376 lines
14 KiB
C++
376 lines
14 KiB
C++
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#include "LPAnimChecks.h"
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#include "Animation/AnimData/IAnimationDataModel.h"
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#include "Animation/AnimSequence.h"
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#include "Engine/SkeletalMesh.h"
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#include "PhysicsEngine/BodySetup.h"
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#include "PhysicsEngine/PhysicsAsset.h"
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#include "PhysicsEngine/SkeletalBodySetup.h"
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#include "Rendering/SkeletalMeshLODModel.h"
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#include "Rendering/SkeletalMeshModel.h"
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namespace
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{
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// Os du tronc dont les capsules forment le volume teste (roles du profil).
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const TCHAR* const TrunkRoles[] = { TEXT("hips"), TEXT("pelvis"), TEXT("spine") };
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// Seuils internes de detection (pas des seuils d'acceptation, fixes dans LPAnimEval).
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constexpr float ContactHeight = 3.f; // cm : pied source considere au sol
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constexpr float PlantedMove = 1.f; // cm par image : pied source immobile
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constexpr float StraightLeg = 15.f; // degres : jambe presque tendue
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constexpr float JumpFactor = 1.5f; // une rotation d'image peut depasser la source de 50 %
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constexpr float JumpMargin = 2.f; // ... plus 2 degres
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int32 BoneOf(const FLPPose& Pose, const TCHAR* Role, int32 Index = 0)
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{
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const FName Name = LPPoseMeasure::RoleBone(Pose, Role, Index);
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return Name.IsNone() ? INDEX_NONE : Pose.Names.IndexOfByKey(Name);
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}
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FVector At(const FLPPose& Pose, int32 Bone)
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{
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return Pose.Component.IsValidIndex(Bone) ? Pose.Component[Bone].GetLocation() : FVector::ZeroVector;
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}
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// Avant du corps : perpendiculaire horizontale a l'axe des hanches.
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FVector ForwardOf(const FLPPose& Pose)
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{
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FVector Side = At(Pose, BoneOf(Pose, TEXT("thigh_l"))) - At(Pose, BoneOf(Pose, TEXT("thigh_r")));
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Side.Z = 0.f;
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return FVector::CrossProduct(Side.GetSafeNormal(), FVector::UpVector).GetSafeNormal();
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}
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float Flexion(const FLPPose& Pose, int32 A, int32 B, int32 C)
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{
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const FVector Upper = (At(Pose, B) - At(Pose, A)).GetSafeNormal();
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const FVector Lower = (At(Pose, C) - At(Pose, B)).GetSafeNormal();
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return FMath::RadiansToDegrees(FMath::Acos(FMath::Clamp(FVector::DotProduct(Upper, Lower), -1.f, 1.f)));
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}
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// Genou derriere la ligne hanche-cheville (cm, positif = hyperextension), jambe presque tendue seulement.
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float KneeBehind(const FLPPose& Pose, int32 Hip, int32 Knee, int32 Ankle)
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{
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if (Flexion(Pose, Hip, Knee, Ankle) > StraightLeg)
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{
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return 0.f;
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}
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const FVector Line = (At(Pose, Ankle) - At(Pose, Hip)).GetSafeNormal();
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const FVector Offset = (At(Pose, Knee) - At(Pose, Hip)) - Line * FVector::DotProduct(At(Pose, Knee) - At(Pose, Hip), Line);
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return FMath::Max(0.f, -static_cast<float>(FVector::DotProduct(Offset, ForwardOf(Pose))));
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}
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// Repli sans actif physique : une capsule par segment de la colonne (bassin -> base du cou), rayon pris sur
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// la peau du maillage (sommets dont l'os dominant est du tronc), au 30e centile des distances a l'axe :
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// prudent, les flancs plus larges que la profondeur ne declenchent pas de faux positifs.
