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Add **skeleton retargeting** to play animations on different skeletons

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This commit is contained in:
Wojtek Figat
2023-05-04 11:54:17 +02:00
parent b89d32ce2b
commit 05ffaf7cef
15 changed files with 775 additions and 104 deletions
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22
Source/Engine/Animations/Graph/AnimGraph.cpp
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@@ -7,6 +7,8 @@
#include "Engine/Graphics/Models/SkeletonData.h"
#include "Engine/Scripting/Scripting.h"
extern void RetargetSkeletonNode(const SkeletonData& sourceSkeleton, const SkeletonData& targetSkeleton, const SkinnedModel::SkeletonMapping& sourceMapping, Transform& node, int32 i);
ThreadLocal<AnimGraphContext> AnimGraphExecutor::Context;
RootMotionData RootMotionData::Identity = { Vector3(0.0f), Quaternion(0.0f, 0.0f, 0.0f, 1.0f) };
@@ -315,27 +317,21 @@ void AnimGraphExecutor::Update(AnimGraphInstanceData& data, float dt)
targetNodes[i] = targetSkeleton.Nodes[i].LocalTransform;
// Use skeleton mapping
const Span<int32> mapping = data.NodesSkeleton->GetSkeletonMapping(_graph.BaseModel);
if (mapping.IsValid())
const SkinnedModel::SkeletonMapping mapping = data.NodesSkeleton->GetSkeletonMapping(_graph.BaseModel);
if (mapping.NodesMapping.IsValid())
{
const auto& sourceSkeleton = _graph.BaseModel->Skeleton;
Transform* sourceNodes = animResult->Nodes.Get();
for (int32 i = 0; i < retargetNodes.Nodes.Count(); i++)
{
const auto& targetNode = targetSkeleton.Nodes[i];
const int32 nodeToNode = mapping[i];
const int32 nodeToNode = mapping.NodesMapping[i];
if (nodeToNode != -1)
{
// Map source skeleton node to the target skeleton (use ref pose difference)
const auto& sourceNode = sourceSkeleton.Nodes[nodeToNode];
Transform value = sourceNodes[nodeToNode];
Transform sourceToTarget = targetNode.LocalTransform - sourceNode.LocalTransform;
value.Translation += sourceToTarget.Translation;
value.Scale *= sourceToTarget.Scale;
//value.Orientation = sourceToTarget.Orientation * value.Orientation; // TODO: find out why this doesn't match referenced animation when played on that skeleton originally
//value.Orientation.Normalize();
targetNodes[i] = value;
Transform node = sourceNodes[nodeToNode];
RetargetSkeletonNode(sourceSkeleton, targetSkeleton, mapping, node, i);
targetNodes[i] = node;
}
}
}

40
Source/Engine/Animations/Graph/AnimGroup.Animation.cpp
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@@ -21,6 +21,24 @@ namespace
}
}
void RetargetSkeletonNode(const SkeletonData& sourceSkeleton, const SkeletonData& targetSkeleton, const SkinnedModel::SkeletonMapping& mapping, Transform& node, int32 i)
{
const int32 nodeToNode = mapping.NodesMapping[i];
if (nodeToNode == -1)
return;
// Map source skeleton node to the target skeleton (use ref pose difference)
const auto& sourceNode = sourceSkeleton.Nodes[nodeToNode];
const auto& targetNode = targetSkeleton.Nodes[i];
Transform value = node;
const Transform sourceToTarget = targetNode.LocalTransform - sourceNode.LocalTransform;
value.Translation += sourceToTarget.Translation;
value.Scale *= sourceToTarget.Scale;
value.Orientation = sourceToTarget.Orientation * value.Orientation; // TODO: find out why this doesn't match referenced animation when played on that skeleton originally
value.Orientation.Normalize();
node = value;
}
int32 AnimGraphExecutor::GetRootNodeIndex(Animation* anim)
{
// TODO: cache the root node index (use dictionary with Animation* -> int32 for fast lookups)
@@ -257,21 +275,33 @@ void AnimGraphExecutor::ProcessAnimation(AnimGraphImpulse* nodes, AnimGraphNode*
}
}
// Evaluate nodes animations
const Span<int32> mapping = _graph.BaseModel->GetSkeletonMapping(anim);
if (mapping.IsInvalid())
// Get skeleton nodes mapping descriptor
const SkinnedModel::SkeletonMapping mapping = _graph.BaseModel->GetSkeletonMapping(anim);
if (mapping.NodesMapping.IsInvalid())
return;
// Evaluate nodes animations
const bool weighted = weight < 1.0f;
const bool retarget = mapping.SourceSkeleton && mapping.SourceSkeleton != mapping.TargetSkeleton;
const auto emptyNodes = GetEmptyNodes();
SkinnedModel::SkeletonMapping sourceMapping;
if (retarget)
sourceMapping = _graph.BaseModel->GetSkeletonMapping(mapping.SourceSkeleton);
for (int32 i = 0; i < nodes->Nodes.Count(); i++)
{
const int32 nodeToChannel = mapping[i];
const int32 nodeToChannel = mapping.NodesMapping[i];
Transform& dstNode = nodes->Nodes[i];
Transform srcNode = emptyNodes->Nodes[i];
if (nodeToChannel != -1)
{
// Calculate the animated node transformation
anim->Data.Channels[nodeToChannel].Evaluate(animPos, &srcNode, false);
// Optionally retarget animation into the skeleton used by the Anim Graph
if (retarget)
{
RetargetSkeletonNode(mapping.SourceSkeleton->Skeleton, mapping.TargetSkeleton->Skeleton, sourceMapping, srcNode, i);
}
}
// Blend node
@@ -307,7 +337,7 @@ void AnimGraphExecutor::ProcessAnimation(AnimGraphImpulse* nodes, AnimGraphNode*
Transform rootNode = emptyNodes->Nodes[rootNodeIndex];
RootMotionData& dstNode = nodes->RootMotion;
RootMotionData srcNode(rootNode);
ExtractRootMotion(mapping, rootNodeIndex, anim, animPos, animPrevPos, rootNode, srcNode);
ExtractRootMotion(mapping.NodesMapping, rootNodeIndex, anim, animPos, animPrevPos, rootNode, srcNode);
// Blend root motion
if (mode == ProcessAnimationMode::BlendAdditive)