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Back to General and Gameplay Programming

8 Months and I Still Can't Get Skeletal Animation Working! Urg!

Started by
10 comments, last by pressgreen 11 years, 10 months ago
I've been trying so long and so hard to get skeletal animation working in my game engine but it just won't! I switched from the FBX SDK to Assimp and the animation data now makes sense but I can't get the bones to rotate in the directions they are suppose to. Also now I can't get the bind-pose for my skeleton in Assimp because when I add up all the matrices from child to parent bone I get the pose of the skeleton at the last frame of animation.

[attachment=7000:Blender.jpg]

[attachment=7001:Bind pose.jpg]

[attachment=7002:Rotations.jpg]


Here is the function I made to apply animations to my model (most likely reason I'm having this problem):


void Actor::UpdateAnimation( int32_t bone, Matrix44* matrix, double time )
{
// Initialize animation rotation matrix.
Matrix44 animRot;
Matrix44 animRot2;
animRot = MatrixIdentity();
animRot2 = MatrixIdentity();

// Get animation rotation.
Curve uCurve;
Curve lCurve;
uCurve.time = ULONG_MAX;
uCurve.value = Vector4( 0.0f, 0.0f, 0.0f, 0.0f );
lCurve.time = 0;
lCurve.value = Vector4( 0.0f, 0.0f, 0.0f, 0.0f );

// Find one frame that are directly before and one that is directly after the current time.
for( uint32_t i = 0; i < mesh->bones[bone]->Rot_Keys.size(); i++)
{
Curve nCurve = mesh->bones[bone]->Rot_Keys;
if(nCurve.time > lCurve.time && nCurve.time < time )
{
lCurve = nCurve;
}
if(nCurve.time < uCurve.time && nCurve.time > time )
{
uCurve = nCurve;
}
}

// If we can't find an upper curve then just set it to the lower curve.
if(uCurve.time == ULONG_MAX)
{
uCurve = lCurve;
}

// Check if we found any frames then interpolate between the two rotations and create a matrix from the quaternion.
if(uCurve.time > 0)
{
Vector4 currentRot;
currentRot = Slerp(lCurve.value, uCurve.value, (float)(time - lCurve.time) / (float)(uCurve.time - lCurve.time) );
animRot = Ovgl::MatrixRotationQuaternion(&currentRot);
}

// Offset the center of rotation.
animRot2 = MatrixInverse( &Vector4(), &mesh->bones[bone]->matrix) * animRot * mesh->bones[bone]->matrix;

// Get difference from original pose to the animated pose.
matrices[bone] = animRot2 * (*matrix) * MatrixInverse( &Vector4(), &mesh->bones[bone]->matrix);

// Loop through all child bones and update their animations.
for( uint32_t i = 0; i < mesh->bones[bone]->childen.size(); i++)
{
Matrix44 accumulate;
Matrix44 Bone2Parent;
Bone2Parent = MatrixInverse( &Vector4(), &mesh->bones[bone]->matrix ) * mesh->bones[mesh->bones[bone]->childen]->matrix;
accumulate = animRot2 * (*matrix) * Bone2Parent;
Actor::UpdateAnimation( mesh->bones[bone]->childen, &accumulate, time );
}
}
Here is my Slerp function:



Vector4 Slerp( Vector4 q1, Vector4 q2, float t )
{
// Quaternion to return.
Vector4 qm;
// Calculate angle between them.
float cosHalfTheta = q1.w * q2.w + q1.x * q2.x + q1.y * q2.y + q1.z * q2.z;

if (cosHalfTheta < 0)
{
q2.w = -q2.w; q2.x = -q2.x; q2.y = -q2.y; q2.z = q2.z;
cosHalfTheta = -cosHalfTheta;
}

// if qa=qb or qa=-qb then theta = 0 and we can return qa
if (abs(cosHalfTheta) >= 1.0f){
qm.w = q1.w;qm.x = q1.x;qm.y = q1.y;qm.z = q1.z;
return qm;
}
// Calculate temporary values.
float halfTheta = acos(cosHalfTheta);
float sinHalfTheta = sqrt(1.0f - cosHalfTheta*cosHalfTheta);
// if theta = 180 degrees then result is not fully defined
// we could rotate around any axis normal to qa or qb
if (fabs(sinHalfTheta) < 0.001){ // fabs is floating point absolute
qm.w = (q1.w * 0.5f + q2.w * 0.5f);
qm.x = (q1.x * 0.5f + q2.x * 0.5f);
qm.y = (q1.y * 0.5f + q2.y * 0.5f);
qm.z = (q1.z * 0.5f + q2.z * 0.5f);
return qm;
}
float ratioA = sinf((1.0f - t) * halfTheta) / sinHalfTheta;
float ratioB = sinf(t * halfTheta) / sinHalfTheta;
//calculate Quaternion.
qm.w = (q1.w * ratioA + q2.w * ratioB);
qm.x = (q1.x * ratioA + q2.x * ratioB);
qm.y = (q1.y * ratioA + q2.y * ratioB);
qm.z = (q1.z * ratioA + q2.z * ratioB);
return qm;
}

