Add end-effector pulling (Shift + Left Button on end-effector).
- Implement CCD (Cyclic Coordinate Descent) IK (Inverse Kinematics) algorithm - Add end-effector pulling operation, this would be useful when you want to pull a group of nodes in line to align straight or mimic curl.master
Jeremy Hu
parent
b45014e1b8
commit
df98193091
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@ -74,7 +74,7 @@ Mouse
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+----------------------------+--------------------------------------------------------------------------+
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| CTRL + ALT + LEFT BUTTON | Multiple Unselect |
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+----------------------------+--------------------------------------------------------------------------+
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| SHIFT + LEFT BUTTON | Rotate |
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| SHIFT + LEFT BUTTON | Rotate / Pull (End Effector) |
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+----------------------------+--------------------------------------------------------------------------+
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| RIGHT BUTTON | Context Menu |
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+----------------------------+--------------------------------------------------------------------------+
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@ -116,6 +116,12 @@ HEADERS += src/exportpreviewwidget.h
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SOURCES += src/ambientocclusionbaker.cpp
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HEADERS += src/ambientocclusionbaker.h
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SOURCES += src/ccdikresolver.cpp
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HEADERS += src/ccdikresolver.h
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SOURCES += src/skeletonikmover.cpp
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HEADERS += src/skeletonikmover.h
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HEADERS += src/qtlightmapper.h
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SOURCES += src/main.cpp
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@ -0,0 +1,74 @@
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#include <QtGlobal>
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#include <QMatrix4x4>
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#include <QDebug>
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#include "ccdikresolver.h"
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CCDIKSolver::CCDIKSolver() :
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m_maxRound(5),
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m_distanceThreshold2(0.001 * 0.001)
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{
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}
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void CCDIKSolver::setMaxRound(int maxRound)
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{
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m_maxRound = maxRound;
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}
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void CCDIKSolver::setDistanceThreshod(float threshold)
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{
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m_distanceThreshold2 = threshold * threshold;
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}
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int CCDIKSolver::addNodeInOrder(const QVector3D &position)
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{
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CCDIKNode node;
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node.position = position;
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int nodeCount = m_nodes.size();
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m_nodes.push_back(node);
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return nodeCount;
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}
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void CCDIKSolver::solveTo(const QVector3D &position)
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{
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qDebug() << "solveTo:" << position;
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m_destination = position;
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float lastDistance2 = 0;
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for (int i = 0; i < m_maxRound; i++) {
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const auto &endEffector = m_nodes[m_nodes.size() - 1];
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float distance2 = (endEffector.position - m_destination).lengthSquared();
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qDebug() << "Round:" << i << " distance2:" << distance2;
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if (distance2 <= m_distanceThreshold2)
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break;
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if (lastDistance2 > 0 && distance2 >= lastDistance2)
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break;
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lastDistance2 = distance2;
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iterate();
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}
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}
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const QVector3D &CCDIKSolver::getNodeSolvedPosition(int index)
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{
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Q_ASSERT(index >= 0 && index < m_nodes.size());
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return m_nodes[index].position;
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}
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int CCDIKSolver::getNodeCount(void)
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{
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return m_nodes.size();
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}
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void CCDIKSolver::iterate()
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{
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for (int i = m_nodes.size() - 2; i >= 0; i--) {
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const auto &origin = m_nodes[i];
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const auto &endEffector = m_nodes[m_nodes.size() - 1];
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QVector3D from = endEffector.position - origin.position;
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QVector3D to = m_destination - origin.position;
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auto quaternion = QQuaternion::rotationTo(from, to);
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for (size_t j = i + 1; j <= m_nodes.size() - 1; j++) {
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auto &next = m_nodes[j];
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const auto offset = next.position - origin.position;
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next.position = origin.position + quaternion.rotatedVector(offset).normalized() * offset.length();
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}
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}
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}
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@ -0,0 +1,31 @@
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#ifndef CCD_IK_SOLVER_H
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#define CCD_IK_SOLVER_H
