17020701(AnimDynamic继续)

【目标】

AnimDynamic继续

【思路】

1 之前运行效果

2 FAnimPhys.CalculateNextPose 会去更新每块骨骼位置

s2 = s1+ vt

3

4 计算流程

5 实验

FAnimPhys.CalculateNextPose 

不更新NextPosition

效果如下：

因为FAnimPhys.CalculateNextPose没屏蔽旋转计算，所以有一部分变化

6

【步骤】

1 添加相关绘制盒子函数USkelControlAnimDynamic

INT USkelControlAnimDynamic::GetNumBodies() const

{

    return Bodies.Num();

}

const FAnimPhysRigidBody& USkelControlAnimDynamic::GetPhysBody(INT BodyIndex) const

{

    return Bodies(BodyIndex).RigidBody.PhysBody;

}

void USkelControlAnimDynamic::DrawSkelControl3D(const FSceneView* View, FPrimitiveDrawInterface* PDI, USkeletalMeshComponent* SkelComp, INT BoneIndex)

{

    // If we want to preview the live node, process it here

    if(bPreviewLive)

    {

        for(INT BodyIndex = 0 ; BodyIndex < GetNumBodies() ; ++BodyIndex)

        {

            const FAnimPhysRigidBody& Body = GetPhysBody(BodyIndex);

            FBoneAtom BodyTransform(Body.Pose.Orientation, Body.Pose.Position);

            //for(const FAnimPhysShape& Shape : Body.Shapes)

            for (INT BodyIdx = 0; BodyIdx < Body.Shapes.Num(); BodyIdx++)

            {

                const FAnimPhysShape& Shape = Body.Shapes(BodyIdx);

                //for(const FIntVector& Triangle : Shape.Triangles)

                for (INT TriangleIdx = 0; TriangleIdx < Shape.Triangles.Num(); TriangleIdx++)

                {

                    const FIntVector& Triangle = Shape.Triangles(TriangleIdx);

                    for(INT Idx = 0 ; Idx < 3 ; ++Idx)

                    {

                        INT Next = (Idx + 1) % 3;

                        FVector FirstVertPosition = BodyTransform.TransformPosition(Shape.Vertices(Triangle(Idx)));

                        FVector SecondVertPosition = BodyTransform.TransformPosition(Shape.Vertices(Triangle(Next)));

                        PDI->DrawLine(FirstVertPosition, SecondVertPosition, FLinearColor::Yellow, SDPG_Foreground, ShapeLineWidth);

                    }

                }

                const INT BoneIndex = SkelComp->MatchRefBone(BoundBone);

                if(BoneIndex != INDEX_NONE)

                {

                    FBoneAtom BodyJointTransform = SkelComp->SpaceBases(BoneIndex);

                    FBoneAtom ShapeOriginalTransform = BodyJointTransform;

                    // Draw pin location

                    FVector LocalPinOffset = BodyTransform.Rotator().RotateVector(GetBodyLocalJointOffset(BodyIndex));

                    PDI->DrawLine(Body.Pose.Position, Body.Pose.Position + LocalPinOffset, FLinearColor::Green, SDPG_Foreground, ShapeLineWidth);

                    // Draw basis at body location

                    FVector Origin = BodyTransform.GetTranslation();

                    FVector XAxis(1.0f, 0.0f, 0.0f);

                    FVector YAxis(0.0f, 1.0f, 0.0f);

                    FVector ZAxis(0.0f, 0.0f, 1.0f);

                    XAxis = BodyTransform.TransformVector(XAxis);

                    YAxis = BodyTransform.TransformVector(YAxis);

                    ZAxis = BodyTransform.TransformVector(ZAxis);

                    PDI->DrawLine(Origin, Origin + XAxis * TransformBasisScale, FLinearColor::Red, SDPG_Foreground, TransformLineWidth);

                    PDI->DrawLine(Origin, Origin + YAxis * TransformBasisScale, FLinearColor::Green, SDPG_Foreground, TransformLineWidth);

                    PDI->DrawLine(Origin, Origin + ZAxis * TransformBasisScale, FLinearColor::Blue, SDPG_Foreground, TransformLineWidth);

                    if(bShowLinearLimits)

                    {

                        DrawLinearLimits(PDI, BodyJointTransform);

                    }

                    if(bShowAngularLimits)

                    {

                        FBoneAtom AngularLimitsTM(BodyJointTransform.GetRotation(), BodyTransform.GetTranslation() + LocalPinOffset);

                        DrawAngularLimits(PDI, AngularLimitsTM);

                    }

                    if(bShowCollisionSpheres && Body.CollisionType != AnimPhysCollisionType::CoM)

                    {

                        // Draw collision sphere

                        DrawWireSphere(PDI, BodyTransform, FLinearColor(FColor::Cyan), Body.SphereCollisionRadius, 24, SDPG_Foreground);

                    }

                }

            }

        }

    }

}

void USkelControlAnimDynamic::DrawAngularLimits(FPrimitiveDrawInterface* PDI, const FBoneAtom& JointTransform) const

{

    FVector XAxis = JointTransform.GetUnitAxis(0);

    FVector YAxis = JointTransform.GetUnitAxis(1);

    FVector ZAxis = JointTransform.GetUnitAxis(2);

    const FVector& MinAngles = ConstraintSetup.AngularLimitsMin;

    const FVector& MaxAngles = ConstraintSetup.AngularLimitsMax;

