Fix pose setting: Height above ground level.

Root bone will have heightAboveGroundLevel parameter to indicate the distance between ground and foot. It's a relative value, comparing with the distance of the first spine head position and foot.

src/animalposer.cpp

@@ -9,27 +9,8 @@ AnimalPoser::AnimalPoser(const std::vector<RiggerBone> &bones) :
 {
 }
 
-void AnimalPoser::resolveTranslation()
+void AnimalPoser::resolveTransform()
 {
-    for (const auto &item: parameters()) {
-        int boneIndex = findBoneIndex(item.first);
-        if (-1 == boneIndex) {
-            continue;
-        }
-        auto findTranslateXResult = item.second.find("translateX");
-        auto findTranslateYResult = item.second.find("translateY");
-        auto findTranslateZResult = item.second.find("translateZ");
-        if (findTranslateXResult != item.second.end() ||
-                findTranslateYResult != item.second.end() ||
-                findTranslateZResult != item.second.end()) {
-            float x = valueOfKeyInMapOrEmpty(item.second, "translateX").toFloat();
-            float y = valueOfKeyInMapOrEmpty(item.second, "translateY").toFloat();
-            float z = valueOfKeyInMapOrEmpty(item.second, "translateZ").toFloat();
-            QVector3D translation = {x, y, z};
-            m_jointNodeTree.addTranslation(boneIndex, translation);
-            continue;
-        }
-    }
     QRegularExpression reJoints("^([a-zA-Z]+\\d*)_Joint\\d+$");
     QRegularExpression reSpine("^([a-zA-Z]+)\\d*$");
     std::map<QString, std::vector<QString>> chains;
@@ -56,12 +37,63 @@ void AnimalPoser::resolveTranslation()
         std::sort(chain.second.begin(), chain.second.end(), [](const QString &first, const QString &second) {
             return first < second;
         });
-        //qDebug() << "Chain:";
-        //for (const auto &chainJoint: chain.second) {
-        //    qDebug() << chainJoint;
-        //}
         resolveChainRotation(chain.second);
     }
+    
+    int firstSpineBoneIndex = findBoneIndex(Rigger::firstSpineBoneName);
+    if (-1 == firstSpineBoneIndex) {
+        qDebug() << "Find first spine bone failed:" << Rigger::firstSpineBoneName;
+        return;
+    }
+    
+    const auto &firstSpineBone = bones()[firstSpineBoneIndex];
+    
+    float mostBottomYBeforeTransform = std::numeric_limits<float>::max();
+    for (const auto &bone: bones()) {
+        if (bone.tailPosition.y() < mostBottomYBeforeTransform)
+            mostBottomYBeforeTransform = bone.tailPosition.y();
+    }
+    
+    float legHeightBeforeTransform = std::abs(mostBottomYBeforeTransform - firstSpineBone.headPosition.y());
+    auto transformedJointNodeTree = m_jointNodeTree;
+    transformedJointNodeTree.recalculateTransformMatrices();
+    float mostBottomYAfterTransform = std::numeric_limits<float>::max();
+    QVector3D firstSpineBonePositionAfterTransform = firstSpineBone.headPosition;
+    for (int i = 0; i < (int)transformedJointNodeTree.nodes().size(); ++i) {
+        const auto &bone = bones()[i];
+        const auto &jointNode = transformedJointNodeTree.nodes()[i];
+        QVector3D newPosition = jointNode.transformMatrix * bone.tailPosition;
+        if (0 == i) {
+            // Root bone's tail position is the first spine bone's head position
+            firstSpineBonePositionAfterTransform = newPosition;
+        }
+        if (newPosition.y() < mostBottomYAfterTransform)
+            mostBottomYAfterTransform = newPosition.y();
+    }
+    float legHeightAfterTransform = std::abs(mostBottomYAfterTransform - firstSpineBonePositionAfterTransform.y());
+    float translateY = legHeightAfterTransform - legHeightBeforeTransform;
+    
+    //qDebug() << "Leg height changed, translateY:" << translateY << "legHeightBeforeTransform:" << legHeightBeforeTransform << "legHeightAfterTransform:" << legHeightAfterTransform << "firstSpineBonePositionAfterTransform:" << firstSpineBonePositionAfterTransform << "firstSpineBone.headPosition:" << firstSpineBone.headPosition;
+    
+    const auto &findRootParameters = parameters().find(Rigger::rootBoneName);
+    if (findRootParameters != parameters().end()) {
+        auto findHeightAboveGroundLevel = findRootParameters->second.find("heightAboveGroundLevel");
+        if (findHeightAboveGroundLevel != findRootParameters->second.end()) {
+            float heightAboveGroundLevel = findHeightAboveGroundLevel->second.toFloat();
+            float myHeightAboveGroundLevel = heightAboveGroundLevel * legHeightAfterTransform;
+            translateY += myHeightAboveGroundLevel;
+            //qDebug() << "heightAboveGroundLevel:" << heightAboveGroundLevel << "myHeightAboveGroundLevel:" << myHeightAboveGroundLevel << "legHeightBeforeTransform:" << legHeightBeforeTransform << "applied translateY:" << translateY;
+        }
+    }
+    
+    if (!qFuzzyIsNull(translateY)) {
+        int rootBoneIndex = findBoneIndex(Rigger::rootBoneName);
+        if (-1 == rootBoneIndex) {
+            qDebug() << "Find root bone failed:" << Rigger::rootBoneName;
+            return;
+        }
+        m_jointNodeTree.addTranslation(rootBoneIndex, QVector3D(0, translateY, 0));
+    }
 }
 
