Added basic walk animation controller

- Added sampling of animations - Added updating of bone matrices from rig model - Re-orienting of the entity based on current velocity
2017-03-11 22:16:12 +01:00 · 2017-03-11 22:16:12 +01:00 · 203c380609
parent 9f64e0ee38
commit 203c380609
9 changed files with 808 additions and 99 deletions
--- a/data/models/anim.csv
+++ b/data/models/anim.csv
@ -0,0 +1,512 @@
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 5.120000000000000107e+00, 5.417799999999999727e+00, 0.000000000000000000e+00, 9.608910000000000506e-01, -1.191370000000000068e-01, -1.162829999999999975e-01, 6.978610000000000368e-02, -1.968669999999999864e-01, 1.440049999999999941e-01, -2.444969999999999921e-01, 3.300839999999999885e-01, -3.576540000000000274e-02, -8.639370000000000382e-02, -2.522530000000000050e-01, 3.727650000000000130e-01, 1.240099999999999952e-01, -3.937709999999999821e-02, 5.096789999999999932e-01, 2.526499999999999926e-02, -1.471280000000000088e-01, 1.618340000000000056e-01, 1.941640000000000033e-02, 1.664529999999999899e-01, -7.827679999999999361e-02, 3.544289999999999941e-01, -1.400000000000000133e-01, -6.453459999999999752e-02, -2.452390000000000125e-01, 2.389159999999999895e-02, 1.590330000000000077e-01, -1.190559999999999952e-01, -5.213980000000000281e-01, 3.369339999999999835e-02, -1.050940000000000034e-02, -1.349520000000000060e-02, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00, 0.000000000000000000e+00
--- a/src/RuntimeModuleManager.cc
+++ b/src/RuntimeModuleManager.cc
@ -140,6 +140,7 @@ void RuntimeModuleManager::UnloadModules() {
 	for (int i = mModules.size() - 1; i >= 0 ; i--) {
 		if (mModules[i]->handle) {
 			gLog("Unloading module %s", mModules[i]->name.c_str());
 			mModules[i]->api.unload(mModules[i]->state, gWriteSerializer);
 			mModules[i]->state = nullptr;
 			dlclose(mModules[i]->handle);
--- a/src/main.cc
+++ b/src/main.cc
@ -193,7 +193,11 @@ int main(void)
 		int64_t now = bx::getHPCounter();
 		int64_t module_update = now - pre_module_check;
-		const int64_t frameTime = (now - last) - module_update;
+		int64_t frameTime = (now - last);
 		// make sure we do not have negative updates in the very first update
 		if (now != last)
 			frameTime = frameTime - module_update;
 		last = now;
 		const double freq = double(bx::getHPFrequency() );
 		const double toMs = 1000.0/freq;
@ -206,6 +210,7 @@ int main(void)
 			gTimer->mDeltaTime = 0.0f;
 		}
 		assert (gTimer->mDeltaTime >= 0.0f);
 		module_manager.Update(gTimer->mDeltaTime);
 		glfwPollEvents();
--- a/src/math_types.h
+++ b/src/math_types.h
@ -19,4 +19,10 @@ typedef SimpleMath::GL::Quaternion Quaternion;
 typedef SimpleMath::Dynamic::Matrix<float> VectorNf;
 typedef SimpleMath::Dynamic::Matrix<float> MatrixNNf;
 typedef SimpleMath::Fixed::Matrix<double, 3, 1> Vector3d;
 typedef SimpleMath::Fixed::Matrix<double, 3, 3> Matrix33d;
 typedef SimpleMath::Dynamic::Matrix<double> VectorNd;
 typedef SimpleMath::Dynamic::Matrix<double> MatrixNNd;
 #endif
--- a/src/modules/CharacterModule.cc
+++ b/src/modules/CharacterModule.cc
@ -12,6 +12,9 @@
 #include "Globals.h"
 #include "modules/RenderModule.h"
 #include "Serializer.h"
 #include "Timer.h"
 #include "string_utils.h"
 #include "CharacterModule.h"
 #include "LuaTableTypes.h"
@ -31,15 +34,112 @@ bool LuaModelReadFromTable (LuaTable &model_table, Model *model, bool verbose);
 using namespace std;
 using namespace RigidBodyDynamics;
