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use rotators instead of quats

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This commit is contained in:
Mamadou Babaei
2023-03-28 10:39:48 +02:00
parent c9acdc614d
commit 65ede5cdd1
4 changed files with 9 additions and 97 deletions
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Source/SenseGlove/Private/SenseGlove/Animation/SGVirtualHandAnimInstanceProxy.cpp
+5 -9
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@@ -45,8 +45,6 @@
#include "Math/Rotator.h"
#include "SenseGlove/GameFramework/SGVirtualHand.h"
#include "SGCore/SGHandPose.h"
#include "SGLog/SGLog.h"
FSGVirtualHandAnimInstanceProxy::FSGVirtualHandAnimInstanceProxy()
: FAnimInstanceProxy()
@@ -93,10 +91,8 @@ void FSGVirtualHandAnimInstanceProxy::PreEvaluateAnimation(UAnimInstance* InAnim
return;
}
// BonesRotations.Empty();
// BonesRotations = Hand->GetFingersBonesRotations();
BonesTransforms.Empty();
BonesTransforms = Hand->GetFingersBonesTransforms();
BonesRotations.Empty();
BonesRotations = Hand->GetFingersBonesRotations();
}
bool FSGVirtualHandAnimInstanceProxy::Evaluate(FPoseContext& Output)
@@ -132,10 +128,10 @@ bool FSGVirtualHandAnimInstanceProxy::Evaluate(FPoseContext& Output)
FComponentSpacePoseContext PoseContext(Output.AnimInstanceProxy);
PoseContext.Pose.InitPose(Output.Pose);
for (const TTuple<FName, FTransform>& Bone: BonesTransforms)
for (const TTuple<FName, FRotator>& Bone: BonesRotations)
{
FName BoneName(Bone.Key);
FTransform BoneTransform(Bone.Value);
FRotator BoneRotation(Bone.Value);
const int32 BoneIndex = GetRequiredBones().GetPoseBoneIndexForBoneName(BoneName);
ensureAlwaysMsgf(BoneIndex != INDEX_NONE, TEXT("Invalid finger bone index!"));
@@ -147,7 +143,7 @@ bool FSGVirtualHandAnimInstanceProxy::Evaluate(FPoseContext& Output)
FAnimNode_ModifyBone BoneController;
BoneController.BoneToModify = MoveTemp(BoneReference);
BoneController.Rotation = BoneTransform.Rotator();
BoneController.Rotation = MoveTemp(BoneRotation);
BoneController.RotationMode = EBoneModificationMode::BMM_Replace;
BoneController.RotationSpace = EBoneControlSpace::BCS_ParentBoneSpace;
BoneController.ScaleMode = EBoneModificationMode::BMM_Ignore;
Source/SenseGlove/Private/SenseGlove/GameFramework/SGVirtualHand.cpp
+3 -84
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@@ -374,85 +374,6 @@ TMap<FName, FRotator> ASGVirtualHand::GetFingersBonesRotations()
const TArray<TArray<FVector>> HandAngles = HandPose->GetHandAngles();
for (int32 FingerIndex = 0; FingerIndex < HandAngles.Num(); ++FingerIndex)
{
const TArray<FVector>& FingerJointAngles = HandAngles[FingerIndex];
for (int32 JointIndex = 0; JointIndex < FingerJointAngles.Num(); ++JointIndex)
{
// const FVector& FingerJointAngle{FingerJointAngles[JointIndex]};
// FRotator RefBoneRotation{GetFingerBoneRefRotation(FingerIndex, JointIndex)};
// FName BoneName{GetFingerBoneName(FingerIndex, JointIndex)};
// FRotator BoneRotation{(RefBoneRotation.Vector() + FingerJointAngle).Rotation()};
// Rotations.Emplace(MoveTemp(BoneName), MoveTemp(BoneRotation));
// const FVector& FingerJointAngle{FingerJointAngles[JointIndex]};
// FQuat FingerJointQuat(FingerJointAngle.Rotation().Quaternion());
//
// FRotator RefBoneRotation{GetFingerBoneRefRotation(FingerIndex, JointIndex)};
// FQuat RefBoneQuat(RefBoneRotation.Quaternion());
//
// FQuat BoneWorldQuat{FingerJointQuat * RefBoneQuat};
//
// FRotator BoneRotation{BoneWorldQuat.Rotator()};
//
// FName BoneName{GetFingerBoneName(FingerIndex, JointIndex)};
// Rotations.Emplace(MoveTemp(BoneName), MoveTemp(BoneRotation));
//
// const FVector& FingerJointAngle{FingerJointAngles[JointIndex]};
// const FTransform& RefBoneTransform{GetFingerBoneRefTransform(FingerIndex, JointIndex)};
