Refactored IK, added gizmo to edit IK target, disabled IK for now
Martin Felis
parent
ba35e909c0
commit
94affb09da
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@ -160,6 +160,11 @@ CharacterEntity::CharacterEntity() {
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load_result = mAnimation.Load(cAnimFile);
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assert (load_result);
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gLog ("Initializing IK constraints");
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IKConstraint constraint;
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constraint.mEffectorBodyId = mRigModel->GetBodyId("FootRight");
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mIKConstraints.push_back(constraint);
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mAnimTime = 0.0f;
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}
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@ -410,7 +415,60 @@ void CharacterEntity::ApplyCharacterController(float dt) {
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}
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}
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void CharacterEntity::UpdateIKGizmos() {
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for (int i = 0; i < mIKConstraints.size(); ++i) {
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IKConstraint& constraint = mIKConstraints[i];
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Transform ik_handle_transform;
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ik_handle_transform.translation = constraint.mEffectorWorldTarget;
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Matrix44f ent_transform = ik_handle_transform.toMatrix();
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Camera *active_camera = &gRenderer->cameras[gRenderer->activeCameraIndex];
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ImGuizmo::Manipulate(
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active_camera->mtxView,
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active_camera->mtxProj,
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ImGuizmo::TRANSLATE,
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ImGuizmo::LOCAL,
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ent_transform.data()
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);
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ik_handle_transform.fromMatrix(ent_transform);
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constraint.mEffectorWorldTarget = ik_handle_transform.translation;
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}
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}
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void CharacterEntity::UpdateIKConstraintSet() {
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if (mIKConstraints.size() * 3 != mIKConstraintSet.num_constraints) {
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mIKConstraintSet.ClearConstraints();
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for (int i = 0; i < mIKConstraints.size(); ++i) {
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const IKConstraint& constraint = mIKConstraints[i];
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mIKConstraintSet.AddPointConstraint(
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constraint.mEffectorBodyId,
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constraint.mEffectorLocalOffset,
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constraint.mEffectorWorldTarget
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);
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}
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mIKConstraintSet.lambda = 1.0e-3;
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mIKConstraintSet.max_steps = 2;
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mIKConstraintSet.step_tol = 1.0e-5;
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mIKConstraintSet.Bind(*mRigModel);
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} else {
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for (int i = 0; i < mIKConstraints.size(); ++i) {
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const IKConstraint& constraint = mIKConstraints[i];
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mIKConstraintSet.body_ids[i] = constraint.mEffectorBodyId;
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mIKConstraintSet.body_points[i] = constraint.mEffectorLocalOffset;
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mIKConstraintSet.target_positions[i] = Vector3d (
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constraint.mEffectorWorldTarget[0],
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-constraint.mEffectorWorldTarget[2],
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constraint.mEffectorWorldTarget[1]
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);
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}
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}
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}
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void CharacterEntity::ApplyIKConstraints() {
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if (mIKConstraints.size() == 0)
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return;
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@ -426,9 +484,42 @@ void CharacterEntity::UpdateIKConstraintSet() {
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q_res
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);
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mRigState.q = q_res;
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for (int i = 0; i < mIKConstraints.size(); ++i) {
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const IKConstraint& constraint = mIKConstraints[i];
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UpdateKinematicsCustom (
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*mRigModel, &q_res, nullptr, nullptr);
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Vector3f effector_pos = CalcBodyToBaseCoordinates(
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*mRigModel,
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q_res,
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constraint.mEffectorBodyId,
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constraint.mEffectorLocalOffset,
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false
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);
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gRenderer->drawDebugSphere (
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effector_pos,
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0.05f,
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Vector4f (0.f, 1.f, 0.f, 1.0f)
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);
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gRenderer->drawDebugSphere (
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constraint.mEffectorWorldTarget,
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0.05f,
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Vector4f (1.f, 0.f, 0.f, 1.0f)
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);
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gRenderer->drawDebugLine (
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effector_pos,
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constraint.mEffectorWorldTarget,
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Vector3f (1.f, 0.f, 1.f)
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);
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}
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}
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void CharacterEntity::Update(float dt) {
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UpdateIKGizmos();
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ApplyCharacterController(dt);
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ApplyIKConstraints();
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UpdateBoneMatrices();
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@ -553,8 +644,38 @@ void ShowCharacterPropertiesWindow (CharacterEntity* character) {
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}
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ImGui::TreePop();
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}
