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Martin Felis
2021-11-11 21:22:24 +01:00
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3rdparty/ozz-animation/samples/millipede/CMakeLists.txt
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add_custom_command(
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/README.md"
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/README.md"
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_LIST_DIR}/README.md .
VERBATIM)
add_executable(sample_millipede
sample_millipede.cc
${CMAKE_CURRENT_BINARY_DIR}/README.md)
target_link_libraries(sample_millipede
ozz_animation_offline
sample_framework)
set_target_properties(sample_millipede
PROPERTIES FOLDER "samples")
if(EMSCRIPTEN)
set_target_properties(sample_millipede
PROPERTIES LINK_FLAGS "--embed-file README.md --memory-init-file 0")
install(FILES
${CMAKE_CURRENT_BINARY_DIR}/sample_millipede.html
${CMAKE_CURRENT_BINARY_DIR}/sample_millipede.js
${CMAKE_CURRENT_BINARY_DIR}/sample_millipede.wasm
DESTINATION bin/samples/millipede)
else()
install(TARGETS sample_millipede DESTINATION bin/samples/millipede)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/README.md DESTINATION bin/samples/millipede)
endif(EMSCRIPTEN)
add_test(NAME sample_millipede COMMAND sample_millipede "--max_idle_loops=${ozz_sample_testing_loops}" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
3rdparty/ozz-animation/samples/millipede/README.md
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# Ozz-animation sample: Millipede, offline libraries usage.
## Description
Demonstrates usage of ozz offline data structures and utilities.
## Concept
Procedurally creates an offline skeleton and animation, whose are then converted to runtime structures for sampling and rendering. The procedural skeleton aims to look like a millipede, made of slices of a leg pair and a vertebra. It makes it easy to tweak the number of joints by adding/removing slices. Both the skeleton and the animation are rebuilt from scratch when the number of joints is changed.
This sample does not intend to demonstrate how to do procedural runtime animations, which would rather require to work directly on local-transforms (the output of animation sampling stage, input of the blending stage).
## Sample usage
The sample provides the GUI to tweak the number of joints, from 7 (1 slice) up to the maximum number of joints supported by ozz (currently 1023).
Some other playback parameters can be tuned:
- Play/pause animation.
- Fix animation time.
- Set playback speed, which can be negative to go backward.
## Implementation
1. Create the skeleton object:
1. Instantiates a RawSkeleton and fills the hierarchy with as many slices (a vertebra and two legs) as needed to reach the requested number of joints. The RawSkeleton object is an offline suitable format, meaning it can be easily programmatically modified: Add/remove/rename joints...
2. Convert the RawSkeleton (aka offline) object to a runtime ozz::animation::offline::Skeleton, using ozz::animation::offline::SkeletonBuilder. This offline utility does the conversion to the runtime format, which can then be serialized or used by the runtime API.
2. Create the animation object:
1. Instantiates a ozz::animation::offline::RawAnimation object and fills it with keyframes for every joint of the skeleton, simulating walk cycles. The RawAnimation is an offline suitable format, meaning it is easily programmatically modified: Add/remove keys, add/remove tracks, change duration...
2. Convert the offline animation to a runtime format, using ozz::animation::offline::AnimationBuilder. This utility takes as input a RawAnimation and outputs a runtime ozz::animation::Animation. The runtime format is the one used for sampling. In opposition with the offline one, it cannot be edited/modified. It is optimized for runtime usage in term of memory layout (cache coherence for sampling) and footprint (compression scheme).
3. The remaining code of the sample is to allocate runtime buffers and samples animation every frame. See playback sample for more details.
3rdparty/ozz-animation/samples/millipede/sample_millipede.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 <cmath>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include "ozz/animation/runtime/animation.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/animation/offline/animation_builder.h"
#include "ozz/animation/offline/raw_animation.h"
#include "ozz/animation/offline/raw_skeleton.h"
#include "ozz/animation/offline/skeleton_builder.h"
#include "ozz/base/maths/quaternion.h"
#include "ozz/base/maths/simd_math.h"
#include "ozz/base/maths/soa_transform.h"
#include "ozz/base/maths/vec_float.h"
#include "framework/application.h"
#include "framework/imgui.h"
#include "framework/renderer.h"
#include "framework/utils.h"
using ozz::animation::offline::RawAnimation;
using ozz::animation::offline::RawSkeleton;
using ozz::math::Float3;
using ozz::math::Float4;
using ozz::math::Float4x4;
using ozz::math::Quaternion;
using ozz::math::SoaTransform;
// A millipede slice is 2 legs and a spine.
