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[ERA-1] ragdoll skinning p3
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@EldarMuradov
EldarMuradov committed Sep 13, 2024
1 parent 11142a7 commit 34e9afb
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Showing 2 changed files with 132 additions and 74 deletions.
2 changes: 1 addition & 1 deletion modules/core/src/animation/animation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -268,6 +268,6 @@ namespace era_engine::animation
trs* currentGlobalTransforms = 0;

float timeScale = 1.f;
bool drawSceleton = true;
bool drawSceleton = false;
};
}
204 changes: 131 additions & 73 deletions modules/core/src/px/features/px_ragdoll.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ namespace era_engine::physics
mat4 model = mat4::identity,
float r = 0.5f,
mat4 rotation = mat4::identity,
float hm = 1.0f,
float mass = 1.0f)
{
const auto& physics = physics_holder::physicsRef;
Expand All @@ -54,15 +55,15 @@ namespace era_engine::physics
vec3 parentPos = bindPosWs(joints[parentIdx].bindTransform, model);
vec3 childPos = bindPosWs(joints[childIdx].bindTransform, model);

float len = length(parentPos - childPos);
vec3 offset = parentPos - childPos;
float len = length(offset);

// shorten by 0.1 times to prevent overlap
len -= len * 0.1f;
if (len - 2.0f * r > 0.1f)
len = len - 2.0f * r;
else
len *= 0.9f;

if(len - 2.0f * r > 0)
len = len - r;

float halfHeight = len / 2.0f;
float halfHeight = hm * len / 2.0f;

vec3 bodyPos = (parentPos + childPos) / 2.0f;

Expand Down Expand Up @@ -104,6 +105,7 @@ namespace era_engine::physics
mat4 model = mat4::identity,
float r = 0.5f,
mat4 rotation = mat4::identity,
float hm = 1.0f,
float mass = 1.0f)
{
const auto& physics = physics_holder::physicsRef;
Expand All @@ -112,7 +114,7 @@ namespace era_engine::physics

vec3 parentPos = (bindPosWs(joints[parentIdx].bindTransform, model) + offset);

PxShape* shape = physics->getPhysics()->createShape(PxCapsuleGeometry(r, l / 2.0f), *material);
PxShape* shape = physics->getPhysics()->createShape(PxCapsuleGeometry(r, hm * l / 2.0f), *material);

PxTransform local(createPxQuat(mat4ToTRS(rotation).rotation));
shape->setLocalPose(local);
Expand Down Expand Up @@ -168,7 +170,7 @@ namespace era_engine::physics
return body;
}

static void createD6Joint(
static PxD6Joint* createD6Joint(
PxRigidDynamic* parent,
PxRigidDynamic* child,
ref<animation::animation_skeleton> skeleton,
Expand All @@ -189,7 +191,7 @@ namespace era_engine::physics

joint->setConstraintFlag(PxConstraintFlag::eVISUALIZATION, true);

configD6Joint(3.14f / 4.f, 3.14f / 4.f, -3.14f / 8.f, 3.14f / 8.f, joint);
return joint;
}

static void createRevoluteJoint(
Expand Down Expand Up @@ -231,6 +233,16 @@ namespace era_engine::physics
{
}

static constexpr float HEAD_MASS_PERCENTAGE = 0.0826f;
static constexpr float BODY_UPPER_MASS_PERCENTAGE = 0.204f;
static constexpr float BODY_LOWER_MASS_PERCENTAGE = 0.204f;
static constexpr float ARM_MASS_PERCENTAGE = 0.07f;
static constexpr float FOREARM_MASS_PERCENTAGE = 0.0467f;
static constexpr float HAND_MASS_PERCENTAGE = 0.0065f;
static constexpr float UP_LEG_MASS_PERCENTAGE = 0.085f;
static constexpr float LEG_MASS_PERCENTAGE = 0.0475f;
static constexpr float FOOT_MASS_PERCENTAGE = 0.014f;

void px_ragdoll_component::initRagdoll(ref<animation::animation_skeleton> skeletonRef)
{
using namespace animation;
Expand Down Expand Up @@ -272,6 +284,8 @@ namespace era_engine::physics
uint32_t j_hand_r_idx = skeleton->nameToJointID["hand_r"];
uint32_t j_middle_01_r_idx = skeleton->nameToJointID["middle_01_r"];

float mass = 100.0f;

transforms.resize(joints.size());

ragdoll->initialBodyPos.resize(joints.size());
Expand All @@ -291,15 +305,31 @@ namespace era_engine::physics

