so the forward vector aligns in direction
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// of the target. If a weight lower that 1 is provided to the first joint,
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// then it will not fully align to the target. In this case further joint
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// will need to be updated. For the remaining joints, forward vector and
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// offset position are computed in each joint local-space, before IK is
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// applied:
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// 1. Rotates forward and offset position based on the result of the
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// previous joint IK.
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// 2. Brings forward and offset back in joint local-space.
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// Aim is iteratively applied up to the last selected joint of the
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// hierarchy. A weight of 1 is given to the last joint so we can guarantee
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// target is reached. Note that model-space transform of each joint doesn't
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// need to be updated between each pass, as joints are ordered from child to
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// parent.
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int previous_joint = ozz::animation::Skeleton::kNoParent;
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for (int i = 0, joint = joints_chain_[0]; i < chain_length_;
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++i, previous_joint = joint, joint = joints_chain_[i]) {
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// Setups the model-space matrix of the joint being processed by IK.
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ik_job.joint = &models_[joint];
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// Setups joint local-space up vector.
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ik_job.up = kJointUpVectors[i];
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// Setups weights of IK job.
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// the last joint being processed needs a full weight (1.f) to ensure
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// target is reached.
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const bool last = i == chain_length_ - 1;
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ik_job.weight = chain_weight_ * (last ? 1.f : joint_weight_);
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// Setup offset and forward vector for the current joint being processed.
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if (i == 0) {
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// First joint, uses global forward and offset.
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ik_job.offset = ozz::math::simd_float4::Load3PtrU(&eyes_offset_.x);
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ik_job.forward = kHeadForward;
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} else {
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// Applies previous correction to "forward" and "offset", before
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// bringing them to model-space (_ms).
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const ozz::math::SimdFloat4 corrected_forward_ms =
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TransformVector(models_[previous_joint],
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TransformVector(correction, ik_job.forward));
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const ozz::math::SimdFloat4 corrected_offset_ms =
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TransformPoint(models_[previous_joint],
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TransformVector(correction, ik_job.offset));
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// Brings "forward" and "offset" to joint local-space
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const ozz::math::Float4x4 inv_joint = Invert(models_[joint]);
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ik_job.forward = TransformVector(inv_joint, corrected_forward_ms);
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ik_job.offset = TransformPoint(inv_joint, corrected_offset_ms);
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}
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// Runs IK aim job.
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if (!ik_job.Run()) {
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return false;
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}
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// Apply IK quaternion to its respective local-space transforms.
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ozz::sample::MultiplySoATransformQuaternion(joint, correction,
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make_span(locals_));
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}
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// Skeleton model-space matrices need to be updated again. This re-uses the
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// already setup job, but limits the update to childs of the last joint (the
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// parent-iest of the chain).
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ltm_job.from = previous_joint;
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if (!ltm_job.Run()) {
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return false;
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}
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return true;
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}
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// Sample arbitrary target animation implementation.
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bool MoveTarget(float _time) {
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const ozz::math::Float3 animated_target(std::sin(_time * .5f),
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std::cos(_time * .25f),
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std::cos(_time) * .5f + .5f);
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target_ = target_offset_ + animated_target * target_extent_;
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return true;
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}
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// Samples animation, transforms to model space and renders.
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virtual bool OnDisplay(ozz::sample::Renderer* _renderer) {
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bool success = true;
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const ozz::math::Float4x4 identity = ozz::math::Float4x4::identity();
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const float kAxeScale = .1f;
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const ozz::math::Float4x4 kAxesScale =
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ozz::math::Float4x4::Scaling(ozz::math::simd_float4::Load1(kAxeScale));
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// Renders character.
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if (show_skin_) {
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// Builds skinning matrices.
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// The mesh might not use (aka be skinned by) all skeleton joints. We
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// use the joint remapping table (available from the mesh object) to
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// reorder model-space matrices and build skinning ones.
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for (size_t m = 0; m < meshes_.size(); ++m) {
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const ozz::sample::Mesh& mesh = meshes_[m];
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for (size_t i = 0; i < mesh.joint_remaps.size(); ++i) {
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skinning_matrices_[i] =
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models_[mesh.joint_remaps[i]] * mesh.inverse_bind_poses[i];
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}
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success &= _renderer->DrawSkinnedMesh(
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mesh, make_span(skinning_matrices_), identity);
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}
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} else {
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// Renders skeleton only.
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success &=
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_renderer->DrawPosture(skeleton_, make_span(models_), identity);
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}
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// Showing joints
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if (show_joints_) {
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const float kSphereRadius = .02f;
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for (int i = 0; i < chain_length_; ++i) {
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const ozz::math::Float4x4& transform = models_[joints_chain_[i]];
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success &= _renderer->DrawAxes(transform * kAxesScale);
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success &= _renderer->DrawSphereIm(kSphereRadius, transform,
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ozz::sample::kWhite);
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}
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}
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// Showing target, as a box or axes depending on show_forward_ option.