// Each slice is made of 7 joints, organized as follows.
// * root
// |
// spine spine
// | | |
// left_up right_up left_down - left_u - . - right_u - right_down
// | | | |
// left_down right_down left_foot * root right_foot
// | |
// left_foot right_foot
// The following constants are used to define the millipede skeleton and
// animation.
// Skeleton constants.
const Float3 kTransUp = Float3(0.f, 0.f, 0.f);
const Float3 kTransDown = Float3(0.f, 0.f, 1.f);
const Float3 kTransFoot = Float3(1.f, 0.f, 0.f);
const Quaternion kRotLeftUp =
Quaternion::FromAxisAngle(Float3::y_axis(), -ozz::math::kPi_2);
const Quaternion kRotLeftDown =
Quaternion::FromAxisAngle(Float3::x_axis(), ozz::math::kPi_2) *
Quaternion::FromAxisAngle(Float3::y_axis(), -ozz::math::kPi_2);
const Quaternion kRotRightUp =
Quaternion::FromAxisAngle(Float3::y_axis(), ozz::math::kPi_2);
const Quaternion kRotRightDown =
Quaternion::FromAxisAngle(Float3::x_axis(), ozz::math::kPi_2) *
Quaternion::FromAxisAngle(Float3::y_axis(), -ozz::math::kPi_2);
// Animation constants.
const float kDuration = 6.f;
const float kSpinLength = .5f;
const float kWalkCycleLength = 2.f;
const int kWalkCycleCount = 4;
const float kSpinLoop = 2 * kWalkCycleCount * kWalkCycleLength / kSpinLength;
const RawAnimation::TranslationKey kPrecomputedKeys[] = {
{0.f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
{.125f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
{.145f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
{.23f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)},
{.25f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
{.375f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
{.395f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
{.48f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)},
{.5f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
{.625f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
{.645f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
{.73f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)},
{.75f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
{.875f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
{.895f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
{.98f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)}};
const int kPrecomputedKeyCount = OZZ_ARRAY_SIZE(kPrecomputedKeys);
class MillipedeSampleApplication : public ozz::sample::Application {
public:
MillipedeSampleApplication() : slice_count_(26) {}
protected:
virtual bool OnUpdate(float _dt, float) {
// Updates current animation time
controller_.Update(*animation_, _dt);
// Samples animation at t = animation_time_.
ozz::animation::SamplingJob sampling_job;
sampling_job.animation = animation_.get();
sampling_job.cache = &cache_;
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_.get();
ltm_job.input = make_span(locals_);
ltm_job.output = make_span(models_);
return ltm_job.Run();
}
virtual bool OnDisplay(ozz::sample::Renderer* _renderer) {
// Renders the animated posture.
return _renderer->DrawPosture(*skeleton_, make_span(models_),
ozz::math::Float4x4::identity());
}
virtual bool OnInitialize() { return Build(); }
virtual void OnDestroy() {}
virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
// Rebuilds all if the number of joints has changed.
int joints = skeleton_->num_joints();
char label[64];
std::sprintf(label, "Joints count: %d", joints);
// Uses an exponential scale in the slider to maintain enough precision in
// the lowest values.
if (_im_gui->DoSlider(label, 8, ozz::animation::Skeleton::kMaxJoints,
&joints, .3f, true)) {
const int new_slice_count = (joints - 1) / 7;
// Slider use floats, we need to check if it has really changed.
if (new_slice_count != slice_count_) {
slice_count_ = new_slice_count;
if (!Build()) {
return false;
}
}
}
// Updates controller Gui.
controller_.OnGui(*animation_, _im_gui);
return true;
}
// Procedurally builds millipede skeleton and walk animation
bool Build() {
// Initializes the root. The root pointer will change from a spine to the
// next for each slice.
RawSkeleton raw_skeleton;
CreateSkeleton(&raw_skeleton);
const int num_joints = raw_skeleton.num_joints();
// Build the run time skeleton.
ozz::animation::offline::SkeletonBuilder skeleton_builder;
skeleton_ = skeleton_builder(raw_skeleton);
if (!skeleton_) {
return false;
}
// Build a walk animation.