 std::pair<bool, QVector3D> AnimalPoser::findQVector3DFromMap(const std::map<QString, QString> &map, const QString &xName, const QString &yName, const QString &zName)
@@ -231,7 +263,7 @@ void AnimalPoser::resolveChainRotation(const std::vector<QString> &limbBoneNames
 
 void AnimalPoser::commit()
 {
-    resolveTranslation();
+    resolveTransform();
     
     Poser::commit();
 }

src/animalposer.h

@@ -11,7 +11,7 @@ public:
     void commit() override;
     
 private:
-    void resolveTranslation();
+    void resolveTransform();
     void resolveChainRotation(const std::vector<QString> &limbBoneNames);
     std::pair<bool, QVector3D> findQVector3DFromMap(const std::map<QString, QString> &map, const QString &xName, const QString &yName, const QString &zName);
     std::pair<bool, std::pair<QVector3D, QVector3D>> findBonePositionsFromParameters(const std::map<QString, QString> &map);

src/animalrigger.cpp

@@ -595,6 +595,8 @@ QString AnimalRigger::namingChain(const QString &baseName, SkeletonSide side, in
 
 QString AnimalRigger::namingSpine(int spineOrder)
 {
+    if (1 == spineOrder)
+        return Rigger::firstSpineBoneName;
     return "Spine" + QString::number(spineOrder);
 }
 

src/animalrigger.h

@@ -19,10 +19,10 @@ protected:
     BoneMark translateBoneMark(BoneMark boneMark) override;
 private:
     bool collectJontsForChain(int markIndex, std::vector<int> &jointMarkIndicies);
-    QString namingSpine(int spineOrder);
+    static QString namingSpine(int spineOrder);
-    QString namingConnector(const QString &spineName, const QString &chainName);
+    static QString namingConnector(const QString &spineName, const QString &chainName);
-    QString namingChain(const QString &baseName, SkeletonSide side, int orderInSide, int totalInSide, int jointOrder);
+    static QString namingChain(const QString &baseName, SkeletonSide side, int orderInSide, int totalInSide, int jointOrder);
-    QString namingChainPrefix(const QString &baseName, SkeletonSide side, int orderInSide, int totalInSide);
+    static QString namingChainPrefix(const QString &baseName, SkeletonSide side, int orderInSide, int totalInSide);
     QVector3D findExtremPointFrom(const std::set<int> &verticies, const QVector3D &from);
 };
 

src/jointnodetree.cpp

@@ -25,6 +25,7 @@ void JointNodeTree::reset()
 {
     for (auto &node: m_boneNodes) {
         node.rotation = QQuaternion();
+        node.translation = node.bindTranslation;
     }
 }
 
@@ -77,6 +78,7 @@ JointNodeTree::JointNodeTree(const std::vector<RiggerBone> *resultRigBones)
         } else {
             node.translation = node.position;
         }
+        node.bindTranslation = node.translation;
         QMatrix4x4 translateMatrix;
         translateMatrix.translate(node.translation);
         node.transformMatrix = parentTransformMatrix * translateMatrix;

src/jointnodetree.h

@@ -10,6 +10,7 @@ struct JointNode
     int parentIndex;
     QString name;
     QVector3D position;
+    QVector3D bindTranslation;
     QVector3D translation;
     QQuaternion rotation;
     QMatrix4x4 transformMatrix;

src/posedocument.cpp

@@ -159,7 +159,7 @@ void PoseDocument::fromParameters(const std::vector<RiggerBone> *rigBones,
     if (&m_riggerBones != rigBones)
         m_riggerBones = *rigBones;
     
