//// AnimSkeleton.cpp//// Created by Anthony J. Thibault on 9/2/15.// Copyright (c) 2015 High Fidelity, Inc. All rights reserved.//// Distributed under the Apache License, Version 2.0.// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "AnimSkeleton.h" #include <glm/gtx/transform.hpp> #include <GLMHelpers.h> #include "AnimationLogging.h" AnimSkeleton::AnimSkeleton(const HFMModel& hfmModel) { _geometryOffset = hfmModel.offset; // convert to std::vector of joints std::vector<HFMJoint> joints; joints.reserve(hfmModel.joints.size()); for (auto& joint : hfmModel.joints) { joints.push_back(joint); } buildSkeletonFromJoints(joints, hfmModel.jointRotationOffsets); // we make a copy of the inverseBindMatrices in order to prevent mutating the model bind pose // when we are dealing with a joint offset in the model for (int i = 0; i < (int)hfmModel.meshes.size(); i++) { const HFMMesh& mesh = hfmModel.meshes.at(i); std::vector<HFMCluster> dummyClustersList; for (int j = 0; j < mesh.clusters.size(); j++) { std::vector<glm::mat4> bindMatrices; // cast into a non-const reference, so we can mutate the FBXCluster HFMCluster& cluster = const_cast<HFMCluster&>(mesh.clusters.at(j)); HFMCluster localCluster; localCluster.jointIndex = cluster.jointIndex; localCluster.inverseBindMatrix = cluster.inverseBindMatrix; localCluster.inverseBindTransform.evalFromRawMatrix(localCluster.inverseBindMatrix); // if we have a joint offset in the fst file then multiply its inverse by the // model cluster inverse bind matrix if (hfmModel.jointRotationOffsets.contains(cluster.jointIndex)) { AnimPose localOffset(hfmModel.jointRotationOffsets[cluster.jointIndex], glm::vec3()); localCluster.inverseBindMatrix = (glm::mat4)localOffset.inverse() * cluster.inverseBindMatrix; localCluster.inverseBindTransform.evalFromRawMatrix(localCluster.inverseBindMatrix); } dummyClustersList.push_back(localCluster); } _clusterBindMatrixOriginalValues.push_back(dummyClustersList); }} AnimSkeleton::AnimSkeleton(const std::vector<HFMJoint>& joints, const QMap<int, glm::quat> jointOffsets) { buildSkeletonFromJoints(joints, jointOffsets);} int AnimSkeleton::nameToJointIndex(const QString& jointName) const { auto itr = _jointIndicesByName.find(jointName); if (_jointIndicesByName.end() != itr) { return itr.value(); } return INVALID_JOINT_INDEX;} int AnimSkeleton::getNumJoints() const { return _jointsSize;} int AnimSkeleton::getChainDepth(int jointIndex) const { if (jointIndex >= 0) { int chainDepth = 0; int index = jointIndex; do { chainDepth++; index = _parentIndices[index]; } while (index != INVALID_JOINT_INDEX); return chainDepth; } else { return 0; }} const AnimPose& AnimSkeleton::getRelativeDefaultPose(int jointIndex) const { return _relativeDefaultPoses[jointIndex];} const AnimPose& AnimSkeleton::getAbsoluteDefaultPose(int jointIndex) const { return _absoluteDefaultPoses[jointIndex];} // get pre multiplied transform which should include FBX pre potationsconst AnimPose& AnimSkeleton::getPreRotationPose(int jointIndex) const { return _relativePreRotationPoses[jointIndex];} // get post multiplied transform which might include FBX offset transformationsconst AnimPose& AnimSkeleton::getPostRotationPose(int jointIndex) const { return _relativePostRotationPoses[jointIndex];} std::vector<int> AnimSkeleton::getChildrenOfJoint(int jointIndex) const { // Children and grandchildren, etc. std::vector<int> result; if (jointIndex != INVALID_JOINT_INDEX) { for (int i = jointIndex + 1; i < (int)_parentIndices.size(); i++) { if (_parentIndices[i] == jointIndex || (std::find(result.begin(), result.end(), _parentIndices[i]) != result.end())) { result.push_back(i); } } } return result;} const QString& AnimSkeleton::getJointName(int jointIndex) const { return _joints[jointIndex].name;} AnimPose AnimSkeleton::getAbsolutePose(int jointIndex, const AnimPoseVec& relativePoses) const { if (jointIndex < 0 || jointIndex >= (int)relativePoses.size() || jointIndex >= _jointsSize) { return AnimPose::identity; } else { return getAbsolutePose(_parentIndices[jointIndex], relativePoses) * relativePoses[jointIndex]; }} void AnimSkeleton::convertRelativePosesToAbsolute(AnimPoseVec& poses) const { // poses start off relative and leave in absolute frame int lastIndex = std::min((int)poses.size(), _jointsSize); for (int i = 0; i < lastIndex; ++i) { int parentIndex = _parentIndices[i]; if (parentIndex != INVALID_JOINT_INDEX) { poses[i] = poses[parentIndex] * poses[i]; } }} void AnimSkeleton::convertAbsolutePosesToRelative(AnimPoseVec& poses) const { // poses start off absolute and leave in relative frame int lastIndex = std::min((int)poses.size(), _jointsSize); for (int i = lastIndex - 1; i >= 0; --i) { int parentIndex = _parentIndices[i]; if (parentIndex != INVALID_JOINT_INDEX) { poses[i] = poses[parentIndex].inverse() * poses[i]; } }} void AnimSkeleton::convertRelativeRotationsToAbsolute(std::vector<glm::quat>& rotations) const { // rotations start off relative and leave in absolute frame int lastIndex = std::min((int)rotations.size(), _jointsSize); for (int i = 0; i < lastIndex; ++i) { int parentIndex = _parentIndices[i]; if (parentIndex != INVALID_JOINT_INDEX) { rotations[i] = rotations[parentIndex] * rotations[i]; } }} void AnimSkeleton::convertAbsoluteRotationsToRelative(std::vector<glm::quat>& rotations) const { // rotations start off absolute and leave in relative frame int lastIndex = std::min((int)rotations.size(), _jointsSize); for (int i = lastIndex - 1; i >= 0; --i) { int parentIndex = _parentIndices[i]; if (parentIndex != INVALID_JOINT_INDEX) { rotations[i] = glm::inverse(rotations[parentIndex]) * rotations[i]; } }} void AnimSkeleton::saveNonMirroredPoses(const AnimPoseVec& poses) const { _nonMirroredPoses.clear(); for (int i = 0; i < (int)_nonMirroredIndices.size(); ++i) { _nonMirroredPoses.push_back(poses[_nonMirroredIndices[i]]); }} void AnimSkeleton::restoreNonMirroredPoses(AnimPoseVec& poses) const { for (int i = 0; i < (int)_nonMirroredIndices.size(); ++i) { int index = _nonMirroredIndices[i]; poses[index] = _nonMirroredPoses[i]; }} void AnimSkeleton::mirrorRelativePoses(AnimPoseVec& poses) const { saveNonMirroredPoses(poses); convertRelativePosesToAbsolute(poses); mirrorAbsolutePoses(poses); convertAbsolutePosesToRelative(poses); restoreNonMirroredPoses(poses);} void AnimSkeleton::mirrorAbsolutePoses(AnimPoseVec& poses) const { AnimPoseVec temp = poses; for (int i = 0; i < (int)poses.size(); i++) { poses[_mirrorMap[i]] = temp[i].mirror(); }} void AnimSkeleton::buildSkeletonFromJoints(const std::vector<HFMJoint>& joints, const QMap<int, glm::quat> jointOffsets) { _joints = joints; // build a seperate vector of parentIndices for cache coherency // AnimSkeleton::getParentIndex is called very frequently in tight loops. _parentIndices.reserve(_joints.size()); for (auto& joint : _joints) { _parentIndices.push_back(joint.parentIndex); } _jointsSize = (int)joints.size(); // build a cache of bind poses // build a chache of default poses _absoluteDefaultPoses.reserve(_jointsSize); _relativeDefaultPoses.reserve(_jointsSize); _relativePreRotationPoses.reserve(_jointsSize); _relativePostRotationPoses.reserve(_jointsSize); // iterate