From 2e06b700c2f985766445d8ea8782801079d0fc83 Mon Sep 17 00:00:00 2001
From: pnossol <patrick.nossol@gmail.com>
Date: Tue, 31 May 2022 15:15:00 +0200
Subject: [PATCH] Created a more elegant and efficient fix. Yet to test
---
Source/MoCapPlugin/Private/MCAnimInstance.cpp | 5 +-
Source/MoCapPlugin/Private/MCPawn.cpp | 129 +++++++-----------
Source/MoCapPlugin/Private/MCRigUnits.cpp | 36 +----
Source/MoCapPlugin/Public/MCAnimInstance.h | 2 +-
Source/MoCapPlugin/Public/MCDefines.h | 6 -
Source/MoCapPlugin/Public/MCPawn.h | 2 +-
6 files changed, 55 insertions(+), 125 deletions(-)
diff --git a/Source/MoCapPlugin/Private/MCAnimInstance.cpp b/Source/MoCapPlugin/Private/MCAnimInstance.cpp
index e2c7ba1..6e77594 100644
--- a/Source/MoCapPlugin/Private/MCAnimInstance.cpp
+++ b/Source/MoCapPlugin/Private/MCAnimInstance.cpp
@@ -199,7 +199,7 @@ void UMCAnimInstance::SetSensorData(EBodyPart BodyPart, const FQuat& Rot) {
entry->valid = true;
}
-void UMCAnimInstance::SetSensorOffset(EBodyPart BodyPart, float Dist, const FQuat& Rot, const FQuat& AxisRotDiff, const FTransform& DeltaTransform) {
+void UMCAnimInstance::SetSensorOffset(EBodyPart BodyPart, const FTransform& DeltaTransform) {
FSensorOffset* entry = nullptr;
@@ -234,9 +234,6 @@ void UMCAnimInstance::SetSensorOffset(EBodyPart BodyPart, float Dist, const FQua
}
- entry->Distance = Dist;
- entry->Rot = Rot;
- entry->AxisRotDiff = AxisRotDiff;
entry->DeltaTransform = DeltaTransform;
}
diff --git a/Source/MoCapPlugin/Private/MCPawn.cpp b/Source/MoCapPlugin/Private/MCPawn.cpp
index 8c2dcae..2422033 100644
--- a/Source/MoCapPlugin/Private/MCPawn.cpp
+++ b/Source/MoCapPlugin/Private/MCPawn.cpp
@@ -323,39 +323,43 @@ void AMCPawn::CalcSensorOffsets(UMCLogHandler& LogHandler, bool UseLastOffsets,
RotInv = Rot.Inverse();
SocketName1 = Tracker.SocketName1;
}
- //TODO it matters where the pawn is located in the level for this offset capture! Should not be this way, but is it acceptable?
+ //TODO ?? Does it? Test! it matters where the pawn is located in the level for this offset capture! Should not be this way, but is it acceptable?
if (Tracker.SocketName1 != "") {
if (!UseLastOffsets) {
- FVector PosOffset1 = SkeletalMesh->GetSocketLocation(SocketName1) - Loc;
- JsonTracker->SetStringField("Dist1", FString::SanitizeFloat(PosOffset1.Size()));
- FQuat AxisRotDiff = FQuat::FindBetween(-Rot.GetAxisX(), PosOffset1);
- JsonTracker->SetStringField("AxisRot1X", FString::SanitizeFloat(AxisRotDiff.X));
- JsonTracker->SetStringField("AxisRot1Y", FString::SanitizeFloat(AxisRotDiff.Y));
- JsonTracker->SetStringField("AxisRot1Z", FString::SanitizeFloat(AxisRotDiff.Z));
- JsonTracker->SetStringField("AxisRot1W", FString::SanitizeFloat(AxisRotDiff.W));
- FQuat RotOffset1 = RotInv * SkeletalMesh->GetSocketQuaternion(SocketName1);
- JsonTracker->SetStringField("Rot1X", FString::SanitizeFloat(RotOffset1.X));
- JsonTracker->SetStringField("Rot1Y", FString::SanitizeFloat(RotOffset1.Y));
- JsonTracker->SetStringField("Rot1Z", FString::SanitizeFloat(RotOffset1.Z));
- JsonTracker->SetStringField("Rot1W", FString::SanitizeFloat(RotOffset1.W));
-
- Offset->AxisRotDiff = AxisRotDiff;
