Initial works for sampling root node transforms.

3rdparty/ozz-animation/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required (VERSION 3.20)
+cmake_minimum_required (VERSION 3.3)
 
 # Defines the project's name
 project(ozz)

3rdparty/ozz-animation/include/ozz/base/containers/std_allocator.h

@@ -49,7 +49,7 @@ class StdAllocator {
   StdAllocator(const StdAllocator&) noexcept {}
 
   template <class _Other>
-  StdAllocator(const StdAllocator<_Other>&) noexcept {}
+  StdAllocator<value_type>(const StdAllocator<_Other>&) noexcept {}
 
   template <class _Other>
   struct rebind {

CMakeLists.txt

@@ -49,9 +49,11 @@ add_library(AnimTestbedCode OBJECT
         src/AnimNode.cc
         src/AnimNodes/AnimSamplerNode.cc
         src/AnimNodes/SpeedScaleNode.cc
+        src/AnimNodes/BlendSpace1D.cc
         src/AnimNodes/BlendNode.cc
         src/AnimNodes/LockTranslationNode.cc
         src/AnimationController.cc
+        src/ozzutils.cc
         3rdparty/imgui/imgui.cpp
         3rdparty/imgui/imgui_draw.cpp
         3rdparty/imgui/imgui_widgets.cpp
@@ -59,6 +61,8 @@ add_library(AnimTestbedCode OBJECT
 
 target_include_directories(
         AnimTestbedCode
+        PUBLIC
+        src
         ${ThirdPartyIncludeDeps}
 )
 
@@ -66,6 +70,7 @@ target_include_directories(
 add_executable(AnimTestbed)
 target_include_directories(
         AnimTestbed
+        PUBLIC
         ${ThirdPartyIncludeDeps}
 )
 
@@ -83,7 +88,7 @@ target_link_libraries(AnimTestbed AnimTestbedCode glfw ozz_base ozz_geometry ozz
 # Tests
 add_executable(runtests)
 
-target_sources(runtests PRIVATE tests/main.cc tests/SyncTrackTests.cc)
+target_sources(runtests PRIVATE tests/main.cc tests/AnimSampleNodeTests.cc tests/SyncTrackTests.cc)
 target_include_directories(
         runtests
         PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>

doc/design.md

@@ -1,35 +0,0 @@
-## Graph
-
-### 1. Support of math nodes (or non-AnimNodes in general)
-
-* Enables animators to add custom math for blend inputs or to adjust other inputs (e.g. LookAt or IK
-  targets).
-
-**Open Issues**
-
-1. When to do the evaluation? Two types of subgraphs:
-   a) Instant inputs (needed for blend node inputs) that have to be evaluated before
-   UpdateConnections
-   b) Processing nodes, e.g. for extracted bones.
-
-### 2. Support of multiple output sockets
-
-* E.g. extract Bone transform
-
-* Increases Node complexity:
-    * AnimOutput
-    * AnimOutput + Data
-    * Data
-
-(Data = bool, float, vec3, quat, ...)
-
-**Open Issues**
-
-1. Unclear when this is actually needed. Using more specific nodes that perform the desired logic
-   may be better (
-   c.f. https://dev.epicgames.com/documentation/en-us/unreal-engine/animation-blueprint-bone-driven-controller-in-unreal-engine).
-   Likely this is not crucial so should be avoided for now.
-
-### 3. Multi-skeleton evaluation
-
-Use case: riding on a horse, interaction between two characters.

src/AnimNode.h

@@ -5,6 +5,8 @@
 #ifndef ANIMTESTBED_ANIMNODE_H
 #define ANIMTESTBED_ANIMNODE_H
 
+#include <ozz/base/maths/transform.h>
+
 #include <string>
 
 #include "AnimationController.h"
@@ -15,7 +17,7 @@ enum class AnimNodeType { Blend, SpeedScale, AnimSampler };
 struct AnimNode {
   AnimNode(AnimationController* animation_controller)
       : m_animation_controller(animation_controller),
-        m_current_time(0.f),
+        m_time_current(0.f),
         m_is_time_synced(false) {}
   virtual ~AnimNode(){};
 
@@ -25,10 +27,10 @@ struct AnimNode {
 
   // When synced then current time is relative to the node's anim duration.:w
   bool m_is_time_synced;
-  float m_current_time;
+  float m_time_current;
   SyncTrack m_sync_track;
 
-  virtual void Reset() { m_current_time = 0.f; }
+  virtual void Reset() { m_time_current = 0.f; }
 
   // Mark current node according to is_synced and propagate flag to animation inputs.
   virtual void UpdateIsSynced(bool is_synced) = 0;
@@ -42,7 +44,8 @@ struct AnimNode {
 
   // Evaluate the current node and write output to local_matrices.
   virtual void Evaluate(
-      ozz::vector<ozz::math::SoaTransform>* local_matrices) = 0;
+      ozz::vector<ozz::math::SoaTransform>* local_matrices,
+      ozz::math::Transform* root_transform) = 0;
 
   // Returns a list of animation nodes that provide input for this node.
   virtual void GetInputNodes(std::vector<AnimNode*>& input_nodes) const = 0 ;

src/AnimNodes/AnimSamplerNode.cc

@@ -4,9 +4,12 @@
 
 #include "AnimSamplerNode.h"
 
