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AnimTestbed/3rdparty/ozz-animation/samples/look_at/sample_look_at.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 "framework/application.h"
#include "framework/imgui.h"
#include "framework/mesh.h"
#include "framework/renderer.h"
#include "framework/utils.h"
#include "ozz/animation/runtime/animation.h"
#include "ozz/animation/runtime/ik_aim_job.h"
#include "ozz/animation/runtime/local_to_model_job.h"
#include "ozz/animation/runtime/sampling_job.h"
#include "ozz/animation/runtime/skeleton.h"
#include "ozz/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/maths/vec_float.h"
#include "ozz/options/options.h"
// Skeleton archive can be specified as an option.
OZZ_OPTIONS_DECLARE_STRING(skeleton,
"Path to the skeleton (ozz archive format).",
"media/skeleton.ozz", false)
// Animation archive can be specified as an option.
OZZ_OPTIONS_DECLARE_STRING(animation,
"Path to the animation (ozz archive format).",
"media/animation.ozz", false)
// Mesh archive can be specified as an option.
OZZ_OPTIONS_DECLARE_STRING(mesh,
"Path to the skinned mesh (ozz archive format).",
"media/mesh.ozz", false)
// Defines IK chain joint names.
// Joints must be from the same hierarchy (all ancestors of the first joint
// listed) and ordered from child to parent.
const char* kJointNames[] = {"Head", "Spine3", "Spine2", "Spine1"};
const size_t kMaxChainLength = OZZ_ARRAY_SIZE(kJointNames);
// Forward vector in head local-space.
const ozz::math::SimdFloat4 kHeadForward = ozz::math::simd_float4::y_axis();
// Defines Up vectors for each joint. This is skeleton/rig dependant.
const ozz::math::SimdFloat4 kJointUpVectors[] = {
ozz::math::simd_float4::x_axis(), ozz::math::simd_float4::x_axis(),
ozz::math::simd_float4::x_axis(), ozz::math::simd_float4::x_axis()};
static_assert(OZZ_ARRAY_SIZE(kJointUpVectors) == kMaxChainLength,
"Array size mismatch.");
class LookAtSampleApplication : public ozz::sample::Application {
public:
LookAtSampleApplication()
: target_offset_(.2f, 1.5f, -.3f),
target_extent_(1.f),
eyes_offset_(.07f, .1f, 0.f),
enable_ik_(true),
chain_length_(kMaxChainLength),
joint_weight_(.5f),
chain_weight_(1.f),
show_skin_(true),
show_joints_(false),
show_target_(true),
show_eyes_offset_(false),
show_forward_(false) {}
protected:
// Updates current animation time and skeleton pose.
virtual bool OnUpdate(float _dt, float _time) {
// Animates target position.
MoveTarget(_time);
// Updates current animation time.
controller_.Update(animation_, _dt);
// Samples optimized animation at t = animation_time_.
ozz::animation::SamplingJob sampling_job;
sampling_job.animation = &animation_;
sampling_job.context = &context_;
sampling_job.ratio = controller_.time_ratio();
sampling_job.output = make_span(locals_);
if (!sampling_job.Run()) {
return false;
}
// Converts from local-space to model-space matrices.
ozz::animation::LocalToModelJob ltm_job;
ltm_job.skeleton = &skeleton_;
ltm_job.input = make_span(locals_);
ltm_job.output = make_span(models_);
if (!ltm_job.Run()) {
return false;
}
// Early out if IK is disabled.
if (!enable_ik_) {
return true;
}
// IK aim job setup.
ozz::animation::IKAimJob ik_job;
// Pole vector and target position are constant for the whole algorithm, in
// model-space.
ik_job.pole_vector = ozz::math::simd_float4::y_axis();
ik_job.target = ozz::math::simd_float4::Load3PtrU(&target_.x);
// The same quaternion will be used each time the job is run.
ozz::math::SimdQuaternion correction;
ik_job.joint_correction = &correction;
// The algorithm iteratively updates from the first joint (closer to the
// head) to the last (the further ancestor, closer to the pelvis). Joints
// order is already validated. For the first joint, aim IK is applied with
// the global forward and offset, so the forward vector aligns in direction
// of the target. If a weight lower that 1 is provided to the first joint,
// then it will not fully align to the target. In this case further joint
// will need to be updated. For the remaining joints, forward vector and
// offset position are computed in each joint local-space, before IK is
// applied:
// 1. Rotates forward and offset position based on the result of the
// previous joint IK.