// // const FVector ComponentSpaceVector{RefBoneTransform.TransformPosition(FingerJointAngle)};
// FQuat ComponentSpaceQuat = RefBoneTransform.GetRotation() * FingerJointAngle.Rotation().Quaternion();
// FRotator BoneRotation{ComponentSpaceQuat.Rotator()};
// FName BoneName{GetFingerBoneName(FingerIndex, JointIndex)};
// Rotations.Emplace(MoveTemp(BoneName), MoveTemp(BoneRotation));
// const FVector& FingerJointAngle{FingerJointAngles[JointIndex]};
// const FTransform& RefBoneTransform{GetFingerBoneRefTransform(FingerIndex, JointIndex)};
//
// FVector BoneSpaceVector = RefBoneTransform.InverseTransformPosition(FingerJointAngle);
// FRotator BoneSpaceRotator = BoneSpaceVector.Rotation();
// FRotator BoneRotation = RefBoneTransform.Rotator().RotateVector(BoneSpaceRotator.Vector()).Rotation();
//
// FName BoneName{GetFingerBoneName(FingerIndex, JointIndex)};
//
// SGLOG(BoneName, FingerJointAngle, BoneRotation, BoneSpaceRotator);
//
// Rotations.Emplace(MoveTemp(BoneName), MoveTemp(BoneSpaceRotator));
const FVector& JointAngle{FMath::RadiansToDegrees(FingerJointAngles[JointIndex])};
const FQuat JointRotation{FQuat::MakeFromEuler(JointAngle)};
const FTransform& BoneRefTransform{GetFingerBoneRefTransform(FingerIndex, JointIndex)};
FQuat NewBoneRotation{BoneRefTransform.GetRotation() * JointRotation};
FTransform NewBoneTransform{BoneRefTransform};
NewBoneTransform.SetRotation(NewBoneRotation);
FName BoneName{GetFingerBoneName(FingerIndex, JointIndex)};
SGLOG(BoneName, JointRotation.Rotator(), BoneRefTransform.Rotator(), NewBoneTransform.Rotator());
Rotations.Emplace(MoveTemp(BoneName), MoveTemp(NewBoneRotation));
}
}
return MoveTemp(Rotations);
}
TMap<FName, FTransform> ASGVirtualHand::GetFingersBonesTransforms()
{
TMap<FName, FTransform> Transforms;
const USGHandPose* HandPose = GetHandPose();
if (!IsValid(HandPose))
{
return MoveTemp(Transforms);
}
const TArray<TArray<FVector>> HandAngles = HandPose->GetHandAngles();
for (int32 FingerIndex = 0; FingerIndex < HandAngles.Num(); ++FingerIndex)
{
const TArray<FVector>& FingerJointAngles = HandAngles[FingerIndex];
@@ -465,18 +386,16 @@ TMap<FName, FTransform> ASGVirtualHand::GetFingersBonesTransforms()
const FTransform& BoneRefTransform{GetFingerBoneRefTransform(FingerIndex, JointIndex)};
FQuat NewBoneRotation{JointRotation * BoneRefTransform.GetRotation()};
FTransform NewBoneTransform{BoneRefTransform};
NewBoneTransform.SetRotation(NewBoneRotation);
FName BoneName{GetFingerBoneName(FingerIndex, JointIndex)};
SGLOG(BoneName, JointRotation.Rotator(), BoneRefTransform.Rotator(), NewBoneTransform.Rotator());
SGLOG(BoneName, JointRotation.Rotator(), BoneRefTransform.Rotator(), NewBoneRotation);
Transforms.Emplace(MoveTemp(BoneName), MoveTemp(NewBoneTransform));
Rotations.Emplace(MoveTemp(BoneName), MoveTemp(NewBoneRotation));
}
}
return MoveTemp(Transforms);
return MoveTemp(Rotations);
}
ASGVirtualHand::FImpl::FImpl(ASGVirtualHand* InOwner)
Source/SenseGlove/Public/SenseGlove/Animation/SGVirtualHandAnimInstanceProxy.h
+1 -2
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@@ -47,8 +47,7 @@ struct SENSEGLOVE_API FSGVirtualHandAnimInstanceProxy : public FAnimInstanceProx
GENERATED_USTRUCT_BODY()
public:
//TMap<FName, FRotator> BonesRotations;
TMap<FName, FTransform> BonesTransforms;
TMap<FName, FRotator> BonesRotations;
public:
FSGVirtualHandAnimInstanceProxy();
Source/SenseGlove/Public/SenseGlove/GameFramework/SGVirtualHand.h
-2
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@@ -182,6 +182,4 @@ public:
FRotator GetFingerBoneRefRotation(int32 Finger, int32 Joint) const;
TMap<FName, FRotator> GetFingersBonesRotations();
TMap<FName, FTransform> GetFingersBonesTransforms();
};