+#include "ozzutils.h"
+
 #include <imgui.h>
 
 #include "../SkinnedMesh.h"
+#include "../ozzutils.h"
 
 void AnimSamplerNode::SetAnimation(ozz::animation::Animation* animation, const SyncTrack& sync_track) {
   m_animation = animation;
@@ -21,7 +24,8 @@ void AnimSamplerNode::SetAnimation(ozz::animation::Animation* animation, const S
 }
 
 void AnimSamplerNode::Evaluate(
-    ozz::vector<ozz::math::SoaTransform>* local_matrices) {
+    ozz::vector<ozz::math::SoaTransform>* local_matrices,
+    ozz::math::Transform* root_transform) {
   ozz::animation::SamplingJob sampling_job;
   sampling_job.animation = m_animation;
   sampling_job.cache = &m_sampling_cache;
@@ -30,6 +34,18 @@ void AnimSamplerNode::Evaluate(
   if (!sampling_job.Run()) {
     ozz::log::Err() << "Error sampling animation." << std::endl;
   }
+
+  if (root_transform == nullptr) {
+    return;
+  }
+
+  ozz::math::Transform root_trans_prev;
+  calc_bone_translation (m_anim_ratio_prev, 0, m_animation, root_trans_prev);
+
+  ozz::math::Transform root_trans_cur;
+  calc_bone_translation (m_anim_ratio, 0, m_animation, root_trans_cur);
+
+  root_transform->translation = root_trans_cur.translation - root_trans_prev.translation;
 }
 
 void AnimSamplerNode::DrawDebugUi() {

src/AnimNodes/AnimSamplerNode.h

@@ -10,37 +10,60 @@
 struct AnimSamplerNode : public AnimNode {
   AnimSamplerNode(AnimationController* animation_controller)
       : AnimNode(animation_controller),
+        m_time_prev(0.f),
         m_override_ratio(false),
-        m_anim_ratio(0.f) {
+        m_anim_ratio(0.f),
-    assert(m_current_time < 100.0f);
+        m_root_bone_index(0) {
+    assert(m_time_current < 100.0f);
     m_anim_node_type = AnimNodeType::AnimSampler;
   };
   virtual ~AnimSamplerNode() {}
 
   ozz::animation::Animation* m_animation;
 
+  float m_time_prev;
   bool m_override_ratio;
   float m_anim_ratio;
+  float m_anim_ratio_prev;
+  bool m_root_bone_index;
 
   ozz::vector<ozz::math::SoaTransform> m_local_matrices;
+  ozz::vector<ozz::math::SoaTransform> m_root_output;
   ozz::animation::SamplingCache m_sampling_cache;
 
-  void SetAnimation(ozz::animation::Animation* animation, const SyncTrack& sync_track);
+  void SetAnimation(
+      ozz::animation::Animation* animation,
+      const SyncTrack& sync_track);
 
   virtual void UpdateIsSynced(bool is_synced) override {
     m_is_time_synced = is_synced;
   }
 
-  virtual void UpdateSyncTrack() override {
+  virtual void UpdateSyncTrack() override {}
-  }
 
   virtual void UpdateTime(float dt) override {
-    m_current_time += dt;
+    if (m_override_ratio) {
-    if (!m_override_ratio) {
+      return;
-      if (m_is_time_synced) {
+    }
-        m_anim_ratio = m_sync_track.CalcRatioFromSyncTime(m_current_time);
+
-      } else {
+    m_time_prev = m_time_current;
-        m_anim_ratio = fmodf((float)m_current_time / m_animation->duration(), 1.0f);
+    m_time_current += dt;
+
+    if (m_is_time_synced) {
+      m_anim_ratio = m_sync_track.CalcRatioFromSyncTime(m_time_current);
+      float prev_sync_time = m_time_current - dt;
+      if (m_time_current < 0) {
+        prev_sync_time += m_sync_track.m_num_intervals;
+      }
+      m_anim_ratio_prev = m_sync_track.CalcRatioFromSyncTime(prev_sync_time);
+    } else {
+      m_anim_ratio =
+          fmodf((float)m_time_current / m_animation->duration(), 1.0f);
+      m_anim_ratio_prev =
+          fmodf((float)m_time_prev / m_animation->duration(), 1.0f);
+
+      if (m_anim_ratio_prev < 0) {
+        m_anim_ratio_prev += 1.0f;
       }
     }
 
@@ -50,9 +73,11 @@ struct AnimSamplerNode : public AnimNode {
   }
 
   virtual void Evaluate(
-      ozz::vector<ozz::math::SoaTransform>* local_matrices) override;
+      ozz::vector<ozz::math::SoaTransform>* local_matrices,
+      ozz::math::Transform* root_transform) override;
 
-  virtual void GetInputNodes(std::vector<AnimNode*>& input_nodes) const override{};
+  virtual void GetInputNodes(
+      std::vector<AnimNode*>& input_nodes) const override{};
 
   virtual void DrawDebugUi();
 };

src/AnimNodes/BlendNode.cc

@@ -23,11 +23,17 @@ BlendNode::BlendNode(AnimationController* animation_controller)
   m_local_matrices_B.resize(num_soa_joints);
 }
 
-void BlendNode::Evaluate(ozz::vector<ozz::math::SoaTransform>* local_matrices) {
+void BlendNode::Evaluate(
+    ozz::vector<ozz::math::SoaTransform>* local_matrices,
+    ozz::math::Transform* root_transform) {
   const SkinnedMesh* skinned_mesh = m_animation_controller->m_skinned_mesh;
 