- Offset->Rot = RotOffset1;
- Offset->Distance = PosOffset1.Size();
+
+ FTransform DataTransform(Rot, Loc);
+ FTransform BoneTransform(SkeletalMesh->GetSocketQuaternion(SocketName1), SkeletalMesh->GetSocketLocation(SocketName1));
+ FTransform DeltaTransform = BoneTransform.GetRelativeTransform(DataTransform);
+
+ FVector DeltaPos = DeltaTransform.GetTranslation();
+ FQuat DeltaRot = DeltaTransform.GetRotation();
+
+ JsonTracker->SetStringField("PosX", FString::SanitizeFloat(DeltaPos.X));
+ JsonTracker->SetStringField("PosY", FString::SanitizeFloat(DeltaPos.X));
+ JsonTracker->SetStringField("PosZ", FString::SanitizeFloat(DeltaPos.X));
+
+ JsonTracker->SetStringField("RotX", FString::SanitizeFloat(DeltaRot.X));
+ JsonTracker->SetStringField("RotY", FString::SanitizeFloat(DeltaRot.Y));
+ JsonTracker->SetStringField("RotZ", FString::SanitizeFloat(DeltaRot.Z));
+ JsonTracker->SetStringField("RotW", FString::SanitizeFloat(DeltaRot.W));
+
+ Offset->DeltaTransform = DeltaTransform;
+
}
else {
- float Distance = Offset->Distance;
- JsonTracker->SetStringField("Dist1", FString::SanitizeFloat(Distance));
- FQuat AxisRotDiff = Offset->AxisRotDiff;
- JsonTracker->SetStringField("AxisRot1X", FString::SanitizeFloat(AxisRotDiff.X));
- JsonTracker->SetStringField("AxisRot1Y", FString::SanitizeFloat(AxisRotDiff.Y));
- JsonTracker->SetStringField("AxisRot1Z", FString::SanitizeFloat(AxisRotDiff.Z));
- JsonTracker->SetStringField("AxisRot1W", FString::SanitizeFloat(AxisRotDiff.W));
- FQuat RotOffset1 = Offset->Rot;
- JsonTracker->SetStringField("Rot1X", FString::SanitizeFloat(RotOffset1.X));
- JsonTracker->SetStringField("Rot1Y", FString::SanitizeFloat(RotOffset1.Y));
- JsonTracker->SetStringField("Rot1Z", FString::SanitizeFloat(RotOffset1.Z));
- JsonTracker->SetStringField("Rot1W", FString::SanitizeFloat(RotOffset1.W));
+
+ FVector DeltaPos = Offset->DeltaTransform.GetTranslation();
+ FQuat DeltaRot = Offset->DeltaTransform.GetRotation();
+
+ JsonTracker->SetStringField("PosX", FString::SanitizeFloat(DeltaPos.X));
+ JsonTracker->SetStringField("PosY", FString::SanitizeFloat(DeltaPos.X));
+ JsonTracker->SetStringField("PosZ", FString::SanitizeFloat(DeltaPos.X));
+
+ JsonTracker->SetStringField("RotX", FString::SanitizeFloat(DeltaRot.X));
+ JsonTracker->SetStringField("RotY", FString::SanitizeFloat(DeltaRot.Y));
+ JsonTracker->SetStringField("RotZ", FString::SanitizeFloat(DeltaRot.Z));
+ JsonTracker->SetStringField("RotW", FString::SanitizeFloat(DeltaRot.W));
+
}
}
@@ -476,39 +480,21 @@ void AMCPawn::InputViveOffsetsToAnimInstance(TSharedPtr<FJsonObject> Data) {
TSharedPtr<FJsonObject> JsonObj = Data->GetObjectField(Type);
- if (JsonObj->HasField("Dist1")) {
- const float RotX = FCString::Atof(*JsonObj->GetStringField("Rot1X"));
- const float RotY = FCString::Atof(*JsonObj->GetStringField("Rot1Y"));
- const float RotZ = FCString::Atof(*JsonObj->GetStringField("Rot1Z"));
- const float RotW = FCString::Atof(*JsonObj->GetStringField("Rot1W"));
- FQuat Rot(RotX, RotY, RotZ, RotW);
+ if (JsonObj->HasField("RotX")) {
- const float AxisRotX = FCString::Atof(*JsonObj->GetStringField("AxisRot1X"));