-    QVector3D rootTranslation;
+    float heightAboveGroundLevel = 0;
     std::vector<RiggerBone> bones = *rigBones;
     for (auto &bone: bones) {
         const auto findParameterResult = parameters.find(bone.name);
@@ -205,25 +205,17 @@ void PoseDocument::fromParameters(const std::vector<RiggerBone> *rigBones,
     if (findRoot != parameters.end()) {
         const auto &map = findRoot->second;
         {
-            auto findXResult = map.find("translateX");
+            auto findHeightAboveGroundLevel = map.find("heightAboveGroundLevel");
-            auto findYResult = map.find("translateY");
+            if (findHeightAboveGroundLevel != map.end()) {
-            auto findZResult = map.find("translateZ");
+                heightAboveGroundLevel = valueOfKeyInMapOrEmpty(map, "heightAboveGroundLevel").toFloat();
-            if (findXResult != map.end() ||
-                    findYResult != map.end() ||
-                    findZResult != map.end()) {
-                rootTranslation = {
-                    valueOfKeyInMapOrEmpty(map, "translateX").toFloat(),
-                    valueOfKeyInMapOrEmpty(map, "translateY").toFloat(),
-                    valueOfKeyInMapOrEmpty(map, "translateZ").toFloat()
-                };
             }
         }
     }
     
-    updateRigBones(&bones, rootTranslation);
+    updateRigBones(&bones, heightAboveGroundLevel);
 }
 
-void PoseDocument::updateRigBones(const std::vector<RiggerBone> *rigBones, const QVector3D &rootTranslation)
+void PoseDocument::updateRigBones(const std::vector<RiggerBone> *rigBones, const float heightAboveGroundLevel)
 {
     reset();
     
@@ -349,7 +341,10 @@ void PoseDocument::updateRigBones(const std::vector<RiggerBone> *rigBones, const
     auto &groundPart = partMap[m_groundPartId];
     groundPart.id = m_groundPartId;
     
-    float groundY = findGroundY() + rootTranslation.y();
+    float footBottomY = findFootBottomY();
+    float legHeight = findLegHeight();
+    float myHeightAboveGroundLevel = heightAboveGroundLevel * legHeight;
+    float groundNodeY = footBottomY + m_groundPlaneHalfThickness + myHeightAboveGroundLevel;
     
     std::pair<QUuid, QUuid> groundNodesPair;
     {
@@ -358,7 +353,7 @@ void PoseDocument::updateRigBones(const std::vector<RiggerBone> *rigBones, const
         node.id = QUuid::createUuid();
         node.setRadius(m_groundPlaneHalfThickness);
         node.x = -100;
-        node.y = groundY + m_groundPlaneHalfThickness;
+        node.y = groundNodeY;
         node.z = -100;
         nodeMap[node.id] = node;
         newAddedNodeIds.insert(node.id);
@@ -371,7 +366,7 @@ void PoseDocument::updateRigBones(const std::vector<RiggerBone> *rigBones, const
         node.id = QUuid::createUuid();
         node.setRadius(m_groundPlaneHalfThickness);
         node.x = 100;
-        node.y = groundY + m_groundPlaneHalfThickness;
+        node.y = groundNodeY;
         node.z = 100;
         nodeMap[node.id] = node;
         newAddedNodeIds.insert(node.id);
@@ -432,7 +427,7 @@ void PoseDocument::setNodeOrigin(QUuid nodeId, float x, float y, float z)
     emit parametersChanged();
 }
 
-float PoseDocument::findGroundY() const
+float PoseDocument::findFootBottomY() const
 {
     auto maxY = std::numeric_limits<float>::lowest();
     for (const auto &nodeIt: nodeMap) {
@@ -445,9 +440,31 @@ float PoseDocument::findGroundY() const
     return maxY;
 }
 
