diff options
Diffstat (limited to 'indra/llcharacter/llkeyframewalkmotion.cpp')
| -rw-r--r-- | indra/llcharacter/llkeyframewalkmotion.cpp | 264 |
1 files changed, 117 insertions, 147 deletions
diff --git a/indra/llcharacter/llkeyframewalkmotion.cpp b/indra/llcharacter/llkeyframewalkmotion.cpp index 461309bee9..4a1aca62bc 100644 --- a/indra/llcharacter/llkeyframewalkmotion.cpp +++ b/indra/llcharacter/llkeyframewalkmotion.cpp @@ -44,30 +44,31 @@ //----------------------------------------------------------------------------- // Macros //----------------------------------------------------------------------------- -const F32 MAX_WALK_PLAYBACK_SPEED = 8.f; // max m/s for which we adjust walk cycle speed - -const F32 MIN_WALK_SPEED = 0.1f; // minimum speed at which we use velocity for down foot detection -const F32 MAX_TIME_DELTA = 2.f; //max two seconds a frame for calculating interpolation -const F32 SPEED_ADJUST_MAX = 2.5f; // maximum adjustment of walk animation playback speed -const F32 SPEED_ADJUST_MAX_SEC = 3.f; // maximum adjustment to walk animation playback speed for a second -const F32 DRIFT_COMP_MAX_TOTAL = 0.07f;//0.55f; // maximum drift compensation overall, in any direction -const F32 DRIFT_COMP_MAX_SPEED = 4.f; // speed at which drift compensation total maxes out +const F32 MAX_WALK_PLAYBACK_SPEED = 8.f; // max m/s for which we adjust walk cycle speed + +const F32 MIN_WALK_SPEED = 0.1f; // minimum speed at which we use velocity for down foot detection +const F32 TIME_EPSILON = 0.001f; // minumum frame time +const F32 MAX_TIME_DELTA = 2.f; // max two seconds a frame for calculating interpolation +F32 SPEED_ADJUST_MAX_SEC = 2.f; // maximum adjustment to walk animation playback speed for a second +F32 ANIM_SPEED_MAX = 1.5f; // absolute upper limit on animation speed +const F32 DRIFT_COMP_MAX_TOTAL = 0.1f; // maximum drift compensation overall, in any direction +const F32 DRIFT_COMP_MAX_SPEED = 4.f; // speed at which drift compensation total maxes out const F32 MAX_ROLL = 0.6f; +const F32 PELVIS_COMPENSATION_WIEGHT = 0.7f; // proportion of foot drift that is compensated by moving the avatar directly +const F32 SPEED_ADJUST_TIME_CONSTANT = 0.1f; // time constant for speed adjustment interpolation //----------------------------------------------------------------------------- // LLKeyframeWalkMotion() // Class Constructor //----------------------------------------------------------------------------- LLKeyframeWalkMotion::LLKeyframeWalkMotion(const LLUUID &id) - : LLKeyframeMotion(id), - +: LLKeyframeMotion(id), mCharacter(NULL), mCyclePhase(0.0f), mRealTimeLast(0.0f), mAdjTimeLast(0.0f), mDownFoot(0) -{ -} +{} //----------------------------------------------------------------------------- @@ -75,8 +76,7 @@ LLKeyframeWalkMotion::LLKeyframeWalkMotion(const LLUUID &id) // Class Destructor //----------------------------------------------------------------------------- LLKeyframeWalkMotion::~LLKeyframeWalkMotion() -{ -} +{} //----------------------------------------------------------------------------- @@ -147,15 +147,12 @@ BOOL LLKeyframeWalkMotion::onUpdate(F32 