Updated ozz-animation to version 0.14.1 @35b2efd4
This commit is contained in:
Martin Felis
@@ -17,6 +17,7 @@ target_link_libraries(sample_two_bone_ik
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sample_framework
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ozz_animation_offline
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ozz_animation)
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target_copy_shared_libraries(sample_two_bone_ik)
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set_target_properties(sample_two_bone_ik
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PROPERTIES FOLDER "samples")
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+1
-1
@@ -18,7 +18,7 @@ The sample exposes IKTwoBoneJob parameters:
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- Weight given to the IK correction. This allows to blend / interpolate from zero to full IK.
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float weight;
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Target position is animated by the sample, but can also be tweaked manually, as well as skeleton root transformation. Fix initial transform option select whether ik job is run from the skeleton bind pose or the last frame transforms. This allows to use IK job's weighting parameter, as well as stressing it with a wide range of input.
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Target position is animated by the sample, but can also be tweaked manually, as well as skeleton root transformation. Fix initial transform option select whether ik job is run from the skeleton rest pose or the last frame transforms. This allows to use IK job's weighting parameter, as well as stressing it with a wide range of input.
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## Implementation
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+404
-409
@@ -25,412 +25,407 @@
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// //
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//----------------------------------------------------------------------------//
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#include "ozz/animation/runtime/ik_two_bone_job.h"
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#include "ozz/animation/runtime/local_to_model_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/memory/allocator.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/renderer.h"
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#include "framework/utils.h"
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#include <algorithm>
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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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class TwoBoneIKSampleApplication : public ozz::sample::Application {
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public:
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TwoBoneIKSampleApplication()
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: start_joint_(-1),
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mid_joint_(-1),
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end_joint_(-1),
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pole_vector(0.f, 1.f, 0.f),
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weight_(1.f),
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soften_(.97f),
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twist_angle_(0.f),
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reached_(false),
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fix_initial_transform_(true),
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two_bone_ik_(true),
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show_target_(true),
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show_joints_(false),
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show_pole_vector_(false),
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root_translation_(0.f, 0.f, 0.f),
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root_euler_(0.f, 0.f, 0.f),
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root_scale_(1.f),
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target_extent_(.5f),
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target_offset_(0.f, .2f, .1f),
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target_(0.f, 0.f, 0.f) {}
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protected:
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bool ApplyTwoBoneIK() {
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// Target and pole should be in model-space, so they must be converted from
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// world-space using character inverse root matrix.
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// IK jobs must support non invertible matrices (like 0 scale matrices).
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ozz::math::SimdInt4 invertible;
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const ozz::math::Float4x4 invert_root =
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Invert(GetRootTransform(), &invertible);
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const ozz::math::SimdFloat4 target_ms = TransformPoint(
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invert_root, ozz::math::simd_float4::Load3PtrU(&target_.x));
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const ozz::math::SimdFloat4 pole_vector_ms = TransformVector(
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invert_root, ozz::math::simd_float4::Load3PtrU(&pole_vector.x));
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// Setup IK job.
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ozz::animation::IKTwoBoneJob ik_job;
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ik_job.target = target_ms;
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ik_job.pole_vector = pole_vector_ms;
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ik_job.mid_axis = ozz::math::simd_float4::z_axis(); // Middle joint
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// rotation axis is
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// fixed, and depends
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// on skeleton rig.
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ik_job.weight = weight_;
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ik_job.soften = soften_;
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ik_job.twist_angle = twist_angle_;
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// Provides start, middle and end joints model space matrices.
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ik_job.start_joint = &models_[start_joint_];
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ik_job.mid_joint = &models_[mid_joint_];
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ik_job.end_joint = &models_[end_joint_];
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// Setup output pointers.
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ozz::math::SimdQuaternion start_correction;
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ik_job.start_joint_correction = &start_correction;
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ozz::math::SimdQuaternion mid_correction;
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ik_job.mid_joint_correction = &mid_correction;
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ik_job.reached = &reached_;
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if (!ik_job.Run()) {
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return false;
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}
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// Apply IK quaternions to their respective local-space transforms.