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constexpr float SkinPercentile = 0.30f;
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TArray<FLPCheckCapsule> SkinCapsules(const USkeletalMesh* Mesh, const FLPPose& BodyT, const TSet<int32>& Trunk)
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{
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TArray<FLPCheckCapsule> Capsules;
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const FSkeletalMeshModel* Imported = Mesh ? Mesh->GetImportedModel() : nullptr;
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if (!Imported || Imported->LODModels.Num() == 0 || BodyT.Rest.Num() != BodyT.Names.Num())
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{
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return Capsules;
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}
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const FReferenceSkeleton& MeshRef = Mesh->GetRefSkeleton();
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TArray<int32> Nodes;
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Nodes.Add(BoneOf(BodyT, TEXT("pelvis")));
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for (int32 Index = 0; ; ++Index)
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{
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const int32 Bone = BoneOf(BodyT, TEXT("spine"), Index);
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if (Bone == INDEX_NONE)
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{
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break;
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}
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Nodes.Add(Bone);
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}
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Nodes.Add(BoneOf(BodyT, TEXT("neck")));
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Nodes.RemoveAll([](int32 Bone) { return Bone == INDEX_NONE; });
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struct FSegment { int32 Bone; FVector A; FVector B; TArray<float> Distances; };
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TArray<FSegment> Segments;
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for (int32 Index = 0; Index + 1 < Nodes.Num(); ++Index)
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{
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const FVector A = BodyT.Rest[Nodes[Index]].GetLocation();
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const FVector B = BodyT.Rest[Nodes[Index + 1]].GetLocation();
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if (FVector::Dist(A, B) > 2.f)
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{
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Segments.Add({ Nodes[Index], A, B, {} });
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}
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}
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for (const FSkelMeshSection& Section : Imported->LODModels[0].Sections)
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{
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for (const FSoftSkinVertex& Vertex : Section.SoftVertices)
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{
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int32 Best = 0;
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for (int32 Influence = 1; Influence < MAX_TOTAL_INFLUENCES; ++Influence)
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{
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if (Vertex.InfluenceWeights[Influence] > Vertex.InfluenceWeights[Best])
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{
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Best = Influence;
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}
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}
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if (!Section.BoneMap.IsValidIndex(Vertex.InfluenceBones[Best]))
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{
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continue;
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}
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const int32 Bone = BodyT.Names.IndexOfByKey(MeshRef.GetBoneName(Section.BoneMap[Vertex.InfluenceBones[Best]]));
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if (!Trunk.Contains(Bone))
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{
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continue;
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}
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const FVector P(Vertex.Position);
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for (FSegment& Segment : Segments)
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{
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const FVector AB = Segment.B - Segment.A;
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const float T = static_cast<float>(FVector::DotProduct(P - Segment.A, AB) / AB.SizeSquared());
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if (T >= 0.f && T <= 1.f)
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{
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Segment.Distances.Add(static_cast<float>(FVector::Dist(P, Segment.A + AB * T)));
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break;
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}
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}
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}
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}
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for (FSegment& Segment : Segments)
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{
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if (Segment.Distances.Num() < 20)
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{
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continue;
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}
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Segment.Distances.Sort();
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const FTransform& Rest = BodyT.Rest[Segment.Bone];
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FLPCheckCapsule& Capsule = Capsules.AddDefaulted_GetRef();
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Capsule.Bone = Segment.Bone;
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Capsule.Center = Rest.InverseTransformPosition((Segment.A + Segment.B) * 0.5f);
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Capsule.Axis = Rest.InverseTransformVectorNoScale((Segment.B - Segment.A).GetSafeNormal());
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Capsule.HalfLength = static_cast<float>(FVector::Dist(Segment.A, Segment.B)) * 0.5f;
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Capsule.Radius = Segment.Distances[FMath::FloorToInt(Segment.Distances.Num() * SkinPercentile)];
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}
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return Capsules;
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}
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float SegmentDistance(const FVector& P, const FVector& A, const FVector& B)
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{