time, U8* joint_mask) LLWalkAdjustMotion::LLWalkAdjustMotion(const LLUUID &id) : LLMotion(id), mLastTime(0.f), - mAvgCorrection(0.f), - mSpeedAdjust(0.f), mAnimSpeed(0.f), - mAvgSpeed(0.f), + mAdjustedSpeed(0.f), mRelativeDir(0.f), mAnkleOffset(0.f) { mName = "walk_adjust"; - mPelvisState = new LLJointState; } @@ -187,15 +184,16 @@ LLMotion::LLMotionInitStatus LLWalkAdjustMotion::onInitialize(LLCharacter *chara //----------------------------------------------------------------------------- BOOL LLWalkAdjustMotion::onActivate() { - mAvgCorrection = 0.f; - mSpeedAdjust = 0.f; mAnimSpeed = 0.f; - mAvgSpeed = 0.f; + mAdjustedSpeed = 0.f; mRelativeDir = 1.f; mPelvisState->setPosition(LLVector3::zero); // store ankle positions for next frame - mLastLeftAnklePos = mCharacter->getPosGlobalFromAgent(mLeftAnkleJoint->getWorldPosition()); - mLastRightAnklePos = mCharacter->getPosGlobalFromAgent(mRightAnkleJoint->getWorldPosition()); + mLastLeftFootGlobalPos = mCharacter->getPosGlobalFromAgent(mLeftAnkleJoint->getWorldPosition()); + mLastLeftFootGlobalPos.mdV[VZ] = 0.0; + + mLastRightFootGlobalPos = mCharacter->getPosGlobalFromAgent(mRightAnkleJoint->getWorldPosition()); + mLastRightFootGlobalPos.mdV[VZ] = 0.0; F32 leftAnkleOffset = (mLeftAnkleJoint->getWorldPosition() - mCharacter->getCharacterPosition()).magVec(); F32 rightAnkleOffset = (mRightAnkleJoint->getWorldPosition() - mCharacter->getCharacterPosition()).magVec(); @@ -209,143 +207,121 @@ BOOL LLWalkAdjustMotion::onActivate() //----------------------------------------------------------------------------- BOOL LLWalkAdjustMotion::onUpdate(F32 time, U8* joint_mask) { - LLVector3 footCorrection; - LLVector3 vel = mCharacter->getCharacterVelocity() * mCharacter->getTimeDilation(); - F32 deltaTime = llclamp(time - mLastTime, 0.f, MAX_TIME_DELTA); + // delta_time is guaranteed to be non zero + F32 delta_time = llclamp(time - mLastTime, TIME_EPSILON, MAX_TIME_DELTA); mLastTime = time; - LLQuaternion inv_rotation = ~mPelvisJoint->getWorldRotation(); + // find the avatar motion vector in the XY plane + LLVector3 avatar_velocity = mCharacter->getCharacterVelocity() * mCharacter->getTimeDilation(); + avatar_velocity.mV[VZ] = 0.f; - // get speed and normalize velocity vector - LLVector3 ang_vel = mCharacter->getCharacterAngularVelocity() * mCharacter->getTimeDilation(); - F32 speed = llmin(vel.normVec(), MAX_WALK_PLAYBACK_SPEED); - mAvgSpeed = lerp(mAvgSpeed, speed, LLCriticalDamp::getInterpolant(0.2f)); + F32 speed = llclamp(avatar_velocity.magVec(), 0.f, MAX_WALK_PLAYBACK_SPEED); - // calculate facing vector in pelvis-local space - // (either straight forward or back, depending on velocity) - LLVector3 localVel = vel * inv_rotation; - if (localVel.mV[VX] > 0.f) - { - mRelativeDir = 1.f; - } - else if (localVel.mV[VX] < 0.f) - { - mRelativeDir = -1.f; - } + // grab avatar->world transforms + LLQuaternion avatar_to_world_rot = mCharacter->getRootJoint()->getWorldRotation(); - // calculate world-space foot drift - LLVector3 leftFootDelta; - LLVector3 leftFootWorldPosition = mLeftAnkleJoint->getWorldPosition(); - LLVector3d leftFootGlobalPosition = mCharacter->getPosGlobalFromAgent(leftFootWorldPosition); - leftFootDelta.setVec(mLastLeftAnklePos - leftFootGlobalPosition); - mLastLeftAnklePos = leftFootGlobalPosition; + LLQuaternion world_to_avatar_rot(avatar_to_world_rot); + world_to_avatar_rot.conjugate(); - LLVector3 rightFootDelta; - LLVector3 rightFootWorldPosition = mRightAnkleJoint->getWorldPosition(); - LLVector3d rightFootGlobalPosition = mCharacter->getPosGlobalFromAgent(rightFootWorldPosition); - rightFootDelta.setVec(mLastRightAnklePos - rightFootGlobalPosition); - mLastRightAnklePos = rightFootGlobalPosition; + LLVector3 foot_slip_vector; // find foot drift along velocity vector - if (mAvgSpeed > 0.1) - { - // walking/running - F32 leftFootDriftAmt = leftFootDelta * vel; - F32 rightFootDriftAmt = rightFootDelta * vel; - - if (rightFootDriftAmt > leftFootDriftAmt) - { - footCorrection = rightFootDelta; - } else - { - footCorrection = leftFootDelta; - } - } - else - { - mAvgSpeed = ang_vel.magVec() * mAnkleOffset; - mRelativeDir = 1.f; - - // standing/turning - // find the lower foot - if (leftFootWorldPosition.mV[VZ] < rightFootWorldPosition.mV[VZ]) - { - // pivot on left foot - footCorrection = leftFootDelta; - } + if (speed > MIN_WALK_SPEED) + { // walking/running + + // calculate world-space foot drift + // use global coordinates to seamlessly handle region crossings + LLVector3d leftFootGlobalPosition = mCharacter->getPosGlobalFromAgent(mLeftAnkleJoint->getWorldPosition()); + leftFootGlobalPosition.mdV[VZ] = 0.0; + LLVector3 leftFootDelta(leftFootGlobalPosition - mLastLeftFootGlobalPos); + mLastLeftFootGlobalPos = leftFootGlobalPosition; + + LLVector3d rightFootGlobalPosition = mCharacter->getPosGlobalFromAgent(mRightAnkleJoint->getWorldPosition()); + rightFootGlobalPosition.mdV[VZ] = 0.0; + LLVector3 rightFootDelta(rightFootGlobalPosition - mLastRightFootGlobalPos); + mLastRightFootGlobalPos = rightFootGlobalPosition; + + // get foot drift along avatar direction of motion + F32 left_foot_slip_amt = leftFootDelta * avatar_velocity; + F32 right_foot_slip_amt = rightFootDelta * avatar_velocity; + + // if right foot is pushing back faster than left foot... + if (right_foot_slip_amt < left_foot_slip_amt) + { //...use it to calculate optimal animation speed + foot_slip_vector = rightFootDelta; + } else - { - // pivot on right foot - footCorrection = rightFootDelta; + { // otherwise use the left foot + foot_slip_vector = leftFootDelta; } - } - - // rotate into avatar coordinates - footCorrection = footCorrection * inv_rotation; - - // calculate ideal pelvis offset so that foot is glued to ground and damp towards it - // the amount of foot slippage this frame + the offset applied last frame - mPelvisOffset = mPelvisState->getPosition() + lerp(LLVector3::zero, footCorrection, LLCriticalDamp::getInterpolant(0.2f)); - - // pelvis drift (along walk direction) - mAvgCorrection = lerp(mAvgCorrection, footCorrection.mV[VX] * mRelativeDir, LLCriticalDamp::getInterpolant(0.1f)); - - // calculate average velocity of foot slippage - F32 footSlipVelocity = (deltaTime != 0.f) ? (-mAvgCorrection / deltaTime) : 0.f; - - F32 newSpeedAdjust = 0.f; - - // modulate speed by dot products