over HFMJoints and extract the bind pose information. for (int i = 0; i < _jointsSize; i++) { // build pre and post transforms glm::mat4 preRotationTransform = _joints[i].preTransform * glm::mat4_cast(_joints[i].preRotation); glm::mat4 postRotationTransform = glm::mat4_cast(_joints[i].postRotation) * _joints[i].postTransform; _relativePreRotationPoses.push_back(AnimPose(preRotationTransform)); _relativePostRotationPoses.push_back(AnimPose(postRotationTransform)); // build relative and absolute default poses glm::mat4 relDefaultMat = glm::translate(_joints[i].translation) * preRotationTransform * glm::mat4_cast(_joints[i].rotation) * postRotationTransform; AnimPose relDefaultPose(relDefaultMat); int parentIndex = getParentIndex(i); if (parentIndex >= 0) { _absoluteDefaultPoses.push_back(_absoluteDefaultPoses[parentIndex] * relDefaultPose); } else { _absoluteDefaultPoses.push_back(relDefaultPose); } } for (int k = 0; k < _jointsSize; k++) { if (jointOffsets.contains(k)) { AnimPose localOffset(jointOffsets[k], glm::vec3()); _absoluteDefaultPoses[k] = _absoluteDefaultPoses[k] * localOffset; } } // re-compute relative poses _relativeDefaultPoses = _absoluteDefaultPoses; convertAbsolutePosesToRelative(_relativeDefaultPoses); // build _jointIndicesByName hash for (int i = 0; i < _jointsSize; i++) { auto iter = _jointIndicesByName.find(_joints[i].name); if (iter != _jointIndicesByName.end()) { // prefer joints over meshes if there is a name collision. if (_joints[i].isSkeletonJoint && !_joints[iter.value()].isSkeletonJoint) { iter.value() = i; } } else { _jointIndicesByName.insert(_joints[i].name, i); } } // build mirror map. _nonMirroredIndices.clear(); _mirrorMap.reserve(_jointsSize); for (int i = 0; i < _jointsSize; i++) { if (_joints[i].name != "Hips" && _joints[i].name != "Spine" && _joints[i].name != "Spine1" && _joints[i].name != "Spine2" && _joints[i].name != "Neck" && _joints[i].name != "Head" && !((_joints[i].name.startsWith("Left") || _joints[i].name.startsWith("Right")) && _joints[i].name != "LeftEye" && _joints[i].name != "RightEye")) { // HACK: we don't want to mirror some joints so we remember their indices // so we can restore them after a future mirror operation _nonMirroredIndices.push_back(i); } int mirrorJointIndex = INVALID_JOINT_INDEX; if (_joints[i].name.startsWith("Left")) { QString mirrorJointName = QString(_joints[i].name).replace(0, 4, "Right"); mirrorJointIndex = nameToJointIndex(mirrorJointName); } else if (_joints[i].name.startsWith("Right")) { QString mirrorJointName = QString(_joints[i].name).replace(0, 5, "Left"); mirrorJointIndex = nameToJointIndex(mirrorJointName); } if (mirrorJointIndex >= 0) { _mirrorMap.push_back(mirrorJointIndex); } else { _mirrorMap.push_back(i); } }} void AnimSkeleton::dump(bool verbose) const { qCDebug(animation) << "["; for (int i = 0; i < getNumJoints(); i++) { qCDebug(animation) << " {"; qCDebug(animation) << " index =" << i; qCDebug(animation) << " name =" << getJointName(i); qCDebug(animation) << " absDefaultPose =" << getAbsoluteDefaultPose(i); qCDebug(animation) << " relDefaultPose =" << getRelativeDefaultPose(i); if (verbose) { qCDebug(animation) << " hfmJoint ="; qCDebug(animation) << " parentIndex =" << _joints[i].parentIndex; qCDebug(animation) << " translation =" << _joints[i].translation; qCDebug(animation) << " preTransform =" << _joints[i].preTransform; qCDebug(animation) << " preRotation =" << _joints[i].preRotation; qCDebug(animation) << " rotation =" << _joints[i].rotation; qCDebug(animation) << " postRotation =" << _joints[i].postRotation; qCDebug(animation) << " postTransform =" << _joints[i].postTransform; qCDebug(animation) << " transform =" << _joints[i].transform; qCDebug(animation) << " rotationMin =" << _joints[i].rotationMin << ", rotationMax =" << _joints[i].rotationMax; qCDebug(animation) << " inverseDefaultRotation" << _joints[i].inverseDefaultRotation; qCDebug(animation) << " inverseBindRotation" << _joints[i].inverseBindRotation; qCDebug(animation) << " bindTransform" << _joints[i].bindTransform; qCDebug(animation) << " isSkeletonJoint" << _joints[i].isSkeletonJoint; } if (getParentIndex(i) >= 0) { qCDebug(animation) << " parent =" << getJointName(getParentIndex(i)); } qCDebug(animation) << " },"; } qCDebug(animation) << "]";} void AnimSkeleton::dump(const AnimPoseVec& poses) const { qCDebug(animation) << "["; for (int i = 0; i < getNumJoints(); i++) { qCDebug(animation) << " {"; qCDebug(animation) << " index =" << i; qCDebug(animation) << " name =" << getJointName(i); qCDebug(animation) << " absDefaultPose =" << getAbsoluteDefaultPose(i); qCDebug(animation) << " relDefaultPose =" << getRelativeDefaultPose(i); qCDebug(animation) << " pose =" << poses[i]; if (getParentIndex(i) >= 0) { qCDebug(animation) << " parent =" << getJointName(getParentIndex(i)); } qCDebug(animation) << " },"; } qCDebug(animation) << "]";} std::vector<int> AnimSkeleton::lookUpJointIndices(const std::vector<QString>& jointNames) const { std::vector<int> result; result.reserve(jointNames.size()); for (auto& name : jointNames) { int index = nameToJointIndex(name); if (index == INVALID_JOINT_INDEX) { qWarning(animation) << "AnimSkeleton::lookUpJointIndices(): could not find bone with name " << name; } result.push_back(index); } return result;}
//
// AnimSkeleton.cpp
//
// Created by Anthony J. Thibault on 9/2/15.
// Copyright (c) 2015 High Fidelity, Inc. All rights reserved.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "AnimSkeleton.h"
#include <glm/gtx/transform.hpp>
#include <GLMHelpers.h>
#include "AnimationLogging.h"
AnimSkeleton::AnimSkeleton(const HFMModel& hfmModel) {
_geometryOffset = hfmModel.offset;
// convert to std::vector of joints
std::vector<HFMJoint> joints;
joints.reserve(hfmModel.joints.size());
for (auto& joint : hfmModel.joints) {
joints.push_back(joint);
}
buildSkeletonFromJoints(joints, hfmModel.jointRotationOffsets);
// we make a copy of the inverseBindMatrices in order to prevent mutating the model bind pose
// when we are dealing with a joint offset in the model
for (int i = 0; i < (int)hfmModel.meshes.size(); i++) {
const HFMMesh& mesh = hfmModel.meshes.at(i);
std::vector<HFMCluster> dummyClustersList;
for (int j = 0; j < mesh.clusters.size(); j++) {
std::vector<glm::mat4> bindMatrices;
// cast into a non-const reference, so we can mutate the FBXCluster
HFMCluster& cluster = const_cast<HFMCluster&>(mesh.clusters.at(j));
HFMCluster localCluster;
localCluster.jointIndex = cluster.jointIndex;
localCluster.inverseBindMatrix = cluster.inverseBindMatrix;
localCluster.inverseBindTransform.evalFromRawMatrix(localCluster.inverseBindMatrix);
// if we have a joint offset in the fst file then multiply its inverse by the
// model cluster inverse bind matrix
if (hfmModel.jointRotationOffsets.contains(cluster.jointIndex)) {
AnimPose localOffset(hfmModel.jointRotationOffsets[cluster.jointIndex], glm::vec3());
localCluster.inverseBindMatrix = (glm::mat4)localOffset.inverse() * cluster.inverseBindMatrix;