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ozz::sample::MultiplySoATransformQuaternion(start_joint_, start_correction,
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make_span(locals_));
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ozz::sample::MultiplySoATransformQuaternion(mid_joint_, mid_correction,
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make_span(locals_));
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// Updates model-space matrices now IK has been applied to local transforms.
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// All the ancestors of the start of the IK chain must be computed.
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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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ltm_job.from =
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start_joint_; // Local transforms haven't changed before start_joint_.
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ltm_job.to = ozz::animation::Skeleton::kMaxJoints;
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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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virtual bool OnUpdate(float, float _time) {
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// Updates sample target position.
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if (!MoveTarget(_time)) {
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return false;
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}
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// Reset locals to skeleton bind pose if option is true.
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// This allows to always start IK from a fix position (required to test
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// weighting), or do IK from the latest computed pose
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if (fix_initial_transform_) {
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for (size_t i = 0; i < locals_.size(); ++i) {
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locals_[i] = skeleton_.joint_bind_poses()[i];
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}
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}
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// Updates model-space matrices from current local-space setup.
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// Model-space matrices needs to be updated up to the end joint. Any joint
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// after that will need to be recomputed after IK indeed.
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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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// Setup and run IK job.
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if (two_bone_ik_ && !ApplyTwoBoneIK()) {
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return false;
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}
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return true;
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}
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virtual bool OnDisplay(ozz::sample::Renderer* _renderer) {
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bool success = true;
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// Get skeleton root transform.
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const ozz::math::Float4x4 root = GetRootTransform();
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if (show_target_ && two_bone_ik_) {
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// Displays target
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const ozz::sample::Color colors[2][2] = {
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{ozz::sample::kRed, ozz::sample::kBlack},
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{ozz::sample::kGreen, ozz::sample::kBlack}};
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const float kBoxHalfSize = .006f;
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const ozz::math::Box box(ozz::math::Float3(-kBoxHalfSize),
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ozz::math::Float3(kBoxHalfSize));
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success &= _renderer->DrawBoxIm(
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box,
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ozz::math::Float4x4::Translation(
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ozz::math::simd_float4::Load3PtrU(&target_.x)),
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colors[reached_]);
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}
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// Displays pole vector
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if (show_pole_vector_) {
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ozz::math::Float3 begin;
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ozz::math::Store3PtrU(TransformPoint(root, models_[mid_joint_].cols[3]),
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&begin.x);
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success &= _renderer->DrawSegment(begin, begin + pole_vector,
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ozz::sample::kWhite,
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ozz::math::Float4x4::identity());
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}
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// Showing joints
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if (show_joints_) {
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const float kAxeScale = .1f;
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const float kSphereRadius = .009f;
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const ozz::math::Float4x4 kAxesScale = ozz::math::Float4x4::Scaling(
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ozz::math::simd_float4::Load1(kAxeScale));
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for (size_t i = 0; i < 3; ++i) {
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const int joints[3] = {start_joint_, mid_joint_, end_joint_};
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const ozz::math::Float4x4& transform = root * models_[joints[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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// Draws the animated skeleton posture.
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success &= _renderer->DrawPosture(skeleton_, make_span(models_), root);
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return success;
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}
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virtual bool OnInitialize() {
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// Loads 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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// 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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// Find the 3 joints in skeleton hierarchy.
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start_joint_ = mid_joint_ = end_joint_ = -1;
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for (int i = 0; i < skeleton_.num_joints(); i++) {
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const char* joint_name = skeleton_.joint_names()[i];
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if (std::strcmp(joint_name, "shoulder") == 0) {
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start_joint_ = i;
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} else if (std::strcmp(joint_name, "forearm") == 0) {
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mid_joint_ = i;
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} else if (std::strcmp(joint_name, "wrist") == 0) {
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end_joint_ = i;
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}
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}
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// Fails if a joint is missing.