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#include <vector>
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#include <QVector3D>
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#include <QQuaternion>
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struct CCDIKNode
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{
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QVector3D position;
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};
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class CCDIKSolver
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{
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public:
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CCDIKSolver();
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void setMaxRound(int maxRound);
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void setDistanceThreshod(float threshold);
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int addNodeInOrder(const QVector3D &position);
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void solveTo(const QVector3D &position);
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const QVector3D &getNodeSolvedPosition(int index);
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int getNodeCount(void);
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private:
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void iterate();
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private:
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std::vector<CCDIKNode> m_nodes;
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QVector3D m_destination;
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int m_maxRound;
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float m_distanceThreshold2;
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};
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#endif
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@ -454,6 +454,7 @@ SkeletonDocumentWindow::SkeletonDocumentWindow() :
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connect(graphicsWidget, &SkeletonGraphicsWidget::addNode, m_document, &SkeletonDocument::addNode);
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connect(graphicsWidget, &SkeletonGraphicsWidget::scaleNodeByAddRadius, m_document, &SkeletonDocument::scaleNodeByAddRadius);
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connect(graphicsWidget, &SkeletonGraphicsWidget::moveNodeBy, m_document, &SkeletonDocument::moveNodeBy);
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connect(graphicsWidget, &SkeletonGraphicsWidget::setNodeOrigin, m_document, &SkeletonDocument::setNodeOrigin);
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connect(graphicsWidget, &SkeletonGraphicsWidget::removeNode, m_document, &SkeletonDocument::removeNode);
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connect(graphicsWidget, &SkeletonGraphicsWidget::setEditMode, m_document, &SkeletonDocument::setEditMode);
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connect(graphicsWidget, &SkeletonGraphicsWidget::removeEdge, m_document, &SkeletonDocument::removeEdge);
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@ -37,7 +37,9 @@ SkeletonGraphicsWidget::SkeletonGraphicsWidget(const SkeletonDocument *document)
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m_mainOriginItem(nullptr),
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m_sideOriginItem(nullptr),
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m_hoveredOriginItem(nullptr),
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m_checkedOriginItem(nullptr)
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m_checkedOriginItem(nullptr),
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m_ikMoveUpdateVersion(0),
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m_ikMover(nullptr)
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{
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setRenderHint(QPainter::Antialiasing, false);
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setBackgroundBrush(QBrush(QWidget::palette().color(QWidget::backgroundRole()), Qt::SolidPattern));
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@ -609,7 +611,30 @@ bool SkeletonGraphicsWidget::mouseMove(QMouseEvent *event)
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float byX = mouseScenePos.x() - m_lastScenePos.x();
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float byY = mouseScenePos.y() - m_lastScenePos.y();
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if (QGuiApplication::queryKeyboardModifiers().testFlag(Qt::ShiftModifier)) {
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std::set<SkeletonGraphicsNodeItem *> nodeItems;
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readMergedSkeletonNodeSetFromRangeSelection(&nodeItems);
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if (nodeItems.size() == 1) {
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auto &nodeItem = *nodeItems.begin();
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const SkeletonNode *node = m_document->findNode(nodeItem->id());
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if (node->edgeIds.size() == 1) {
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const auto origin = nodeItem->origin();
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byX = mouseScenePos.x() - origin.x();
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byY = mouseScenePos.y() - origin.y();
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byX = sceneRadiusToUnified(byX);
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byY = sceneRadiusToUnified(byY);
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QVector3D target = QVector3D(node->x, node->y, node->z);
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if (SkeletonProfile::Main == nodeItem->profile()) {
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target.setX(target.x() + byX);
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target.setY(target.y() + byY);
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} else {
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target.setY(target.y() + byY);
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target.setZ(target.z() + byX);
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}
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emit ikMove(nodeItem->id(), target);
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}
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} else {
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rotateSelected(byX);
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}
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} else {
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moveSelected(byX, byY);
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}
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@ -671,6 +696,8 @@ void SkeletonGraphicsWidget::moveSelected(float byX, float byY)
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if (m_rangeSelectionSet.empty())
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return;
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m_ikMoveEndEffectorId = QUuid();
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byX = sceneRadiusToUnified(byX);
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byY = sceneRadiusToUnified(byY);
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std::set<SkeletonGraphicsNodeItem *> nodeItems;
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@ -1837,4 +1864,79 @@ void SkeletonGraphicsWidget::setItemHoveredOnAllProfiles(QGraphicsItem *item, bo
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}
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}