    FVector AngleRange = MaxAngles - MinAngles;

    FVector Middle = MinAngles + AngleRange * 0.5f;

    UMaterialInterface* LimitMaterial = LoadObject<UMaterialInterface>(NULL, TEXT("EditorMaterials.PhAT_JointLimitMaterial"), NULL, LOAD_None, NULL);

    if (AngleRange.X > 0.0f && AngleRange.X < 180.0f)

    {

        FBoneAtom XAxisConeTM(YAxis, XAxis ^ YAxis, XAxis, JointTransform.GetTranslation());

        XAxisConeTM.SetRotation(FQuat(XAxis, DegreesToRadians(-Middle.X)) * XAxisConeTM.GetRotation());

        DrawCone(PDI, FScaleMatrix(30.0f) * XAxisConeTM.ToMatrix(), DegreesToRadians(AngleRange.X / 2.0f), 0.0f, 24, false, FLinearColor::White, LimitMaterial->GetRenderProxy(false), SDPG_World);

    }

    if (AngleRange.Y > 0.0f && AngleRange.Y < 180.0f)

    {

        FBoneAtom YAxisConeTM(ZAxis, YAxis ^ ZAxis, YAxis, JointTransform.GetTranslation());

        YAxisConeTM.SetRotation(FQuat(YAxis, DegreesToRadians(Middle.Y)) * YAxisConeTM.GetRotation());

        DrawCone(PDI, FScaleMatrix(30.0f) * YAxisConeTM.ToMatrix(), DegreesToRadians(AngleRange.Y / 2.0f), 0.0f, 24, false, FLinearColor::White, LimitMaterial->GetRenderProxy(false), SDPG_World);

    }

    if (AngleRange.Z > 0.0f && AngleRange.Z < 180.0f)

    {

        FBoneAtom ZAxisConeTM(XAxis, ZAxis ^ XAxis, ZAxis, JointTransform.GetTranslation());

        ZAxisConeTM.SetRotation(FQuat(ZAxis, DegreesToRadians(Middle.Z)) * ZAxisConeTM.GetRotation());

        DrawCone(PDI, FScaleMatrix(30.0f) * ZAxisConeTM.ToMatrix(), DegreesToRadians(AngleRange.Z / 2.0f), 0.0f, 24, false, FLinearColor::White, LimitMaterial->GetRenderProxy(false), SDPG_World);

    }

}

void USkelControlAnimDynamic::DrawLinearLimits(FPrimitiveDrawInterface* PDI, const FBoneAtom& ShapeTransform) const

{

    // Draw linear limits

    FVector LinearLimitHalfExtents(ConstraintSetup.LinearAxesMax - ConstraintSetup.LinearAxesMin);

    // Add a tiny bit so we can see collapsed axes

    LinearLimitHalfExtents += FVector(0.1f);

    LinearLimitHalfExtents /= 2.0f;

    FVector LinearLimitsCenter = ConstraintSetup.LinearAxesMin + LinearLimitHalfExtents;

    FBoneAtom LinearLimitsTransform = ShapeTransform;

    LinearLimitsTransform.SetTranslation(LinearLimitsTransform.GetTranslation() + LinearLimitsTransform.TransformVector(LinearLimitsCenter));

    UMaterialInterface* LimitMaterial = LoadObject<UMaterialInterface>(NULL, TEXT("EditorMaterials.PhAT_JointLimitMaterial"), NULL, LOAD_None, NULL);

    DrawBox(PDI, LinearLimitsTransform.ToMatrix(), LinearLimitHalfExtents, LimitMaterial->GetRenderProxy(false), SDPG_Foreground);

}

FVector USkelControlAnimDynamic::GetBodyLocalJointOffset(INT BodyIndex) const

{

    if (JointOffsets.IsValidIndex(BodyIndex))

    {

        return JointOffsets(BodyIndex);

    }

    return FVector::ZeroVector;

}

使用兽人模型前飘带测试

目测骨骼位置反了？

旋转计算的问题

FAnimPhysAngularLimit.Iter 

实验：去掉FAnimPhysAngularLimit.Iter 计算

qun02 和qun09 骨骼位置弄反了

应该qun02固定 qun09飘动的

会不会是 计算结果列表顺序 和应用上去的列表顺序 不一致

USkelControlAnimDynamic.CalculateNewBoneTransforms 

USkelControlAnimDynamic.GetAffectedBones 

2 修改USkelControlAnimDynamic.GetAffectedBones 

        //INT BoneIndex = Component->MatchRefBone(ChainEnd);

        //OutBoneIndices.AddItem(ChainEndBoneIdx);

        OutBoneIndices.InsertItem(ChainEndBoneIdx,0);

...

        while(ParentBoneIndex != 0)

        {

            FName ParentBoneName = SkelComp->GetBoneName(ParentBoneIndex);

            //OutBoneIndices.AddItem(ParentBoneIndex);

            OutBoneIndices.InsertItem(ParentBoneIndex,0);

.......

        }

    }

    else

    {

        //OutBoneIndices.AddItem(BoneIndex);

        OutBoneIndices.InsertItem(BoneIndex,0);

    }

【运行】

顺序对了

效果有待调整

【运行】

 

3

来自为知笔记(Wiz)