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
master
Martin Felis 2017-03-11 22:16:12 +01:00
parent 9f64e0ee38
commit 203c380609
9 changed files with 808 additions and 99 deletions

512
data/models/anim.csv Normal file
View File

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Can't render this file because it is too large.

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@ -140,6 +140,7 @@ void RuntimeModuleManager::UnloadModules() {
for (int i = mModules.size() - 1; i >= 0 ; i--) { for (int i = mModules.size() - 1; i >= 0 ; i--) {
if (mModules[i]->handle) { if (mModules[i]->handle) {
gLog("Unloading module %s", mModules[i]->name.c_str());
mModules[i]->api.unload(mModules[i]->state, gWriteSerializer); mModules[i]->api.unload(mModules[i]->state, gWriteSerializer);
mModules[i]->state = nullptr; mModules[i]->state = nullptr;
dlclose(mModules[i]->handle); dlclose(mModules[i]->handle);

View File

@ -193,7 +193,11 @@ int main(void)
int64_t now = bx::getHPCounter(); int64_t now = bx::getHPCounter();
int64_t module_update = now - pre_module_check; 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; last = now;
const double freq = double(bx::getHPFrequency() ); const double freq = double(bx::getHPFrequency() );
const double toMs = 1000.0/freq; const double toMs = 1000.0/freq;
@ -206,6 +210,7 @@ int main(void)
gTimer->mDeltaTime = 0.0f; gTimer->mDeltaTime = 0.0f;
} }
assert (gTimer->mDeltaTime >= 0.0f);
module_manager.Update(gTimer->mDeltaTime); module_manager.Update(gTimer->mDeltaTime);
glfwPollEvents(); glfwPollEvents();

View File

@ -19,4 +19,10 @@ typedef SimpleMath::GL::Quaternion Quaternion;
typedef SimpleMath::Dynamic::Matrix<float> VectorNf; typedef SimpleMath::Dynamic::Matrix<float> VectorNf;
typedef SimpleMath::Dynamic::Matrix<float> MatrixNNf; 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 #endif