// 2. Brings forward and offset back in joint local-space.
// Aim is iteratively applied up to the last selected joint of the
// hierarchy. A weight of 1 is given to the last joint so we can guarantee
// target is reached. Note that model-space transform of each joint doesn't
// need to be updated between each pass, as joints are ordered from child to
// parent.
int previous_joint = ozz::animation::Skeleton::kNoParent;
for (int i = 0, joint = joints_chain_[0]; i < chain_length_;
++i, previous_joint = joint, joint = joints_chain_[i]) {
// Setups the model-space matrix of the joint being processed by IK.
ik_job.joint = &models_[joint];
// Setups joint local-space up vector.
ik_job.up = kJointUpVectors[i];
// Setups weights of IK job.
// the last joint being processed needs a full weight (1.f) to ensure
// target is reached.
const bool last = i == chain_length_ - 1;
ik_job.weight = chain_weight_ * (last ? 1.f : joint_weight_);
// Setup offset and forward vector for the current joint being processed.
if (i == 0) {
// First joint, uses global forward and offset.
ik_job.offset = ozz::math::simd_float4::Load3PtrU(&eyes_offset_.x);
ik_job.forward = kHeadForward;
} else {
// Applies previous correction to "forward" and "offset", before
// bringing them to model-space (_ms).
const ozz::math::SimdFloat4 corrected_forward_ms =
TransformVector(models_[previous_joint],
TransformVector(correction, ik_job.forward));
const ozz::math::SimdFloat4 corrected_offset_ms =
TransformPoint(models_[previous_joint],
TransformVector(correction, ik_job.offset));
// Brings "forward" and "offset" to joint local-space
const ozz::math::Float4x4 inv_joint = Invert(models_[joint]);
ik_job.forward = TransformVector(inv_joint, corrected_forward_ms);
ik_job.offset = TransformPoint(inv_joint, corrected_offset_ms);
}
// Runs IK aim job.
if (!ik_job.Run()) {
return false;
}
// Apply IK quaternion to its respective local-space transforms.
ozz::sample::MultiplySoATransformQuaternion(joint, correction,
make_span(locals_));
}
// Skeleton model-space matrices need to be updated again. This re-uses the
// already setup job, but limits the update to childs of the last joint (the
// parent-iest of the chain).
ltm_job.from = previous_joint;
if (!ltm_job.Run()) {
return false;
}
return true;
}
// Sample arbitrary target animation implementation.
bool MoveTarget(float _time) {
const ozz::math::Float3 animated_target(std::sin(_time * .5f),
std::cos(_time * .25f),
std::cos(_time) * .5f + .5f);
target_ = target_offset_ + animated_target * target_extent_;
return true;
}
// Samples animation, transforms to model space and renders.
virtual bool OnDisplay(ozz::sample::Renderer* _renderer) {
bool success = true;
const ozz::math::Float4x4 identity = ozz::math::Float4x4::identity();
const float kAxeScale = .1f;
const ozz::math::Float4x4 kAxesScale =
ozz::math::Float4x4::Scaling(ozz::math::simd_float4::Load1(kAxeScale));
// Renders character.
if (show_skin_) {
// Builds skinning matrices.
// The mesh might not use (aka be skinned by) all skeleton joints. We
// use the joint remapping table (available from the mesh object) to
// reorder model-space matrices and build skinning ones.
for (size_t m = 0; m < meshes_.size(); ++m) {
const ozz::sample::Mesh& mesh = meshes_[m];
for (size_t i = 0; i < mesh.joint_remaps.size(); ++i) {
skinning_matrices_[i] =
models_[mesh.joint_remaps[i]] * mesh.inverse_bind_poses[i];
}
success &= _renderer->DrawSkinnedMesh(
mesh, make_span(skinning_matrices_), identity);
}
} else {
// Renders skeleton only.
