Initial commit
This commit is contained in:
Martin Felis
@@ -0,0 +1,55 @@
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add_custom_command(
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DEPENDS $<$<BOOL:${ozz_build_fbx}>:BUILD_DATA>
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"${CMAKE_CURRENT_LIST_DIR}/README.md"
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"${ozz_media_directory}/bin/robot_skeleton.ozz"
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"${ozz_media_directory}/bin/robot_animation.ozz"
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"${ozz_media_directory}/bin/robot_track_grasp.ozz"
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OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/README.md"
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"${CMAKE_CURRENT_BINARY_DIR}/media/skeleton.ozz"
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"${CMAKE_CURRENT_BINARY_DIR}/media/animation.ozz"
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"${CMAKE_CURRENT_BINARY_DIR}/media/track.ozz"
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COMMAND ${CMAKE_COMMAND} -E make_directory media
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COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_LIST_DIR}/README.md" .
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COMMAND ${CMAKE_COMMAND} -E copy "${ozz_media_directory}/bin/robot_skeleton.ozz" "./media/skeleton.ozz"
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COMMAND ${CMAKE_COMMAND} -E copy "${ozz_media_directory}/bin/robot_animation.ozz" "./media/animation.ozz"
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COMMAND ${CMAKE_COMMAND} -E copy "${ozz_media_directory}/bin/robot_track_grasp.ozz" "./media/track.ozz")
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add_executable(sample_user_channel
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sample_user_channel.cc
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config.json
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"${CMAKE_CURRENT_BINARY_DIR}/README.md"
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"${CMAKE_CURRENT_BINARY_DIR}/media/skeleton.ozz"
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"${CMAKE_CURRENT_BINARY_DIR}/media/animation.ozz"
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"${CMAKE_CURRENT_BINARY_DIR}/media/track.ozz")
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target_link_libraries(sample_user_channel
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sample_framework)
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set_target_properties(sample_user_channel
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PROPERTIES FOLDER "samples")
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if(EMSCRIPTEN)
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# Resource files are embedded to the output file with emscripten
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set_target_properties(sample_user_channel
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PROPERTIES LINK_FLAGS "--embed-file media --embed-file README.md --memory-init-file 0")
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install(FILES
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${CMAKE_CURRENT_BINARY_DIR}/sample_user_channel.html
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${CMAKE_CURRENT_BINARY_DIR}/sample_user_channel.js
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${CMAKE_CURRENT_BINARY_DIR}/sample_user_channel.wasm
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DESTINATION bin/samples/user_channel)
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else()
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install(TARGETS sample_user_channel DESTINATION bin/samples/user_channel)
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install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/media DESTINATION bin/samples/user_channel)
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install(FILES ${CMAKE_CURRENT_BINARY_DIR}/README.md DESTINATION bin/samples/user_channel)
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endif(EMSCRIPTEN)
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add_test(NAME sample_user_channel COMMAND sample_user_channel "--max_idle_loops=${ozz_sample_testing_loops}" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
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add_test(NAME sample_user_channel_path1 COMMAND sample_user_channel "--skeleton=media/skeleton.ozz" "--animation=media/animation.ozz" "--max_idle_loops=${ozz_sample_testing_loops}" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
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add_test(NAME sample_user_channel_invalid_skeleton_path COMMAND sample_user_channel "--skeleton=media/bad_skeleton.ozz" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
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set_tests_properties(sample_user_channel_invalid_skeleton_path PROPERTIES WILL_FAIL true)
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add_test(NAME sample_user_channel_invalid_animation_path COMMAND sample_user_channel "--animation=media/bad_animation.ozz" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
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set_tests_properties(sample_user_channel_invalid_animation_path PROPERTIES WILL_FAIL true)
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add_test(NAME sample_user_channel_invalid_track_path COMMAND sample_user_channel "--track=media/bad_animation.ozz" $<$<BOOL:${ozz_run_tests_headless}>:--norender>)
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set_tests_properties(sample_user_channel_invalid_track_path PROPERTIES WILL_FAIL true)
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@@ -0,0 +1,27 @@
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# Ozz-animation sample: Animation user channels
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## Description
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The samples uses a user channel track to drive attachment state of a box manipulated by a robot's arm. The track was edited in a DCC tool as a custom property, and imported along side the animation using fbx2ozz.