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const FVector AB = B - A;
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const float T = AB.IsNearlyZero() ? 0.f : FMath::Clamp(static_cast<float>(FVector::DotProduct(P - A, AB) / AB.SizeSquared()), 0.f, 1.f);
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return static_cast<float>(FVector::Dist(P, A + AB * T));
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}
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}
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namespace LPAnimChecks
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{
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TArray<FLPCheckCapsule> TrunkCapsules(const USkeletalMesh* Mesh, const FLPPose& BodyT)
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{
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TArray<FLPCheckCapsule> Capsules;
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const UPhysicsAsset* Physics = Mesh ? Mesh->GetPhysicsAsset() : nullptr;
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TSet<int32> Trunk;
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for (const TCHAR* Role : TrunkRoles)
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{
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for (int32 Index = 0; ; ++Index)
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{
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const int32 Bone = BoneOf(BodyT, Role, Index);
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if (Bone == INDEX_NONE)
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{
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break;
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}
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Trunk.Add(Bone);
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}
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}
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if (!Physics)
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{
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return SkinCapsules(Mesh, BodyT, Trunk);
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}
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for (const TObjectPtr<USkeletalBodySetup>& Setup : Physics->SkeletalBodySetups)
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{
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const int32 Bone = Setup ? BodyT.Names.IndexOfByKey(Setup->BoneName) : INDEX_NONE;
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if (Bone == INDEX_NONE || !Trunk.Contains(Bone))
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{
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continue;
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}
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for (const FKSphylElem& Sphyl : Setup->AggGeom.SphylElems)
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{
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FLPCheckCapsule& Capsule = Capsules.AddDefaulted_GetRef();
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Capsule.Bone = Bone;
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Capsule.Center = Sphyl.Center;
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Capsule.Axis = Sphyl.Rotation.Quaternion().GetAxisZ();
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Capsule.HalfLength = Sphyl.Length * 0.5f;
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Capsule.Radius = Sphyl.Radius;
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}
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for (const FKSphereElem& Sphere : Setup->AggGeom.SphereElems)
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{
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FLPCheckCapsule& Capsule = Capsules.AddDefaulted_GetRef();
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Capsule.Bone = Bone;
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Capsule.Center = Sphere.Center;
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Capsule.Radius = Sphere.Radius;
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}
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}
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return Capsules.Num() > 0 ? Capsules : SkinCapsules(Mesh, BodyT, Trunk);
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}
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float SelfTest(const TArray<FLPCheckCapsule>& Trunk, const FLPPose& BodyT)
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{
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float Worst = Trunk.Num() > 0 ? 0.f : -1.f;
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for (const FLPCheckCapsule& Capsule : Trunk)
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{
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const FTransform& Bone = BodyT.Component[Capsule.Bone];
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const FVector Center = Bone.TransformPosition(Capsule.Center);
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const FVector Axis = Bone.TransformVectorNoScale(Capsule.Axis) * Capsule.HalfLength;
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// L'articulation de l'os porteur est une extremite du segment : profondeur egale au rayon si le centre
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// et l'axe ont ete bien ramenes dans le repere de l'os.
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const float Depth = Capsule.Radius - SegmentDistance(Bone.GetLocation(), Center - Axis, Center + Axis);
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Worst = FMath::Max(Worst, FMath::Abs(Depth - Capsule.Radius));
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}
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return Worst;
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}
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FLPClipChecks CheckClip(const FString& RefPath, const FString& BodyPath, const FLPPose& RefT, const FLPPose& BodyT,
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const TArray<FLPCheckCapsule>& Trunk)
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{
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FLPClipChecks Out;
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Out.Clip = FPaths::GetBaseFilename(BodyPath);
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const UAnimSequence* Anim = LoadObject<UAnimSequence>(nullptr, *BodyPath);
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const IAnimationDataModel* Model = Anim ? Anim->GetDataModel() : nullptr;
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if (!Model)
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{
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Out.Error = TEXT("clip converti absent");
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return Out;
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}
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const FFrameRate Rate = Model->GetFrameRate();
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Out.Frames = Model->GetNumberOfKeys();
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// Mise a l'echelle source -> corps : hauteur de hanche des deux poses T.
