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-rw-r--r--indra/llcharacter/llkeyframewalkmotion.cpp268
-rw-r--r--indra/llcharacter/llkeyframewalkmotion.h8
2 files changed, 110 insertions, 166 deletions
diff --git a/indra/llcharacter/llkeyframewalkmotion.cpp b/indra/llcharacter/llkeyframewalkmotion.cpp
index f814618fc1..0587e5642c 100644
--- a/indra/llcharacter/llkeyframewalkmotion.cpp
+++ b/indra/llcharacter/llkeyframewalkmotion.cpp
@@ -44,32 +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
-F32 SPEED_ADJUST_MAX = 2.5f; // maximum adjustment of walk animation playback speed
-F32 SPEED_ADJUST_MAX_SEC = 3.f; // maximum adjustment to walk animation playback speed for a second
-F32 ANIM_SPEED_MAX = 10.0f; // absolute upper limit on animation speed
-F32 ANIM_SPEED_MIN = 0.0f; // absolute lower limit on animation speed
-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)
-{
-}
+{}
//-----------------------------------------------------------------------------
@@ -77,8 +76,7 @@ LLKeyframeWalkMotion::LLKeyframeWalkMotion(const LLUUID &id)
// Class Destructor
//-----------------------------------------------------------------------------
LLKeyframeWalkMotion::~LLKeyframeWalkMotion()
-{
-}
+{}
//-----------------------------------------------------------------------------
@@ -149,15 +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;
}
@@ -189,15 +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();
@@ -211,164 +207,120 @@ 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
+ // 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.
- // 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));
+ //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));
- // pelvis drift (along walk direction)
- mAvgCorrection = lerp(mAvgCorrection, footCorrection.mV[VX] * mRelativeDir, 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;
- // calculate average velocity of foot slippage
- F32 footSlipVelocity = (deltaTime != 0.f) ? (-mAvgCorrection / deltaTime) : 0.f;
+ //// 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);
- 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
+ //foot_slip_vector -= mPelvisOffset;
- F32 directional_factor = localVel.mV[VX] * mRelativeDir;
+ LLVector3 avatar_movement_dir = avatar_velocity;
+ avatar_movement_dir.normalize();
- 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));
+ // 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);
- F32 speedDelta = newSpeedAdjust - mSpeedAdjust;
- speedDelta = llclamp(speedDelta, -SPEED_ADJUST_MAX_SEC * deltaTime, SPEED_ADJUST_MAX_SEC * deltaTime);
+ // multiply animation playback rate so that foot speed matches avatar speed
+ F32 desired_speed_multiplier = llclamp(speed / foot_speed, 0.f, ANIM_SPEED_MAX);
- mSpeedAdjust = mSpeedAdjust + speedDelta;
- }
- else
- {
- mSpeedAdjust = lerp(mSpeedAdjust, 0.f, LLCriticalDamp::getInterpolant(0.2f));
- }
+ // blend towards new speed adjustment value
+ F32 new_speed_adjust = lerp(mAdjustedSpeed, desired_speed_multiplier, LLCriticalDamp::getInterpolant(SPEED_ADJUST_TIME_CONSTANT));
- mAnimSpeed = (mAvgSpeed + mSpeedAdjust) * mRelativeDir;
- if (mAnimSpeed>0)
- {
- mAnimSpeed = llclamp(mAnimSpeed, ANIM_SPEED_MIN, ANIM_SPEED_MAX);
+ // 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
- {
- mAnimSpeed = llclamp(mAnimSpeed, -ANIM_SPEED_MAX, -ANIM_SPEED_MIN);
- }
-// 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);
- if (mCharacter->getMotionController().mIsSelf)
- {
-// F32 elapsed = mCharacter->getMotionController().getFrameTimer().getElapsedTimeF32();
-// llinfos << "PLOT elapsed: " << elapsed
-// << " footSlipVelocity: " << footSlipVelocity
-// << " mAvgCorrection: " << mAvgCorrection
-// << " mAvgSpeed: " << mAvgSpeed
-// << " mAnimSpeed: " << mAnimSpeed
-// << " ANIM_SPEED_MAX: " << ANIM_SPEED_MAX
-// << " ANIM_SPEED_MIN: " << ANIM_SPEED_MIN
-// << llendl;
- }
-
- // 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;
+ { // standing/turning
- LLVector3 currentPelvisPos = mPelvisState->getJoint()->getPosition();
+ // damp out speed adjustment to 0
+ mAnimSpeed = lerp(mAnimSpeed, 1.f, LLCriticalDamp::getInterpolant(0.2f));
+ //mPelvisOffset = lerp(mPelvisOffset, LLVector3::zero, LLCriticalDamp::getInterpolant(0.2f));
+ }
- // 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;
}
@@ -438,14 +390,8 @@ 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;
}
diff --git a/indra/llcharacter/llkeyframewalkmotion.h b/indra/llcharacter/llkeyframewalkmotion.h
index 90dd4dbcac..b507e9423a 100644
--- a/indra/llcharacter/llkeyframewalkmotion.h
+++ b/indra/llcharacter/llkeyframewalkmotion.h
@@ -126,13 +126,11 @@ public:
LLJoint* mRightAnkleJoint;
LLPointer<LLJointState> mPelvisState;
LLJoint* mPelvisJoint;
- LLVector3d mLastLeftAnklePos;
- LLVector3d mLastRightAnklePos;
+ LLVector3d mLastLeftFootGlobalPos;
+ LLVector3d mLastRightFootGlobalPos;
F32 mLastTime;
- F32 mAvgCorrection;
- F32 mSpeedAdjust;
+ F32 mAdjustedSpeed;
F32 mAnimSpeed;
- F32 mAvgSpeed;
F32 mRelativeDir;
LLVector3 mPelvisOffset;
F32 mAnkleOffset;
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-26 00:52:13 +0000