 using namespace RigidBodyDynamics;
 using namespace RigidBodyDynamics::Addons;
 const float cJumpVelocity = 4.0f;
 const float cVelocityDamping = 4.0f;
 const float cGravity = 9.81f;
-const float cGroundAcceleration = 30.0f;
+const float cGroundAcceleration = 10.0f;
 const float cCharacterHeight = 1.8f;
 const float cCharacterWidth = 1.f;
 const char* cRigModelFile = "data/models/model.lua";
 const char* cAnimFile = "data/models/anim.csv";
 static VectorNf sRigQ;
 Quaternion offset_quat;
 struct module_state {
 };
 bool Animation::Load(const char* filename) {
 	ifstream infile (filename);
 	if (!infile) {
 		cerr << "Error reading animation file from '" << filename << "'" << endl;
 		abort();
 		return false;
 	}
 	mFrames.clear();
 	int line_index = 0;
 	string line;
 	string previous_line;
 	while (!infile.eof()) {
 		previous_line = line;
 		getline (infile, line);
 		if (infile.eof()) {
 			break;
 		} else {
 			line_index++;
 		}
 		vector<string> tokens = tokenize_csv_strip_whitespaces (line);
 		if (tokens.size() == 0)
 			continue;
 		double frame_time = 0.;
 		VectorNf state = VectorNf::Zero (tokens.size() - 1);
 		double value;
 		istringstream value_stream (tokens[0]);
 		// If the first entry is not a number we ignore the whole line
 		if (!(value_stream >> value))
 			continue;
 		for (size_t i = 0; i < tokens.size(); i++) {
 			value_stream.clear();
 			value_stream.str(tokens[i]);
 			if (!(value_stream >> value)) {
 				cerr << "Error: could not convert string '" << tokens[i] << "' to number in " << filename << ", line " << line_index << ", column " << i << endl;
 				abort();
 			}
 			if (i == 0)
 				frame_time = value;
 			else {
 				state[i - 1] = value;
 			}
 		}
 		mFrameTimes.push_back(frame_time);
 		mDuration = frame_time;
 		mFrames.push_back(state);
 	}
 	infile.close();
 	return true;
 }
 void Animation::Sample(float cur_time, VectorNf& state) {
 	assert (mFrameTimes.size() > 0 && mFrameTimes[0] == 0.0f);
 	while (mIsLooped && cur_time >= mDuration) {
 		cur_time -= mDuration;
 	}
 	assert(cur_time >= 0.0f);
 	int next = 0;
 	for (next = 0; next < mFrameTimes.size() - 1; ++next) {
 		if (mFrameTimes[next] > cur_time)
 			break;
 	}
 	float t1 = mFrameTimes[next];
 	assert (t1 > cur_time);
 	int prev = (next - 1) % mFrameTimes.size();
 	if (prev < 0)
 		prev += mFrameTimes.size();
 	float t0 = mFrameTimes[prev];
 	// if we do not want to loop we use the last frame
 	assert (cur_time >= t0 && cur_time <= t1);
 	float alpha = (cur_time - t0) / (t1 - t0);
 	state = mFrames[prev] * (1.0f - alpha) + mFrames[next] * alpha;
 }
 CharacterEntity::CharacterEntity() {
 	mEntity = gRenderer->createEntity();
@ -52,67 +152,15 @@ CharacterEntity::CharacterEntity() {
 	cout << "Creating render entity mesh ..." << endl;
 //	Mesh* base_mesh = Mesh::sCreateUVSphere(45, 45, 0.9);
 //	Transform sub_transform =
 //		Transform::fromTransRot(
 //				Vector3f (4.f, 3.3f, 0.12f),
 //				Quaternion::fromEulerYXZ (Vector3f(1.f, 2.f, 0.f))
 //				);
 //	Mesh* quad = Mesh::sCreateCuboid(1.05, 0.1, 2.05);
 //
 //	base_mesh->Merge (*quad, sub_transform.toMatrix());
 //	base_mesh->Update();
 //	delete quad;
 //	int bone_index;
 //
 //	// Build the snowman
 //
 //	// bottom sphere
 //	bone_index = mEntity->mSkeleton.AddBone(
 //			-1, 
 //			Transform::fromTrans(
 //				Vector3f (0.0f, 0.9 * 0.5f, 0.0f)
 //				)
 //			);
 //	mEntity->mSkeletonMeshes.AddMesh (
 //			Mesh::sCreateUVSphere(45, 45, 0.9),
 //			bone_index
