Initial commit

3rdparty/ozz-animation/samples/two_bone_ik/CMakeLists.txt

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+
+add_custom_command(
+  DEPENDS $<$<BOOL:${ozz_build_fbx}>:BUILD_DATA>
+          "${CMAKE_CURRENT_LIST_DIR}/README.md"
+          "${ozz_media_directory}/bin/robot_skeleton.ozz"
+  OUTPUT  "${CMAKE_CURRENT_BINARY_DIR}/README.md"
+          "${CMAKE_CURRENT_BINARY_DIR}/media/skeleton.ozz"
+  COMMAND ${CMAKE_COMMAND} -E make_directory media
+  COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_LIST_DIR}/README.md" .
+  COMMAND ${CMAKE_COMMAND} -E copy "${ozz_media_directory}/bin/robot_skeleton.ozz" "./media/skeleton.ozz")
+
+add_executable(sample_two_bone_ik
+  sample_two_bone_ik.cc
+  "${CMAKE_CURRENT_BINARY_DIR}/README.md"
+  "${CMAKE_CURRENT_BINARY_DIR}/media/skeleton.ozz")
+target_link_libraries(sample_two_bone_ik
+  sample_framework
+  ozz_animation_offline
+  ozz_animation)
+
+set_target_properties(sample_two_bone_ik
+  PROPERTIES FOLDER "samples")
+
+if(EMSCRIPTEN)
+  # Resource files are embedded to the output file with emscripten
+  set_target_properties(sample_two_bone_ik
+    PROPERTIES LINK_FLAGS "--embed-file media --embed-file README.md --memory-init-file 0")
+
+  install(FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/sample_two_bone_ik.html
+    ${CMAKE_CURRENT_BINARY_DIR}/sample_two_bone_ik.js
+    ${CMAKE_CURRENT_BINARY_DIR}/sample_two_bone_ik.wasm
+    DESTINATION bin/samples/two_bone_ik)
+else()
+  install(TARGETS sample_two_bone_ik DESTINATION bin/samples/two_bone_ik)
+  install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/media DESTINATION bin/samples/two_bone_ik)
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/README.md DESTINATION bin/samples/two_bone_ik)
+endif(EMSCRIPTEN)
+
+add_test(NAME sample_two_bone_ik COMMAND sample_two_bone_ik "--max_idle_loops=${ozz_sample_testing_loops}" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
+add_test(NAME sample_two_bone_ik_path COMMAND sample_two_bone_ik "--skeleton=media/skeleton.ozz" "--max_idle_loops=${ozz_sample_testing_loops}" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
+add_test(NAME sample_two_bone_ik_invalid_skeleton_path COMMAND sample_two_bone_ik "--skeleton=media/bad_skeleton.ozz" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
+set_tests_properties(sample_two_bone_ik_invalid_skeleton_path PROPERTIES WILL_FAIL true)

3rdparty/ozz-animation/samples/two_bone_ik/README.md

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+# Ozz-animation sample: Two bone IK
+
+## Description
+
+Performs two bone IK on robot arm skeleton.
+
+## Concept
+
+This sample uses ozz::animation::IKTwoBoneJob to compute two bone IK on a skeleton. Inverse kinematic allows a chain of joints to reach a target position. The job computes the transformations (rotations only) that needs to be applied to the first two joints of the chain such that the third joint reaches the provided target position (if possible). The three joints don't need to be consecutive though, they just require to be from the same chain. 
+
+## Sample usage
+
+The sample exposes IKTwoBoneJob parameters:
+
+- The pole vector which defines where the direction the middle joint should point to, allowing to control IK chain orientation.
+- Twist_angle which rotates IK chain around the vector define by start-to-target vector.
+- Soften ratio, allowing the chain to gradually fall behind the target position. This prevents the joint chain from snapping into the final position, softening the final degrees before the joint chain becomes flat.
+- Weight given to the IK correction. This allows to blend / interpolate from zero to full IK.
+  float weight;
+
+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.
+
+## Implementation
+
+1. At initialization time:
+  1. Loads skeleton. See "playback" sample for more details.
+  2. Locates the three joint indices from the skeleton, searching them by name.
+2. At run time:
+  1. Updates skeleton joints model-space matrices from local-space transforms, just like it would be done at the end of animation sampling and blending stages.
+  2. Target and pole vectors are converted to skeleton model space.
+  3. Setup IKTwoBoneJob with sample parameters, providing the three joints model-space matrices.
+  4. Once run, the job outputs two quaternions for the two first joints of the chain. The samples multiplies them to their respective local-space rotations.
+  5. Model-space matrices must be updated again. Only the children of the first joint of the chain need to be updated again.

3rdparty/ozz-animation/samples/two_bone_ik/sample_two_bone_ik.cc

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+//----------------------------------------------------------------------------//
+//                                                                            //
+// ozz-animation is hosted at http://github.com/guillaumeblanc/ozz-animation  //
+// and distributed under the MIT License (MIT).                               //
+//                                                                            //
+// Copyright (c) Guillaume Blanc                                              //
+//                                                                            //
+// Permission is hereby granted, free of charge, to any person obtaining a    //
+// copy of this software and associated documentation files (the "Software"), //
+// to deal in the Software without restriction, including without limitation  //
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,   //
+// and/or sell copies of the Software, and to permit persons to whom the      //
+// Software is furnished to do so, subject to the following conditions:       //
+//                                                                            //
+// The above copyright notice and this permission notice shall be included in //
+// all copies or substantial portions of the Software.                        //
+//                                                                            //
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR //
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   //
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    //
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER //
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING    //
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER        //
+// DEALINGS IN THE SOFTWARE.                                                  //
+//                                                                            //
+//----------------------------------------------------------------------------//
+
+#include "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"
+
+#include "framework/application.h"
+#include "framework/imgui.h"
+#include "framework/renderer.h"
+#include "framework/utils.h"
+
+#include <algorithm>
+
+// 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 bind 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_bind_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 bind pose
+    for (size_t i = 0; i < locals_.size(); ++i) {
+      locals_[i] = skeleton_.joint_bind_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);
+}