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const int32 RefHips = BoneOf(RefT, TEXT("hips"));
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const int32 BodyHips = BoneOf(BodyT, TEXT("hips"));
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const float Scale = RefHips != INDEX_NONE && BodyHips != INDEX_NONE && At(RefT, RefHips).Z > 1.f
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? static_cast<float>(At(BodyT, BodyHips).Z / At(RefT, RefHips).Z) : 1.f;
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// Points de contact (pieds, orteils) et articulations (coude, genou), par role.
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const TCHAR* const ContactRoles[] = { TEXT("foot_l"), TEXT("toe_l"), TEXT("foot_r"), TEXT("toe_r") };
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struct FJoint { const TCHAR* A; const TCHAR* B; const TCHAR* C; bool bKnee; };
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const FJoint Joints[] = {
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{ TEXT("thigh_l"), TEXT("calf_l"), TEXT("foot_l"), true },
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{ TEXT("thigh_r"), TEXT("calf_r"), TEXT("foot_r"), true },
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{ TEXT("upperarm_l"), TEXT("lowerarm_l"), TEXT("hand_l"), false },
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{ TEXT("upperarm_r"), TEXT("lowerarm_r"), TEXT("hand_r"), false },
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};
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const TCHAR* const JumpRoles[] = {
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TEXT("hips"), TEXT("head"), TEXT("clavicle_l"), TEXT("upperarm_l"), TEXT("lowerarm_l"), TEXT("hand_l"),
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TEXT("clavicle_r"), TEXT("upperarm_r"), TEXT("lowerarm_r"), TEXT("hand_r"),
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TEXT("thigh_l"), TEXT("calf_l"), TEXT("foot_l"), TEXT("thigh_r"), TEXT("calf_r"), TEXT("foot_r")
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};
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const TCHAR* const ProbeRoles[] = { TEXT("hand_l"), TEXT("lowerarm_l"), TEXT("hand_r"), TEXT("lowerarm_r") };
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FLPPose PrevRef;
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FLPPose PrevBody;
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for (int32 Key = 0; Key < Out.Frames; ++Key)
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{
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const float Time = static_cast<float>(Rate.AsSeconds(FFrameTime(Key)));
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FLPPose Ref;
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FLPPose Body;
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if (!LPPoseMeasure::Sample(RefPath, Time, Ref) || !LPPoseMeasure::Sample(BodyPath, Time, Body))
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{
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Out.Error = FString::Printf(TEXT("image %d illisible"), Key);
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return Out;
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}
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for (const TCHAR* Role : ContactRoles)
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{
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const int32 R = BoneOf(Ref, Role);
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const int32 B = BoneOf(Body, Role);
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if (R == INDEX_NONE || B == INDEX_NONE)
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{
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continue;
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}
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// Hauteur au-dessus de la pose T (pieds a plat), source a l'echelle du corps.