 //			);
 //	gLog ("Now have %d bones, bone_index %d", 
 //			mEntity->mSkeleton.Length(),
 //			bone_index);
 //
 //	// middle sphere
 //	bone_index = mEntity->mSkeleton.AddBone(
 //			bone_index, 
 //			Transform::fromTrans(
 //				Vector3f (0.0f, 0.55f, 0.0f)
 //				)
 //			);
 //	mEntity->mSkeletonMeshes.AddMesh (
 //			Mesh::sCreateUVSphere (45, 45, 0.7),
 //			bone_index
 //			);
 //	gLog ("Now have %d bones, bone_index %d", 
 //			mEntity->mSkeleton.Length(),
 //			bone_index);
 //
 //	// top sphere
 //	bone_index = mEntity->mSkeleton.AddBone(
 //			bone_index, 
 //			Transform::fromTrans(
 //				Vector3f (0.0f, 0.4f, 0.0f)
 //				)
 //			);
 //	mEntity->mSkeletonMeshes.AddMesh (
 //			Mesh::sCreateUVSphere (45, 45, 0.5),
 //			bone_index
 //			);
 	//	mState->character->entity->mesh = bgfxutils::createCuboid (1.f, 1.f, 1.f);
 	//	mState->character->entity->mesh = bgfxutils::createCylinder (20);
 	cout << "Creating render entity mesh ... success!" << endl;
 	gLog ("Loading Animation %s", cAnimFile);
 	load_result = mAnimation.Load(cAnimFile);
 	assert (load_result);
 	mAnimTime = 0.0f;
 }
 CharacterEntity::~CharacterEntity() {
@ -126,10 +174,13 @@ bool CharacterEntity::LoadRig(const char* filename) {
 	gLog ("Creating rig model from %s ... ", filename);
 	LuaTable model_table = LuaTable::fromFile (filename);
 	mRigModel->fixed_body_discriminator = 1000;
 	bool load_result = LuaModelReadFromTable (model_table, mRigModel, false);
 	gLog ("Creating rig model from %s ... %s", filename, load_result ? "success" : "failed!");
 	gLog ("Rig model has %d degrees of freedom", mRigModel->qdot_size);
 	mRigState.q = VectorNd::Zero (mRigModel->q_size);
 	gLog ("Reading rig geometry information ... ");
@ -171,9 +222,12 @@ bool CharacterEntity::LoadRig(const char* filename) {
 				parent_transform
 				);
 		frame_name_bone_index[frame_name] = bone_index;
-		gLog ("  Added frame %s, bone index %d",
+		gLog ("  Added frame %s, bone index %d, parent index %d",
 				frame_name.c_str(),
-				bone_index);
+				bone_index,
 				parent_index);
 		assert (bone_index == mBoneFrameIndices.size());
 		mBoneFrameIndices.push_back(mRigModel->GetBodyId(frame_name.c_str()));
 		// add visuals to the bone
 		int visuals_count = frame_table["visuals"].length();
@ -337,18 +391,67 @@ void CharacterEntity::Update(float dt) {
 	gRenderer->drawDebugSphere (Vector3f (0.f, 1.3 + sin(cur_time * 2.f), 0.f), 2.2f);
-
+	// Convert to different coordinate frame
-	Quaternion quat (-cos(cur_time), 0.0f, 0.0f * sin(cur_time), 1.0f);
+	Quaternion quat (1., 0.0f, 0.0f, 1.0f);
 	quat.normalize();
-	mEntity->mTransform.rotation = quat;
+	float plane_angle = atan2 (mVelocity[2], mVelocity[0]);
 	Quaternion heading_rot (Quaternion::fromAxisAngle(Vector3f (0.f, 1.f, 0.f), plane_angle));
-	// update matrices
+	mEntity->mTransform.rotation = quat * heading_rot;
-	mEntity->mSkeleton.UpdateMatrices(mEntity->mTransform.toMatrix());
+
 	if (mVelocity.squaredNorm() > 0.01f) {
 		mAnimTime += dt;
 		VectorNf sampled_anim_state;
 		mAnimation.Sample(mAnimTime, sampled_anim_state);
 		mRigState.q = sampled_anim_state;
 	} else {
 		mAnimTime = mAnimation.mDuration * 0.125f;
 		mRigState.q.setZero();
 	}
 	UpdateBoneMatrices();
 	cur_time += dt;
 }
 void CharacterEntity::UpdateBoneMatrices() {
 	VectorNd q = mRigState.q;
 	UpdateKinematicsCustom(*mRigModel, &q, nullptr, nullptr);
 	for (int i = 0; i < mBoneFrameIndices.size(); ++i) {