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if (show_target_) {
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const ozz::math::Float4x4 target = ozz::math::Float4x4::Translation(
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ozz::math::simd_float4::Load3PtrU(&target_.x));
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if (show_forward_) {
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success &= _renderer->DrawAxes(target * kAxesScale);
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} else {
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success &= _renderer->DrawSphereIm(.02f, target, ozz::sample::kGreen);
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}
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}
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if (show_eyes_offset_ || show_forward_) {
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const int head = joints_chain_[0];
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const ozz::math::Float4x4 offset =
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models_[head] *
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ozz::math::Float4x4::Translation(
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ozz::math::simd_float4::Load3PtrU(&eyes_offset_.x));
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if (show_eyes_offset_) {
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success &= _renderer->DrawAxes(offset * kAxesScale);
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}
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if (show_forward_) {
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ozz::math::Float3 begin;
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ozz::math::Store3PtrU(offset.cols[3], &begin.x);
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ozz::math::Float3 forward;
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ozz::math::Store3PtrU(kHeadForward, &forward.x);
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ozz::sample::Color color = {0xff, 0xff, 0xff, 0xff};
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success &= _renderer->DrawSegment(ozz::math::Float3::zero(),
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forward * 10.f, color, offset);
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}
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}
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return success;
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}
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virtual bool OnInitialize() {
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// Reading skeleton.
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if (!ozz::sample::LoadSkeleton(OPTIONS_skeleton, &skeleton_)) {
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return false;
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}
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// Look for each joint in the chain.
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int found = 0;
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for (int i = 0; i < skeleton_.num_joints() && found != kMaxChainLength;
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++i) {
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const char* joint_name = skeleton_.joint_names()[i];
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if (std::strcmp(joint_name, kJointNames[found]) == 0) {
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joints_chain_[found] = i;
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// Restart search
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++found;
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i = 0;
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}
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}
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// Exit if all joints weren't found.
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if (found != kMaxChainLength) {
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ozz::log::Err()
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<< "At least a joint wasn't found in the skeleton hierarchy."
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<< std::endl;
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return false;
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}
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// Validates joints are order from child to parent of the same hierarchy.
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if (!ValidateJointsOrder(skeleton_, joints_chain_)) {
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ozz::log::Err() << "Joints aren't properly ordered, they must be from "
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"the same hierarchy (all ancestors of the first joint "
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"listed) and ordered from child to parent."
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<< std::endl;
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return false;
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}
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// Allocates runtime buffers.
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const int num_soa_joints = skeleton_.num_soa_joints();
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locals_.resize(num_soa_joints);
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const int num_joints = skeleton_.num_joints();
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models_.resize(num_joints);
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// Allocates a cache that matches animation requirements.
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cache_.Resize(num_joints);
