438 lines
17 KiB
C++
438 lines
17 KiB
C++
//----------------------------------------------------------------------------//
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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 <cmath>
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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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/offline/animation_builder.h"
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#include "ozz/animation/offline/raw_animation.h"
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#include "ozz/animation/offline/raw_skeleton.h"
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#include "ozz/animation/offline/skeleton_builder.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/base/maths/quaternion.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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using ozz::animation::offline::RawAnimation;
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using ozz::animation::offline::RawSkeleton;
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using ozz::math::Float3;
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using ozz::math::Float4;
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using ozz::math::Float4x4;
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using ozz::math::Quaternion;
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using ozz::math::SoaTransform;
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// A millipede slice is 2 legs and a spine.
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// Each slice is made of 7 joints, organized as follows.
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// * root
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// |
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// spine spine
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// | | |
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// left_up right_up left_down - left_u - . - right_u - right_down
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// | | | |
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// left_down right_down left_foot * root right_foot
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// | |
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// left_foot right_foot
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// The following constants are used to define the millipede skeleton and
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// animation.
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// Skeleton constants.
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const Float3 kTransUp = Float3(0.f, 0.f, 0.f);
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const Float3 kTransDown = Float3(0.f, 0.f, 1.f);
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const Float3 kTransFoot = Float3(1.f, 0.f, 0.f);
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const Quaternion kRotLeftUp =
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Quaternion::FromAxisAngle(Float3::y_axis(), -ozz::math::kPi_2);
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const Quaternion kRotLeftDown =
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Quaternion::FromAxisAngle(Float3::x_axis(), ozz::math::kPi_2) *
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Quaternion::FromAxisAngle(Float3::y_axis(), -ozz::math::kPi_2);
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const Quaternion kRotRightUp =
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Quaternion::FromAxisAngle(Float3::y_axis(), ozz::math::kPi_2);
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const Quaternion kRotRightDown =
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Quaternion::FromAxisAngle(Float3::x_axis(), ozz::math::kPi_2) *
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Quaternion::FromAxisAngle(Float3::y_axis(), -ozz::math::kPi_2);
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// Animation constants.
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const float kDuration = 6.f;
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const float kSpinLength = .5f;
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const float kWalkCycleLength = 2.f;
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const int kWalkCycleCount = 4;
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const float kSpinLoop = 2 * kWalkCycleCount * kWalkCycleLength / kSpinLength;
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const RawAnimation::TranslationKey kPrecomputedKeys[] = {
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{0.f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
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{.125f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
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{.145f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
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{.23f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)},
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{.25f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
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{.375f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
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{.395f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
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{.48f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)},
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{.5f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
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{.625f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
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{.645f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
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{.73f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)},
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{.75f * kDuration, Float3(.25f * kWalkCycleLength, 0.f, 0.f)},
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{.875f * kDuration, Float3(-.25f * kWalkCycleLength, 0.f, 0.f)},
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{.895f * kDuration, Float3(-.17f * kWalkCycleLength, .3f, 0.f)},
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{.98f * kDuration, Float3(.17f * kWalkCycleLength, .3f, 0.f)}};
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const int kPrecomputedKeyCount = OZZ_ARRAY_SIZE(kPrecomputedKeys);
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class MillipedeSampleApplication : public ozz::sample::Application {
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public:
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MillipedeSampleApplication() : slice_count_(26) {}
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protected:
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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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// Samples animation at t = animation_time_.
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ozz::animation::SamplingJob sampling_job;
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sampling_job.animation = animation_.get();
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sampling_job.context = &context_;
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sampling_job.ratio = controller_.time_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_.get();
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ltm_job.input = make_span(locals_);
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ltm_job.output = make_span(models_);
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return ltm_job.Run();
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}
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virtual bool OnDisplay(ozz::sample::Renderer* _renderer) {
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// Renders the animated posture.
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return _renderer->DrawPosture(*skeleton_, make_span(models_),
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ozz::math::Float4x4::identity());
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}
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virtual bool OnInitialize() { return Build(); }
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virtual void OnDestroy() {}
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virtual bool OnGui(ozz::sample::ImGui* _im_gui) {
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// Rebuilds all if the number of joints has changed.
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int joints = skeleton_->num_joints();
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char label[64];
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std::snprintf(label, sizeof(label), "Joints count: %d", joints);
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// Uses an exponential scale in the slider to maintain enough precision in
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// the lowest values.
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if (_im_gui->DoSlider(label, 8, ozz::animation::Skeleton::kMaxJoints,
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&joints, .3f, true)) {
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const int new_slice_count = (joints - 1) / 7;
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// Slider use floats, we need to check if it has really changed.
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if (new_slice_count != slice_count_) {
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slice_count_ = new_slice_count;
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if (!Build()) {
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return false;
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}
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}
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}
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// Updates controller Gui.