 		int frame_index = mBoneFrameIndices[i];
 		if (frame_index < mRigModel->fixed_body_discriminator)
 		{
 			Matrix33f mat = mRigModel->X_lambda[frame_index].E;
 			mEntity->mSkeleton.mLocalTransforms[i].rotation =
 				Quaternion::fromMatrix(mat);
 //			mEntity->mSkeleton.mLocalTransforms[i].translation =
 //				mRigModel->X_lambda[frame_index].r;
 		} else {
 			const FixedBody& fbody = 
 				mRigModel->mFixedBodies[frame_index - mRigModel->fixed_body_discriminator];
 			Math::SpatialTransform parent_transform; // = mRigModel->X_lambda[fbody.mMovableParent];
 			Math::SpatialTransform fixed_transform = fbody.mParentTransform;
 			Math::SpatialTransform transform = fixed_transform * parent_transform;
 			Matrix33f mat = transform.E;
 			mEntity->mSkeleton.mLocalTransforms[i].rotation =
 				Quaternion::fromMatrix(mat);
 //			mEntity->mSkeleton.mLocalTransforms[i].translation =
 //				transform.r;
 		}
 	}
 	// update matrices
 	Transform entity_rig_transform = mEntity->mTransform;
 	entity_rig_transform.translation[1] += 0.98f;
 	mEntity->mSkeleton.UpdateMatrices(entity_rig_transform.toMatrix());
 }
 void ShowCharacterPropertiesWindow (CharacterEntity* character) {
 	assert (character != nullptr);
 	ImGui::SetNextWindowSize (ImVec2(600.f, 300.0f), ImGuiSetCond_Once);
@ -359,41 +462,79 @@ void ShowCharacterPropertiesWindow (CharacterEntity* character) {
 		character->Reset();
 	}
 	ImGui::Protot::DragFloat4Normalized ("Offset Quat", offset_quat.data(),
 			0.01f, -1.0f, 1.0f);
 	ImGui::DragFloat3 ("Position", character->mPosition.data(), 0.01, -10.0f, 10.0f);
 	ImGui::DragFloat3 ("Velocity", character->mVelocity.data(), 0.01, -10.0f, 10.0f);
 	float angle = atan2 (-character->mVelocity[2], character->mVelocity[0]);
 	ImGui::LabelText ("", "Angle %f", angle * 180.f / M_PI);
-	for (int i = 0; i < character->mEntity->mSkeleton.Length(); ++i) {
+	ImGui::LabelText("", 
-		char buf[32];
+			"Skeleton Bones %d", 
-		snprintf (buf, 32, "Mesh %d", i);
+			character->mEntity->mSkeleton.mLocalTransforms.size());
-		ImGuiTreeNodeFlags node_flags = 0;
+	ImGui::LabelText("", 
 			"Rig Frames %d", 
 			character->mRigModel->mBodies.size());
-		bool node_open = ImGui::TreeNodeEx(
+	bool node_open = ImGui::TreeNodeEx(
-				buf,
+			"DOFs",
-				node_flags);
+			0);
 	if (node_open) {
 		bool dof_modified = false;
 		for (int i = 0; i < character->mRigModel->q_size; ++i) {
 			char buf[32];
 			snprintf (buf, 32, "DOF %d", i);
-		if (node_open) {
+			if (ImGui::DragFloat (buf, &character->mRigState.q[i], 0.01, -10.0f, 10.0f)) {
-			Transform &transform = character->mEntity->mSkeleton.mLocalTransforms[i];
+				dof_modified = true;
 			ImGui::DragFloat3 ("Position", transform.translation.data(), 0.01, -10.0f, 10.0f);
 			if (ImGui::Protot::DragFloat4Normalized ("Rotation", transform.rotation.data(), 0.001, -1.0f, 1.0f)) {
 				if (isnan(transform.rotation.squaredNorm())) {
 					std::cout << "nan! " << transform.rotation.transpose() << std::endl;
 					abort();
 				}
 			}
 			ImGui::DragFloat3 ("Scale", transform.scale.data(), 0.01, 0.001f, 10.0f);
 			ImGui::TreePop();
 		}
 		if (dof_modified) {
 			VectorNd q = character->mRigState.q;
 		}
 		ImGui::TreePop();
 	}
 	node_open = ImGui::TreeNodeEx(
 			"Meshes",
 			0);
 	if (node_open) {
 		for (int i = 0; i < character->mEntity->mSkeleton.Length(); ++i) {
 			char buf[32];
 			snprintf (buf, 32, "Mesh %d", i);
 			ImGuiTreeNodeFlags node_flags = 0;
 			bool node_open = ImGui::TreeNodeEx(