- const float AxisRotY = FCString::Atof(*JsonObj->GetStringField("AxisRot1Y"));
- const float AxisRotZ = FCString::Atof(*JsonObj->GetStringField("AxisRot1Z"));
- const float AxisRotW = FCString::Atof(*JsonObj->GetStringField("AxisRot1W"));
- FQuat AxisRot(AxisRotX, AxisRotY, AxisRotZ, AxisRotW);
+ const float RotX = FCString::Atof(*JsonObj->GetStringField("RotX"));
+ const float RotY = FCString::Atof(*JsonObj->GetStringField("RotY"));
+ const float RotZ = FCString::Atof(*JsonObj->GetStringField("RotZ"));
+ const float RotW = FCString::Atof(*JsonObj->GetStringField("RotW"));
+ FQuat Rot(RotX, RotY, RotZ, RotW);
- const float Dist = FCString::Atof(*JsonObj->GetStringField("Dist1"));
+ const float PosX = FCString::Atof(*JsonObj->GetStringField("PosX"));
+ const float PosY = FCString::Atof(*JsonObj->GetStringField("PosY"));
+ const float PosZ = FCString::Atof(*JsonObj->GetStringField("PosZ"));
+ FVector Pos(PosX, PosY, PosZ);
- AI->SetSensorOffset(BodyPart, Dist, Rot, AxisRot, FTransform::Identity);
-
- EBodyPart NamePart = BodyPart;
- if (BodyPart == EBodyPart::LowerLegL) {
- NamePart = EBodyPart::FootL;
- }
- if (BodyPart == EBodyPart::LowerLegR) {
- NamePart = EBodyPart::FootR;
- }
- FName BoneName = GetBoneNameFromBodyPart(BodyPart);
- FVector OffsetPos = SkeletalMesh->GetSocketLocation(BoneName);
- FQuat OffsetRot = SkeletalMesh->GetSocketQuaternion(BoneName);
- OffsetSensorData(BodyPart, OffsetPos, OffsetRot, true);
+ AI->SetSensorOffset(BodyPart, FTransform(Rot, Pos));
- FTransform DataTransform(OffsetRot, OffsetPos);
- FTransform FootTransform(SkeletalMesh->GetSocketRotation(BoneName), SkeletalMesh->GetSocketLocation(BoneName));
- FTransform DeltaTransform = FootTransform.GetRelativeTransform(DataTransform);
- AI->SetSensorOffset(BodyPart, Dist, Rot, AxisRot, DeltaTransform);
}
}
@@ -544,7 +530,7 @@ void AMCPawn::InputFingerDataToAnimInstance(TSharedPtr<FJsonObject> Data) {
}
-void AMCPawn::OffsetSensorData(EBodyPart part, FVector & Pos, FQuat & Rot, bool Inverse) {
+void AMCPawn::OffsetSensorData(EBodyPart part, FVector & Pos, FQuat & Rot) {
FSensorOffset* Offset = nullptr;
UMCAnimInstance* AI = GetAnimInstance();
@@ -581,26 +567,11 @@ void AMCPawn::OffsetSensorData(EBodyPart part, FVector & Pos, FQuat & Rot, bool
break;
}
- FQuat RotTmp = Rot;
-
- /*
- * ROT
- * FootRot = DataRot * RotOffset
- * DataRot = FootRot * Inv(RotOffset)
- *
- * POS
- * FootPos = DataPos - DistOffset * (AxisRotOffset * DataRot).AxisX()
- * DataPos = FootPos + DistOffset * (AxisRotOffset * DataRot).AxisX()
- */
-
- if (!Inverse) {
- Rot = Rot * Offset->Rot;
- Pos = Pos - Offset->Distance * (Offset->AxisRotDiff * RotTmp).GetAxisX();
- }
- else {
- Rot = Rot * Offset->Rot.Inverse();
- Pos = Pos + Offset->Distance * (Offset->AxisRotDiff * Rot).GetAxisX();
- }
+ FTransform Transform(Rot, Pos);
+ Transform = Offset->DeltaTransform * Transform;
+
+ Rot = Transform.GetRotation();
+ Pos = Transform.GetTranslation();
}
diff --git a/Source/MoCapPlugin/Private/MCRigUnits.cpp b/Source/MoCapPlugin/Private/MCRigUnits.cpp
index 0da6b57..29158ec 100644
--- a/Source/MoCapPlugin/Private/MCRigUnits.cpp
