1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
|
/* -*-c++-*-
* Copyright (C) 2008 Cedric Pinson <mornifle@plopbyte.net>
*
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* (at your option) any later version. The full license is in LICENSE file
* included with this distribution, and on the openscenegraph.org website.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* OpenSceneGraph Public License for more details.
*/
#ifndef OSGANIMATION_SKINNING_H
#define OSGANIMATION_SKINNING_H
#include <iostream>
#include <vector>
#include <map>
#include <string>
#include <algorithm>
#include <osgAnimation/VertexInfluence>
#include <osgAnimation/Bone>
#include <osg/Matrix>
#include <osg/Vec3>
#include <osg/Quat>
namespace osgAnimation
{
/// This class manage format for software skinning
/// it used the technic on this paper http://www.intel.com/cd/ids/developer/asmo-na/eng/172124.htm
/// The idea is to prepare the data to do only v' = M x v with M a combined matrix as below
/// M = Mbone1 * w1 + Mbone2 * w2 + ...
/// a M matrix is uniq for a set of vertex then to fully compute the skinned mesh
/// you have to iterate on each UniqBoneSetVertexSet
class TransformVertexFunctor
{
public:
typedef osg::Matrix MatrixType;
typedef osgAnimation::Bone BoneType;
typedef Bone::BoneMap BoneMap;
class BoneWeight
{
public:
BoneWeight(BoneType* bone, float weight) : _bone(bone), _weight(weight) {}
const BoneType* getBone() const { return &(*_bone); }
float getWeight() const { return _weight; }
void setWeight(float w) { _weight = w; }
protected:
osg::ref_ptr<BoneType> _bone;
float _weight;
};
typedef std::vector<BoneWeight> BoneWeightList;
typedef std::vector<int> VertexList;
class UniqBoneSetVertexSet
{
public:
BoneWeightList& getBones() { return _bones; }
VertexList& getVertexes() { return _vertexes; }
void resetMatrix()
{
_result.set(0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 1);
}
void accummulateMatrix(const osg::Matrix& invBindMatrix, const osg::Matrix& matrix, osg::Matrix::value_type weight)
{
osg::Matrix m = invBindMatrix * matrix;
osg::Matrix::value_type* ptr = m.ptr();
osg::Matrix::value_type* ptrresult = _result.ptr();
ptrresult[0] += ptr[0] * weight;
ptrresult[1] += ptr[1] * weight;
ptrresult[2] += ptr[2] * weight;
ptrresult[4] += ptr[4] * weight;
ptrresult[5] += ptr[5] * weight;
ptrresult[6] += ptr[6] * weight;
ptrresult[8] += ptr[8] * weight;
ptrresult[9] += ptr[9] * weight;
ptrresult[10] += ptr[10] * weight;
ptrresult[12] += ptr[12] * weight;
ptrresult[13] += ptr[13] * weight;
ptrresult[14] += ptr[14] * weight;
}
void computeMatrixForVertexSet()
{
if (_bones.empty())
{
osg::notify(osg::WARN) << "TransformVertexFunctor::UniqBoneSetVertexSet no bones found" << std::endl;
_result = MatrixType::identity();
return;
}
resetMatrix();
int size = _bones.size();
for (int i = 0; i < size; i++)
{
const BoneType* bone = _bones[i].getBone();
const MatrixType& invBindMatrix = bone->getInvBindMatrixInSkeletonSpace();
const MatrixType& matrix = bone->getMatrixInSkeletonSpace();
osg::Matrix::value_type w = _bones[i].getWeight();
accummulateMatrix(invBindMatrix, matrix, w);
}
}
const MatrixType& getMatrix() const { return _result;}
protected:
BoneWeightList _bones;
VertexList _vertexes;
MatrixType _result;
};
void init(const BoneMap& map, const osgAnimation::VertexInfluenceSet::UniqVertexSetToBoneSetList& influence)
{
_boneSetVertexSet.clear();
int size = influence.size();
_boneSetVertexSet.resize(size);
for (int i = 0; i < size; i++)
{
const osgAnimation::VertexInfluenceSet::UniqVertexSetToBoneSet& inf = influence[i];
int nbBones = inf.getBones().size();
BoneWeightList& boneList = _boneSetVertexSet[i].getBones();
double sumOfWeight = 0;
for (int b = 0; b < nbBones; b++)
{
const std::string& bname = inf.getBones()[b].getBoneName();
float weight = inf.getBones()[b].getWeight();
BoneMap::const_iterator it = map.find(bname);
if (it == map.end())
{
osg::notify(osg::WARN) << "TransformVertexFunctor Bone " << bname << " not found, skip the influence group " <<bname << std::endl;
continue;
}
BoneType* bone = it->second.get();
boneList.push_back(BoneWeight(bone, weight));
sumOfWeight += weight;
}
// if a bone referenced by a vertexinfluence is missed it can make the sum less than 1.0
// so we check it and renormalize the all weight bone
const double threshold = 1e-4;
if (!_boneSetVertexSet[i].getBones().empty() &&
(sumOfWeight < 1.0 - threshold || sumOfWeight > 1.0 + threshold))
{
for (int b = 0; b < (int)boneList.size(); b++)
boneList[b].setWeight(boneList[b].getWeight() / sumOfWeight);
}
_boneSetVertexSet[i].getVertexes() = inf.getVertexes();
}
}
template <class V> void compute(const V* src, V* dst)
{
int size = _boneSetVertexSet.size();
for (int i = 0; i < size; i++)
{
UniqBoneSetVertexSet& uniq = _boneSetVertexSet[i];
uniq.computeMatrixForVertexSet();
const MatrixType& matrix = uniq.getMatrix();
const VertexList& vertexes = uniq.getVertexes();
int vertexSize = vertexes.size();
for (int j = 0; j < vertexSize; j++)
{
int idx = vertexes[j];
dst[idx] = src[idx] * matrix;
}
}
}
template <class V> void compute(const MatrixType& transform, const MatrixType& invTransform, const V* src, V* dst)
{
// the result of matrix mult should be cached to be used for vertexes transform and normal transform and maybe other computation
int size = _boneSetVertexSet.size();
for (int i = 0; i < size; i++)
{
UniqBoneSetVertexSet& uniq = _boneSetVertexSet[i];
uniq.computeMatrixForVertexSet();
MatrixType matrix = transform * uniq.getMatrix() * invTransform;
const VertexList& vertexes = uniq.getVertexes();
int vertexSize = vertexes.size();
for (int j = 0; j < vertexSize; j++)
{
int idx = vertexes[j];
dst[idx] = src[idx] * matrix;
}
}
}
template <class V> void computeNormal(const MatrixType& transform, const MatrixType& invTransform, const V* src, V* dst)
{
int size = _boneSetVertexSet.size();
for (int i = 0; i < size; i++)
{
UniqBoneSetVertexSet& uniq = _boneSetVertexSet[i];
uniq.computeMatrixForVertexSet();
MatrixType matrix = transform * uniq.getMatrix() * invTransform;
const VertexList& vertexes = uniq.getVertexes();
int vertexSize = vertexes.size();
for (int j = 0; j < vertexSize; j++)
{
int idx = vertexes[j];
dst[idx] = MatrixType::transform3x3(src[idx],matrix);
}
}
}
protected:
std::vector<UniqBoneSetVertexSet> _boneSetVertexSet;
};
}
#endif
|
