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Fix and clean up skeletal animation (#15722)
* Fix attachments lagging behind their parents (#14818) * Fix animation blending (#14817) * Bring back cool guy as another .x smoke test * Add .x mesh loader unittest * Do bounding box & matrix calculation at proper point in time * Remove obsolete `SAnimatedMesh`
This commit is contained in:
Lars Müller
GitHub
parent
0bb87eb1ff
commit
fde6384a09
40 changed files with 856 additions and 1388 deletions
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@ -8,11 +8,18 @@
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#include "ISceneManager.h"
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#include "SMeshBuffer.h"
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#include "SSkinMeshBuffer.h"
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#include "aabbox3d.h"
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#include "irrMath.h"
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#include "irrTypes.h"
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#include "matrix4.h"
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#include "quaternion.h"
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#include "vector3d.h"
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#include "Transform.h"
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#include <optional>
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#include <string>
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#include <variant>
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#include <vector>
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namespace irr
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{
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@ -37,9 +44,8 @@ public:
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//! constructor
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SkinnedMesh(SourceFormat src_format) :
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EndFrame(0.f), FramesPerSecond(25.f),
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LastAnimatedFrame(-1), SkinnedLastFrame(false),
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HasAnimation(false), PreparedForSkinning(false),
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AnimateNormals(true), HardwareSkinning(false),
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AnimateNormals(true),
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SrcFormat(src_format)
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{
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SkinningBuffers = &LocalBuffers;
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@ -64,14 +70,12 @@ public:
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The actual speed is set in the scene node the mesh is instantiated in.*/
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void setAnimationSpeed(f32 fps) override;
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//! returns the animated mesh for the given frame
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IMesh *getMesh(f32) override;
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//! Turns the given array of local matrices into an array of global matrices
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//! by multiplying with respective parent matrices.
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void calculateGlobalMatrices(std::vector<core::matrix4> &matrices) const;
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//! Animates joints based on frame input
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void animateMesh(f32 frame);
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//! Performs a software skin on this mesh based of joint positions
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void skinMesh();
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//! Performs a software skin on this mesh based on the given joint matrices
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void skinMesh(const std::vector<core::matrix4> &animated_transforms);
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//! returns amount of mesh buffers.
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u32 getMeshBufferCount() const override;
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@ -89,14 +93,15 @@ public:
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void setTextureSlot(u32 meshbufNr, u32 textureSlot);
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//! returns an axis aligned bounding box
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//! Returns bounding box of the mesh *in static pose*.
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const core::aabbox3d<f32> &getBoundingBox() const override {
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return BoundingBox;
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// TODO ideally we shouldn't be forced to implement this
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return StaticPoseBox;
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}
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//! set user axis aligned bounding box
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//! Set bounding box of the mesh *in static pose*.
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void setBoundingBox(const core::aabbox3df &box) override {
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BoundingBox = box;
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StaticPoseBox = box;
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}
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//! set the hardware mapping hint, for driver
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@ -140,28 +145,15 @@ public:
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return !HasAnimation;
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}
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//! Allows to enable hardware skinning.
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/* This feature is not implemented in Irrlicht yet */
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bool setHardwareSkinning(bool on);
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//! Refreshes vertex data cached in joints such as positions and normals
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void refreshJointCache();
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//! Moves the mesh into static position.
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void resetAnimation();
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void updateBoundingBox();
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//! Recovers the joints from the mesh
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void recoverJointsFromMesh(std::vector<IBoneSceneNode *> &jointChildSceneNodes);
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//! Transfers the joint data to the mesh
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void transferJointsToMesh(const std::vector<IBoneSceneNode *> &jointChildSceneNodes);
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//! Creates an array of joints from this mesh as children of node
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void addJoints(std::vector<IBoneSceneNode *> &jointChildSceneNodes,
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IAnimatedMeshSceneNode *node,
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ISceneManager *smgr);
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std::vector<IBoneSceneNode *> addJoints(
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IAnimatedMeshSceneNode *node, ISceneManager *smgr);
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//! A vertex weight
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struct SWeight
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@ -236,7 +228,7 @@ public:
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static core::quaternion interpolateValue(core::quaternion from, core::quaternion to, f32 time) {
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core::quaternion result;
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result.slerp(from, to, time, 0.001f);
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result.slerp(from, to, time);
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return result;
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}
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@ -288,15 +280,14 @@ public:
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});
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}
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void updateTransform(f32 frame,
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core::vector3df &t, core::quaternion &r, core::vector3df &s) const
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void updateTransform(f32 frame, core::Transform &transform) const
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{
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if (auto pos = position.get(frame))
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t = *pos;
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transform.translation = *pos;
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if (auto rot = rotation.get(frame))
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r = *rot;
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transform.rotation = *rot;
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if (auto scl = scale.get(frame))
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s = *scl;
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transform.scale = *scl;
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}
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void cleanup() {
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@ -309,16 +300,34 @@ public:
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//! Joints
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struct SJoint
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{
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SJoint() : GlobalSkinningSpace(false) {}
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SJoint() {}
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//! The name of this joint
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std::optional<std::string> Name;
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//! Local matrix of this joint
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core::matrix4 LocalMatrix;
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//! Local transformation to be set by loaders. Mutated by animation.