success &=
_renderer->DrawPosture(skeleton_, make_span(models_), identity);
}
// Showing joints
if (show_joints_) {
const float kSphereRadius = .02f;
for (int i = 0; i < chain_length_; ++i) {
const ozz::math::Float4x4& transform = models_[joints_chain_[i]];
success &= _renderer->DrawAxes(transform * kAxesScale);
success &= _renderer->DrawSphereIm(kSphereRadius, transform,
ozz::sample::kWhite);
}
}
// Showing target, as a box or axes depending on show_forward_ option.
if (show_target_) {
const ozz::math::Float4x4 target = ozz::math::Float4x4::Translation(
ozz::math::simd_float4::Load3PtrU(&target_.x));
if (show_forward_) {
success &= _renderer->DrawAxes(target * kAxesScale);
} else {
success &= _renderer->DrawSphereIm(.02f, target, ozz::sample::kGreen);
}
}
if (show_eyes_offset_ || show_forward_) {
const int head = joints_chain_[0];
const ozz::math::Float4x4 offset =
models_[head] *
ozz::math::Float4x4::Translation(
ozz::math::simd_float4::Load3PtrU(&eyes_offset_.x));
if (show_eyes_offset_) {
success &= _renderer->DrawAxes(offset * kAxesScale);
}
if (show_forward_) {
ozz::math::Float3 begin;
ozz::math::Store3PtrU(offset.cols[3], &begin.x);
ozz::math::Float3 forward;
ozz::math::Store3PtrU(kHeadForward, &forward.x);
ozz::sample::Color color = {0xff, 0xff, 0xff, 0xff};
success &= _renderer->DrawSegment(ozz::math::Float3::zero(),
forward * 10.f, color, offset);
}
}
return success;
}
virtual bool OnInitialize() {
// Reading skeleton.
if (!ozz::sample::LoadSkeleton(OPTIONS_skeleton, &skeleton_)) {
return false;
}
// Look for each joint in the chain.
int found = 0;
for (int i = 0; i < skeleton_.num_joints() && found != kMaxChainLength;
++i) {
const char* joint_name = skeleton_.joint_names()[i];
if (std::strcmp(joint_name, kJointNames[found]) == 0) {
joints_chain_[found] = i;
// Restart search
++found;
i = 0;
}
}
// Exit if all joints weren't found.
if (found != kMaxChainLength) {
ozz::log::Err()
<< "At least a joint wasn't found in the skeleton hierarchy."
<< std::endl;
return false;
}
// Validates joints are order from child to parent of the same hierarchy.
if (!ValidateJointsOrder(skeleton_, joints_chain_)) {
ozz::log::Err() << "Joints aren't properly ordered, they must be from "
"the same hierarchy (all ancestors of the first joint "
"listed) and ordered from child to parent."
<< std::endl;
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);
// Allocates a context that matches animation requirements.
context_.Resize(num_joints);
// Reading animation.
if (!ozz::sample::LoadAnimation(OPTIONS_animation, &animation_)) {
return false;
}
// Reading character mesh.
if (!ozz::sample::LoadMeshes(OPTIONS_mesh, &meshes_)) {
return false;
}
// The number of joints of the mesh needs to match skeleton.
for (size_t m = 0; m < meshes_.size(); ++m) {
const ozz::sample::Mesh& mesh = meshes_[m];
if (num_joints < mesh.highest_joint_index()) {
ozz::log::Err() << "The provided mesh doesn't match skeleton "
"(joint count mismatch)."
<< std::endl;
return false;
}
}
skinning_matrices_.resize(num_joints);
return true;
}
// Traverses the hierarchy from the first joint to the root, to check if
// joints are all ancestors (same branch), and ordered.
bool ValidateJointsOrder(const ozz::animation::Skeleton& _skeleton,
ozz::span<const int> _joints) {
const size_t count = _joints.size();
if (count == 0) {
return true;
}
size_t i = 1;
for (int joint = _joints[0], parent = _skeleton.joint_parents()[joint];
i != count && joint != ozz::animation::Skeleton::kNoParent;
joint = parent, parent = _skeleton.joint_parents()[joint]) {
if (parent == _joints[i]) {
++i;
}
}
return count == i;
}
virtual void OnDestroy() {}
virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
char label[64];
_im_gui->DoCheckBox("Enable ik", &enable_ik_);
snprintf(label, sizeof(label), "IK chain length: %d", chain_length_);
_im_gui->DoSlider(label, 0, kMaxChainLength, &chain_length_);
snprintf(label, sizeof(label), "Joint weight %.2g", joint_weight_);
_im_gui->DoSlider(label, 0.f, 1.f, &joint_weight_);
snprintf(label, sizeof(label), "Chain weight %.2g", chain_weight_);
_im_gui->DoSlider(label, 0.f, 1.f, &chain_weight_);
// Exposes animation runtime playback controls.
