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Set ECS IK target positions from mocap data via rig world positions #9235

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merged 2 commits into from
Nov 8, 2023
Merged

Set ECS IK target positions from mocap data via rig world positions #9235

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8cf7b08
only set ik target positions on local client
AidanCaruso Nov 8, 2023
283478f
write position to targets if mocap session
AidanCaruso Nov 8, 2023
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31 changes: 19 additions & 12 deletions packages/engine/src/avatar/functions/applyInputSourcePoseToIKTargets.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -25,19 +25,17 @@ Ethereal Engine. All Rights Reserved.

import { Bone, Euler, Matrix4, Quaternion, Vector3 } from 'three'

import { EntityUUID } from '@etherealengine/common/src/interfaces/EntityUUID'
import { getState } from '@etherealengine/hyperflux'

import { Engine } from '../../ecs/classes/Engine'
import { Entity } from '../../ecs/classes/Entity'
import { getComponent, hasComponent, removeComponent, setComponent } from '../../ecs/functions/ComponentFunctions'
import { InputSourceComponent } from '../../input/components/InputSourceComponent'
import { UUIDComponent } from '../../scene/components/UUIDComponent'
import { MotionCaptureRigComponent } from '../../mocap/MotionCaptureRigComponent'
import { TransformComponent } from '../../transform/components/TransformComponent'
import { XRHand, XRLeftHandComponent, XRRightHandComponent } from '../../xr/XRComponents'
import { ReferenceSpace, XRControlsState, XRState } from '../../xr/XRState'
import { BoneStructure } from '../AvatarBoneMatching'
import { ikTargets } from '../animation/Util'
import { AvatarRigComponent } from '../components/AvatarAnimationComponent'

// rotate +90 around rig finger's X axis
Expand Down Expand Up @@ -266,7 +264,13 @@ const rightControllerOffset = new Quaternion()
.setFromEuler(new Euler(0, Math.PI / 2, 0))
.multiply(new Quaternion().setFromEuler(new Euler(Math.PI / 4, 0, 0)))

export const applyInputSourcePoseToIKTargets = () => {
export const applyInputSourcePoseToIKTargets = (
ikTargetHead: Entity,
ikTargetRightHand: Entity,
ikTargetLeftHand: Entity,
ikTargetRightFoot: Entity,
ikTargetLeftFoot: Entity
) => {
const { localClientEntity } = Engine.instance

const xrFrame = getState(XRState).xrFrame!
Expand All @@ -279,14 +283,6 @@ export const applyInputSourcePoseToIKTargets = () => {

/** Update controller pose input sources from WebXR into the ECS */
if (xrFrame && referenceSpace) {
const headUUID = (Engine.instance.userID + ikTargets.head) as EntityUUID
const leftHandUUID = (Engine.instance.userID + ikTargets.leftHand) as EntityUUID
const rightHandUUID = (Engine.instance.userID + ikTargets.rightHand) as EntityUUID

const ikTargetHead = UUIDComponent.entitiesByUUID[headUUID]
const ikTargetLeftHand = UUIDComponent.entitiesByUUID[leftHandUUID]
const ikTargetRightHand = UUIDComponent.entitiesByUUID[rightHandUUID]

/** Head */
if (isCameraAttachedToAvatar && ikTargetHead) {
const cameraTransform = getComponent(Engine.instance.cameraEntity, TransformComponent)
Expand Down Expand Up @@ -354,4 +350,15 @@ export const applyInputSourcePoseToIKTargets = () => {
}
}
}
//for now if we're in a mocap session we write the world positions of
//forward kinematic mocap pose data to the IK targets from the rig
else if (getComponent(localClientEntity, MotionCaptureRigComponent)) {
const rig = getComponent(localClientEntity, AvatarRigComponent).rig
setComponent(ikTargetRightHand, TransformComponent, { position: rig.rightHand.node.getWorldPosition(worldPos) })
setComponent(ikTargetLeftHand, TransformComponent, { position: rig.leftHand.node.getWorldPosition(worldPos) })
setComponent(ikTargetHead, TransformComponent, { position: rig.head.node.getWorldPosition(worldPos) })
setComponent(ikTargetRightFoot, TransformComponent, { position: rig.rightFoot.node.getWorldPosition(worldPos) })
setComponent(ikTargetLeftFoot, TransformComponent, { position: rig.leftFoot.node.getWorldPosition(worldPos) })
}
}
const worldPos = new Vector3()
6 changes: 4 additions & 2 deletions packages/engine/src/avatar/systems/AvatarAnimationSystem.ts
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Expand Up @@ -232,8 +232,10 @@ const execute = () => {
const headTransform = getComponent(head, TransformComponent)
const headTarget = getMutableComponent(head, AvatarIKTargetComponent)

applyInputSourcePoseToIKTargets()
setIkFootTarget(rigComponent.upperLegLength + rigComponent.lowerLegLength, deltaTime)
if (entity == Engine.instance.localClientEntity) {
applyInputSourcePoseToIKTargets(head, rightHand, leftHand, rightFoot, leftFoot)
setIkFootTarget(rigComponent.upperLegLength + rigComponent.lowerLegLength, deltaTime)
}

//special case for the head if we're in xr mode
if (getOptionalComponent(entity, XRRigComponent)) {
Expand Down