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## Concept
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User-channels are the way to animate data that aren't joint transformations: float, bool... In this sample the user-data is the boolean attachment state of the box with the robot's finger. The sample attaches the box (see attachment sample) to the robot's finger when the boolean becomes true, and detaches it when it's getting false.
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The user-channel track was edited in a DCC tool as a custom property and saved in the fbx file alongside the animation. fbx2ozz is used to extract this track using "animations[].tracks[].properties[]" parameter of fbx2ozz json configuration. See [config.json](config.json).
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The sample demonstrates two ways to use the user-channel track, based on ozz API:
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1. Sampling: Using ozz::animation::TrackSamplingJob, the samples queries the track value each keyframe. It will get true or false depending on if the box should be attached or detached for current frame time. If the box is detached, its position remains unchanged. If it is attached, the sample computes box position as transformed by the finger joint. The relative transformation of the box to the finger is stored when attachment state switches from off to on. Because the frame time isn't exactly the time when the state has changed, a transformation error is accumulated.
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2. Edge triggering: Using ozz::animation::TrackTriggeringJob, the samples iterates all state changes that happened since the last update. This allows to compute the box relative transformation for each state change, at the exact state change time. This prevents accumulating transformation error. It even supports jumping to any point in time, because all state changes (attach / detach) are be processed.
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## Sample usage
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The sample exposes usual animation playback settings. It also exposes options to choose to from sampling or edge triggering technique (default option).
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## Implementation
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1. Loading of data is based on animation playback sample, including the user-channel track.
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2. Box attachment and transformation is based on attachment sample.
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3. When attachment state switches from off to on, the relative transformation of the box to the finger joint is computed (inverse wolrd-space joint matrix * box world-space matrix).
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4. The sample uses 2 techniques to detect attachment state changes:
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1. Sampling, based on ozz::animation::TrackSamplingJob. User-channel track is sampled at the same time t as the animation, which gives attachment state for the current frame. State changes are thus detected depending on application frame rate.
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2. Edge triggering, based on ozz::animation::TrackTriggeringJob. TrackTriggeringJob computes rising and falling edges for a given period of time. The sample thus queries all edges from the previous frame time to the current one. The exact edge time (aka when the track crosses threshold value) is used to compute finger joint transformation, instead of current frame time (as with sampling case). This make the algorithm frame rate independent.
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@@ -0,0 +1,30 @@
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{
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"skeleton":
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{
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"filename":"robot_skeleton.ozz",
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"import":
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{
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"enable":true // Skeleton needs to be imported/created from the source file.
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}
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},
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"animations":
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[
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{
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"filename":"robot_animation.ozz",
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"tracks":
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[
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{
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"properties": // User-channel property track must be imported.
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[
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{
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"type" : "float1", // Type of the property.
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"joint_name":"thumb2", // Get the property from this node
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"property_name":"grasp", // Name of the custom property
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"filename":"robot_track_grasp.ozz" // Output filename
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}
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]
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}
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]
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}
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]
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}
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@@ -0,0 +1,378 @@
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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 "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 "ozz/animation/runtime/animation.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/animation/runtime/track.h"
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#include "ozz/animation/runtime/track_sampling_job.h"
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#include "ozz/animation/runtime/track_triggering_job.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/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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// Some scene constants.
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const ozz::math::Box kBox(ozz::math::Float3(-.01f, -.1f, -.05f),
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ozz::math::Float3(.01f, .1f, .05f));
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const ozz::math::SimdFloat4 kBoxInitialPosition =
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ozz::math::simd_float4::Load(0.f, .1f, .3f, 0.f);
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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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// Track archive can be specified as an option.
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OZZ_OPTIONS_DECLARE_STRING(track, "Path to the track (ozz archive format).",
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"media/track.ozz", false)
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class UserChannelSampleApplication : public ozz::sample::Application {
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public:
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UserChannelSampleApplication()
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: method_(kTriggering), // Triggering is the most robust method.
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attached_(false),
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attach_joint_(0) {
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ResetState();
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}
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protected:
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// Resets everything to it's initial state.