PxRigidDynamic* pelvis = createCapsuleBone(
j_pelvis_idx,
j_neck_01_idx,
j_spine_03_idx,
*ragdoll,
material,
skeleton,
modelWithoutScale,
modelOnlyScale,
model,
15.0f * scale,
rot);
rot,
0.8f);
finishBody(pelvis, mass * BODY_LOWER_MASS_PERCENTAGE, 1.0f);

PxRigidDynamic* upperSpine = createCapsuleBone(
j_spine_02_idx,
j_neck_01_idx,
*ragdoll,
material,
skeleton,
modelWithoutScale,
modelOnlyScale,
model,
13.0f * scale,
rot,
0.4f);
finishBody(upperSpine, mass * BODY_UPPER_MASS_PERCENTAGE, 1.0f);

PxRigidDynamic* head = createCapsuleBone(
j_head_idx,
Expand All @@ -313,6 +343,7 @@ namespace era_engine::physics
model,
6.0f * scale,
rot);
finishBody(head, mass * HEAD_MASS_PERCENTAGE, 1.0f);

PxRigidDynamic* l_leg = createCapsuleBone(
j_thigh_l_idx,
Expand All @@ -325,6 +356,7 @@ namespace era_engine::physics
model,
8.0f * scale,
rot);
finishBody(l_leg, mass * LEG_MASS_PERCENTAGE, 1.0f);

PxRigidDynamic* r_leg = createCapsuleBone(
j_thigh_r_idx,
Expand All @@ -337,30 +369,33 @@ namespace era_engine::physics
model,
8.0f * scale,
rot);
finishBody(r_leg, mass * LEG_MASS_PERCENTAGE, 1.0f);

PxRigidDynamic* l_calf = createCapsuleBone(
j_calf_l_idx,
j_foot_l_idx,
*ragdoll,
material,
skeleton,
modelWithoutScale,
modelOnlyScale,
model,
7.0f * scale,
rot);
finishBody(l_calf, mass * LEG_MASS_PERCENTAGE, 1.0f);

//PxRigidDynamic* l_calf = createCapsuleBone(
// j_calf_l_idx,
// j_foot_l_idx,
// *ragdoll,
// material,
// skeleton,
// modelWithoutScale,
// modelOnlyScale,
// model,
// 7.0f * scale,
// rot);

//PxRigidDynamic* r_calf = createCapsuleBone(
// j_calf_r_idx,
// j_foot_r_idx,
// *ragdoll,
// material,
// skeleton,
// modelWithoutScale,
// modelOnlyScale,
// model,
// 7.0f * scale,
// rot);
PxRigidDynamic* r_calf = createCapsuleBone(
j_calf_r_idx,
j_foot_r_idx,
*ragdoll,
material,
skeleton,
modelWithoutScale,
modelOnlyScale,
model,
7.0f * scale,
rot);
finishBody(r_calf, mass * LEG_MASS_PERCENTAGE, 1.0f);

PxRigidDynamic* l_arm = createCapsuleBone(
j_upperarm_l_idx,
Expand All @@ -372,6 +407,8 @@ namespace era_engine::physics
modelOnlyScale,
model,
8.0f * scale);
finishBody(l_arm, mass * ARM_MASS_PERCENTAGE, 1.0f);


PxRigidDynamic* r_arm = createCapsuleBone(
j_upperarm_r_idx,
Expand All @@ -383,28 +420,31 @@ namespace era_engine::physics
modelOnlyScale,
model,
8.0f * scale);
finishBody(r_arm, mass* ARM_MASS_PERCENTAGE, 1.0f);