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void SkeletonGraphicsWidget::ikMoveReady()
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{
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unsigned long long movedUpdateVersion = m_ikMover->getUpdateVersion();
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if (movedUpdateVersion == m_ikMoveUpdateVersion &&
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!m_ikMoveEndEffectorId.isNull()) {
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emit batchChangeBegin();
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for (const auto &it: m_ikMover->ikNodes()) {
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emit setNodeOrigin(it.id, it.newPosition.x(), it.newPosition.y(), it.newPosition.z());
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}
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emit batchChangeEnd();
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emit groupOperationAdded();
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}
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delete m_ikMover;
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m_ikMover = nullptr;
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if (movedUpdateVersion != m_ikMoveUpdateVersion &&
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!m_ikMoveEndEffectorId.isNull()) {
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ikMove(m_ikMoveEndEffectorId, m_ikMoveTarget);
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}
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}
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void SkeletonGraphicsWidget::ikMove(QUuid endEffectorId, QVector3D target)
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{
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m_ikMoveEndEffectorId = endEffectorId;
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m_ikMoveTarget = target;
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m_ikMoveUpdateVersion++;
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if (nullptr != m_ikMover) {
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return;
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}
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QThread *thread = new QThread;
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m_ikMover = new SkeletonIkMover();
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m_ikMover->setUpdateVersion(m_ikMoveUpdateVersion);
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m_ikMover->setTarget(m_ikMoveTarget);
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QUuid nodeId = endEffectorId;
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std::set<QUuid> historyNodeIds;
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std::vector<std::pair<QUuid, QVector3D>> appendNodes;
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for (;;) {
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historyNodeIds.insert(nodeId);
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const auto node = m_document->findNode(nodeId);
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if (nullptr == node)
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break;
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appendNodes.push_back(std::make_pair(nodeId, QVector3D(node->x, node->y, node->z)));
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if (node->edgeIds.size() < 1 || node->edgeIds.size() > 2)
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break;
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QUuid choosenNodeId;
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for (const auto &edgeId: node->edgeIds) {
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const auto edge = m_document->findEdge(edgeId);
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if (nullptr == edge)
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break;
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QUuid neighborNodeId = edge->neighborOf(nodeId);
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if (historyNodeIds.find(neighborNodeId) != historyNodeIds.end())
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continue;
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choosenNodeId = neighborNodeId;
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break;
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}
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if (choosenNodeId.isNull())
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break;
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nodeId = choosenNodeId;
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}
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qDebug() << "ik move nodes:";
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for (int i = appendNodes.size() - 1; i >= 0; i--) {
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qDebug() << i << appendNodes[i].first << appendNodes[i].second;
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m_ikMover->addNode(appendNodes[i].first, appendNodes[i].second);
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}
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qDebug() << "target:" << m_ikMoveTarget;
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m_ikMover->moveToThread(thread);
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connect(thread, &QThread::started, m_ikMover, &SkeletonIkMover::process);
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connect(m_ikMover, &SkeletonIkMover::finished, this, &SkeletonGraphicsWidget::ikMoveReady);
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connect(m_ikMover, &SkeletonIkMover::finished, thread, &QThread::quit);
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connect(thread, &QThread::finished, thread, &QThread::deleteLater);
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thread->start();
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}
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@ -15,6 +15,7 @@
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#include "turnaroundloader.h"
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#include "theme.h"
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#include "dust3dutil.h"
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#include "skeletonikmover.h"
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class SkeletonGraphicsOriginItem : public QGraphicsPolygonItem
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{
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@ -366,6 +367,7 @@ signals:
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void setXlockState(bool locked);
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void setYlockState(bool locked);
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void setZlockState(bool locked);
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void setNodeOrigin(QUuid nodeId, float x, float y, float z);
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public:
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SkeletonGraphicsWidget(const SkeletonDocument *document);
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std::map<QUuid, std::pair<SkeletonGraphicsNodeItem *, SkeletonGraphicsNodeItem *>> nodeItemMap;
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@ -431,6 +433,8 @@ public slots:
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void addSelectEdge(QUuid edgeId);
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void enableBackgroundBlur();
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void disableBackgroundBlur();
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void ikMove(QUuid endEffectorId, QVector3D target);