View File

@ -12,6 +12,9 @@
#include "Globals.h" #include "Globals.h"
#include "modules/RenderModule.h" #include "modules/RenderModule.h"
#include "Serializer.h" #include "Serializer.h"
#include "Timer.h"
#include "string_utils.h"
#include "CharacterModule.h" #include "CharacterModule.h"
#include "LuaTableTypes.h" #include "LuaTableTypes.h"
@ -31,15 +34,112 @@ bool LuaModelReadFromTable (LuaTable &model_table, Model *model, bool verbose);
using namespace std; using namespace std;
using namespace RigidBodyDynamics; using namespace RigidBodyDynamics;
using namespace RigidBodyDynamics;
using namespace RigidBodyDynamics::Addons; using namespace RigidBodyDynamics::Addons;
const float cJumpVelocity = 4.0f; const float cJumpVelocity = 4.0f;
const float cVelocityDamping = 4.0f; const float cVelocityDamping = 4.0f;
const float cGravity = 9.81f; const float cGravity = 9.81f;
const float cGroundAcceleration = 30.0f; const float cGroundAcceleration = 10.0f;
const float cCharacterHeight = 1.8f; const float cCharacterHeight = 1.8f;
const float cCharacterWidth = 1.f; const float cCharacterWidth = 1.f;
const char* cRigModelFile = "data/models/model.lua"; 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() { CharacterEntity::CharacterEntity() {
mEntity = gRenderer->createEntity(); mEntity = gRenderer->createEntity();
@ -52,67 +152,15 @@ CharacterEntity::CharacterEntity() {
cout << "Creating render entity mesh ..." << endl; 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::createCuboid (1.f, 1.f, 1.f);
// mState->character->entity->mesh = bgfxutils::createCylinder (20); // mState->character->entity->mesh = bgfxutils::createCylinder (20);
cout << "Creating render entity mesh ... success!" << endl; 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() { CharacterEntity::~CharacterEntity() {
@ -126,10 +174,13 @@ bool CharacterEntity::LoadRig(const char* filename) {
gLog ("Creating rig model from %s ... ", filename); gLog ("Creating rig model from %s ... ", filename);
LuaTable model_table = LuaTable::fromFile (filename); LuaTable model_table = LuaTable::fromFile (filename);
mRigModel->fixed_body_discriminator = 1000;
bool load_result = LuaModelReadFromTable (model_table, mRigModel, false); bool load_result = LuaModelReadFromTable (model_table, mRigModel, false);
gLog ("Creating rig model from %s ... %s", filename, load_result ? "success" : "failed!"); gLog ("Creating rig model from %s ... %s", filename, load_result ? "success" : "failed!");
gLog ("Rig model has %d degrees of freedom", mRigModel->qdot_size); gLog ("Rig model has %d degrees of freedom", mRigModel->qdot_size);
mRigState.q = VectorNd::Zero (mRigModel->q_size);
gLog ("Reading rig geometry information ... "); gLog ("Reading rig geometry information ... ");
@ -171,9 +222,12 @@ bool CharacterEntity::LoadRig(const char* filename) {
parent_transform parent_transform
); );
frame_name_bone_index[frame_name] = bone_index; 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(), 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 // add visuals to the bone
int visuals_count = frame_table["visuals"].length(); 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); 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(); 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; 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) { void ShowCharacterPropertiesWindow (CharacterEntity* character) {
assert (character != nullptr); assert (character != nullptr);
ImGui::SetNextWindowSize (ImVec2(600.f, 300.0f), ImGuiSetCond_Once); ImGui::SetNextWindowSize (ImVec2(600.f, 300.0f), ImGuiSetCond_Once);
@ -359,41 +462,79 @@ void ShowCharacterPropertiesWindow (CharacterEntity* character) {
character->Reset(); 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 ("Position", character->mPosition.data(), 0.01, -10.0f, 10.0f);
ImGui::DragFloat3 ("Velocity", character->mVelocity.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(); ImGui::End();
} }
struct module_state {
};
static struct module_state *module_init() { static struct module_state *module_init() {
std::cout << "Module init called" << std::endl; std::cout << "Module init called" << std::endl;
module_state *state = (module_state*) malloc(sizeof(*state)); module_state *state = (module_state*) malloc(sizeof(*state));

View File

@ -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 { struct CharacterEntity {
/// Render entity /// Render entity
Entity *mEntity = nullptr; Entity *mEntity = nullptr;
@ -48,6 +57,14 @@ struct CharacterEntity {
CharacterController mController; CharacterController mController;
RigidBodyDynamics::Model* mRigModel = nullptr; RigidBodyDynamics::Model* mRigModel = nullptr;
struct RigState {
VectorNf q;
};
std::vector<int> mBoneFrameIndices;
RigState mRigState;
Animation mAnimation;
float mAnimTime;
CharacterEntity (); CharacterEntity ();
~CharacterEntity (); ~CharacterEntity ();
@ -59,6 +76,7 @@ struct CharacterEntity {
} }
bool LoadRig (const char* filename); bool LoadRig (const char* filename);
void UpdateBoneMatrices();
void Update(float dt); void Update(float dt);
}; };

View File

@ -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( static Transform fromTransRotScale(
const Vector3f &translation, const Vector3f &translation,
const Quaternion &rotation, const Quaternion &rotation,

View File

@ -220,8 +220,8 @@ static void module_unload(struct module_state *state, void* write_serializer) {
} }
// clean up // clean up
delete state->character;
state->character->mEntity = nullptr; state->character->mEntity = nullptr;
delete state->character;
std::cout << "TestModule unloaded. State: " << state << std::endl; std::cout << "TestModule unloaded. State: " << state << std::endl;
} }

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@ -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 #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) { inline std::string tolower (const std::string &line) {
std::string result (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]); result[i] = tolower(result[i]);
return result; return result;