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if (start_joint_ < 0 || mid_joint_ < 0 || end_joint_ < 0) {
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ozz::log::Err() << "Failed to find required joints." << std::endl;
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return false;
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}
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// Initialize locals from skeleton bind pose
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for (size_t i = 0; i < locals_.size(); ++i) {
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locals_[i] = skeleton_.joint_bind_poses()[i];
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}
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return true;
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}
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virtual void OnDestroy() {}
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virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
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char txt[32];
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// IK parameters
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_im_gui->DoCheckBox("Fix initial transform", &fix_initial_transform_);
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_im_gui->DoCheckBox("Enable two bone ik", &two_bone_ik_);
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{
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static bool opened = true;
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ozz::sample::ImGui::OpenClose oc(_im_gui, "IK parameters", &opened);
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if (opened) {
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sprintf(txt, "Soften: %.2g", soften_);
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_im_gui->DoSlider(txt, 0.f, 1.f, &soften_, 2.f);
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sprintf(txt, "Twist angle: %.0f",
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twist_angle_ * ozz::math::kRadianToDegree);
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_im_gui->DoSlider(txt, -ozz::math::kPi, ozz::math::kPi, &twist_angle_);
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sprintf(txt, "Weight: %.2g", weight_);
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_im_gui->DoSlider(txt, 0.f, 1.f, &weight_);
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{
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// Pole vector
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static bool pole_opened = true;
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ozz::sample::ImGui::OpenClose oc_pole(_im_gui, "Pole vector",
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&pole_opened);
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if (pole_opened) {
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sprintf(txt, "x %.2g", pole_vector.x);
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_im_gui->DoSlider(txt, -1.f, 1.f, &pole_vector.x);
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sprintf(txt, "y %.2g", pole_vector.y);
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_im_gui->DoSlider(txt, -1.f, 1.f, &pole_vector.y);
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sprintf(txt, "z %.2g", pole_vector.z);
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_im_gui->DoSlider(txt, -1.f, 1.f, &pole_vector.z);
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}
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}
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}
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}
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{ // Target position
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static bool opened = true;
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ozz::sample::ImGui::OpenClose oc(_im_gui, "Target position", &opened);
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if (opened) {
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_im_gui->DoLabel("Target animation extent");
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sprintf(txt, "%.2g", target_extent_);
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_im_gui->DoSlider(txt, 0.f, 1.f, &target_extent_);
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_im_gui->DoLabel("Target Offset");
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const float kOffsetRange = 1.f;
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sprintf(txt, "x %.2g", target_offset_.x);
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_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &target_offset_.x);
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sprintf(txt, "y %.2g", target_offset_.y);
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_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &target_offset_.y);
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sprintf(txt, "z %.2g", target_offset_.z);
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_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &target_offset_.z);
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}
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}
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{ // Root
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static bool opened = false;
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ozz::sample::ImGui::OpenClose oc(_im_gui, "Root transformation", &opened);
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if (opened) {
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// Translation
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_im_gui->DoLabel("Translation");
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sprintf(txt, "x %.2g", root_translation_.x);
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_im_gui->DoSlider(txt, -1.f, 1.f, &root_translation_.x);
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sprintf(txt, "y %.2g", root_translation_.y);
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_im_gui->DoSlider(txt, -1.f, 1.f, &root_translation_.y);
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sprintf(txt, "z %.2g", root_translation_.z);
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_im_gui->DoSlider(txt, -1.f, 1.f, &root_translation_.z);
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// Rotation (in euler form)
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_im_gui->DoLabel("Rotation");
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ozz::math::Float3 euler = root_euler_ * ozz::math::kRadianToDegree;
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sprintf(txt, "yaw %.3g", euler.x);
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_im_gui->DoSlider(txt, -180.f, 180.f, &euler.x);
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sprintf(txt, "pitch %.3g", euler.y);
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_im_gui->DoSlider(txt, -180.f, 180.f, &euler.y);
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sprintf(txt, "roll %.3g", euler.z);
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_im_gui->DoSlider(txt, -180.f, 180.f, &euler.z);
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root_euler_ = euler * ozz::math::kDegreeToRadian;
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// Scale (must be uniform and not 0)
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_im_gui->DoLabel("Scale");
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sprintf(txt, "%.2g", root_scale_);
