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Fix blend animation to solve TRS track bug & blend order inconsistency #57675

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merged 1 commit into from
Mar 17, 2022
Merged

Fix blend animation to solve TRS track bug & blend order inconsistency #57675

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19 changes: 19 additions & 0 deletions core/math/quaternion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,22 @@ Quaternion Quaternion::inverse() const {
return Quaternion(-x, -y, -z, w);
}

Quaternion Quaternion::log() const {
Quaternion src = *this;
Vector3 src_v = src.get_axis() * src.get_angle();
return Quaternion(src_v.x, src_v.y, src_v.z, 0);
}

Quaternion Quaternion::exp() const {
Quaternion src = *this;
Vector3 src_v = Vector3(src.x, src.y, src.z);
float theta = src_v.length();
if (theta < CMP_EPSILON) {
return Quaternion(0, 0, 0, 1);
}
return Quaternion(src_v.normalized(), theta);
}

Quaternion Quaternion::slerp(const Quaternion &p_to, const real_t &p_weight) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Quaternion(), "The start quaternion must be normalized.");
Expand Down Expand Up @@ -190,6 +206,9 @@ Quaternion::operator String() const {
}

Vector3 Quaternion::get_axis() const {
if (Math::abs(w) > 1 - CMP_EPSILON) {
return Vector3(x, y, z);
}
real_t r = ((real_t)1) / Math::sqrt(1 - w * w);
return Vector3(x * r, y * r, z * r);
}
Expand Down
2 changes: 2 additions & 0 deletions core/math/quaternion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,8 @@ struct _NO_DISCARD_ Quaternion {
Quaternion normalized() const;
bool is_normalized() const;
Quaternion inverse() const;
Quaternion log() const;
Quaternion exp() const;
_FORCE_INLINE_ real_t dot(const Quaternion &p_q) const;
real_t angle_to(const Quaternion &p_to) const;

Expand Down
2 changes: 2 additions & 0 deletions core/variant/variant_call.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1626,6 +1626,8 @@ static void _register_variant_builtin_methods() {
bind_method(Quaternion, is_normalized, sarray(), varray());
bind_method(Quaternion, is_equal_approx, sarray("to"), varray());
bind_method(Quaternion, inverse, sarray(), varray());
bind_method(Quaternion, log, sarray(), varray());
bind_method(Quaternion, exp, sarray(), varray());
bind_method(Quaternion, angle_to, sarray("to"), varray());
bind_method(Quaternion, dot, sarray("with"), varray());
bind_method(Quaternion, slerp, sarray("to", "weight"), varray());
Expand Down
10 changes: 10 additions & 0 deletions doc/classes/Quaternion.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,11 @@
Returns the dot product of two quaternions.
</description>
</method>
<method name="exp" qualifiers="const">
<return type="Quaternion" />
<description>
</description>
</method>
<method name="get_angle" qualifiers="const">
<return type="float" />
<description>
Expand Down Expand Up @@ -138,6 +143,11 @@
Returns the length of the quaternion, squared.
</description>
</method>
<method name="log" qualifiers="const">
<return type="Quaternion" />
<description>
</description>
</method>
<method name="normalized" qualifiers="const">
<return type="Quaternion" />
<description>
Expand Down
96 changes: 46 additions & 50 deletions scene/animation/animation_tree.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -273,10 +273,6 @@ double AnimationNode::_blend_node(const StringName &p_subpath, const Vector<Stri
}
}

if (!p_seek && p_optimize && !any_valid) { //pointless to go on, all are zero
return 0;
}

String new_path;
AnimationNode *new_parent;

Expand All @@ -289,6 +285,10 @@ double AnimationNode::_blend_node(const StringName &p_subpath, const Vector<Stri
new_parent = parent;
new_path = String(parent->base_path) + String(p_subpath) + "/";
}

if (!p_seek && p_optimize && !any_valid) {
return p_node->_pre_process(new_path, new_parent, state, 0, p_seek, p_connections);
}
return p_node->_pre_process(new_path, new_parent, state, p_time, p_seek, p_connections);
}

Expand Down Expand Up @@ -618,6 +618,11 @@ bool AnimationTree::_update_caches(AnimationPlayer *player) {
int bone_idx = sk->find_bone(path.get_subname(0));
if (bone_idx != -1) {
track_xform->bone_idx = bone_idx;
Transform3D rest = sk->get_bone_rest(bone_idx);
track_xform->init_loc = rest.origin;
track_xform->ref_rot = rest.basis.get_rotation_quaternion();
track_xform->init_rot = track_xform->ref_rot.log();
track_xform->init_scale = rest.basis.get_scale();
}
}