RawAnimation raw_animation;
CreateAnimation(&raw_animation);
// Build the run time animation from the raw animation.
ozz::animation::offline::AnimationBuilder animation_builder;
animation_ = animation_builder(raw_animation);
if (!animation_) {
return false;
}
// Allocates runtime buffers.
const int num_soa_joints = skeleton_->num_soa_joints();
locals_.resize(num_soa_joints);
models_.resize(num_joints);
// Allocates a cache that matches new animation requirements.
cache_.Resize(num_joints);
return true;
}
void CreateSkeleton(ozz::animation::offline::RawSkeleton* _skeleton) {
_skeleton->roots.resize(1);
RawSkeleton::Joint* root = &_skeleton->roots[0];
root->name = "root";
root->transform.translation = Float3(0.f, 1.f, -slice_count_ * kSpinLength);
root->transform.rotation = Quaternion::identity();
root->transform.scale = Float3::one();
char buf[16];
for (int i = 0; i < slice_count_; ++i) {
// Format joint number.
std::sprintf(buf, "%d", i);
root->children.resize(3);
// Left leg.
RawSkeleton::Joint& lu = root->children[0];
lu.name = "lu";
lu.name += buf;
lu.transform.translation = kTransUp;
lu.transform.rotation = kRotLeftUp;
lu.transform.scale = Float3::one();
lu.children.resize(1);
RawSkeleton::Joint& ld = lu.children[0];
ld.name = "ld";
ld.name += buf;
ld.transform.translation = kTransDown;
ld.transform.rotation = kRotLeftDown;
ld.transform.scale = Float3::one();
ld.children.resize(1);
RawSkeleton::Joint& lf = ld.children[0];
lf.name = "lf";
lf.name += buf;
lf.transform.translation = Float3::x_axis();
lf.transform.rotation = Quaternion::identity();
lf.transform.scale = Float3::one();
// Right leg.
RawSkeleton::Joint& ru = root->children[1];
ru.name = "ru";
ru.name += buf;
ru.transform.translation = kTransUp;
ru.transform.rotation = kRotRightUp;
ru.transform.scale = Float3::one();
ru.children.resize(1);
RawSkeleton::Joint& rd = ru.children[0];
rd.name = "rd";
rd.name += buf;
rd.transform.translation = kTransDown;
rd.transform.rotation = kRotRightDown;
rd.transform.scale = Float3::one();
rd.children.resize(1);
RawSkeleton::Joint& rf = rd.children[0];
rf.name = "rf";
rf.name += buf;
rf.transform.translation = Float3::x_axis();
rf.transform.rotation = Quaternion::identity();
rf.transform.scale = Float3::one();
// Spine.
RawSkeleton::Joint& sp = root->children[2];
sp.name = "sp";
sp.name += buf;
sp.transform.translation = Float3(0.f, 0.f, kSpinLength);
sp.transform.rotation = Quaternion::identity();
sp.transform.scale = Float3::one();
root = &sp;
}
}
void CreateAnimation(ozz::animation::offline::RawAnimation* _animation) {
_animation->duration = kDuration;
_animation->tracks.resize(skeleton_->num_joints());
for (int i = 0; i < _animation->num_tracks(); ++i) {
RawAnimation::JointTrack& track = _animation->tracks[i];
const char* joint_name = skeleton_->joint_names()[i];
if (strstr(joint_name, "ld") || strstr(joint_name, "rd")) {
bool left = joint_name[0] == 'l'; // First letter of "ld".
// Copy original keys while taking into consideration the spine number
// as a phase.
const int spine_number = std::atoi(joint_name + 2);
const float offset =
kDuration * (slice_count_ - spine_number) / kSpinLoop;
const float phase = std::fmod(offset, kDuration);
// Loop to find animation start.
int i_offset = 0;
while (i_offset < kPrecomputedKeyCount &&
kPrecomputedKeys[i_offset].time < phase) {
i_offset++;
}
// Push key with their corrected time.
track.translations.reserve(kPrecomputedKeyCount);
for (int j = i_offset; j < i_offset + kPrecomputedKeyCount; ++j) {
const RawAnimation::TranslationKey& rkey =
kPrecomputedKeys[j % kPrecomputedKeyCount];
float new_time = rkey.time - phase;
if (new_time < 0.f) {
new_time = kDuration - phase + rkey.time;
}
if (left) {
const RawAnimation::TranslationKey tkey = {new_time,
kTransDown + rkey.value};
track.translations.push_back(tkey);
} else {
const RawAnimation::TranslationKey tkey = {
new_time,
Float3(kTransDown.x - rkey.value.x, kTransDown.y + rkey.value.y,
kTransDown.z + rkey.value.z)};
track.translations.push_back(tkey);
}
}
// Pushes rotation key-frame.