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_im_gui->DoSlider(txt, -1.f, 1.f, &root_scale_);
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}
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}
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{ // Display options
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static bool opened = true;
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ozz::sample::ImGui::OpenClose oc(_im_gui, "Display options", &opened);
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if (opened) {
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_im_gui->DoCheckBox("Show target", &show_target_);
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_im_gui->DoCheckBox("Show joints", &show_joints_);
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_im_gui->DoCheckBox("Show pole vector", &show_pole_vector_);
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}
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}
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return true;
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}
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virtual void GetSceneBounds(ozz::math::Box* _bound) const {
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const ozz::math::Float3 radius(target_extent_ * .5f);
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_bound->min = target_offset_ - radius;
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_bound->max = target_offset_ + radius;
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}
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private:
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bool MoveTarget(float _time) {
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const float anim_extent = (1.f - std::cos(_time)) * .5f * target_extent_;
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const int floor = static_cast<int>(std::fabs(_time) / ozz::math::k2Pi);
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target_ = target_offset_;
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(&target_.x)[floor % 3] += anim_extent;
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return true;
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}
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ozz::math::Float4x4 GetRootTransform() const {
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return ozz::math::Float4x4::Translation(
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ozz::math::simd_float4::Load3PtrU(&root_translation_.x)) *
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ozz::math::Float4x4::FromEuler(
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ozz::math::simd_float4::Load3PtrU(&root_euler_.x)) *
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ozz::math::Float4x4::Scaling(
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ozz::math::simd_float4::Load1(root_scale_));
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}
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// Runtime skeleton.
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ozz::animation::Skeleton skeleton_;
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// Buffer of local transforms as sampled from animation_.
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ozz::vector<ozz::math::SoaTransform> locals_;
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// Buffer of model space matrices.
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ozz::vector<ozz::math::Float4x4> models_;
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// Two bone IK setup. Indices of the relevant joints in the chain.
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int start_joint_;
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int mid_joint_;
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int end_joint_;
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// Two bone IK parameters.
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ozz::math::Float3 pole_vector;
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float weight_;
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float soften_;
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float twist_angle_;
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// Two bone IK job "reched" output value.
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bool reached_;
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// Sample options
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bool fix_initial_transform_;
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bool two_bone_ik_;
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// Sample display options
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bool show_target_;
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bool show_joints_;
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bool show_pole_vector_;
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// Root transformation.
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ozz::math::Float3 root_translation_;
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ozz::math::Float3 root_euler_;
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float root_scale_;
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// Target positioning and animation.
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float target_extent_;
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ozz::math::Float3 target_offset_;
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ozz::math::Float3 target_;
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};
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int main(int _argc, const char** _argv) {
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const char* title = "Ozz-animation sample: Two bone IK";
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return TwoBoneIKSampleApplication().Run(_argc, _argv, "1.0", title);
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}
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#include <algorithm>
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#include "framework/application.h"
|
||||
#include "framework/imgui.h"
|
||||
#include "framework/renderer.h"
|
||||
#include "framework/utils.h"
|
||||
#include "ozz/animation/runtime/ik_two_bone_job.h"
|
||||
#include "ozz/animation/runtime/local_to_model_job.h"
|
||||
#include "ozz/animation/runtime/skeleton.h"
|
||||
#include "ozz/base/log.h"
|
||||
#include "ozz/base/maths/box.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/memory/allocator.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)
|
||||
|
||||
class TwoBoneIKSampleApplication : public ozz::sample::Application {
|
||||
public:
|
||||
TwoBoneIKSampleApplication()
|
||||
: start_joint_(-1),
|
||||
mid_joint_(-1),
|
||||
end_joint_(-1),
|
||||
pole_vector(0.f, 1.f, 0.f),
|
||||
weight_(1.f),
|
||||
soften_(.97f),
|
||||
twist_angle_(0.f),
|
||||
reached_(false),
|
||||
fix_initial_transform_(true),
|
||||
two_bone_ik_(true),
|
||||
show_target_(true),
|
||||
show_joints_(false),
|
||||
show_pole_vector_(false),
|
||||
root_translation_(0.f, 0.f, 0.f),
|
||||
root_euler_(0.f, 0.f, 0.f),
|
||||
root_scale_(1.f),
|
||||
target_extent_(.5f),
|
||||
target_offset_(0.f, .2f, .1f),
|
||||
target_(0.f, 0.f, 0.f) {}
|
||||
|
||||
protected:
|
||||
bool ApplyTwoBoneIK() {
|
||||
// Target and pole should be in model-space, so they must be converted from
|
||||
// world-space using character inverse root matrix.