localCluster.inverseBindTransform.evalFromRawMatrix(localCluster.inverseBindMatrix);
}
dummyClustersList.push_back(localCluster);
}
_clusterBindMatrixOriginalValues.push_back(dummyClustersList);
}
}
AnimSkeleton::AnimSkeleton(const std::vector<HFMJoint>& joints, const QMap<int, glm::quat> jointOffsets) {
buildSkeletonFromJoints(joints, jointOffsets);
}
int AnimSkeleton::nameToJointIndex(const QString& jointName) const {
auto itr = _jointIndicesByName.find(jointName);
if (_jointIndicesByName.end() != itr) {
return itr.value();
}
return INVALID_JOINT_INDEX;
}
int AnimSkeleton::getNumJoints() const {
return _jointsSize;
}
int AnimSkeleton::getChainDepth(int jointIndex) const {
if (jointIndex >= 0) {
int chainDepth = 0;
int index = jointIndex;
do {
chainDepth++;
index = _parentIndices[index];
} while (index != INVALID_JOINT_INDEX);
return chainDepth;
} else {
return 0;
}
}
const AnimPose& AnimSkeleton::getRelativeDefaultPose(int jointIndex) const {
return _relativeDefaultPoses[jointIndex];
}
const AnimPose& AnimSkeleton::getAbsoluteDefaultPose(int jointIndex) const {
return _absoluteDefaultPoses[jointIndex];
}
// get pre multiplied transform which should include FBX pre potations
const AnimPose& AnimSkeleton::getPreRotationPose(int jointIndex) const {
return _relativePreRotationPoses[jointIndex];
}
// get post multiplied transform which might include FBX offset transformations
const AnimPose& AnimSkeleton::getPostRotationPose(int jointIndex) const {
return _relativePostRotationPoses[jointIndex];
}
std::vector<int> AnimSkeleton::getChildrenOfJoint(int jointIndex) const {
// Children and grandchildren, etc.
std::vector<int> result;
if (jointIndex != INVALID_JOINT_INDEX) {
for (int i = jointIndex + 1; i < (int)_parentIndices.size(); i++) {
if (_parentIndices[i] == jointIndex || (std::find(result.begin(), result.end(), _parentIndices[i]) != result.end())) {
result.push_back(i);
}
}
}
return result;
}
const QString& AnimSkeleton::getJointName(int jointIndex) const {
return _joints[jointIndex].name;
}
AnimPose AnimSkeleton::getAbsolutePose(int jointIndex, const AnimPoseVec& relativePoses) const {
if (jointIndex < 0 || jointIndex >= (int)relativePoses.size() || jointIndex >= _jointsSize) {
return AnimPose::identity;
} else {
return getAbsolutePose(_parentIndices[jointIndex], relativePoses) * relativePoses[jointIndex];
}
}
void AnimSkeleton::convertRelativePosesToAbsolute(AnimPoseVec& poses) const {
// poses start off relative and leave in absolute frame
int lastIndex = std::min((int)poses.size(), _jointsSize);
for (int i = 0; i < lastIndex; ++i) {
int parentIndex = _parentIndices[i];
if (parentIndex != INVALID_JOINT_INDEX) {
poses[i] = poses[parentIndex] * poses[i];
}
}
}
void AnimSkeleton::convertAbsolutePosesToRelative(AnimPoseVec& poses) const {
// poses start off absolute and leave in relative frame
int lastIndex = std::min((int)poses.size(), _jointsSize);
for (int i = lastIndex - 1; i >= 0; --i) {
int parentIndex = _parentIndices[i];
if (parentIndex != INVALID_JOINT_INDEX) {
poses[i] = poses[parentIndex].inverse() * poses[i];
}
}
}
void AnimSkeleton::convertRelativeRotationsToAbsolute(std::vector<glm::quat>& rotations) const {
// rotations start off relative and leave in absolute frame
int lastIndex = std::min((int)rotations.size(), _jointsSize);
for (int i = 0; i < lastIndex; ++i) {
int parentIndex = _parentIndices[i];
if (parentIndex != INVALID_JOINT_INDEX) {
rotations[i] = rotations[parentIndex] * rotations[i];
}
}
}
void AnimSkeleton::convertAbsoluteRotationsToRelative(std::vector<glm::quat>& rotations) const {