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node_open = ImGui::TreeNodeEx(
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"IK Effectors",
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0);
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if (node_open) {
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for (int i = 0; i < character->mIKConstraints.size(); ++i) {
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IKConstraint& constraint = character->mIKConstraints[i];
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char buf[32];
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snprintf (buf, 32, "Constraint %d", i);
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ImGuiTreeNodeFlags node_flags = 0;
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bool node_open = ImGui::TreeNodeEx(
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buf,
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node_flags);
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if (node_open) {
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Transform &transform = character->mEntity->mSkeleton.mLocalTransforms[i];
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ImGui::DragFloat3 ("Local Offset", constraint.mEffectorLocalOffset.data(), 0.01, 0.001f, 10.0f);
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ImGui::DragFloat3 ("Target", constraint.mEffectorWorldTarget.data(), 0.01, -10.0f, 10.0f);
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ImGui::TreePop();
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}
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}
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ImGui::TreePop();
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}
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}
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ImGui::EndDock();
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}
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@ -50,10 +50,10 @@ struct Animation {
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};
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struct IKConstraint {
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bool mEnabled = true;
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int mEffectorBodyId;
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Vector3f mEffectorLocalOffset;
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Vector3f mEffectorWorldTarget;
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bool mKeepRootFixed = true;
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int mEffectorBodyId = 0;
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Vector3f mEffectorLocalOffset = Vector3f::Zero();
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Vector3f mEffectorWorldTarget = Vector3f::Zero();
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};
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struct CharacterEntity {
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@ -86,10 +86,13 @@ struct CharacterEntity {
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}
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bool LoadRig (const char* filename);
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void UpdateIKConstraintSet();
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void ApplyCharacterController(float dt);
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void UpdateIKGizmos();
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void UpdateIKConstraintSet();
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void ApplyIKConstraints();
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void UpdateBoneMatrices();
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void Update(float dt);
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@ -1277,32 +1277,6 @@ void Renderer::resize (int x, int y, int width, int height) {
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}
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}
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void Renderer::paintGLSimple() {
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// Set view 0 default viewport.
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bgfx::setViewRect(0, view_offset_x, view_offset_y, view_width, view_height);
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// This dummy draw call is here to make sure that view 0 is cleared
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// if no other draw calls are submitted to view 0.
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bgfx::touch(0);
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int64_t now = bx::getHPCounter();
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static int64_t last = now;
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const int64_t frameTime = now - last;
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last = now;
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const double freq = double(bx::getHPFrequency() );
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const double toMs = 1000.0/freq;
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// Use debug font to print information about this example.
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bgfx::dbgTextPrintf(0, 1, 0x4f, "bgfx/examples/00-helloworld");
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bgfx::dbgTextPrintf(0, 2, 0x6f, "Description: Initialization and debug text.");
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bgfx::dbgTextPrintf(0, 3, 0x8f, "Frame: % 7.3f[ms]", double(frameTime)*toMs);
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// Advance to next frame. Rendering thread will be kicked to
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// process submitted rendering primitives.
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bgfx::frame();
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bgfx::dbgTextClear();
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}
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void Renderer::paintGL() {
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int64_t now = bx::getHPCounter();
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static int64_t last = now;
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@ -1562,21 +1536,6 @@ void Renderer::paintGL() {
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}
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}
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for (size_t i = 0; i < entities.size(); i++) {
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Matrix44f ent_transform = entities[i]->mTransform.toMatrix();
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Matrix44f delta_matrix;
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ImGuizmo::Manipulate(
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cameras[activeCameraIndex].mtxView,
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cameras[activeCameraIndex].mtxProj,
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ImGuizmo::TRANSLATE,
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ImGuizmo::LOCAL,
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ent_transform.data(),
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delta_matrix.data()
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);
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entities[i]->mTransform.fromMatrix(ent_transform);
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}
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// render debug information
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if (drawDebug) {
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float tmp[16];
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@ -412,7 +412,6 @@ struct Renderer {
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void initialize(int width, int height);
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void shutdown();
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void paintGL();
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void paintGLSimple();
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void resize (int x, int y, int width, int height);
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// check whether shader files were modified and reload them. Returns
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