-  m_input_A->Evaluate(&m_local_matrices_A);
+  m_input_A->Evaluate(
-  m_input_B->Evaluate(&m_local_matrices_B);
+      &m_local_matrices_A,
+      root_transform != nullptr ? &m_root_transform_A : nullptr);
+  m_input_B->Evaluate(
+      &m_local_matrices_B,
+      root_transform != nullptr ? &m_root_transform_B : nullptr);
 
   // perform blend
   ozz::animation::BlendingJob::Layer layers[2];
@@ -49,9 +55,7 @@ void BlendNode::Evaluate(ozz::vector<ozz::math::SoaTransform>* local_matrices) {
 }
 
 void BlendNode::DrawDebugUi() {
-  if (ImGui::SliderFloat("Weight", &m_weight, 0.f, 1.f)) {
+  ImGui::SliderFloat("Weight", &m_weight, 0.f, 1.f);
-    m_sync_track = SyncTrack::Blend(m_weight, m_input_A->m_sync_track, m_input_B->m_sync_track);
-  }
   ImGui::Checkbox("Sync Inputs", &m_sync_inputs);
 
   ImGui::Text("SyncTrack");

src/AnimNodes/BlendNode.h

@@ -19,10 +19,10 @@ struct BlendNode : public AnimNode {
 
   ozz::vector<ozz::math::SoaTransform> m_local_matrices_A;
   ozz::vector<ozz::math::SoaTransform> m_local_matrices_B;
+  ozz::math::Transform m_root_transform_A;
+  ozz::math::Transform m_root_transform_B;
 
-  virtual void Reset() {
+  virtual void Reset() { m_time_current = 0.f; }
-    m_current_time = 0.f;
-  }
 
   virtual void UpdateIsSynced(bool is_synced) override {
     m_is_time_synced = is_synced;
@@ -37,30 +37,39 @@ struct BlendNode : public AnimNode {
 
   virtual void UpdateSyncTrack() override {
     if (m_is_time_synced) {
-      m_sync_track = SyncTrack::Blend(m_weight, m_input_A->m_sync_track, m_input_B->m_sync_track);
+      m_sync_track = SyncTrack::Blend(
+          m_weight,
+          m_input_A->m_sync_track,
+          m_input_B->m_sync_track);
     } else {
-      assert (false);
+      assert(false);
     }
   }
 
   virtual void UpdateTime(float dt) {
     if (m_is_time_synced) {
-      m_current_time = fmodf(m_current_time + dt, m_sync_track.m_duration);
+      float sync_time_old = m_sync_track.CalcSyncFromAbsTime(m_time_current);
-      float current_sync_time = m_sync_track.CalcSyncFromAbsTime(m_current_time);
+      m_time_current = fmodf(m_time_current + dt, m_sync_track.m_duration);
+      float sync_time_dt =
+          m_sync_track.CalcSyncFromAbsTime(m_time_current) - sync_time_old;
 
-      m_input_A->UpdateTime(current_sync_time - m_input_A->m_current_time);
+      m_input_A->m_time_current = sync_time_old;
-      m_input_B->UpdateTime(current_sync_time - m_input_B->m_current_time);
+      m_input_B->m_time_current = sync_time_old;
+      m_input_A->UpdateTime(sync_time_dt);
+      m_input_B->UpdateTime(sync_time_dt);
     } else {
-      m_current_time += dt;
+      m_time_current += dt;
       m_input_A->UpdateTime(dt);
       m_input_B->UpdateTime(dt);
     }
   }
 
   virtual void Evaluate(
-      ozz::vector<ozz::math::SoaTransform>* local_matrices) override;
+      ozz::vector<ozz::math::SoaTransform>* local_matrices,
+      ozz::math::Transform* root_transform) override;
 
-  virtual void GetInputNodes(std::vector<AnimNode*>& input_nodes) const override {
+  virtual void GetInputNodes(
+      std::vector<AnimNode*>& input_nodes) const override {
     input_nodes.push_back(m_input_A);
     input_nodes.push_back(m_input_B);
   };

src/AnimNodes/BlendSpace1D.cc

@@ -0,0 +1,67 @@
+//
+// Created by martin on 19.11.21.
+//
+
+#include "BlendSpace1D.h"
+
+#include <imgui.h>
+#include <ozz/animation/runtime/blending_job.h>
+
+#include "../SkinnedMesh.h"
+
+BlendSpace1D::BlendSpace1D(AnimationController* animation_controller)
+    : AnimNode(animation_controller),
+      m_input_0(nullptr),
+      m_weight_0(0.f),
+      m_input_1(nullptr),
+      m_weight_1(0.f),
+      m_weight(0.f),
+      m_sync_inputs(false) {
+  m_anim_node_type = AnimNodeType::Blend;
+  const SkinnedMesh* skinned_mesh = m_animation_controller->m_skinned_mesh;
+  const int num_soa_joints = skinned_mesh->m_skeleton.num_soa_joints();
+  const int num_joints = skinned_mesh->m_skeleton.num_joints();
+  m_local_matrices_0.resize(num_soa_joints);
+  m_local_matrices_1.resize(num_soa_joints);
+}
+
+void BlendSpace1D::Evaluate(
+    ozz::vector<ozz::math::SoaTransform>* local_matrices,
+    ozz::math::Transform* root_transform) {
+  const SkinnedMesh* skinned_mesh = m_animation_controller->m_skinned_mesh;
+
+  m_input_0->Evaluate(
+      &m_local_matrices_0,
+      root_transform != nullptr ? &m_root_transform_0 : nullptr);
+  m_input_1->Evaluate(
+      &m_local_matrices_1,
+      root_transform != nullptr ? &m_root_transform_1 : nullptr);
+
+  // perform blend
+  ozz::animation::BlendingJob::Layer layers[2];
+  layers[0].transform = make_span(m_local_matrices_0);
+  layers[0].weight = (1.0f - m_normalized_weight);
+
+  layers[1].transform = make_span(m_local_matrices_1);
+  layers[1].weight = (m_normalized_weight);
+
+  ozz::animation::BlendingJob blend_job;
+  blend_job.threshold = ozz::animation::BlendingJob().threshold;
+  blend_job.layers = layers;
+  blend_job.bind_pose = skinned_mesh->m_skeleton.joint_bind_poses();
+  blend_job.output = make_span(*local_matrices);
+
+  if (!blend_job.Run()) {
+    ozz::log::Err() << "Error blending animations." << std::endl;
+  }
+}
+
+void BlendSpace1D::DrawDebugUi() {
+  float min_weight = m_input_weights[0];
+  float max_weight = m_input_weights.back();
+  ImGui::SliderFloat("Weight", &m_weight, min_weight, max_weight);
+  ImGui::Checkbox("Sync Inputs", &m_sync_inputs);
+
+  ImGui::Text("SyncTrack");
+  m_sync_track.DrawDebugUi();
+}