Expand All @@ -644,7 +649,6 @@ bool AnimationTree::_update_caches(AnimationPlayer *player) {
} break;
case Animation::TYPE_BLEND_SHAPE: {
#ifndef _3D_DISABLED

if (path.get_subname_count() != 1) {
ERR_PRINT("AnimationTree: '" + String(E) + "', blend shape track does not contain a blend shape subname: '" + String(path) + "'");
continue;
Expand Down Expand Up @@ -942,23 +946,16 @@ void AnimationTree::_process_graph(double p_delta) {

real_t blend = (*as.track_blends)[blend_idx] * weight;

if (blend < CMP_EPSILON) {
continue; //nothing to blend
}

switch (ttype) {
case Animation::TYPE_POSITION_3D: {
#ifndef _3D_DISABLED
TrackCacheTransform *t = static_cast<TrackCacheTransform *>(track);

if (t->process_pass != process_pass) {
t->process_pass = process_pass;
t->loc = Vector3();
t->rot = Quaternion();
t->rot_blend_accum = 0;
t->scale = Vector3(1, 1, 1);
t->loc = t->init_loc;
t->rot = t->init_rot;
t->scale = t->init_scale;
}

if (track->root_motion) {
double prev_time = time - delta;
if (!backward) {
Expand Down Expand Up @@ -1036,22 +1033,19 @@ void AnimationTree::_process_graph(double p_delta) {
continue;
}

t->loc = t->loc.lerp(loc, blend);
t->loc += (loc - t->init_loc) * blend;
}
#endif // _3D_DISABLED
} break;
case Animation::TYPE_ROTATION_3D: {
#ifndef _3D_DISABLED
TrackCacheTransform *t = static_cast<TrackCacheTransform *>(track);

if (t->process_pass != process_pass) {
t->process_pass = process_pass;
t->loc = Vector3();
t->rot = Quaternion();
t->rot_blend_accum = 0;
t->scale = Vector3(1, 1, 1);
t->loc = t->init_loc;
t->rot = t->init_rot;
t->scale = t->init_scale;
}

if (track->root_motion) {
double prev_time = time - delta;
if (!backward) {
Expand Down Expand Up @@ -1097,8 +1091,7 @@ void AnimationTree::_process_graph(double p_delta) {
continue;
}
a->rotation_track_interpolate(i, (double)a->get_length(), &rot[1]);
Quaternion q = Quaternion().slerp(rot[0].normalized().inverse() * rot[1].normalized(), blend).normalized();
t->rot = (t->rot * q).normalized();
t->rot += (rot[1].log() - rot[0].log()) * blend;
prev_time = 0;
}
} else {
Expand All @@ -1108,8 +1101,7 @@ void AnimationTree::_process_graph(double p_delta) {
continue;
}
a->rotation_track_interpolate(i, 0, &rot[1]);
Quaternion q = Quaternion().slerp(rot[0].normalized().inverse() * rot[1].normalized(), blend).normalized();
t->rot = (t->rot * q).normalized();
t->rot += (rot[1].log() - rot[0].log()) * blend;
prev_time = 0;
}
}
Expand All @@ -1120,8 +1112,7 @@ void AnimationTree::_process_graph(double p_delta) {
}

a->rotation_track_interpolate(i, time, &rot[1]);
Quaternion q = Quaternion().slerp(rot[0].normalized().inverse() * rot[1].normalized(), blend).normalized();
t->rot = (t->rot * q).normalized();
t->rot += (rot[1].log() - rot[0].log()) * blend;
prev_time = !backward ? 0 : (double)a->get_length();