+++ b/Source/MoCapPlugin/Private/MCRigUnits.cpp
@@ -14,41 +14,9 @@ FRigUnit_SensorOffsets::FRigUnit_SensorOffsets() {
FRigUnit_SensorOffsets_Execute() {
DECLARE_SCOPE_HIERARCHICAL_COUNTER_RIGUNIT()
- OutTrans.SetRotation(ControlTrans.GetRotation() * SensorOffset.Rot);
+ //NewControl = Bone * Control(-1) * NewControl
+ OutTrans = SensorOffset.DeltaTransform * ControlTrans;
- int option = 2;
-
- //original
- if (option == 0) {
- OutTrans.SetTranslation(ControlTrans.GetTranslation() - SensorOffset.Distance * (SensorOffset.AxisRotDiff * ControlTrans.GetRotation()).GetAxisX());
- }
- //no trans offset
- else if (option == 1) {
-
- FQuat AxisRotDiff = SensorOffset.AxisRotDiff;
- if (!AxisRotDiff.IsNormalized()) {
- AxisRotDiff = AxisRotDiff.GetNormalized();
- }
-
- FQuat ControlRot = ControlTrans.GetRotation();
- if (!ControlRot.IsNormalized()) {
- ControlRot = ControlRot.GetNormalized();
- }
-
- check(AxisRotDiff.IsNormalized());
- check(ControlRot.IsNormalized());
- FQuat OffsetDir = AxisRotDiff * ControlRot;
- check(OffsetDir.IsNormalized());
- FVector OffsetVec = AxisRotDiff.RotateVector(ControlRot.GetAxisX());
- check(OffsetVec.IsUnit());
- OutTrans.SetTranslation(ControlTrans.GetTranslation() - SensorOffset.Distance * OffsetVec);
- }
- //use delta trans
- else if (option == 2) {
- //NewControl = Bone * Control(-1) * NewControl
- OutTrans = SensorOffset.DeltaTransform * ControlTrans;
-
- }
}
FRigUnit_ApplyFingerData::FRigUnit_ApplyFingerData() {
diff --git a/Source/MoCapPlugin/Public/MCAnimInstance.h b/Source/MoCapPlugin/Public/MCAnimInstance.h
index c32b741..0fbe328 100644
--- a/Source/MoCapPlugin/Public/MCAnimInstance.h
+++ b/Source/MoCapPlugin/Public/MCAnimInstance.h
@@ -57,6 +57,6 @@ public:
void SetSensorData(EBodyPart BodyPart, const FVector& Pos, const FQuat& Rot);
void SetSensorData(EBodyPart BodyPart, const FQuat& Rot);
- void SetSensorOffset(EBodyPart BodyPart, float Dist, const FQuat& Rot, const FQuat& AxisRotDiff, const FTransform& DeltaTransform);
+ void SetSensorOffset(EBodyPart BodyPart, const FTransform& DeltaTransform);
};
diff --git a/Source/MoCapPlugin/Public/MCDefines.h b/Source/MoCapPlugin/Public/MCDefines.h
index f3ec181..226ab52 100644
--- a/Source/MoCapPlugin/Public/MCDefines.h
+++ b/Source/MoCapPlugin/Public/MCDefines.h
@@ -224,12 +224,6 @@ USTRUCT(BlueprintType)
struct FSensorOffset {
GENERATED_BODY()
- UPROPERTY(BlueprintReadOnly)
- float Distance;
- UPROPERTY(BlueprintReadOnly)
- FQuat Rot;
- UPROPERTY(BlueprintReadOnly)
- FQuat AxisRotDiff;
UPROPERTY(BlueprintReadOnly)
FTransform DeltaTransform;
diff --git a/Source/MoCapPlugin/Public/MCPawn.h b/Source/MoCapPlugin/Public/MCPawn.h
index 2a83c6f..61f0944 100644
--- a/Source/MoCapPlugin/Public/MCPawn.h
+++ b/Source/MoCapPlugin/Public/MCPawn.h
@@ -68,7 +68,7 @@ public:
void InputViveOffsetsToAnimInstance(TSharedPtr<FJsonObject> Data);
void InputFingerDataToAnimInstance(TSharedPtr<FJsonObject> Data);
- void OffsetSensorData(EBodyPart part, FVector& Pos, FQuat& Rot, bool Inverse = false);
+ void OffsetSensorData(EBodyPart part, FVector& Pos, FQuat& Rot);
private:
--
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