src/AnimNodes/BlendSpace1D.h

@@ -0,0 +1,110 @@
+//
+// Created by martin on 19.11.21.
+//
+
+#ifndef ANIMTESTBED_BLENDSPACE1D_H
+#define ANIMTESTBED_BLENDSPACE1D_H
+
+#include "../AnimNode.h"
+
+struct BlendSpace1D : public AnimNode {
+  BlendSpace1D(AnimationController* animation_controller);
+
+  virtual ~BlendSpace1D() {}
+
+  int m_num_inputs;
+  std::vector<float> m_input_weights;
+  std::vector<AnimNode*> m_inputs;
+  float m_weight;
+  bool m_sync_inputs;
+
+  AnimNode* m_input_0;
+  AnimNode* m_input_1;
+
+  float m_normalized_weight;
+  float m_weight_0;
+  float m_weight_1;
+  ozz::vector<ozz::math::SoaTransform> m_local_matrices_0;
+  ozz::vector<ozz::math::SoaTransform> m_local_matrices_1;
+  ozz::math::Transform m_root_transform_0;
+  ozz::math::Transform m_root_transform_1;
+
+  virtual void Reset() { m_time_current = 0.f; }
+
+  virtual void UpdateIsSynced(bool is_synced) override {
+    m_is_time_synced = is_synced;
+
+    if (m_sync_inputs) {
+      m_is_time_synced = true;
+    }
+
+    assert(m_input_weights.size() > 0);
+    assert(
+        m_weight >= m_input_weights[0]
+        && m_weight <= m_input_weights[m_input_weights.size() - 1]);
+
+    int prev_idx = 0;
+    for (int next_idx = 1; next_idx < m_input_weights.size(); next_idx++) {
+      if (m_input_weights[prev_idx] <= m_weight
+          && m_input_weights[next_idx] >= m_weight) {
+        m_input_0 = m_inputs[prev_idx];
+        m_weight_0 = m_input_weights[prev_idx];
+
+        m_input_1 = m_inputs[next_idx];
+        m_weight_1 = m_input_weights[next_idx];
+
+        break;
+      }
+      prev_idx = next_idx;
+    }
+
+    m_input_0->UpdateIsSynced(m_is_time_synced);
+    m_input_1->UpdateIsSynced(m_is_time_synced);
+
+    m_normalized_weight = (m_weight - m_weight_0) / (m_weight_1 - m_weight_0);
+  }
+
+  virtual void UpdateSyncTrack() override {
+    if (m_is_time_synced) {
+      m_sync_track = SyncTrack::Blend(
+          m_normalized_weight,
+          m_input_0->m_sync_track,
+          m_input_1->m_sync_track);
+    } else {
+      assert(false);
+    }
+  }
+
+  virtual void UpdateTime(float dt) {
+    if (m_is_time_synced) {
+      float sync_time_old = m_sync_track.CalcSyncFromAbsTime(m_time_current);
+      m_time_current = fmodf(m_time_current + dt, m_sync_track.m_duration);
+      float sync_time_dt =
+          m_sync_track.CalcSyncFromAbsTime(m_time_current) - sync_time_old;
+
+      m_input_0->m_time_current = sync_time_old;
+      m_input_1->m_time_current = sync_time_old;
+      m_input_0->UpdateTime(sync_time_dt);
+      m_input_1->UpdateTime(sync_time_dt);
+    } else {
+      m_time_current += dt;
+      m_input_0->UpdateTime(dt);
+      m_input_1->UpdateTime(dt);
+    }
+  }
+
+  virtual void Evaluate(
+      ozz::vector<ozz::math::SoaTransform>* local_matrices,
+      ozz::math::Transform* root_transform) override;
+
+  virtual void GetInputNodes(
+      std::vector<AnimNode*>& input_nodes) const override {
+    for (int i = 0; i < m_inputs.size(); i++) {
+      input_nodes.push_back(m_inputs[i]);
+    }
+  };
+
+  virtual void DrawDebugUi();
+};
+
+#endif  //ANIMTESTBED_BLENDSPACE1D_H

src/AnimNodes/LockTranslationNode.cc

@@ -5,12 +5,15 @@
 #include "LockTranslationNode.h"
 