|
||||
// IK jobs must support non invertible matrices (like 0 scale matrices).
|
||||
ozz::math::SimdInt4 invertible;
|
||||
const ozz::math::Float4x4 invert_root =
|
||||
Invert(GetRootTransform(), &invertible);
|
||||
|
||||
const ozz::math::SimdFloat4 target_ms = TransformPoint(
|
||||
invert_root, ozz::math::simd_float4::Load3PtrU(&target_.x));
|
||||
const ozz::math::SimdFloat4 pole_vector_ms = TransformVector(
|
||||
invert_root, ozz::math::simd_float4::Load3PtrU(&pole_vector.x));
|
||||
|
||||
// Setup IK job.
|
||||
ozz::animation::IKTwoBoneJob ik_job;
|
||||
ik_job.target = target_ms;
|
||||
ik_job.pole_vector = pole_vector_ms;
|
||||
ik_job.mid_axis = ozz::math::simd_float4::z_axis(); // Middle joint
|
||||
// rotation axis is
|
||||
// fixed, and depends
|
||||
// on skeleton rig.
|
||||
ik_job.weight = weight_;
|
||||
ik_job.soften = soften_;
|
||||
ik_job.twist_angle = twist_angle_;
|
||||
|
||||
// Provides start, middle and end joints model space matrices.
|
||||
ik_job.start_joint = &models_[start_joint_];
|
||||
ik_job.mid_joint = &models_[mid_joint_];
|
||||
ik_job.end_joint = &models_[end_joint_];
|
||||
|
||||
// Setup output pointers.
|
||||
ozz::math::SimdQuaternion start_correction;
|
||||
ik_job.start_joint_correction = &start_correction;
|
||||
ozz::math::SimdQuaternion mid_correction;
|
||||
ik_job.mid_joint_correction = &mid_correction;
|
||||
ik_job.reached = &reached_;
|
||||
|
||||
if (!ik_job.Run()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Apply IK quaternions to their respective local-space transforms.
|
||||
ozz::sample::MultiplySoATransformQuaternion(start_joint_, start_correction,
|
||||
make_span(locals_));
|
||||
ozz::sample::MultiplySoATransformQuaternion(mid_joint_, mid_correction,
|
||||
make_span(locals_));
|
||||
|
||||
// Updates model-space matrices now IK has been applied to local transforms.
|
||||
// All the ancestors of the start of the IK chain must be computed.
|
||||
ozz::animation::LocalToModelJob ltm_job;
|
||||
ltm_job.skeleton = &skeleton_;
|
||||
ltm_job.input = make_span(locals_);
|
||||
ltm_job.output = make_span(models_);
|
||||
ltm_job.from =
|
||||
start_joint_; // Local transforms haven't changed before start_joint_.
|
||||
ltm_job.to = ozz::animation::Skeleton::kMaxJoints;
|
||||
|
||||
if (!ltm_job.Run()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
virtual bool OnUpdate(float, float _time) {
|
||||
// Updates sample target position.
|
||||
if (!MoveTarget(_time)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Reset locals to skeleton rest pose if option is true.
|
||||
// This allows to always start IK from a fix position (required to test
|
||||
// weighting), or do IK from the latest computed pose
|
||||
if (fix_initial_transform_) {
|
||||
for (size_t i = 0; i < locals_.size(); ++i) {
|
||||
locals_[i] = skeleton_.joint_rest_poses()[i];
|
||||
}
|
||||
}
|
||||
|
||||
// Updates model-space matrices from current local-space setup.