PxRigidDynamic* l_forearm = createCapsuleBone(
j_lowerarm_l_idx,
j_hand_l_idx,
*ragdoll,
material,
skeleton,
modelWithoutScale,
modelOnlyScale,
model,
7.0f * scale);
finishBody(l_forearm, mass* ARM_MASS_PERCENTAGE, 1.0f);

//PxRigidDynamic* l_forearm = createCapsuleBone(
// j_lowerarm_l_idx,
// j_hand_l_idx,
// *ragdoll,
// material,
// skeleton,
// modelWithoutScale,
// modelOnlyScale,
// model,
// 7.0f * scale);

//PxRigidDynamic* r_forearm = createCapsuleBone(
// j_lowerarm_r_idx,
// j_hand_r_idx,
// *ragdoll,
// material,
// skeleton,
// modelWithoutScale,
// modelOnlyScale,
// model,
// 7.0f * scale);
PxRigidDynamic* r_forearm = createCapsuleBone(
j_lowerarm_r_idx,
j_hand_r_idx,
*ragdoll,
material,
skeleton,
modelWithoutScale,
modelOnlyScale,
model,
7.0f * scale);
finishBody(r_forearm, mass* ARM_MASS_PERCENTAGE, 1.0f);

/*PxRigidDynamic* l_hand = createSphereBone(
j_middle_01_l_idx,
Expand Down Expand Up @@ -479,8 +519,6 @@ namespace era_engine::physics
ragdoll->childToParentJointDeltaPoses[i] = bodyGlobalTransform.position / scale - jointTrs.position;

ragdoll->childToParentJointDeltaRots[i] = normalize(conjugate(jointTrs.rotation) * bodyGlobalTransform.rotation);

finishBody(body, 1.0f, 1.0f);
}

//// ---------------------------------------------------------------------------------------------------------------
Expand All @@ -490,41 +528,52 @@ namespace era_engine::physics
// Chest and Head
scene->addActor(*pelvis);
scene->addActor(*head);
scene->addActor(*upperSpine);

// Left Leg
scene->addActor(*l_leg);
//scene->addActor(*l_calf);
scene->addActor(*l_calf);
//scene->addActor(*l_foot);

// Right Leg
scene->addActor(*r_leg);
//scene->addActor(*r_calf);
scene->addActor(*r_calf);
//scene->addActor(*r_foot);

// Left Arm
scene->addActor(*l_arm);
//scene->addActor(*l_forearm);
scene->addActor(*l_forearm);
//scene->addActor(*l_hand);

// Right Arm
scene->addActor(*r_arm);
//scene->addActor(*r_forearm);
scene->addActor(*r_forearm);
//scene->addActor(*r_hand);

//// ---------------------------------------------------------------------------------------------------------------
//// Create joints
//// ---------------------------------------------------------------------------------------------------------------

// Chest and Head
createD6Joint(pelvis, head, skeleton, j_neck_01_idx, model);
auto* jointHeadpelvis = createD6Joint(upperSpine, head, skeleton, j_neck_01_idx, model);
configD6Joint(3.14f / 8.0f, 3.14f / 8.0f, -3.14f / 8.0f, 3.14f / 8.0f, jointHeadpelvis);

auto* jointUpelvis = createD6Joint(upperSpine, pelvis, skeleton, j_spine_03_idx, model);
configD6Joint(3.14f / 12.0f, 3.14f / 12.0f, -3.14f / 12.0f, 3.14f / 12.0f, jointUpelvis);

// Chest to Thighs
createD6Joint(pelvis, l_leg, skeleton, j_thigh_l_idx, model);
createD6Joint(pelvis, r_leg, skeleton, j_thigh_r_idx, model);
auto* jointLLegpelvis = createD6Joint(pelvis, l_leg, skeleton, j_thigh_l_idx, model);
configD6Joint(3.14f / 6.0f, 3.14f / 6.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointLLegpelvis);

auto* jointRLegpelvis = createD6Joint(pelvis, r_leg, skeleton, j_thigh_r_idx, model);
configD6Joint(3.14f / 6.0f, 3.14f / 6.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointRLegpelvis);