 #include <imgui.h>
+
 #include "ozz/base/maths/soa_transform.h"
 
 void LockTranslationNode::Evaluate(
-    ozz::vector<ozz::math::SoaTransform>* local_matrices) {
+    ozz::vector<ozz::math::SoaTransform>* local_matrices,
-  m_input->Evaluate(local_matrices);
+    ozz::math::Transform* root_transform) {
-  ozz::math::SoaFloat3 translation = (*local_matrices)[m_locked_bone_index].translation;
+  m_input->Evaluate(local_matrices, root_transform);
+  ozz::math::SoaFloat3 translation =
+      (*local_matrices)[m_locked_bone_index].translation;
   float x[4];
   float y[4];
   float z[4];
@@ -35,13 +38,14 @@ void LockTranslationNode::Evaluate(
   translation.z = _mm_load_ps(z);
 
   //translation = ozz::math::SoaFloat3::zero();
-//  ozz::math::SetX(translation, 0.f);
+  //  ozz::math::SetX(translation, 0.f);
-//  ozz::math::SetZ(translation, 0.f);
+  //  ozz::math::SetZ(translation, 0.f);
-   (*local_matrices)[m_locked_bone_index].translation = translation;
+  (*local_matrices)[m_locked_bone_index].translation = translation;
 }
 
 void LockTranslationNode::DrawDebugUi() {
-  const ozz::animation::Skeleton& skeleton = m_animation_controller->m_skinned_mesh->m_skeleton;
+  const ozz::animation::Skeleton& skeleton =
+      m_animation_controller->m_skinned_mesh->m_skeleton;
   ozz::span<const char* const> joint_names = skeleton.joint_names();
 
   const char* items[255] = {0};
@@ -54,6 +58,4 @@ void LockTranslationNode::DrawDebugUi() {
   ImGui::Checkbox("Lock X", &m_lock_x);
   ImGui::Checkbox("Lock Y", &m_lock_y);
   ImGui::Checkbox("Lock Z", &m_lock_z);
-
-
 }

src/AnimNodes/LockTranslationNode.h

@@ -24,7 +24,7 @@ struct LockTranslationNode : public AnimNode {
   bool m_lock_y;
   bool m_lock_z;
 
-  virtual void Reset() { m_current_time = 0.f; }
+  virtual void Reset() { m_time_current = 0.f; }
 
   virtual void UpdateIsSynced(bool is_synced) override {
     m_is_time_synced = is_synced;
@@ -39,7 +39,8 @@ struct LockTranslationNode : public AnimNode {
   virtual void UpdateTime(float dt) { m_input->UpdateTime(dt); }
 
   virtual void Evaluate(
-      ozz::vector<ozz::math::SoaTransform>* local_matrices) override;
+      ozz::vector<ozz::math::SoaTransform>* local_matrices,
+      ozz::math::Transform* root_transform = nullptr) override;
 
   virtual void GetInputNodes(
       std::vector<AnimNode*>& input_nodes) const override {

src/AnimNodes/SpeedScaleNode.cc

@@ -14,11 +14,7 @@ void SpeedScaleNode::DrawDebugUi() {
 
   // ensure m_time_scale is positive
   m_time_scale = m_time_scale * (is_negative ? -1.f : 1.f);
-  if (ImGui::SliderFloat("Time Scale", &m_time_scale, 0.01f, 2.f)) {
+  ImGui::SliderFloat("Time Scale", &m_time_scale, 0.01f, 5.f);
-    if (fabs(m_time_scale - 1.0) < 0.2) {
-      m_time_scale = 1.0;
-    }
-  }
   // and back to the original negative or positive sign
   m_time_scale = m_time_scale * (is_negative ? -1.f : 1.f);
 }

src/AnimNodes/SpeedScaleNode.h

@@ -16,7 +16,7 @@ struct SpeedScaleNode : public AnimNode {
   float m_time_scale;
   AnimNode* m_input_node;
 
-  virtual void Reset() { m_current_time = 0.f; }
+  virtual void Reset() { m_time_current = 0.f; }
 
   virtual void UpdateIsSynced(bool is_synced) override {
     m_is_time_synced = is_synced;
@@ -26,26 +26,29 @@ struct SpeedScaleNode : public AnimNode {
   virtual void UpdateSyncTrack() override {
     assert(fabs(m_time_scale) >= 0.01f);
     m_sync_track = m_input_node->m_sync_track;
-    m_sync_track.m_duration =fabsf(m_input_node->m_sync_track.m_duration / m_time_scale);
+    m_sync_track.m_duration =
+        fabsf(m_input_node->m_sync_track.m_duration / m_time_scale);
   }
 
   virtual void UpdateTime(float dt) {
     if (!m_is_time_synced) {
-      m_current_time += dt * m_time_scale;
+      m_time_current += dt * m_time_scale;
       m_input_node->UpdateTime(dt * m_time_scale);
     } else {
-      m_current_time += dt;
+      m_time_current += dt;
       m_input_node->UpdateTime(dt);
     }
   }
 
   virtual void Evaluate(
-      ozz::vector<ozz::math::SoaTransform>* local_matrices) override {
+      ozz::vector<ozz::math::SoaTransform>* local_matrices,
-    m_input_node->Evaluate(local_matrices);
+      ozz::math::Transform* root_transform) override {
+    m_input_node->Evaluate(local_matrices, root_transform);
   };
 