if (left) {
const RawAnimation::RotationKey rkey = {0.f, kRotLeftDown};
track.rotations.push_back(rkey);
} else {
const RawAnimation::RotationKey rkey = {0.f, kRotRightDown};
track.rotations.push_back(rkey);
}
} else if (strstr(joint_name, "lu")) {
const RawAnimation::TranslationKey tkey = {0.f, kTransUp};
track.translations.push_back(tkey);
const RawAnimation::RotationKey rkey = {0.f, kRotLeftUp};
track.rotations.push_back(rkey);
} else if (strstr(joint_name, "ru")) {
const RawAnimation::TranslationKey tkey0 = {0.f, kTransUp};
track.translations.push_back(tkey0);
const RawAnimation::RotationKey rkey0 = {0.f, kRotRightUp};
track.rotations.push_back(rkey0);
} else if (strstr(joint_name, "lf")) {
const RawAnimation::TranslationKey tkey = {0.f, kTransFoot};
track.translations.push_back(tkey);
} else if (strstr(joint_name, "rf")) {
const RawAnimation::TranslationKey tkey0 = {0.f, kTransFoot};
track.translations.push_back(tkey0);
} else if (strstr(joint_name, "sp")) {
const RawAnimation::TranslationKey skey = {
0.f, Float3(0.f, 0.f, kSpinLength)};
track.translations.push_back(skey);
const RawAnimation::RotationKey rkey = {
0.f, ozz::math::Quaternion::identity()};
track.rotations.push_back(rkey);
} else if (strstr(joint_name, "root")) {
const RawAnimation::TranslationKey tkey0 = {
0.f, Float3(0.f, 1.f, -slice_count_ * kSpinLength)};
track.translations.push_back(tkey0);
const RawAnimation::TranslationKey tkey1 = {
kDuration,
Float3(0.f, 1.f,
kWalkCycleCount * kWalkCycleLength + tkey0.value.z)};
track.translations.push_back(tkey1);
}
// Make sure begin and end keys are looping.
if (track.translations.front().time != 0.f) {
const RawAnimation::TranslationKey& front = track.translations.front();
const RawAnimation::TranslationKey& back = track.translations.back();
const float lerp_time =
front.time / (front.time + kDuration - back.time);
const RawAnimation::TranslationKey tkey = {
0.f, Lerp(front.value, back.value, lerp_time)};
track.translations.insert(track.translations.begin(), tkey);
}
if (track.translations.back().time != kDuration) {
const RawAnimation::TranslationKey& front = track.translations.front();
const RawAnimation::TranslationKey& back = track.translations.back();
const float lerp_time =
(kDuration - back.time) / (front.time + kDuration - back.time);
const RawAnimation::TranslationKey tkey = {
kDuration, Lerp(back.value, front.value, lerp_time)};
track.translations.push_back(tkey);
}
}
}
virtual void GetSceneBounds(ozz::math::Box* _bound) const {
ozz::sample::ComputePostureBounds(make_span(models_), _bound);
}
private:
// Playback animation controller. This is a utility class that helps with
// controlling animation playback time.
ozz::sample::PlaybackController controller_;
// Millipede skeleton number of slices. 7 joints per slice.
int slice_count_;
// The millipede skeleton.
ozz::unique_ptr<ozz::animation::Skeleton> skeleton_;
// The millipede procedural walk animation.
ozz::unique_ptr<ozz::animation::Animation> animation_;
// Sampling cache, as used by SamplingJob.
ozz::animation::SamplingCache cache_;
// Buffer of local transforms as sampled from animation_.
// These are shared between sampling output and local-to-model input.
ozz::vector<ozz::math::SoaTransform> locals_;
// Buffer of model matrices (local-to-model output).
ozz::vector<ozz::math::Float4x4> models_;
};
int main(int _argc, const char** _argv) {
const char* title = "Ozz-animation sample: RawAnimation/RawSkeleton building";
return MillipedeSampleApplication().Run(_argc, _argv, "1.0", title);
}