// rotations start off absolute and leave in relative frame
int lastIndex = std::min((int)rotations.size(), _jointsSize);
for (int i = lastIndex - 1; i >= 0; --i) {
int parentIndex = _parentIndices[i];
if (parentIndex != INVALID_JOINT_INDEX) {
rotations[i] = glm::inverse(rotations[parentIndex]) * rotations[i];
}
}
}
void AnimSkeleton::saveNonMirroredPoses(const AnimPoseVec& poses) const {
_nonMirroredPoses.clear();
for (int i = 0; i < (int)_nonMirroredIndices.size(); ++i) {
_nonMirroredPoses.push_back(poses[_nonMirroredIndices[i]]);
}
}
void AnimSkeleton::restoreNonMirroredPoses(AnimPoseVec& poses) const {
for (int i = 0; i < (int)_nonMirroredIndices.size(); ++i) {
int index = _nonMirroredIndices[i];
poses[index] = _nonMirroredPoses[i];
}
}
void AnimSkeleton::mirrorRelativePoses(AnimPoseVec& poses) const {
saveNonMirroredPoses(poses);
convertRelativePosesToAbsolute(poses);
mirrorAbsolutePoses(poses);
convertAbsolutePosesToRelative(poses);
restoreNonMirroredPoses(poses);
}
void AnimSkeleton::mirrorAbsolutePoses(AnimPoseVec& poses) const {
AnimPoseVec temp = poses;
for (int i = 0; i < (int)poses.size(); i++) {
poses[_mirrorMap[i]] = temp[i].mirror();
}
}
void AnimSkeleton::buildSkeletonFromJoints(const std::vector<HFMJoint>& joints, const QMap<int, glm::quat> jointOffsets) {
_joints = joints;
// build a seperate vector of parentIndices for cache coherency
// AnimSkeleton::getParentIndex is called very frequently in tight loops.
_parentIndices.reserve(_joints.size());
for (auto& joint : _joints) {
_parentIndices.push_back(joint.parentIndex);
}
_jointsSize = (int)joints.size();
// build a cache of bind poses
// build a chache of default poses
_absoluteDefaultPoses.reserve(_jointsSize);
_relativeDefaultPoses.reserve(_jointsSize);
_relativePreRotationPoses.reserve(_jointsSize);
_relativePostRotationPoses.reserve(_jointsSize);
// iterate over HFMJoints and extract the bind pose information.
for (int i = 0; i < _jointsSize; i++) {
// build pre and post transforms
glm::mat4 preRotationTransform = _joints[i].preTransform * glm::mat4_cast(_joints[i].preRotation);
glm::mat4 postRotationTransform = glm::mat4_cast(_joints[i].postRotation) * _joints[i].postTransform;
_relativePreRotationPoses.push_back(AnimPose(preRotationTransform));
_relativePostRotationPoses.push_back(AnimPose(postRotationTransform));
// build relative and absolute default poses
glm::mat4 relDefaultMat = glm::translate(_joints[i].translation) * preRotationTransform * glm::mat4_cast(_joints[i].rotation) * postRotationTransform;
AnimPose relDefaultPose(relDefaultMat);
int parentIndex = getParentIndex(i);
if (parentIndex >= 0) {
_absoluteDefaultPoses.push_back(_absoluteDefaultPoses[parentIndex] * relDefaultPose);
} else {
_absoluteDefaultPoses.push_back(relDefaultPose);
}
}
for (int k = 0; k < _jointsSize; k++) {
if (jointOffsets.contains(k)) {
AnimPose localOffset(jointOffsets[k], glm::vec3());
_absoluteDefaultPoses[k] = _absoluteDefaultPoses[k] * localOffset;
}
}
// re-compute relative poses
_relativeDefaultPoses = _absoluteDefaultPoses;
convertAbsolutePosesToRelative(_relativeDefaultPoses);
// build _jointIndicesByName hash
for (int i = 0; i < _jointsSize; i++) {
auto iter = _jointIndicesByName.find(_joints[i].name);
if (iter != _jointIndicesByName.end()) {
// prefer joints over meshes if there is a name collision.
if (_joints[i].isSkeletonJoint && !_joints[iter.value()].isSkeletonJoint) {
iter.value() = i;
}
} else {
_jointIndicesByName.insert(_joints[i].name, i);
}
}
// build mirror map.