+float PoseDocument::findLegHeight() const
+{
+    float firstSpineY = findFirstSpineY();
+    float footBottomY = findFootBottomY();
+    return std::abs(footBottomY - firstSpineY);
+}
+
+float PoseDocument::findFirstSpineY() const
+{
+    const auto &findFirstSpine = m_boneNameToIdsMap.find(Rigger::firstSpineBoneName);
+    if (findFirstSpine == m_boneNameToIdsMap.end()) {
+        qDebug() << "Find first spine bone failed:" << Rigger::firstSpineBoneName;
+        return 0;
+    }
+    const SkeletonNode *firstSpineNode = findNode(findFirstSpine->second.first);
+    if (nullptr == firstSpineNode) {
+        qDebug() << "Find first spine node failed";
+        return 0;
+    }
+    return firstSpineNode->y;
+}
+
 void PoseDocument::toParameters(std::map<QString, std::map<QString, QString>> &parameters, const std::set<QUuid> &limitNodeIds) const
 {
-    float translateY = 0;
+    float heightAboveGroundLevel = 0;
     auto findGroundEdge = edgeMap.find(m_groundEdgeId);
     if (findGroundEdge != edgeMap.end()) {
         const auto &nodeIds = findGroundEdge->second.nodeIds;
@@ -456,15 +473,19 @@ void PoseDocument::toParameters(std::map<QString, std::map<QString, QString>> &p
             auto findSecondNode = nodeMap.find(nodeIds[1]);
             if (findFirstNode != nodeMap.end() && findSecondNode != nodeMap.end()) {
                 if (limitNodeIds.empty() || limitNodeIds.find(findFirstNode->first) != limitNodeIds.end() ||
-                        limitNodeIds.find(findSecondNode->first) != limitNodeIds.end())
+                        limitNodeIds.find(findSecondNode->first) != limitNodeIds.end()) {
-                translateY = (findFirstNode->second.y + findSecondNode->second.y) / 2 -
+                    float myHeightAboveGroundLevel = (findFirstNode->second.y + findSecondNode->second.y) / 2 -
-                    (findGroundY() + m_groundPlaneHalfThickness);
+                        (findFootBottomY() + m_groundPlaneHalfThickness);
+                    float legHeight = findLegHeight();
+                    if (legHeight > 0)
+                        heightAboveGroundLevel = myHeightAboveGroundLevel / legHeight;
                 }
             }
         }
-    if (!qFuzzyIsNull(translateY)) {
+    }
+    if (!qFuzzyIsNull(heightAboveGroundLevel)) {
         auto &boneParameter = parameters[Rigger::rootBoneName];
-        boneParameter["translateY"] = QString::number(translateY);
+        boneParameter["heightAboveGroundLevel"] = QString::number(heightAboveGroundLevel);
     }
     for (const auto &item: m_boneNameToIdsMap) {
         const auto &boneNodeIdPair = item.second;

src/posedocument.h

@@ -32,7 +32,7 @@ public:
     void copyNodes(std::set<QUuid> nodeIdSet) const override;
     
     void updateTurnaround(const QImage &image);
-    void updateRigBones(const std::vector<RiggerBone> *rigBones, const QVector3D &rootTranslation=QVector3D(0, 0, 0));
+    void updateRigBones(const std::vector<RiggerBone> *rigBones, const float heightAboveGroundLevel=0.0);
     void reset();
     
     void toParameters(std::map<QString, std::map<QString, QString>> &parameters, const std::set<QUuid> &limitNodeIds=std::set<QUuid>()) const;
@@ -48,7 +48,6 @@ public slots:
     
     void moveNodeBy(QUuid nodeId, float x, float y, float z);
     void setNodeOrigin(QUuid nodeId, float x, float y, float z);
-    float findGroundY() const;
     void switchChainSide(const std::set<QUuid> nodeIds);
     
 public:
@@ -59,6 +58,9 @@ public:
     
 private:
     QString findBoneNameByNodeId(const QUuid &nodeId);
+    float findFootBottomY() const;
+    float findFirstSpineY() const;
+    float findLegHeight() const;
 
     std::map<QString, std::pair<QUuid, QUuid>> m_boneNameToIdsMap;
     QUuid m_groundPartId;

src/rigger.cpp

@@ -7,6 +7,7 @@
 
 size_t Rigger::m_maxCutOffSplitterExpandRound = 3;
 QString Rigger::rootBoneName = "Body";
+QString Rigger::firstSpineBoneName = "Spine1";
 
 Rigger::Rigger(const std::vector<QVector3D> &verticesPositions,
         const std::set<MeshSplitterTriangle> &inputTriangles) :

src/rigger.h

@@ -131,6 +131,7 @@ public:
     const std::map<int, RiggerVertexWeights> &resultWeights();
     virtual bool rig() = 0;
     static QString rootBoneName;
+    static QString firstSpineBoneName;
 protected:
     virtual bool validate() = 0;
     virtual bool isCutOffSplitter(BoneMark boneMark) = 0;