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Add animated model pose handling as a input to cloth for proper character clothing sim

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This commit is contained in:
Wojtek Figat
2023-07-14 17:10:09 +02:00
parent 68d97fcc48
commit aef3ae14d4
3 changed files with 115 additions and 9 deletions
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107
Source/Engine/Physics/Actors/Cloth.cpp
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@@ -193,8 +193,8 @@ void Cloth::SetPaint(Span<const float> value)
CalculateInvMasses(invMasses);
PhysicsBackend::LockClothParticles(_cloth);
PhysicsBackend::SetClothParticles(_cloth, Span<const Float4>(), Span<const Float3>(), ToSpan<float, const float>(invMasses));
PhysicsBackend::UnlockClothParticles(_cloth);
PhysicsBackend::SetClothPaint(_cloth, value);
PhysicsBackend::UnlockClothParticles(_cloth);
}
#endif
}
@@ -346,6 +346,11 @@ void Cloth::DrawPhysicsDebug(RenderView& view)
i1 = indicesData.Get<uint32>()[index + 1];
i2 = indicesData.Get<uint32>()[index + 2];
}
if (_paint.Count() == particles.Length())
{
if (Math::Max(_paint[i0], _paint[i1], _paint[i2]) < ZeroTolerance)
continue;
}
const Vector3 v0 = transform.LocalToWorld(Vector3(particles[i0]));
const Vector3 v1 = transform.LocalToWorld(Vector3(particles[i1]));
const Vector3 v2 = transform.LocalToWorld(Vector3(particles[i2]));
@@ -609,7 +614,7 @@ void Cloth::CalculateInvMasses(Array<float>& invMasses)
// Sum triangle area for each influenced particle
invMasses.Resize(verticesCount);
invMasses.SetAll(0.0f);
Platform::MemoryClear(invMasses.Get(), verticesCount * sizeof(float));
for (int32 triangleIndex = 0; triangleIndex < trianglesCount; triangleIndex++)
{
const int32 index = triangleIndex * 3;
@@ -689,7 +694,92 @@ void Cloth::CalculateInvMasses(Array<float>& invMasses)
#endif
}
void Cloth::OnUpdated()
void Cloth::OnPreUpdate()
{
// Get current skinned mesh pose for the simulation of the non-kinematic vertices
if (auto* animatedModel = Cast<AnimatedModel>(GetParent()))
{
if (animatedModel->GraphInstance.NodesPose.IsEmpty() || _paint.IsEmpty())
return;
const ModelInstanceActor::MeshReference mesh = GetMesh();
if (mesh.Actor == nullptr)
return;
BytesContainer verticesData;
int32 verticesCount;
if (mesh.Actor->GetMeshData(mesh, MeshBufferType::Vertex0, verticesData, verticesCount))
return;
auto vbStride = (uint32)verticesData.Length() / verticesCount;
ASSERT(vbStride == sizeof(VB0SkinnedElementType));
PhysicsBackend::LockClothParticles(_cloth);
const Span<const Float4> particles = PhysicsBackend::GetClothParticles(_cloth);
// TODO: optimize memory allocs (eg. write directly to nvCloth mapped range or use shared allocator)
Array<Float4> particlesSkinned;
particlesSkinned.Set(particles.Get(), particles.Length());
// TODO: optimize memory allocs (eg. get pose as Span<Matrix> for readonly)
Array<Matrix> pose;
animatedModel->GetCurrentPose(pose);
const SkeletonData& skeleton = animatedModel->SkinnedModel->Skeleton;
// Animated model uses skinning thus requires to set vertex position inverse to skeleton bones
const float* paint = _paint.Get();
bool anyFixed = false;
for (int32 i = 0; i < verticesCount; i++)
{
if (paint[i] > ZeroTolerance)