_nonMirroredIndices.clear();
_mirrorMap.reserve(_jointsSize);
for (int i = 0; i < _jointsSize; i++) {
if (_joints[i].name != "Hips" && _joints[i].name != "Spine" &&
_joints[i].name != "Spine1" && _joints[i].name != "Spine2" &&
_joints[i].name != "Neck" && _joints[i].name != "Head" &&
!((_joints[i].name.startsWith("Left") || _joints[i].name.startsWith("Right")) &&
_joints[i].name != "LeftEye" && _joints[i].name != "RightEye")) {
// HACK: we don't want to mirror some joints so we remember their indices
// so we can restore them after a future mirror operation
_nonMirroredIndices.push_back(i);
}
int mirrorJointIndex = INVALID_JOINT_INDEX;
if (_joints[i].name.startsWith("Left")) {
QString mirrorJointName = QString(_joints[i].name).replace(0, 4, "Right");
mirrorJointIndex = nameToJointIndex(mirrorJointName);
} else if (_joints[i].name.startsWith("Right")) {
QString mirrorJointName = QString(_joints[i].name).replace(0, 5, "Left");
mirrorJointIndex = nameToJointIndex(mirrorJointName);
}
if (mirrorJointIndex >= 0) {
_mirrorMap.push_back(mirrorJointIndex);
} else {
_mirrorMap.push_back(i);
}
}
}
void AnimSkeleton::dump(bool verbose) const {
qCDebug(animation) << "[";
for (int i = 0; i < getNumJoints(); i++) {
qCDebug(animation) << " {";
qCDebug(animation) << " index =" << i;
qCDebug(animation) << " name =" << getJointName(i);
qCDebug(animation) << " absDefaultPose =" << getAbsoluteDefaultPose(i);
qCDebug(animation) << " relDefaultPose =" << getRelativeDefaultPose(i);
if (verbose) {
qCDebug(animation) << " hfmJoint =";
qCDebug(animation) << " parentIndex =" << _joints[i].parentIndex;
qCDebug(animation) << " translation =" << _joints[i].translation;
qCDebug(animation) << " preTransform =" << _joints[i].preTransform;
qCDebug(animation) << " preRotation =" << _joints[i].preRotation;
qCDebug(animation) << " rotation =" << _joints[i].rotation;
qCDebug(animation) << " postRotation =" << _joints[i].postRotation;
qCDebug(animation) << " postTransform =" << _joints[i].postTransform;
qCDebug(animation) << " transform =" << _joints[i].transform;
qCDebug(animation) << " rotationMin =" << _joints[i].rotationMin << ", rotationMax =" << _joints[i].rotationMax;
qCDebug(animation) << " inverseDefaultRotation" << _joints[i].inverseDefaultRotation;
qCDebug(animation) << " inverseBindRotation" << _joints[i].inverseBindRotation;
qCDebug(animation) << " bindTransform" << _joints[i].bindTransform;
qCDebug(animation) << " isSkeletonJoint" << _joints[i].isSkeletonJoint;
}
if (getParentIndex(i) >= 0) {
qCDebug(animation) << " parent =" << getJointName(getParentIndex(i));
}
qCDebug(animation) << " },";
}
qCDebug(animation) << "]";
}
void AnimSkeleton::dump(const AnimPoseVec& poses) const {
qCDebug(animation) << "[";
for (int i = 0; i < getNumJoints(); i++) {
qCDebug(animation) << " {";
qCDebug(animation) << " index =" << i;
qCDebug(animation) << " name =" << getJointName(i);
qCDebug(animation) << " absDefaultPose =" << getAbsoluteDefaultPose(i);
qCDebug(animation) << " relDefaultPose =" << getRelativeDefaultPose(i);
qCDebug(animation) << " pose =" << poses[i];
if (getParentIndex(i) >= 0) {
qCDebug(animation) << " parent =" << getJointName(getParentIndex(i));
}
qCDebug(animation) << " },";
}
qCDebug(animation) << "]";
}
std::vector<int> AnimSkeleton::lookUpJointIndices(const std::vector<QString>& jointNames) const {
std::vector<int> result;
result.reserve(jointNames.size());
for (auto& name : jointNames) {
int index = nameToJointIndex(name);
if (index == INVALID_JOINT_INDEX) {
qWarning(animation) << "AnimSkeleton::lookUpJointIndices(): could not find bone with name " << name;
}
result.push_back(index);
}
return result;
}