} else {
Expand All @@ -1132,29 +1123,22 @@ void AnimationTree::_process_graph(double p_delta) {
continue;
}

if (t->rot_blend_accum == 0) {
t->rot = rot;
t->rot_blend_accum = blend;
} else {
real_t rot_total = t->rot_blend_accum + blend;
t->rot = rot.slerp(t->rot, t->rot_blend_accum / rot_total).normalized();
t->rot_blend_accum = rot_total;
if (signbit(rot.dot(t->ref_rot))) {
rot = -rot;
}
t->rot += (rot.log() - t->init_rot) * blend;
}
#endif // _3D_DISABLED
} break;
case Animation::TYPE_SCALE_3D: {
#ifndef _3D_DISABLED
TrackCacheTransform *t = static_cast<TrackCacheTransform *>(track);

if (t->process_pass != process_pass) {
t->process_pass = process_pass;
t->loc = Vector3();
t->rot = Quaternion();
t->rot_blend_accum = 0;
t->scale = Vector3(1, 1, 1);
t->loc = t->init_loc;
t->rot = t->init_rot;
t->scale = t->init_scale;
}

if (track->root_motion) {
double prev_time = time - delta;
if (!backward) {
Expand Down Expand Up @@ -1232,7 +1216,7 @@ void AnimationTree::_process_graph(double p_delta) {
continue;
}

t->scale = t->scale.lerp(scale, blend);
t->scale += (scale - t->init_scale) * blend;
}
#endif // _3D_DISABLED
} break;
Expand All @@ -1254,7 +1238,7 @@ void AnimationTree::_process_graph(double p_delta) {
continue;
}

t->value = Math::lerp(t->value, value, (float)blend);
t->value += value * blend;
#endif // _3D_DISABLED
} break;
case Animation::TYPE_VALUE: {
Expand All @@ -1271,13 +1255,16 @@ void AnimationTree::_process_graph(double p_delta) {
}

if (t->process_pass != process_pass) {
t->value = value;
t->process_pass = process_pass;
t->value = value;
t->value.zero();
}

Variant::interpolate(t->value, value, blend, t->value);

Variant::blend(t->value, value, blend, t->value);
} else {
if (blend < CMP_EPSILON) {
continue; //nothing to blend
}
List<int> indices;
a->value_track_get_key_indices(i, time, delta, &indices, pingponged);

Expand All @@ -1289,7 +1276,10 @@ void AnimationTree::_process_graph(double p_delta) {

} break;
case Animation::TYPE_METHOD: {
if (delta == 0) {
if (blend < CMP_EPSILON) {
continue; //nothing to blend
}
if (!seeked && Math::is_zero_approx(delta)) {
continue;
}
TrackCacheMethod *t = static_cast<TrackCacheMethod *>(track);
Expand All @@ -1312,14 +1302,16 @@ void AnimationTree::_process_graph(double p_delta) {
real_t bezier = a->bezier_track_interpolate(i, time);

if (t->process_pass != process_pass) {
t->value = bezier;
t->process_pass = process_pass;
t->value = 0;
}

t->value = Math::lerp(t->value, bezier, blend);

t->value += bezier * blend;
} break;
case Animation::TYPE_AUDIO: {
if (blend < CMP_EPSILON) {
continue; //nothing to blend
}
TrackCacheAudio *t = static_cast<TrackCacheAudio *>(track);

if (seeked) {
Expand Down Expand Up @@ -1431,6 +1423,9 @@ void AnimationTree::_process_graph(double p_delta) {
}
} break;
case Animation::TYPE_ANIMATION: {
if (blend < CMP_EPSILON) {
continue; //nothing to blend
}
TrackCacheAnimation *t = static_cast<TrackCacheAnimation *>(track);

AnimationPlayer *player2 = Object::cast_to<AnimationPlayer>(t->object);
Expand Down Expand Up @@ -1521,6 +1516,7 @@ void AnimationTree::_process_graph(double p_delta) {
case Animation::TYPE_POSITION_3D: {
#ifndef _3D_DISABLED
TrackCacheTransform *t = static_cast<TrackCacheTransform *>(track);
t->rot = t->rot.exp();

if (t->root_motion) {
Transform3D xform;
Expand Down
5 changes: 4 additions & 1 deletion scene/animation/animation_tree.h
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Expand Up @@ -197,9 +197,12 @@ class AnimationTree : public Node {
bool loc_used = false;
bool rot_used = false;
bool scale_used = false;
Vector3 init_loc = Vector3(0, 0, 0);
Quaternion ref_rot = Quaternion(0, 0, 0, 1);
Quaternion init_rot = Quaternion(0, 0, 0, 0);
Vector3 init_scale = Vector3(1, 1, 1);
Vector3 loc;
Quaternion rot;
real_t rot_blend_accum = 0.0;
Vector3 scale;

TrackCacheTransform() {
Expand Down