|
||||
// Model-space matrices needs to be updated up to the end joint. Any joint
|
||||
// after that will need to be recomputed after IK indeed.
|
||||
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;
|
||||
}
|
||||
|
||||
// Setup and run IK job.
|
||||
if (two_bone_ik_ && !ApplyTwoBoneIK()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
virtual bool OnDisplay(ozz::sample::Renderer* _renderer) {
|
||||
bool success = true;
|
||||
|
||||
// Get skeleton root transform.
|
||||
const ozz::math::Float4x4 root = GetRootTransform();
|
||||
|
||||
if (show_target_ && two_bone_ik_) {
|
||||
// Displays target
|
||||
const ozz::sample::Color colors[2][2] = {
|
||||
{ozz::sample::kRed, ozz::sample::kBlack},
|
||||
{ozz::sample::kGreen, ozz::sample::kBlack}};
|
||||
|
||||
const float kBoxHalfSize = .006f;
|
||||
const ozz::math::Box box(ozz::math::Float3(-kBoxHalfSize),
|
||||
ozz::math::Float3(kBoxHalfSize));
|
||||
success &= _renderer->DrawBoxIm(
|
||||
box,
|
||||
ozz::math::Float4x4::Translation(
|
||||
ozz::math::simd_float4::Load3PtrU(&target_.x)),
|
||||
colors[reached_]);
|
||||
}
|
||||
|
||||
// Displays pole vector
|
||||
if (show_pole_vector_) {
|
||||
ozz::math::Float3 begin;
|
||||
ozz::math::Store3PtrU(TransformPoint(root, models_[mid_joint_].cols[3]),
|
||||
&begin.x);
|
||||
success &= _renderer->DrawSegment(begin, begin + pole_vector,
|
||||
ozz::sample::kWhite,
|
||||
ozz::math::Float4x4::identity());
|
||||
}
|
||||
|
||||
// Showing joints
|
||||
if (show_joints_) {
|
||||
const float kAxeScale = .1f;
|
||||
const float kSphereRadius = .009f;
|
||||
const ozz::math::Float4x4 kAxesScale = ozz::math::Float4x4::Scaling(
|
||||
ozz::math::simd_float4::Load1(kAxeScale));
|
||||
for (size_t i = 0; i < 3; ++i) {
|
||||
const int joints[3] = {start_joint_, mid_joint_, end_joint_};
|
||||
const ozz::math::Float4x4& transform = root * models_[joints[i]];
|
||||
success &= _renderer->DrawAxes(transform * kAxesScale);
|
||||
success &= _renderer->DrawSphereIm(kSphereRadius, transform,
|
||||
ozz::sample::kWhite);
|
||||
}
|
||||
}
|
||||
|
||||
// Draws the animated skeleton posture.
|
||||
success &= _renderer->DrawPosture(skeleton_, make_span(models_), root);
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
virtual bool OnInitialize() {
|
||||
// Loads skeleton.
|
||||
if (!ozz::sample::LoadSkeleton(OPTIONS_skeleton, &skeleton_)) {
|
||||
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);
|
||||
|
||||
// Find the 3 joints in skeleton hierarchy.
|
||||
start_joint_ = mid_joint_ = end_joint_ = -1;
|
||||
for (int i = 0; i < skeleton_.num_joints(); i++) {
|
||||
const char* joint_name = skeleton_.joint_names()[i];
|
||||
if (std::strcmp(joint_name, "shoulder") == 0) {
|
||||
start_joint_ = i;
|
||||
} else if (std::strcmp(joint_name, "forearm") == 0) {
|
||||
mid_joint_ = i;
|
||||
} else if (std::strcmp(joint_name, "wrist") == 0) {
|
||||
end_joint_ = i;
|
||||
}
|
||||
}
|
||||
|
||||
// Fails if a joint is missing.