-  virtual void GetInputNodes(std::vector<AnimNode*>& input_nodes) const override {
+  virtual void GetInputNodes(
-      input_nodes.push_back(m_input_node);
+      std::vector<AnimNode*>& input_nodes) const override {
+    input_nodes.push_back(m_input_node);
   };
 
   virtual void DrawDebugUi() override;

src/AnimationController.cc

@@ -12,6 +12,7 @@
 
 #include "AnimNodes/AnimSamplerNode.h"
 #include "AnimNodes/BlendNode.h"
+#include "AnimNodes/BlendSpace1D.h"
 #include "AnimNodes/LockTranslationNode.h"
 #include "AnimNodes/SpeedScaleNode.h"
 #include "SkinnedMesh.h"
@@ -27,14 +28,36 @@ AnimationController::AnimationController(SkinnedMesh* skinned_mesh)
 
   AnimSamplerNode* sampler_node0 = new AnimSamplerNode(this);
   sampler_node0->m_name = "AnimSampler0";
-  sampler_node0->SetAnimation(skinned_mesh->m_animations[1], skinned_mesh->m_animation_sync_track[1]);
+  sampler_node0->SetAnimation(
+      skinned_mesh->m_animations[1],
+      skinned_mesh->m_animation_sync_track[1]);
   m_anim_nodes.push_back(sampler_node0);
 
   AnimSamplerNode* sampler_node1 = new AnimSamplerNode(this);
   sampler_node1->m_name = "AnimSampler1";
-  sampler_node1->SetAnimation(skinned_mesh->m_animations[2], skinned_mesh->m_animation_sync_track[2]);
+  sampler_node1->SetAnimation(
+      skinned_mesh->m_animations[2],
+      skinned_mesh->m_animation_sync_track[2]);
   m_anim_nodes.push_back(sampler_node1);
 
+  AnimSamplerNode* sampler_node2 = new AnimSamplerNode(this);
+  sampler_node2->m_name = "AnimSampler2";
+  sampler_node2->SetAnimation(
+      skinned_mesh->m_animations[3],
+      skinned_mesh->m_animation_sync_track[3]);
+  m_anim_nodes.push_back(sampler_node2);
+
+  BlendSpace1D* blend_space = new BlendSpace1D(this);
+  blend_space->m_name = "BlendSpace0";
+  blend_space->m_weight = 0.f;
+  blend_space->m_inputs.push_back(sampler_node0);
+  blend_space->m_input_weights.push_back(-1.f);
+  blend_space->m_inputs.push_back(sampler_node1);
+  blend_space->m_input_weights.push_back(0.f);
+  blend_space->m_inputs.push_back(sampler_node2);
+  blend_space->m_input_weights.push_back(1.f);
+  m_anim_nodes.push_back(blend_space);
+
   SpeedScaleNode* speed_node = new SpeedScaleNode(this);
   speed_node->m_name = "SpeedNode0";
   speed_node->m_input_node = sampler_node0;
@@ -49,7 +72,7 @@ AnimationController::AnimationController(SkinnedMesh* skinned_mesh)
 
   SpeedScaleNode* speed_node1 = new SpeedScaleNode(this);
   speed_node1->m_name = "SpeedNode1";
-  speed_node1->m_input_node = blend_node;
+  speed_node1->m_input_node = blend_space;
   m_anim_nodes.push_back(speed_node1);
 
   LockTranslationNode* lock_node = new LockTranslationNode(this);
@@ -100,13 +123,17 @@ void AnimationController::UpdateOrderedNodes() {
 }
 
 void AnimationController::UpdateTime(float dt) {
-  if (m_paused || m_output_node == nullptr) {
+  if (m_output_node == nullptr) {
     return;
   }
 
   // Mark all nodes that evaluate time using sync tracks.
   m_output_node->UpdateIsSynced(false);
 
+  if (m_paused) {
+    return;
+  }
+
   // For all synced nodes calculate their current sync track durations
   for (int i = m_ordered_nodes.size() - 1; i >= 0; i--) {
     AnimNode* node = m_ordered_nodes[i];
@@ -124,7 +151,9 @@ void AnimationController::Evaluate() {
     return;
   }
 
-  m_output_node->Evaluate(&m_skinned_mesh->m_local_matrices);
+  m_output_node->Evaluate(
+      &m_skinned_mesh->m_local_matrices,
+      m_calc_root_transform ? &m_root_transform : nullptr);
 };
 
 void AnimationController::DrawDebugUi() {
@@ -166,7 +195,7 @@ void AnimationController::DrawDebugUi() {
     ImGui::End();
   }
 
-  ImGui::Text ("Node States");
+  ImGui::Text("Node States");
 
   ImGui::Columns(4, "Node States");  // 4-ways, with border
   ImGui::Separator();
@@ -200,8 +229,8 @@ void AnimationController::DrawDebugUi() {
     ImGui::NextColumn();
     ImGui::PopID();
 
-    ImGui::PushID((void*)&node->m_current_time);
+    ImGui::PushID((void*)&node->m_time_current);
-    ImGui::Text("%2.3f", node->m_current_time);
+    ImGui::Text("%2.3f", node->m_time_current);
     ImGui::NextColumn();
     ImGui::PopID();
   }

src/AnimationController.h

@@ -9,6 +9,7 @@
 #include <ozz/animation/runtime/sampling_job.h>
 #include <ozz/base/containers/vector.h>
 #include <ozz/base/maths/soa_transform.h>
+#include <ozz/base/maths/transform.h>
 #include <ozz/base/maths/vec_float.h>
 
 struct SkinnedMesh;
@@ -33,6 +34,8 @@ struct AnimationController {
 
   float m_current_time;
   bool m_paused;
+  bool m_calc_root_transform;
+  ozz::math::Transform m_root_transform;
 