// Thighs to Calf
//createD6Joint(l_leg, l_calf, skeleton, j_calf_l_idx, model);
//createD6Joint(r_leg, r_calf, skeleton, j_calf_r_idx, model);
auto* jointLLegCalf = createD6Joint(l_leg, l_calf, skeleton, j_calf_l_idx, model);
configD6Joint(3.14f / 6.0f, 3.14f / 6.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointLLegCalf);

auto* jointRLegCalf = createD6Joint(r_leg, r_calf, skeleton, j_calf_r_idx, model);
configD6Joint(3.14f / 6.0f, 3.14f / 6.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointRLegCalf);
////createRevoluteJoint(l_leg, l_calf, skeleton, j_calf_l_idx, mat4::identity, model);
////createRevoluteJoint(r_leg, r_calf, skeleton, j_calf_r_idx, mat4::identity, model);

Expand All @@ -533,19 +582,24 @@ namespace era_engine::physics
////createD6Joint(r_calf, r_foot, skeleton, j_foot_r_idx, model);

// Chest to Upperarm
createD6Joint(pelvis, l_arm, skeleton, j_upperarm_l_idx, model);
createD6Joint(pelvis, r_arm, skeleton, j_upperarm_r_idx, model);
auto* jointLArmPelvis = createD6Joint(upperSpine, l_arm, skeleton, j_upperarm_l_idx, model);
configD6Joint(3.14f / 4.0f, 3.14f / 4.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointLArmPelvis);
auto* jointRArmPelvis = createD6Joint(upperSpine, r_arm, skeleton, j_upperarm_r_idx, model);
configD6Joint(3.14f / 4.0f, 3.14f / 4.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointRArmPelvis);

////mat4 arm_rot = mat4::identity;
////arm_rot = trsToMat4(trs{vec3(0.0f), quat(vec3(0.0f, 0.0f, 1.0f), -PxPi / 2.0f) });

// Upperarm to Lowerman
////createRevoluteJoint(l_arm, l_forearm, skeleton, j_lowerarm_l_idx, arm_rot, model);
//createD6Joint(l_arm, l_forearm, skeleton, j_lowerarm_l_idx, model);
auto* jointLArmForearm = createD6Joint(l_arm, l_forearm, skeleton, j_lowerarm_l_idx, model);
configD6Joint(3.14f / 4.0f, 3.14f / 4.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointLArmForearm);

////arm_rot = mat4::identity;
////arm_rot = trsToMat4(trs{ vec3(0.0f), quat(vec3(0.0f, 0.0f, 1.0f), PxPi / 2.0f) });
//createD6Joint(r_arm, r_forearm, skeleton, j_lowerarm_r_idx, model);
auto* jointRArmForearm = createD6Joint(r_arm, r_forearm, skeleton, j_lowerarm_r_idx, model);
configD6Joint(3.14f / 4.0f, 3.14f / 4.0f, -3.14f / 6.0f, 3.14f / 6.0f, jointRArmForearm);


////createRevoluteJoint(r_arm, r_forearm, skeleton, j_lowerarm_r_idx, arm_rot, model);

Expand Down Expand Up @@ -605,8 +659,12 @@ namespace era_engine::physics
quat deltaRotation = bodyGlobalTransform.rotation * conjugate(ragdoll->originalBodyRotations[i]);
mat4 translationRot;

if(chosenIdx == i)
translationRot = trsToMat4(trs{ bodyGlobalTransform.position / scale - ragdoll->childToParentJointDeltaPoses[i], jointTrs.rotation * conjugate(deltaRotation) });
if (chosenIdx == i)
{
vec3 pos = jointTrs.position + (bodyGlobalTransform.position / scale - ragdoll->initialBodyPos[i] / scale);

translationRot = trsToMat4(trs{ pos, deltaRotation * jointTrs.rotation });
}
else
{
auto& parent = joints[chosenIdx];
Expand Down

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