|
||||
if (start_joint_ < 0 || mid_joint_ < 0 || end_joint_ < 0) {
|
||||
ozz::log::Err() << "Failed to find required joints." << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
// Initialize locals from skeleton rest pose
|
||||
for (size_t i = 0; i < locals_.size(); ++i) {
|
||||
locals_[i] = skeleton_.joint_rest_poses()[i];
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
virtual void OnDestroy() {}
|
||||
|
||||
virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
|
||||
char txt[32];
|
||||
|
||||
// IK parameters
|
||||
_im_gui->DoCheckBox("Fix initial transform", &fix_initial_transform_);
|
||||
_im_gui->DoCheckBox("Enable two bone ik", &two_bone_ik_);
|
||||
{
|
||||
static bool opened = true;
|
||||
ozz::sample::ImGui::OpenClose oc(_im_gui, "IK parameters", &opened);
|
||||
if (opened) {
|
||||
sprintf(txt, "Soften: %.2g", soften_);
|
||||
_im_gui->DoSlider(txt, 0.f, 1.f, &soften_, 2.f);
|
||||
sprintf(txt, "Twist angle: %.0f",
|
||||
twist_angle_ * ozz::math::kRadianToDegree);
|
||||
_im_gui->DoSlider(txt, -ozz::math::kPi, ozz::math::kPi, &twist_angle_);
|
||||
sprintf(txt, "Weight: %.2g", weight_);
|
||||
_im_gui->DoSlider(txt, 0.f, 1.f, &weight_);
|
||||
{
|
||||
// Pole vector
|
||||
static bool pole_opened = true;
|
||||
ozz::sample::ImGui::OpenClose oc_pole(_im_gui, "Pole vector",
|
||||
&pole_opened);
|
||||
if (pole_opened) {
|
||||
sprintf(txt, "x %.2g", pole_vector.x);
|
||||
_im_gui->DoSlider(txt, -1.f, 1.f, &pole_vector.x);
|
||||
sprintf(txt, "y %.2g", pole_vector.y);
|
||||
_im_gui->DoSlider(txt, -1.f, 1.f, &pole_vector.y);
|
||||
sprintf(txt, "z %.2g", pole_vector.z);
|
||||
_im_gui->DoSlider(txt, -1.f, 1.f, &pole_vector.z);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
{ // Target position
|
||||
static bool opened = true;
|
||||
ozz::sample::ImGui::OpenClose oc(_im_gui, "Target position", &opened);
|
||||
if (opened) {
|
||||
_im_gui->DoLabel("Target animation extent");
|
||||
sprintf(txt, "%.2g", target_extent_);
|
||||
_im_gui->DoSlider(txt, 0.f, 1.f, &target_extent_);
|
||||
|
||||
_im_gui->DoLabel("Target Offset");
|
||||
const float kOffsetRange = 1.f;
|
||||
sprintf(txt, "x %.2g", target_offset_.x);
|
||||
_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &target_offset_.x);
|
||||
sprintf(txt, "y %.2g", target_offset_.y);
|
||||
_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &target_offset_.y);
|
||||
sprintf(txt, "z %.2g", target_offset_.z);
|
||||
_im_gui->DoSlider(txt, -kOffsetRange, kOffsetRange, &target_offset_.z);
|
||||
}
|
||||
}
|
||||
{ // Root
|
||||
static bool opened = false;
|
||||
ozz::sample::ImGui::OpenClose oc(_im_gui, "Root transformation", &opened);
|
||||
if (opened) {
|
||||
// Translation
|
||||
_im_gui->DoLabel("Translation");
|
||||
sprintf(txt, "x %.2g", root_translation_.x);
|
||||
_im_gui->DoSlider(txt, -1.f, 1.f, &root_translation_.x);
|
||||
sprintf(txt, "y %.2g", root_translation_.y);
|
||||
_im_gui->DoSlider(txt, -1.f, 1.f, &root_translation_.y);
|
||||
sprintf(txt, "z %.2g", root_translation_.z);
|
||||
_im_gui->DoSlider(txt, -1.f, 1.f, &root_translation_.z);
|
||||
|
||||
// Rotation (in euler form)