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using VariantTransform = std::variant<core::Transform, core::matrix4>;
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VariantTransform transform{core::Transform{}};
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VariantTransform animate(f32 frame) const {
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if (keys.empty())
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return transform;
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if (std::holds_alternative<core::matrix4>(transform)) {
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// .x lets animations override matrix transforms entirely,
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// which is what we implement here.
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// .gltf does not allow animation of nodes using matrix transforms.
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// Note that a decomposition into a TRS transform need not exist!
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core::Transform trs;
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keys.updateTransform(frame, trs);
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return {trs};
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}
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auto trs = std::get<core::Transform>(transform);
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keys.updateTransform(frame, trs);
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return {trs};
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}
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//! List of child joints
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std::vector<SJoint *> Children;
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//! List of attached meshes
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std::vector<u32> AttachedMeshes;
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@ -329,42 +338,49 @@ public:
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//! Skin weights
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std::vector<SWeight> Weights;
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//! Bounding box of all affected vertices, in local space
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core::aabbox3df LocalBoundingBox{{0, 0, 0}};
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//! Unnecessary for loaders, will be overwritten on finalize
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core::matrix4 GlobalMatrix; // loaders may still choose to set this (temporarily) to calculate absolute vertex data.
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core::matrix4 GlobalAnimatedMatrix;
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core::matrix4 LocalAnimatedMatrix;
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//! These should be set by loaders.
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core::vector3df Animatedposition;
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core::vector3df Animatedscale;
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core::quaternion Animatedrotation;
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// The .x and .gltf formats pre-calculate this
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std::optional<core::matrix4> GlobalInversedMatrix;
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private:
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//! Internal members used by SkinnedMesh
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friend class SkinnedMesh;
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bool GlobalSkinningSpace;
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void setParent(SJoint *parent) {
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ParentJointID = parent ? parent->JointID : std::optional<u16>{};
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}
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u16 JointID; // TODO refactor away: pointers -> IDs (problem: .x loader abuses SJoint)
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std::optional<u16> ParentJointID;
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};
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//! Animates joints based on frame input
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std::vector<SJoint::VariantTransform> animateMesh(f32 frame);
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//! Calculates a bounding box given an animation in the form of global joint transforms.
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core::aabbox3df calculateBoundingBox(
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const std::vector<core::matrix4> &global_transforms);
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void recalculateBaseBoundingBoxes();
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const std::vector<SJoint *> &getAllJoints() const {
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return AllJoints;
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}
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protected:
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void checkForAnimation();
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bool checkForAnimation() const;
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void topoSortJoints();
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void prepareForSkinning();
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void calculateStaticBoundingBox();
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void calculateJointBoundingBoxes();
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void calculateBufferBoundingBoxes();
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void normalizeWeights();
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void buildAllLocalAnimatedMatrices();
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void buildAllGlobalAnimatedMatrices(SJoint *Joint = 0, SJoint *ParentJoint = 0);
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void calculateGlobalMatrices(SJoint *Joint, SJoint *ParentJoint);
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void skinJoint(SJoint *Joint, SJoint *ParentJoint);
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void calculateTangents(core::vector3df &normal,
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core::vector3df &tangent, core::vector3df &binormal,
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const core::vector3df &vt1, const core::vector3df &vt2, const core::vector3df &vt3,
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@ -376,25 +392,25 @@ protected:
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//! Mapping from meshbuffer number to bindable texture slot
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std::vector<u32> TextureSlots;
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//! Joints, topologically sorted (parents come before their children).
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std::vector<SJoint *> AllJoints;
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std::vector<SJoint *> RootJoints;
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// bool can't be used here because std::vector<bool>
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// doesn't allow taking a reference to individual elements.
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std::vector<std::vector<char>> Vertices_Moved;
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core::aabbox3d<f32> BoundingBox{{0, 0, 0}};
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//! Bounding box of just the static parts of the mesh
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core::aabbox3df StaticPartsBox{{0, 0, 0}};
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//! Bounding box of the mesh in static pose
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core::aabbox3df StaticPoseBox{{0, 0, 0}};
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f32 EndFrame;
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f32 FramesPerSecond;
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f32 LastAnimatedFrame;
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bool SkinnedLastFrame;
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bool HasAnimation;
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bool PreparedForSkinning;
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bool AnimateNormals;
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bool HardwareSkinning;
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SourceFormat SrcFormat;
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};
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