continue;
VB0SkinnedElementType& vb0 = verticesData.Get<VB0SkinnedElementType>()[i];
// Calculate skinned vertex matrix from bones blending
const Float4 blendWeights = vb0.BlendWeights.ToFloat4();
// TODO: optimize this or use _skinningData from AnimatedModel to access current mesh bones data directly
Matrix matrix;
const SkeletonBone& bone0 = skeleton.Bones[vb0.BlendIndices.R];
Matrix::Multiply(bone0.OffsetMatrix, pose[bone0.NodeIndex], matrix);
Matrix boneMatrix = matrix * blendWeights.X;
if (blendWeights.Y > 0.0f)
{
const SkeletonBone& bone1 = skeleton.Bones[vb0.BlendIndices.G];
Matrix::Multiply(bone1.OffsetMatrix, pose[bone1.NodeIndex], matrix);
boneMatrix += matrix * blendWeights.Y;
}
if (blendWeights.Z > 0.0f)
{
const SkeletonBone& bone2 = skeleton.Bones[vb0.BlendIndices.B];
Matrix::Multiply(bone2.OffsetMatrix, pose[bone2.NodeIndex], matrix);
boneMatrix += matrix * blendWeights.Z;
}
if (blendWeights.W > 0.0f)
{
const SkeletonBone& bone3 = skeleton.Bones[vb0.BlendIndices.A];
Matrix::Multiply(bone3.OffsetMatrix, pose[bone3.NodeIndex], matrix);
boneMatrix += matrix * blendWeights.W;
}
// Skin vertex position (similar to GPU vertex shader)
Float3 pos = Float3::Transform(vb0.Position, boneMatrix);
// Transform back to the cloth space
// TODO: skip when using identity?
pos = _localTransform.WorldToLocal(pos);
// Override fixed particle position
particlesSkinned[i] = Float4(pos, 0.0f);
anyFixed = true;
}
if (anyFixed)
{
// Update particles
PhysicsBackend::SetClothParticles(_cloth, ToSpan<Float4, const Float4>(particlesSkinned), Span<const Float3>(), Span<const float>());
PhysicsBackend::SetClothPaint(_cloth, ToSpan<float, const float>(_paint));
}
PhysicsBackend::UnlockClothParticles(_cloth);
}
}
void Cloth::OnPostUpdate()
{
if (_meshDeformation)
{
@@ -722,7 +812,7 @@ void Cloth::RunClothDeformer(const MeshBase* mesh, MeshDeformationData& deformat
{
if (animatedModel->GraphInstance.NodesPose.IsEmpty())
{
// Delay unit skinning data is ready
// Delay until skinning data is ready
PhysicsBackend::UnlockClothParticles(_cloth);
_meshDeformation->Dirty(_mesh.LODIndex, _mesh.MeshIndex, MeshBufferType::Vertex0);
return;
@@ -735,9 +825,15 @@ void Cloth::RunClothDeformer(const MeshBase* mesh, MeshDeformationData& deformat
// Animated model uses skinning thus requires to set vertex position inverse to skeleton bones
ASSERT(vbStride == sizeof(VB0SkinnedElementType));
const float* paint = _paint.Count() >= particles.Length() ? _paint.Get() : nullptr;
for (uint32 i = 0; i < vbCount; i++)
{
VB0SkinnedElementType& vb0 = *(VB0SkinnedElementType*)vbData;
vbData += vbStride;
// Skip fixed vertices
if (paint && paint[i] < ZeroTolerance)
continue;
// Calculate skinned vertex matrix from bones blending
const Float4 blendWeights = vb0.BlendWeights.ToFloat4();
@@ -770,14 +866,13 @@ void Cloth::RunClothDeformer(const MeshBase* mesh, MeshDeformationData& deformat
Matrix::Invert(boneMatrix, boneMatrixInv);
Float3 pos = *(Float3*)&particles.Get()[i];
vb0.Position = Float3::Transform(pos, boneMatrixInv);
vbData += vbStride;
}
}
else
{
for (uint32 i = 0; i < vbCount; i++)
{
// Copy particle positions to the mesh data
*(Float3*)vbData = *(Float3*)&particles.Get()[i];
vbData += vbStride;
}