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controller_.OnGui(*animation_, _im_gui);
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return true;
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}
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// Procedurally builds millipede skeleton and walk animation
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bool Build() {
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// Initializes the root. The root pointer will change from a spine to the
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// next for each slice.
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RawSkeleton raw_skeleton;
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CreateSkeleton(&raw_skeleton);
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const int num_joints = raw_skeleton.num_joints();
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// Build the run time skeleton.
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ozz::animation::offline::SkeletonBuilder skeleton_builder;
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skeleton_ = skeleton_builder(raw_skeleton);
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if (!skeleton_) {
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return false;
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}
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// Build a walk animation.
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RawAnimation raw_animation;
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CreateAnimation(&raw_animation);
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// Build the run time animation from the raw animation.
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ozz::animation::offline::AnimationBuilder animation_builder;
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animation_ = animation_builder(raw_animation);
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if (!animation_) {
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return false;
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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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models_.resize(num_joints);
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// Allocates a context that matches new animation requirements.
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context_.Resize(num_joints);
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return true;
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}
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void CreateSkeleton(ozz::animation::offline::RawSkeleton* _skeleton) {
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_skeleton->roots.resize(1);
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RawSkeleton::Joint* root = &_skeleton->roots[0];
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root->name = "root";
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root->transform.translation = Float3(0.f, 1.f, -slice_count_ * kSpinLength);
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root->transform.rotation = Quaternion::identity();
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root->transform.scale = Float3::one();
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char number[16];
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for (int i = 0; i < slice_count_; ++i) {
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// Format joint number.
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std::snprintf(number, sizeof(number), "%d", i);
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root->children.resize(3);
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// Left leg.
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RawSkeleton::Joint& lu = root->children[0];
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lu.name = "lu";
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lu.name += number;
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lu.transform.translation = kTransUp;
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lu.transform.rotation = kRotLeftUp;
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lu.transform.scale = Float3::one();
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lu.children.resize(1);
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RawSkeleton::Joint& ld = lu.children[0];
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ld.name = "ld";
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ld.name += number;
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ld.transform.translation = kTransDown;
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ld.transform.rotation = kRotLeftDown;
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ld.transform.scale = Float3::one();
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ld.children.resize(1);
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RawSkeleton::Joint& lf = ld.children[0];
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lf.name = "lf";
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lf.name += number;
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lf.transform.translation = Float3::x_axis();
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lf.transform.rotation = Quaternion::identity();
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lf.transform.scale = Float3::one();
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// Right leg.
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RawSkeleton::Joint& ru = root->children[1];
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ru.name = "ru";
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ru.name += number;
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ru.transform.translation = kTransUp;
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ru.transform.rotation = kRotRightUp;
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ru.transform.scale = Float3::one();
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ru.children.resize(1);
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RawSkeleton::Joint& rd = ru.children[0];
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rd.name = "rd";
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rd.name += number;
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rd.transform.translation = kTransDown;
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rd.transform.rotation = kRotRightDown;
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rd.transform.scale = Float3::one();
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rd.children.resize(1);
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RawSkeleton::Joint& rf = rd.children[0];
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rf.name = "rf";
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rf.name += number;
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rf.transform.translation = Float3::x_axis();
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rf.transform.rotation = Quaternion::identity();
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rf.transform.scale = Float3::one();
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// Spine.
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RawSkeleton::Joint& sp = root->children[2];
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sp.name = "sp";
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sp.name += number;
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sp.transform.translation = Float3(0.f, 0.f, kSpinLength);
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sp.transform.rotation = Quaternion::identity();
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sp.transform.scale = Float3::one();
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root = &sp;
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}
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}
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void CreateAnimation(ozz::animation::offline::RawAnimation* _animation) {
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_animation->duration = kDuration;
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_animation->tracks.resize(skeleton_->num_joints());
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for (int i = 0; i < _animation->num_tracks(); ++i) {
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RawAnimation::JointTrack& track = _animation->tracks[i];
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const char* joint_name = skeleton_->joint_names()[i];
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if (strstr(joint_name, "ld") || strstr(joint_name, "rd")) {
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bool left = joint_name[0] == 'l'; // First letter of "ld".
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// Copy original keys while taking into consideration the spine number
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// as a phase.
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const int spine_number = std::atoi(joint_name + 2);
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const float offset =
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kDuration * (slice_count_ - spine_number) / kSpinLoop;
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const float phase = std::fmod(offset, kDuration);
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// Loop to find animation start.
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int i_offset = 0;
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while (i_offset < kPrecomputedKeyCount &&
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kPrecomputedKeys[i_offset].time < phase) {
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i_offset++;
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}
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// Push key with their corrected time.