of facing and velocity - // so that if we are moving sideways, we slow down the animation - // and if we're moving backward, we walk backward - F32 directional_factor = localVel.mV[VX] * mRelativeDir; - if (speed > 0.1f) - { - // calculate ratio of desired foot velocity to detected foot velocity - newSpeedAdjust = llclamp(footSlipVelocity - mAvgSpeed * (1.f - directional_factor), - -SPEED_ADJUST_MAX, SPEED_ADJUST_MAX); - newSpeedAdjust = lerp(mSpeedAdjust, newSpeedAdjust, LLCriticalDamp::getInterpolant(0.2f)); - - F32 speedDelta = newSpeedAdjust - mSpeedAdjust; - speedDelta = llclamp(speedDelta, -SPEED_ADJUST_MAX_SEC * deltaTime, SPEED_ADJUST_MAX_SEC * deltaTime); - - mSpeedAdjust = mSpeedAdjust + speedDelta; + // calculate ideal pelvis offset so that foot is glued to ground and damp towards it + // this will soak up transient slippage + // + // FIXME: this interacts poorly with speed adjustment + // mPelvisOffset compensates for foot drift by moving the avatar pelvis in the opposite + // direction of the drift, up to a certain limited distance + // but this will cause the animation playback rate calculation below to + // kick in too slowly and sometimes start playing the animation in reverse. + + //mPelvisOffset -= PELVIS_COMPENSATION_WIEGHT * (foot_slip_vector * world_to_avatar_rot);//lerp(LLVector3::zero, -1.f * (foot_slip_vector * world_to_avatar_rot), LLCriticalDamp::getInterpolant(0.1f)); + + ////F32 drift_comp_max = DRIFT_COMP_MAX_TOTAL * (llclamp(speed, 0.f, DRIFT_COMP_MAX_SPEED) / DRIFT_COMP_MAX_SPEED); + //F32 drift_comp_max = DRIFT_COMP_MAX_TOTAL; + + //// clamp pelvis offset to a 90 degree arc behind the nominal position + //// NB: this is an ADDITIVE amount that is accumulated every frame, so clamping it alone won't do the trick + //// must clamp with absolute position of pelvis in mind + //LLVector3 currentPelvisPos = mPelvisState->getJoint()->getPosition(); + //mPelvisOffset.mV[VX] = llclamp( mPelvisOffset.mV[VX], -drift_comp_max, drift_comp_max ); + //mPelvisOffset.mV[VY] = llclamp( mPelvisOffset.mV[VY], -drift_comp_max, drift_comp_max ); + //mPelvisOffset.mV[VZ] = 0.f; + // + //mLastRightFootGlobalPos += LLVector3d(mPelvisOffset * avatar_to_world_rot); + //mLastLeftFootGlobalPos += LLVector3d(mPelvisOffset * avatar_to_world_rot); + + //foot_slip_vector -= mPelvisOffset; + + LLVector3 avatar_movement_dir = avatar_velocity; + avatar_movement_dir.normalize(); + + // planted foot speed is avatar velocity - foot slip amount along avatar movement direction + F32 foot_speed = speed - ((foot_slip_vector * avatar_movement_dir) / delta_time); + + // multiply animation playback rate so that foot speed matches avatar speed + F32 min_speed_multiplier = clamp_rescale(speed, 0.f, 1.f, 0.f, 0.1f); + F32 desired_speed_multiplier = llclamp(speed / foot_speed, min_speed_multiplier, ANIM_SPEED_MAX); + + // blend towards new speed adjustment value + F32 new_speed_adjust = lerp(mAdjustedSpeed, desired_speed_multiplier, LLCriticalDamp::getInterpolant(SPEED_ADJUST_TIME_CONSTANT)); + + // limit that rate at which the speed adjustment changes + F32 speedDelta = llclamp(new_speed_adjust - mAdjustedSpeed, -SPEED_ADJUST_MAX_SEC * delta_time, SPEED_ADJUST_MAX_SEC * delta_time); + mAdjustedSpeed += speedDelta; + + // modulate speed by dot products of facing and velocity + // so that if we are moving sideways, we slow down the animation + // and if we're moving backward, we walk backward + // do this at the end to be more responsive to direction changes instead of in the above speed calculations + F32 directional_factor = (avatar_movement_dir * world_to_avatar_rot).mV[VX]; + + mAnimSpeed = mAdjustedSpeed * directional_factor; } else - { - mSpeedAdjust = lerp(mSpeedAdjust, 0.f, LLCriticalDamp::getInterpolant(0.2f)); + { // standing/turning + + // damp out speed adjustment to 0 + mAnimSpeed = lerp(mAnimSpeed, 1.f, LLCriticalDamp::getInterpolant(0.2f)); + //mPelvisOffset = lerp(mPelvisOffset, LLVector3::zero, LLCriticalDamp::getInterpolant(0.2f)); } - mAnimSpeed = (mAvgSpeed + mSpeedAdjust) * mRelativeDir; -// char debug_text[64]; -// sprintf(debug_text, "Foot slip vel: %.2f", footSlipVelocity); -// mCharacter->addDebugText(debug_text); -// sprintf(debug_text, "Speed: %.2f", mAvgSpeed); -// mCharacter->addDebugText(debug_text); -// sprintf(debug_text, "Speed Adjust: %.2f", mSpeedAdjust); -// mCharacter->addDebugText(debug_text); -// sprintf(debug_text, "Animation Playback Speed: %.2f", mAnimSpeed); -// mCharacter->addDebugText(debug_text); - mCharacter->setAnimationData("Walk Speed", &mAnimSpeed); - - // clamp pelvis offset to a 90 degree arc behind the nominal position - F32 drift_comp_max = llclamp(speed, 0.f, DRIFT_COMP_MAX_SPEED) / DRIFT_COMP_MAX_SPEED; - drift_comp_max *= DRIFT_COMP_MAX_TOTAL; - - LLVector3 currentPelvisPos = mPelvisState->getJoint()->getPosition(); - - // NB: this is an ADDITIVE amount that is accumulated every frame, so clamping it alone won't do the trick - // must clamp with absolute position of pelvis in mind - mPelvisOffset.mV[VX] = llclamp( mPelvisOffset.mV[VX], -drift_comp_max - currentPelvisPos.mV[VX], drift_comp_max - currentPelvisPos.mV[VX] ); - mPelvisOffset.mV[VY] = llclamp( mPelvisOffset.mV[VY], -drift_comp_max - currentPelvisPos.mV[VY], drift_comp_max - currentPelvisPos.mV[VY]); - mPelvisOffset.mV[VZ] = 0.f; + // broadcast walk speed change + mCharacter->setAnimationData("Walk Speed", &mAnimSpeed); // set position + // need to update *some* joint to keep this animation active mPelvisState->setPosition(mPelvisOffset); - mCharacter->setAnimationData("Pelvis Offset", &mPelvisOffset); - return TRUE; } @@ -415,14 +391,8 @@ BOOL LLFlyAdjustMotion::onUpdate(F32 time, U8* joint_mask) // roll is critically damped interpolation between current roll and angular velocity-derived target roll mRoll = lerp(mRoll, target_roll, LLCriticalDamp::getInterpolant(0.1f)); -// llinfos << mRoll << llendl; - LLQuaternion roll(mRoll, LLVector3(0.f, 0.f, 1.f)); mPelvisState->setRotation(roll); -// F32 lerp_amt = LLCriticalDamp::getInterpolant(0.2f); -// -// LLVector3 pelvis_correction = mPelvisState->getPosition() - lerp(LLVector3::zero, mPelvisState->getJoint()->getPosition() + mPelvisState->getPosition(), lerp_amt); -// mPelvisState->setPosition(pelvis_correction); return TRUE; } |