   SkinnedMesh* m_skinned_mesh = nullptr;
 

src/Camera.c

@@ -42,8 +42,8 @@ inline void Camera_Init(Camera* camera) {
   camera->pitch = 10 * M_PI / 180.0f;
 
   memcpy(&camera->mtxView, &mtx_identity, sizeof(camera->mtxView));
-  Camera_CalcToMatrix(camera, &camera->mtxView[0]);
+  Camera_CalcToMatrix(camera, &camera->mtxView);
-  Camera_CalcFromMatrix(camera, &camera->mtxView[0]);
+  Camera_CalcFromMatrix(camera, &camera->mtxView);
 }
 
 void Camera_CalcFromMatrix(Camera* camera, float* mat) {
@@ -153,6 +153,6 @@ inline void Camera_Update(
       camera->vel[i] = camera->vel[i] * 0.1;
     }
 
-    Camera_CalcToMatrix(camera, &camera->mtxView[0]);
+    Camera_CalcToMatrix(camera, &camera->mtxView);
   }
-}
+}

src/main.cc

@@ -17,10 +17,9 @@
 #include "Camera.h"
 #include "SkinnedMesh.h"
 #include "GLFW/glfw3.h"
-#include "embedded_fonts.h"
 
-const int Width = 2420;
+const int Width = 1024;
-const int Height = 1480;
+const int Height = 768;
 const int MaxVertices = (1 << 16);
 const int MaxIndices = MaxVertices * 3;
 
@@ -234,6 +233,7 @@ int main() {
 
   AnimationController animation_controller (&skinned_mesh);
 
+//  state.ozz = std::make_unique<ozz_t>();
   state.time.factor = 1.0f;
 
   Camera_Init(&state.camera);
@@ -242,24 +242,8 @@ int main() {
   ImGui::CreateContext();
   ImGui::StyleColorsDark();
   ImGuiIO& io = ImGui::GetIO();
-  io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
+  io.IniFilename = nullptr;
-  io.IniFilename = "ATPImgui.ini";
+  io.Fonts->AddFontDefault();
-
-  ImGui::GetStyle().ScaleAllSizes(2.0);
-
-  //io.Fonts->AddFontDefault();
-  ImFontConfig font_config;
-  font_config.OversampleH = 4;
-  font_config.OversampleV = 4;
-  font_config.GlyphExtraSpacing.x = 1.0f;
-  io.Fonts->AddFontFromMemoryCompressedTTF(
-      //      roboto_medium_ttf_compressed_data,
-      //      roboto_medium_ttf_compressed_size,
-      droid_sans_ttf_compressed_data,
-      droid_sans_ttf_compressed_size,
-      28,
-      &font_config);
-
   io.KeyMap[ImGuiKey_Tab] = GLFW_KEY_TAB;
   io.KeyMap[ImGuiKey_LeftArrow] = GLFW_KEY_LEFT;
   io.KeyMap[ImGuiKey_RightArrow] = GLFW_KEY_RIGHT;

src/ozzutils.cc

@@ -0,0 +1,57 @@
+//
+// Created by martin on 10.12.21.
+//
+
+#include "ozzutils.h"
+
+#include <ozz/base/maths/simd_math.h>
+#define OZZ_INCLUDE_PRIVATE_HEADER
+#include "../src/animation/runtime/animation_keyframe.h"
+#undef OZZ_INCLUDE_PRIVATE_HEADER
+
+void calc_bone_translation(
+    float ratio,
+    int i_bone_idx,
+    const ozz::animation::Animation* i_animation,
+    ozz::math::Transform& o_transform) {
+  int key_idx = 1;
+  const ozz::span<const ozz::animation::Float3Key>& translations =
+      i_animation->translations();
+
+  int key_idx_prev = 0;
+  int key_idx_next = 0;
+  while (key_idx < translations.size()) {
+    key_idx_next = key_idx;
+    if (translations[key_idx].track == i_bone_idx) {
+      if (translations[key_idx].ratio < ratio) {
+        key_idx_prev = key_idx;
+      } else {
+        break;
+      }
+    }
+    key_idx++;
+  }
+
+  const ozz::animation::Float3Key& key_prev = translations[key_idx_prev];
+  const ozz::animation::Float3Key& key_next = translations[key_idx_next];
+
+  float r = 0.f;
+  if (key_prev.ratio != key_next.ratio) {
+    r = (ratio - key_prev.ratio) / (key_next.ratio - key_prev.ratio);
+  }
+  o_transform.translation.x =
+      ozz::math::HalfToFloat(key_prev.value[0])
+      + r
+            * (ozz::math::HalfToFloat(key_next.value[0])
+               - ozz::math::HalfToFloat(key_prev.value[0]));
+  o_transform.translation.y =
+      ozz::math::HalfToFloat(key_prev.value[1])
+      + r
+            * (ozz::math::HalfToFloat(key_next.value[1])
+               - ozz::math::HalfToFloat(key_prev.value[1]));
+  o_transform.translation.z =
+      ozz::math::HalfToFloat(key_prev.value[2])
+      + r
+            * (ozz::math::HalfToFloat(key_next.value[2])
+               - ozz::math::HalfToFloat(key_prev.value[2]));
+}