 					buf,
 					node_flags);
 			if (node_open) {
 				Transform &transform = character->mEntity->mSkeleton.mLocalTransforms[i];
 				ImGui::DragFloat3 ("Position", transform.translation.data(), 0.01, -10.0f, 10.0f);
 				if (ImGui::Protot::DragFloat4Normalized ("Rotation", transform.rotation.data(), 0.001, -1.0f, 1.0f)) {
 					if (isnan(transform.rotation.squaredNorm())) {
 						std::cout << "nan! " << transform.rotation.transpose() << std::endl;
 						abort();
 					}
 				}
 				ImGui::DragFloat3 ("Scale", transform.scale.data(), 0.01, 0.001f, 10.0f);
 				ImGui::TreePop();
 			}
 		}
 		ImGui::TreePop();
 	}
 	ImGui::End();
 }
 struct module_state {
 };
 static struct module_state *module_init() {
 	std::cout << "Module init called" << std::endl;
 	module_state *state = (module_state*) malloc(sizeof(*state));
--- a/src/modules/CharacterModule.h
+++ b/src/modules/CharacterModule.h
@ -40,6 +40,15 @@ struct CharacterController {
 	};
 };
 struct Animation {
 	bool Load(const char* filename);
 	void Sample (float cur_time, VectorNf& state);
 	bool mIsLooped = true;
 	float mDuration;
 	std::vector<VectorNf> mFrames;
 	std::vector<float> mFrameTimes;
 };
 struct CharacterEntity {
 	/// Render entity
 	Entity *mEntity = nullptr;
@ -48,6 +57,14 @@ struct CharacterEntity {
 	CharacterController mController;
 	RigidBodyDynamics::Model* mRigModel = nullptr;
 	struct RigState {
 		VectorNf q;
 	};
 	std::vector<int> mBoneFrameIndices;
 	RigState mRigState;
 	Animation mAnimation;
 	float mAnimTime;
 	CharacterEntity ();
 	~CharacterEntity ();
@ -59,6 +76,7 @@ struct CharacterEntity {
 	}
 	bool LoadRig (const char* filename);
 	void UpdateBoneMatrices();
 	void Update(float dt); 
 };
--- a/src/modules/RenderModule.h
+++ b/src/modules/RenderModule.h
@ -222,6 +222,16 @@ struct Transform {
 				);
 	}
 	static Transform fromTransRot(
 			const Vector3f &translation,
 			const Matrix33f &rotation
 			) {
 		return Transform (
 				translation, 
 				Quaternion::fromMatrix(rotation), 
 				Vector3f(1.0f, 1.0f, 1.0f)
 				);
 	}
 	static Transform fromTransRotScale(
 			const Vector3f &translation,
 			const Quaternion &rotation,
--- a/src/modules/TestModule.cc
+++ b/src/modules/TestModule.cc
@ -220,8 +220,8 @@ static void module_unload(struct module_state *state, void* write_serializer) {
 	}
 	// clean up
 	delete state->character;
 	state->character->mEntity = nullptr;
 	delete state->character;
 	std::cout << "TestModule unloaded. State: " << state << std::endl;
 }
--- a/src/string_utils.h
+++ b/src/string_utils.h
@ -1,10 +1,26 @@
 /* 
- * MeshUp - A visualization tool for multi-body systems based on skeletal
+ * Puppeteer - A Motion Capture Mapping Tool
- * animation and magic.
+ * Copyright (c) 2013-2015 Martin Felis <martin.felis@iwr.uni-heidelberg.de>.
 * All rights reserved.
 * 
- * Copyright (c) 2012 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
+ * 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:
 * 
- * Licensed under the MIT license. See LICENSE for more details.
+ * 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* 
 */
 #ifndef _STRING_UTILS_H
@ -36,7 +52,7 @@ inline std::string strip_whitespaces (const std::string &line, std::string white
 inline std::string tolower (const std::string &line) {
 	std::string result (line);
-	for (int i = 0; i < line.size(); i++) 
+	for (size_t i = 0; i < line.size(); i++) 
 		result[i] = tolower(result[i]);
 	return result;