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const float RefHeight = static_cast<float>(At(Ref, R).Z - At(RefT, R).Z) * Scale;
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const float BodyHeight = static_cast<float>(At(Body, B).Z - At(BodyT, B).Z);
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const float Below = FMath::Max(0.f, -BodyHeight) - FMath::Max(0.f, -RefHeight);
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if (Below > Out.Floor)
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{
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Out.Floor = Below;
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Out.FloorBone = Body.Names[B].ToString();
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}
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if (Key > 0)
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{
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const FVector RefMove = (At(Ref, R) - At(PrevRef, R)) * Scale;
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const FVector BodyMove = At(Body, B) - At(PrevBody, B);
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const bool bPlanted = RefHeight < ContactHeight && FVector(RefMove.X, RefMove.Y, 0.f).Size() < PlantedMove;
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const float Slide = bPlanted ? static_cast<float>(FVector(BodyMove.X - RefMove.X, BodyMove.Y - RefMove.Y, 0.f).Size()) : 0.f;
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if (Slide > Out.Slide)
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{
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Out.Slide = Slide;
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Out.SlideBone = Body.Names[B].ToString();
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}
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}
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}
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for (const FJoint& Joint : Joints)
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{
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const int32 RA = BoneOf(Ref, Joint.A), RB = BoneOf(Ref, Joint.B), RC = BoneOf(Ref, Joint.C);
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const int32 BA = BoneOf(Body, Joint.A), BB = BoneOf(Body, Joint.B), BC = BoneOf(Body, Joint.C);
|
||
|
|
if (RA == INDEX_NONE || RB == INDEX_NONE || RC == INDEX_NONE || BA == INDEX_NONE || BB == INDEX_NONE || BC == INDEX_NONE)
|
||
|
|
{
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
const float Gap = FMath::Abs(Flexion(Body, BA, BB, BC) - Flexion(Ref, RA, RB, RC));
|
||
|
|
if (Gap > Out.FlexGap)
|
||
|
|
{
|
||
|
|
Out.FlexGap = Gap;
|
||
|
|
Out.FlexJoint = Body.Names[BB].ToString();
|
||
|
|
}
|
||
|
|
if (Joint.bKnee)
|
||
|
|
{
|
||
|
|
const float Behind = KneeBehind(Body, BA, BB, BC) - KneeBehind(Ref, RA, RB, RC) * Scale;
|
||
|
|
if (Behind > Out.KneeBack)
|
||
|
|
{
|
||
|
|
Out.KneeBack = Behind;
|
||
|
|
Out.KneeBone = Body.Names[BB].ToString();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (Key > 0)
|
||
|
|
{
|
||
|
|
for (const TCHAR* Role : JumpRoles)
|
||
|
|
{
|
||
|
|
const int32 R = BoneOf(Ref, Role);
|
||
|
|
const int32 B = BoneOf(Body, Role);
|
||
|
|
if (R == INDEX_NONE || B == INDEX_NONE)
|
||
|
|
{
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
const float RefTurn = FMath::RadiansToDegrees(Ref.Component[R].GetRotation().AngularDistance(PrevRef.Component[R].GetRotation()));
|
||
|
|
const float BodyTurn = FMath::RadiansToDegrees(Body.Component[B].GetRotation().AngularDistance(PrevBody.Component[B].GetRotation()));
|
||
|
|
const float Excess = BodyTurn - (RefTurn * JumpFactor + JumpMargin);
|
||
|
|
if (Excess > Out.Jump)
|
||
|
|
{
|
||
|
|
Out.Jump = Excess;
|
||
|
|
Out.JumpBone = Body.Names[B].ToString();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
for (const TCHAR* Role : ProbeRoles)
|
||
|
|
{
|
||
|
|
const int32 B = BoneOf(Body, Role);
|
||
|
|
if (B == INDEX_NONE)
|
||
|
|
{
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
const FVector Point = At(Body, B);
|
||
|
|
for (const FLPCheckCapsule& Capsule : Trunk)
|
||
|
|
{
|
||
|
|
const FTransform& Bone = Body.Component[Capsule.Bone];
|
||
|
|
const FVector Center = Bone.TransformPosition(Capsule.Center);
|
||
|
|
const FVector Axis = Bone.TransformVectorNoScale(Capsule.Axis) * Capsule.HalfLength;
|
||
|
|
const float Depth = Capsule.Radius - SegmentDistance(Point, Center - Axis, Center + Axis);
|
||
|
|
if (Depth > Out.Penetration)
|
||
|
|
{
|
||
|
|
Out.Penetration = Depth;
|
||
|
|
Out.PenetrationBone = Body.Names[B].ToString();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
PrevRef = MoveTemp(Ref);
|
||
|
|
PrevBody = MoveTemp(Body);
|
||
|
|
}
|
||
|
|
return Out;
|
||
|
|
}
|
||
|
|
}
|