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void ResetState() {
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controller_.set_time_ratio(0.f);
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attached_ = false;
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box_local_transform_ = ozz::math::Float4x4::identity();
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box_world_transform_ =
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ozz::math::Float4x4::Translation(kBoxInitialPosition);
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}
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virtual bool OnUpdate(float _dt, float) {
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// Updates current animation time.
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controller_.Update(animation_, _dt);
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// Update attachment state depending on the selected method, aka sample or
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// triggering.
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if (method_ == kSampling) {
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if (!Update_SamplingMethod()) {
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return false;
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}
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} else {
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if (!Update_TriggeringMethod()) {
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return false;
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}
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}
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// Updates box transform based on attachment state.
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if (attached_) {
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box_world_transform_ = models_[attach_joint_] * box_local_transform_;
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} else {
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// Lets the box where it is.
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}
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return true;
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}
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bool Update_SamplingMethod() {
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// Updates animation and computes new joints position at current frame time.
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if (!Update_Joints(controller_.time_ratio())) {
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return false;
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}
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// Samples the track in order to know if the box should be attached to the
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// skeleton joint (hand).
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ozz::animation::FloatTrackSamplingJob job;
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// Tracks have a unit length duration. They are thus sampled with a ratio
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// (rather than a time), which is computed based on the duration of the
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// animation they refer to.
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job.ratio = controller_.time_ratio();
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job.track = &track_;
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float attached;
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job.result = &attached;
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if (!job.Run()) {
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return false;
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}
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bool previously_attached = attached_;
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attached_ = attached != 0.f;
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// If box is being attached, then computes it's relative position with the
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// attachment joint.
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if (attached_ && !previously_attached) {
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box_local_transform_ =
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Invert(models_[attach_joint_]) * box_world_transform_;
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}
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return true;
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}
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bool Update_TriggeringMethod() {
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// Walks through the track to find edges, aka when the box should be
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// attached or detached.
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ozz::animation::TrackTriggeringJob job;
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// Tracks have a unit length duration. They are thus sampled with a ratio
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// (rather than a time), which is computed based on the duration of the
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// animation they refer to.
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// Its important to use exact "previous time" here, because if we recompute
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// it, we might end up using a time range that is not exactly the previous
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// one, leading to missed or redundant edges.
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// Previous_time can be higher that current time, in case of a loop. It's
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// not a problem. Edges will be triggered backward (rewinding track in
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// time), so the "attachment" state remains valid. It's not the shortest or
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// optimum path though.
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job.from = controller_.previous_time_ratio();
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job.to = controller_.time_ratio();
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job.track = &track_;
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job.threshold = 0.f; // Considered attached as soon as the value is
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// greater than 0, aka different from 0.
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ozz::animation::TrackTriggeringJob::Iterator iterator;
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job.iterator = &iterator;
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if (!job.Run()) {
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return false;
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}
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// Iteratively evaluates all edges.
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// Edges are lazily evaluated on iterator increments.
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for (const ozz::animation::TrackTriggeringJob::Iterator end = job.end();
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iterator != end; ++iterator) {
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const ozz::animation::TrackTriggeringJob::Edge& edge = *iterator;
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// Updates attachment state.
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// Triggering job ensures rising and falling edges symmetry, this can be
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// asserted.
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assert(attached_ != edge.rising);
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attached_ = edge.rising;
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// Knowing exact edge ratio, joint position can be re-sampled in order
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// to get attachment joint position at the precise attachment time. This
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// makes the algorithm frame rate independent.
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// Sampling is cached so this intermediate updates don't have a big
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// performance impact.
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if (!Update_Joints(edge.ratio)) {
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return false;
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}
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if (edge.rising) {
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// Box is being attached on rising edges.
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// Find the relative transform of the box to the attachment joint at the
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// exact time of the rising edge.
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box_local_transform_ =
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Invert(models_[attach_joint_]) * box_world_transform_;
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} else {
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// Box is being detached on falling edges.
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// Compute box position when at the exact time it is released.
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box_world_transform_ = models_[attach_joint_] * box_local_transform_;
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}
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}
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// Finally updates animation and computes joints position at current frame
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// time.
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return Update_Joints(controller_.time_ratio());
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}
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bool Update_Joints(float _ratio) {
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// Samples animation at r = _ratio.