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// Reading animation.
|
||
|
|
if (!ozz::sample::LoadAnimation(OPTIONS_animation, &animation_)) {
|
||
|
|
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);
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Traverses the hierarchy from the first joint to the root, to check if
|
||
|
|
// joints are all ancestors (same branch), and ordered.
|
||
|
|
bool ValidateJointsOrder(const ozz::animation::Skeleton& _skeleton,
|
||
|
|
ozz::span<const int> _joints) {
|
||
|
|
const size_t count = _joints.size();
|
||
|
|
if (count == 0) {
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
size_t i = 1;
|
||
|
|
for (int joint = _joints[0], parent = _skeleton.joint_parents()[joint];
|
||
|
|
i != count && joint != ozz::animation::Skeleton::kNoParent;
|
||
|
|
joint = parent, parent = _skeleton.joint_parents()[joint]) {
|
||
|
|
if (parent == _joints[i]) {
|
||
|
|
++i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return count == i;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void OnDestroy() {}
|
||
|
|
|
||
|
|
virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
|
||
|
|
char txt[64];
|
||
|
|
|
||
|
|
_im_gui->DoCheckBox("Enable ik", &enable_ik_);
|
||
|
|
sprintf(txt, "IK chain length: %d", chain_length_);
|
||
|
|
_im_gui->DoSlider(txt, 0, kMaxChainLength, &chain_length_);
|
||
|
|
sprintf(txt, "Joint weight %.2g", joint_weight_);
|
||
|
|
_im_gui->DoSlider(txt, 0.f, 1.f, &joint_weight_);
|
||
|
|
sprintf(txt, "Chain weight %.2g", chain_weight_);
|
||
|
|
_im_gui->DoSlider(txt, 0.f, 1.f, &chain_weight_);
|
||
|
|
|
||
|
|
// 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);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
{ // Target position
|
||
|
|
static bool opened = true;
|
||
|
|
ozz::sample::ImGui::OpenClose oc(_im_gui, "Target offset", &opened);
|
||
|
|
if (opened) {
|
||
|
|
const float kTargetRange = 3.f;
|
||
|
|
|
||
|
|
_im_gui->DoLabel("Animated extent");
|
||
|
|
sprintf(txt, "%.2g", target_extent_);
|
||
|
|
_im_gui->DoSlider(txt, 0.f, kTargetRange, &target_extent_);
|
||
|
|
|
||
|
|
sprintf(txt, "x %.2g", target_offset_.x);
|
||
|
|
_im_gui->DoSlider(txt, -kTargetRange, kTargetRange, &target_offset_.x);
|
||
|
|
sprintf(txt, "y %.2g", target_offset_.y);
|
||
|
|
_im_gui->DoSlider(txt, -kTargetRange, kTargetRange, &target_offset_.y);
|
||
|
|
sprintf(txt, "z %.2g", target_offset_.z);
|
||
|
|
_im_gui->DoSlider(txt, -kTargetRange, kTargetRange, &target_offset_.z);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
{ // Offset position
|
||
|
|
static bool opened = true;
|
||
|
|
ozz::sample::ImGui::OpenClose oc(_im_gui, "Eyes offset", &opened);
|
||
|
|
if (opened) {
|
||
|
|
const float kOffsetRange = .5f;
|
||
|
|
sprintf(txt, "x %.2g", eyes_offset_.x);
|
||
|
|
_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &eyes_offset_.x);
|
||
|
|
sprintf(txt, "y %.2g", eyes_offset_.y);
|
||
|
|
_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &eyes_offset_.y);
|
||
|
|
sprintf(txt, "z %.2g", eyes_offset_.z);
|
||
|
|
_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &eyes_offset_.z);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Options
|
||
|
|
{
|
||
|
|
_im_gui->DoCheckBox("Show skin", &show_skin_);
|
||
|
|
_im_gui->DoCheckBox("Show joints", &show_joints_);
|
||
|
|
_im_gui->DoCheckBox("Show target", &show_target_);
|
||
|
|
_im_gui->DoCheckBox("Show eyes offset", &show_eyes_offset_);
|
||
|
|
_im_gui->DoCheckBox("Show forward", &show_forward_);
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void GetSceneBounds(ozz::math::Box* _bound) const {
|
||
|
|
const ozz::math::Float3 radius(target_extent_ * .8f);
|
||
|
|
_bound->min = target_offset_ - radius;
|
||
|
|
_bound->max = target_offset_ + radius;
|
||
|
|
}
|
||
|
|
|
||
|
|
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 cache.
|
||
|
|
ozz::animation::SamplingCache cache_;
|
||
|
|
|
||
|
|
// 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 bind pose with the model-space matrix.
|
||
|
|
ozz::vector<ozz::math::Float4x4> skinning_matrices_;
|
||
|
|
|
||
|
|
// The mesh used by the sample.
|
||
|
|
ozz::vector<ozz::sample::Mesh> meshes_;
|
||
|
|
|
||
|
|
// Indices of the joints that are IKed for look-at purpose.
|
||
|
|
// Joints must be from the same hierarchy (all ancestors of the first joint
|
||
|
|
// listed) and ordered from child to parent.
|
||
|
|
int joints_chain_[kMaxChainLength];
|
||
|
|
|
||
|
|
// Sample settings
|
||
|
|
|
||
|
|
// Target position management.
|
||
|
|
ozz::math::Float3 target_offset_;
|
||
|
|
float target_extent_;
|
||
|
|
ozz::math::Float3 target_;
|
||
|
|
|
||
|
|
// Offset of the look at position in (head) joint local-space.
|
||
|
|
ozz::math::Float3 eyes_offset_;
|
||
|
|
|
||
|
|
// IK settings
|
||
|
|
|
||
|
|
// Enable IK look at.
|
||
|
|
bool enable_ik_;
|
||
|
|
|
||
|
|
// Set length of the chain that is IKed, between 0 and kMaxChainLength.
|
||
|
|
int chain_length_;
|
||
|
|
|
||
|
|
// Weight given to every joint of the chain. If any joint has a weight of 1,
|
||
|
|
// no other following joint will contribute (as the target will be reached).
|
||
|
|
float joint_weight_;
|
||
|
|
|
||
|
|
// Overall weight given to the IK on the full chain. This allows blending in
|
||
|
|
// and out of IK.
|
||
|
|
float chain_weight_;
|
||
|
|
|
||
|
|
// Options
|
||
|
|
bool show_skin_;
|
||
|
|
bool show_joints_;
|
||
|
|
bool show_target_;
|
||
|
|
bool show_eyes_offset_;
|
||
|
|
bool show_forward_;
|
||
|
|
};
|
||
|
|
|
||
|
|
int main(int _argc, const char** _argv) {
|
||
|
|
const char* title = "Ozz-animation sample: Look at";
|
||
|
|
return LookAtSampleApplication().Run(_argc, _argv, "1.0", title);
|
||
|
|
}
|