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track.translations.reserve(kPrecomputedKeyCount);
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for (int j = i_offset; j < i_offset + kPrecomputedKeyCount; ++j) {
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const RawAnimation::TranslationKey& rkey =
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kPrecomputedKeys[j % kPrecomputedKeyCount];
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float new_time = rkey.time - phase;
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if (new_time < 0.f) {
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new_time = kDuration - phase + rkey.time;
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}
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if (left) {
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const RawAnimation::TranslationKey tkey = {new_time,
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kTransDown + rkey.value};
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track.translations.push_back(tkey);
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} else {
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const RawAnimation::TranslationKey tkey = {
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new_time,
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Float3(kTransDown.x - rkey.value.x, kTransDown.y + rkey.value.y,
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kTransDown.z + rkey.value.z)};
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track.translations.push_back(tkey);
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}
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}
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// Pushes rotation key-frame.
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if (left) {
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const RawAnimation::RotationKey rkey = {0.f, kRotLeftDown};
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track.rotations.push_back(rkey);
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} else {
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const RawAnimation::RotationKey rkey = {0.f, kRotRightDown};
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track.rotations.push_back(rkey);
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}
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} else if (strstr(joint_name, "lu")) {
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const RawAnimation::TranslationKey tkey = {0.f, kTransUp};
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track.translations.push_back(tkey);
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const RawAnimation::RotationKey rkey = {0.f, kRotLeftUp};
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track.rotations.push_back(rkey);
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} else if (strstr(joint_name, "ru")) {
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const RawAnimation::TranslationKey tkey0 = {0.f, kTransUp};
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track.translations.push_back(tkey0);
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const RawAnimation::RotationKey rkey0 = {0.f, kRotRightUp};
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track.rotations.push_back(rkey0);
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} else if (strstr(joint_name, "lf")) {
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const RawAnimation::TranslationKey tkey = {0.f, kTransFoot};
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track.translations.push_back(tkey);
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} else if (strstr(joint_name, "rf")) {
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const RawAnimation::TranslationKey tkey0 = {0.f, kTransFoot};
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track.translations.push_back(tkey0);
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} else if (strstr(joint_name, "sp")) {
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const RawAnimation::TranslationKey skey = {
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0.f, Float3(0.f, 0.f, kSpinLength)};
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track.translations.push_back(skey);
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const RawAnimation::RotationKey rkey = {
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0.f, ozz::math::Quaternion::identity()};
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track.rotations.push_back(rkey);
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} else if (strstr(joint_name, "root")) {
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const RawAnimation::TranslationKey tkey0 = {
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0.f, Float3(0.f, 1.f, -slice_count_ * kSpinLength)};
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track.translations.push_back(tkey0);
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const RawAnimation::TranslationKey tkey1 = {
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kDuration,
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Float3(0.f, 1.f,
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kWalkCycleCount * kWalkCycleLength + tkey0.value.z)};
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track.translations.push_back(tkey1);
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}
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// Make sure begin and end keys are looping.
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if (track.translations.front().time != 0.f) {
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const RawAnimation::TranslationKey& front = track.translations.front();
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const RawAnimation::TranslationKey& back = track.translations.back();
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const float lerp_time =
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front.time / (front.time + kDuration - back.time);
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const RawAnimation::TranslationKey tkey = {
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0.f, Lerp(front.value, back.value, lerp_time)};
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track.translations.insert(track.translations.begin(), tkey);
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}
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if (track.translations.back().time != kDuration) {
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const RawAnimation::TranslationKey& front = track.translations.front();
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const RawAnimation::TranslationKey& back = track.translations.back();
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const float lerp_time =
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(kDuration - back.time) / (front.time + kDuration - back.time);
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const RawAnimation::TranslationKey tkey = {
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kDuration, Lerp(back.value, front.value, lerp_time)};
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track.translations.push_back(tkey);
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}
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}
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}
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virtual void GetSceneBounds(ozz::math::Box* _bound) const {
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ozz::sample::ComputePostureBounds(make_span(models_), _bound);
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}
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private:
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// Playback animation controller. This is a utility class that helps with
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// controlling animation playback time.
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ozz::sample::PlaybackController controller_;
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// Millipede skeleton number of slices. 7 joints per slice.
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int slice_count_;
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// The millipede skeleton.
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ozz::unique_ptr<ozz::animation::Skeleton> skeleton_;
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// The millipede procedural walk animation.
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ozz::unique_ptr<ozz::animation::Animation> animation_;
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// Sampling context, as used by SamplingJob.
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ozz::animation::SamplingJob::Context context_;
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// Buffer of local transforms as sampled from animation_.
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// These are shared between sampling output and local-to-model input.
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ozz::vector<ozz::math::SoaTransform> locals_;
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// Buffer of model matrices (local-to-model output).
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ozz::vector<ozz::math::Float4x4> models_;
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};
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int main(int _argc, const char** _argv) {
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const char* title = "Ozz-animation sample: RawAnimation/RawSkeleton building";
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return MillipedeSampleApplication().Run(_argc, _argv, "1.0", title);
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}
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