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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 = _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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||||
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return true;
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||||
}
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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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// Draw box at the position computed during update.
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success &= _renderer->DrawBoxShaded(
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kBox, ozz::span<ozz::math::Float4x4>(box_world_transform_),
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ozz::sample::kGrey);
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||||
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||||
// Draws a sphere at hand position, which shows "attached" flag status.
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||||
const ozz::sample::Color colors[] = {{0, 0xff, 0, 0xff},
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{0xff, 0, 0, 0xff}};
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_renderer->DrawSphereIm(.01f, models_[attach_joint_], colors[attached_]);
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// Draws the animated skeleton.
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success &= _renderer->DrawPosture(skeleton_, make_span(models_),
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||||
ozz::math::Float4x4::identity());
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return success;
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||||
}
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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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||||
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// Finds the hand joint where the box should be attached.
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||||
// If not found, let it be 0.
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for (int i = 0; i < skeleton_.num_joints(); i++) {
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if (std::strstr(skeleton_.joint_names()[i], "thumb2")) {
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attach_joint_ = i;
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break;
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||||
}
|
||||
}
|
||||
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||||
// Reading animation.
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||||
if (!ozz::sample::LoadAnimation(OPTIONS_animation, &animation_)) {
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||||
return false;
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||||
}
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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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||||
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||||
// Allocates a cache that matches animation requirements.
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||||
cache_.Resize(num_joints);
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||||
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||||
// Reading track.
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||||
if (!ozz::sample::LoadTrack(OPTIONS_track, &track_)) {
|
||||
return false;
|
||||
}
|
||||
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||||
return true;
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||||
}
|
||||
|
||||
virtual void OnDestroy() {}
|
||||
|
||||
virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
|
||||
// Exposes sample specific parameters.
|
||||
{
|
||||
static bool open = true;
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||||
ozz::sample::ImGui::OpenClose oc(_im_gui, "Track access method", &open);
|
||||
int method = static_cast<int>(method_);
|
||||
bool changed = _im_gui->DoRadioButton(kSampling, "Sampling", &method);
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||||
changed |= _im_gui->DoRadioButton(kTriggering, "Triggering", &method);
|
||||
if (changed) {
|
||||
method_ = static_cast<Method>(method);
|
||||
ResetState();
|
||||
}
|
||||
}
|
||||
// Exposes animation runtime playback controls.
|
||||
{
|
||||
static bool open = true;
|
||||
ozz::sample::ImGui::OpenClose oc(_im_gui, "Animation control", &open);
|
||||
if (open) {
|
||||
if (controller_.OnGui(animation_, _im_gui, true)) {
|
||||
// Triggering method can adapt to "big" time changes (jumps), because
|
||||
// all the events will be triggered and processed for the whole time
|
||||
// period.
|
||||
// No point doing that for sampling method.
|
||||
if (method_ == kTriggering) {
|
||||
if (!Update_TriggeringMethod()) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
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_;
|
||||
|
||||
// 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_;
|
||||
|
||||
// Runtime float track.
|
||||
// Stores whether the box should be attached to the hand.
|
||||
ozz::animation::FloatTrack track_;
|
||||
|
||||
// Track reading method.
|
||||
enum Method {
|
||||
kSampling, // Will use TrackSamplingJob
|
||||
kTriggering // Will use TrackTriggeringJob
|
||||
} method_;
|
||||
|
||||
// Stores whether the box is currently attached. This flag is computed
|
||||
// during update. This is only used for debug display purpose.
|
||||
bool attached_;
|
||||
|
||||
// Index of the joint where the box must be attached.
|
||||
int attach_joint_;
|
||||
|
||||
// Box current transformation.
|
||||
ozz::math::Float4x4 box_world_transform_;
|
||||
|
||||
// Box transformation relative to the attached bone.
|
||||
ozz::math::Float4x4 box_local_transform_;
|
||||
};
|
||||
|
||||
int main(int _argc, const char** _argv) {
|
||||
const char* title = "Ozz-animation sample: User channels";
|
||||
return UserChannelSampleApplication().Run(_argc, _argv, "1.0", title);
|
||||
}
|
||||
Reference in New Issue
Block a user