src/ozzutils.h

@@ -0,0 +1,17 @@
+//
+// Created by martin on 10.12.21.
+//
+
+#ifndef ANIMTESTBED_OZZUTILS_H
+#define ANIMTESTBED_OZZUTILS_H
+
+#include <ozz/base/maths/transform.h>
+#include "ozz/animation/runtime/animation.h"
+
+void calc_bone_translation(
+    float ratio,
+    int i_bone_idx,
+    const ozz::animation::Animation* i_animation,
+    ozz::math::Transform& o_transform);
+
+#endif  //ANIMTESTBED_OZZUTILS_H

tests/AnimSampleNodeTests.cc

@@ -0,0 +1,126 @@
+//
+// Created by martin on 21.11.21.
+//
+
+#include "AnimNodes/AnimSamplerNode.h"
+#define OZZ_INCLUDE_PRIVATE_HEADER
+#include "../src/animation/runtime/animation_keyframe.h"
+#include "catch.hpp"
+#include "ozzutils.h"
+
+void get_bone_transform(
+    int i_bone_idx,
+    const ozz::vector<ozz::math::SoaTransform>& i_local_matrices,
+    ozz::math::Transform& o_transform) {
+  int matrix_index = i_bone_idx / 4;
+  short simd_component = i_bone_idx % 4;
+  o_transform.translation.x =
+      i_local_matrices[matrix_index].translation.x[simd_component];
+  o_transform.translation.y =
+      i_local_matrices[matrix_index].translation.y[simd_component];
+  o_transform.translation.z =
+      i_local_matrices[matrix_index].translation.z[simd_component];
+}
+
+void sample_bone_transform(
+    float ratio,
+    int i_bone_idx,
+    const ozz::animation::Animation* i_animation,
+    ozz::animation::SamplingCache& io_cache,
+    ozz::vector<ozz::math::SoaTransform>& io_local_matrices,
+    ozz::math::Transform& o_transform) {
+  ozz::animation::SamplingJob sampling_job;
+  sampling_job.animation = i_animation;
+  sampling_job.cache = &io_cache;
+  sampling_job.ratio = ratio;
+  sampling_job.output = make_span(io_local_matrices);
+
+  if (!sampling_job.Run()) {
+    ozz::log::Err() << "Error sampling animation." << std::endl;
+  }
+
+  get_bone_transform(i_bone_idx, io_local_matrices, o_transform);
+}
+
+
+TEST_CASE("Sample single bone channel", "[AnimSamplerNode]") {
+  SkinnedMesh skinned_mesh;
+  skinned_mesh.LoadSkeleton("../media/MixamoYBot-skeleton.ozz");
+  skinned_mesh.LoadAnimation("../media/Walking-loop.ozz");
+
+  ozz::animation::Animation* animation = skinned_mesh.m_animations[0];
+  const int num_soa_joints = skinned_mesh.m_skeleton.num_soa_joints();
+  const int num_joints = skinned_mesh.m_skeleton.num_joints();
+
+  ozz::vector<ozz::math::SoaTransform> local_matrices;
+  ozz::animation::SamplingCache sampling_cache;
+
+  local_matrices.resize(num_soa_joints);
+  sampling_cache.Resize(num_joints);
+
+  // sample at ratio 0.
+  float ratio = 0.f;
+
+  ozz::animation::SamplingJob sampling_job;
+  sampling_job.animation = animation;
+  sampling_job.cache = &sampling_cache;
+  sampling_job.ratio = ratio;
+  sampling_job.output = make_span(local_matrices);
+
+  if (!sampling_job.Run()) {
+    ozz::log::Err() << "Error sampling animation." << std::endl;
+  }
+
+  ozz::math::Transform root_transform_0;
+  sample_bone_transform(
+      0.f,
+      0,
+      animation,
+      sampling_cache,
+      local_matrices,
+      root_transform_0);
+
+  int n_samples = 53;
+  for (int i = 0; i <= n_samples; i++) {
+    float ratio = i * 1.f / n_samples;
+    ozz::math::Transform sampled_root_transform;
+    sample_bone_transform(
+        i * 1.f / n_samples,
+        0,
+        animation,
+        sampling_cache,
+        local_matrices,
+        sampled_root_transform);
+
+    ozz::math::Transform calculated_root_transform;
+    calc_bone_translation(ratio, 0, animation, calculated_root_transform);
+
+    std::cout << "ratio: " << ratio << "\t" << "err: " << ozz::math::Length(sampled_root_transform.translation - calculated_root_transform.translation) << std::endl;
+  }
+
+  ozz::math::Transform root_transform_1;
+  calc_bone_translation(0.f, 0, animation, root_transform_0);
+  calc_bone_translation(1.f, 0, animation, root_transform_1);
+}
+
+TEST_CASE("Root Bone Sampling", "[AnimSamplerNode]") {
+  SkinnedMesh skinned_mesh;
+  skinned_mesh.LoadSkeleton("../media/MixamoYBot-skeleton.ozz");
+  int anim_idx = 0;
+  skinned_mesh.LoadAnimation("../media/Walking-loop.ozz");
+  float walking_markers[] = {0.293, 0.762};
+  skinned_mesh.m_animation_sync_track[anim_idx] = SyncTrack::CreateFromMarkers(
+      skinned_mesh.m_animations[anim_idx]->duration(),
+      2,
+      walking_markers);
+
+  AnimationController anim_controller(&skinned_mesh);
+  AnimSamplerNode test_node(&anim_controller);
+  test_node.SetAnimation(skinned_mesh.m_animations[0], SyncTrack());
+
+  test_node.Reset();
+  test_node.UpdateTime(0.2f);
+
+  ozz::math::Transform root_transform;
+  test_node.Evaluate(&skinned_mesh.m_local_matrices, &root_transform);
+}