|
||||
_im_gui->DoLabel("Rotation");
|
||||
ozz::math::Float3 euler = root_euler_ * ozz::math::kRadianToDegree;
|
||||
sprintf(txt, "yaw %.3g", euler.x);
|
||||
_im_gui->DoSlider(txt, -180.f, 180.f, &euler.x);
|
||||
sprintf(txt, "pitch %.3g", euler.y);
|
||||
_im_gui->DoSlider(txt, -180.f, 180.f, &euler.y);
|
||||
sprintf(txt, "roll %.3g", euler.z);
|
||||
_im_gui->DoSlider(txt, -180.f, 180.f, &euler.z);
|
||||
root_euler_ = euler * ozz::math::kDegreeToRadian;
|
||||
|
||||
// Scale (must be uniform and not 0)
|
||||
_im_gui->DoLabel("Scale");
|
||||
sprintf(txt, "%.2g", root_scale_);
|
||||
_im_gui->DoSlider(txt, -1.f, 1.f, &root_scale_);
|
||||
}
|
||||
}
|
||||
{ // Display options
|
||||
static bool opened = true;
|
||||
ozz::sample::ImGui::OpenClose oc(_im_gui, "Display options", &opened);
|
||||
if (opened) {
|
||||
_im_gui->DoCheckBox("Show target", &show_target_);
|
||||
_im_gui->DoCheckBox("Show joints", &show_joints_);
|
||||
_im_gui->DoCheckBox("Show pole vector", &show_pole_vector_);
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
virtual void GetSceneBounds(ozz::math::Box* _bound) const {
|
||||
const ozz::math::Float3 radius(target_extent_ * .5f);
|
||||
_bound->min = target_offset_ - radius;
|
||||
_bound->max = target_offset_ + radius;
|
||||
}
|
||||
|
||||
private:
|
||||
bool MoveTarget(float _time) {
|
||||
const float anim_extent = (1.f - std::cos(_time)) * .5f * target_extent_;
|
||||
const int floor = static_cast<int>(std::fabs(_time) / ozz::math::k2Pi);
|
||||
|
||||
target_ = target_offset_;
|
||||
(&target_.x)[floor % 3] += anim_extent;
|
||||
return true;
|
||||
}
|
||||
|
||||
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::Load3PtrU(&root_euler_.x)) *
|
||||
ozz::math::Float4x4::Scaling(
|
||||
ozz::math::simd_float4::Load1(root_scale_));
|
||||
}
|
||||
|
||||
// Runtime skeleton.
|
||||
ozz::animation::Skeleton skeleton_;
|
||||
|
||||
// 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_;
|
||||
|
||||
// Two bone IK setup. Indices of the relevant joints in the chain.
|
||||
int start_joint_;
|
||||
int mid_joint_;
|
||||
int end_joint_;
|
||||
|
||||
// Two bone IK parameters.
|
||||
ozz::math::Float3 pole_vector;
|
||||
float weight_;
|
||||
float soften_;
|
||||
float twist_angle_;
|
||||
|
||||
// Two bone IK job "reched" output value.
|
||||
bool reached_;
|
||||
|
||||
// Sample options
|
||||
bool fix_initial_transform_;
|
||||
bool two_bone_ik_;
|
||||
|
||||
// Sample display options
|
||||
bool show_target_;
|
||||
bool show_joints_;
|
||||
bool show_pole_vector_;
|
||||
|
||||
// Root transformation.
|
||||
ozz::math::Float3 root_translation_;
|
||||
ozz::math::Float3 root_euler_;
|
||||
float root_scale_;
|
||||
|
||||
// Target positioning and animation.
|
||||
float target_extent_;
|
||||
ozz::math::Float3 target_offset_;
|
||||
ozz::math::Float3 target_;
|
||||
};
|
||||
|
||||
int main(int _argc, const char** _argv) {
|
||||
const char* title = "Ozz-animation sample: Two bone IK";
|
||||
return TwoBoneIKSampleApplication().Run(_argc, _argv, "1.0", title);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user