{
static bool open = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "Animation control", &open);
if (open) {
controller_.OnGui(animation_, _im_gui);
}
}
{ // Target position
static bool opened = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "Target offset", &opened);
if (opened) {
const float kTargetRange = 3.f;
_im_gui->DoLabel("Animated extent");
snprintf(label, sizeof(label), "%.2g", target_extent_);
_im_gui->DoSlider(label, 0.f, kTargetRange, &target_extent_);
snprintf(label, sizeof(label), "x %.2g", target_offset_.x);
_im_gui->DoSlider(label, -kTargetRange, kTargetRange, &target_offset_.x);
snprintf(label, sizeof(label), "y %.2g", target_offset_.y);
_im_gui->DoSlider(label, -kTargetRange, kTargetRange, &target_offset_.y);
snprintf(label, sizeof(label), "z %.2g", target_offset_.z);
_im_gui->DoSlider(label, -kTargetRange, kTargetRange, &target_offset_.z);
}
}
{ // Offset position
static bool opened = true;
ozz::sample::ImGui::OpenClose oc(_im_gui, "Eyes offset", &opened);
if (opened) {
const float kOffsetRange = .5f;
snprintf(label, sizeof(label), "x %.2g", eyes_offset_.x);
_im_gui->DoSlider(label, -kOffsetRange, kOffsetRange, &eyes_offset_.x);
snprintf(label, sizeof(label), "y %.2g", eyes_offset_.y);
_im_gui->DoSlider(label, -kOffsetRange, kOffsetRange, &eyes_offset_.y);
snprintf(label, sizeof(label), "z %.2g", eyes_offset_.z);
_im_gui->DoSlider(label, -kOffsetRange, kOffsetRange, &eyes_offset_.z);
}
}
// Options
{
_im_gui->DoCheckBox("Show skin", &show_skin_);
_im_gui->DoCheckBox("Show joints", &show_joints_);
_im_gui->DoCheckBox("Show target", &show_target_);
_im_gui->DoCheckBox("Show eyes offset", &show_eyes_offset_);
_im_gui->DoCheckBox("Show forward", &show_forward_);
}
return true;
}
virtual void GetSceneBounds(ozz::math::Box* _bound) const {
const ozz::math::Float3 radius(target_extent_ * .8f);
_bound->min = target_offset_ - radius;
_bound->max = target_offset_ + radius;
}
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 context.
ozz::animation::SamplingJob::Context context_;
// 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_;
// Buffer of skinning matrices, result of the joint multiplication of the
// inverse rest pose with the model-space matrix.
ozz::vector<ozz::math::Float4x4> skinning_matrices_;
// The mesh used by the sample.
ozz::vector<ozz::sample::Mesh> meshes_;
// Indices of the joints that are IKed for look-at purpose.
// Joints must be from the same hierarchy (all ancestors of the first joint
// listed) and ordered from child to parent.
int joints_chain_[kMaxChainLength];
// Sample settings
// Target position management.
ozz::math::Float3 target_offset_;
float target_extent_;
ozz::math::Float3 target_;
// Offset of the look at position in (head) joint local-space.
ozz::math::Float3 eyes_offset_;
// IK settings
// Enable IK look at.
bool enable_ik_;
// Set length of the chain that is IKed, between 0 and kMaxChainLength.
int chain_length_;
// Weight given to every joint of the chain. If any joint has a weight of 1,
// no other following joint will contribute (as the target will be reached).
float joint_weight_;
// Overall weight given to the IK on the full chain. This allows blending in
// and out of IK.
float chain_weight_;
// Options
bool show_skin_;
bool show_joints_;
bool show_target_;
bool show_eyes_offset_;
bool show_forward_;
};
int main(int _argc, const char** _argv) {
const char* title = "Ozz-animation sample: Look at";
return LookAtSampleApplication().Run(_argc, _argv, "1.0", title);
}
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