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void ikMoveReady();
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private slots:
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void turnaroundImageReady();
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private:
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@ -475,6 +479,10 @@ private: //need initalize
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SkeletonGraphicsOriginItem *m_sideOriginItem;
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SkeletonGraphicsOriginItem *m_hoveredOriginItem;
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SkeletonGraphicsOriginItem *m_checkedOriginItem;
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unsigned long long m_ikMoveUpdateVersion;
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SkeletonIkMover *m_ikMover;
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QVector3D m_ikMoveTarget;
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QUuid m_ikMoveEndEffectorId;
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private:
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std::set<QGraphicsItem *> m_rangeSelectionSet;
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QPoint m_lastGlobalPos;
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@ -0,0 +1,61 @@
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#include <QGuiApplication>
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#include "skeletonikmover.h"
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#include "ccdikresolver.h"
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SkeletonIkMover::SkeletonIkMover() :
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m_updateVersion(0)
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{
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}
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SkeletonIkMover::~SkeletonIkMover()
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{
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}
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void SkeletonIkMover::setTarget(const QVector3D &target)
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{
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m_target = target;
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}
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void SkeletonIkMover::setUpdateVersion(unsigned long long version)
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{
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m_updateVersion = version;
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}
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unsigned long long SkeletonIkMover::getUpdateVersion()
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{
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return m_updateVersion;
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}
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void SkeletonIkMover::addNode(QUuid id, QVector3D position)
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{
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SkeletonIkNode ikNode;
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ikNode.id = id;
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ikNode.position = ikNode.newPosition = position;
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m_ikNodes.push_back(ikNode);
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}
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const std::vector<SkeletonIkNode> &SkeletonIkMover::ikNodes()
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{
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return m_ikNodes;
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}
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void SkeletonIkMover::process()
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{
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resolve();
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this->moveToThread(QGuiApplication::instance()->thread());
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emit finished();
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}
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void SkeletonIkMover::resolve()
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{
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CCDIKSolver solver;
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for (auto i = 0u; i < m_ikNodes.size(); i++) {
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solver.addNodeInOrder(m_ikNodes[i].position);
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}
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solver.solveTo(m_target);
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for (auto i = 0u; i < m_ikNodes.size(); i++) {
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m_ikNodes[i].newPosition = solver.getNodeSolvedPosition(i);
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}
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}
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@ -0,0 +1,38 @@
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#ifndef SKELETON_IK_MOVER_H
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#define SKELETON_IK_MOVER_H
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#include <QObject>
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#include <vector>
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#include <QVector3D>
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#include <QUuid>
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struct SkeletonIkNode
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{
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QUuid id;
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QVector3D position;
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QVector3D newPosition;
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};
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class SkeletonIkMover : public QObject
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{
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Q_OBJECT
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public:
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SkeletonIkMover();
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~SkeletonIkMover();
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void setTarget(const QVector3D &target);
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void setUpdateVersion(unsigned long long version);
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unsigned long long getUpdateVersion();
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void addNode(QUuid id, QVector3D position);
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const std::vector<SkeletonIkNode> &ikNodes();
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signals:
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void finished();
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public slots:
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void process();
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private:
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void resolve();
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private:
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unsigned long long m_updateVersion;
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std::vector<SkeletonIkNode> m_ikNodes;
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QVector3D m_target;
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};
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#endif
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Reference in New Issue