Here is my quaternion to matrix function:



Matrix44 MatrixRotationQuaternion( Vector4* q )
{
Matrix44 out;
float xx = q->x * q->x;
float xy = q->x * q->y;
float xz = q->x * q->z;
float xw = q->x * q->w;
float yy = q->y * q->y;
float yz = q->y * q->z;
float yw = q->y * q->w;
float zz = q->z * q->z;
float zw = q->z * q->w;
out._11 = 1 - 2 * ( yy + zz );
out._12 = 2 * ( xy - zw );
out._13 = 2 * ( xz + yw );
out._21 = 2 * ( xy + zw );
out._22 = 1 - 2 * ( xx + zz );
out._23 = 2 * ( yz - xw );
out._31 = 2 * ( xz - yw );
out._32 = 2 * ( yz + xw );
out._33 = 1 - 2 * ( xx + yy );
out._14 = out._24 = out._34 = out._41 = out._42 = out._43 = 0;
out._44 = 1;
return out;
}

Here is the function I use to load the model:


Mesh* MediaLibrary::ImportModel( const std::string& file )
{
if(!file.empty())
{
Mesh* mesh = new Ovgl::Mesh;

// Set media library to this library.
mesh->ml = this;

// Import scene from file.
const aiScene* scene = aiImportFile(file.c_str(), 0);

// Iterate through scene nodes.
for( uint32_t n = 0; n < scene->mRootNode->mNumChildren; n++)
{

// Iterate through meshes of this node.
for( uint32_t sm = 0; sm < scene->mRootNode->mChildren[n]->mNumMeshes; sm++)
{
uint32_t voffset = mesh->vertices.size();
uint32_t foffset = mesh->faces.size();
uint32_t aoffset = 0;
for( uint32_t i = 0; i < mesh->faces.size(); i++ )
{
if( mesh->attributes > aoffset )
{
aoffset = mesh->attributes;
}
}
uint32_t m = scene->mRootNode->mChildren[n]->mMeshes[sm];
Matrix44 matrix;
if(scene->mMeshes[m]->HasBones())
matrix = Ovgl::MatrixTranspose((Matrix44*)&scene->mRootNode->FindNode(scene->mMeshes[m]->mBones[0]->mName)->mTransformation).Translation();
else
matrix = *(Matrix44*)&scene->mRootNode->mChildren[n]->mTransformation.Transpose();
matrix = matrix * MatrixRotationX(1.57f);
if(scene->mMeshes[m]->HasBones())
matrix = matrix * Ovgl::MatrixTranspose((Matrix44*)&scene->mMeshes[m]->mBones[0]->mOffsetMatrix).Translation();
std::vector< std::vector< float > > weights(scene->mMeshes[m]->mNumVertices);
std::vector< std::vector< float > > indices(scene->mMeshes[m]->mNumVertices);
std::vector< Face > faces;
std::vector< uint32_t > attributes;
mesh->vertices.resize( voffset + scene->mMeshes[m]->mNumVertices);

// Get skeleton.
if(scene->mMeshes[m]->HasBones())
{
for( uint32_t b = 0; b < scene->mMeshes[m]->mNumBones; b++ )
{
Bone* bone = new Bone;
mesh->bones.push_back(bone);
bone->length = 1.0f;
bone->mesh = new Mesh;
bone->convex = NULL;
aiNode* bnode = scene->mRootNode->FindNode(scene->mMeshes[m]->mBones->mName);
aiMatrix4x4 GlobalTransform = bnode->mTransformation;
aiNode* parent = bnode->mParent;
while( parent->mParent != scene->mRootNode )
{
GlobalTransform = parent->mTransformation * GlobalTransform;
parent = parent->mParent;
}
bone->matrix = Ovgl::MatrixTranspose((Matrix44*)&GlobalTransform)* MatrixRotationX(1.57f);

// Get bone hierarchy.
for( uint32_t cb = 0; cb < bnode->mNumChildren; cb++ )
{
for( uint32_t mb = 0; mb < scene->mMeshes[m]->mNumBones; mb++ )
{
if( bnode->mParent->mName == scene->mMeshes[m]->mBones[mb]->mName )
{
bone->parent = mb;
}
if( bnode->mChildren[cb]->mName == scene->mMeshes[m]->mBones[mb]->mName )
{
bone->childen.push_back(mb);
}
}
}
for (uint32_t w = 0 ; w < scene->mMeshes[m]->mBones->mNumWeights; w++)
{
weights[scene->mMeshes[m]->mBones->mWeights[w].mVertexId].push_back((float)scene->mMeshes[m]->mBones->mWeights[w].mWeight);
indices[scene->mMeshes[m]->mBones->mWeights[w].mVertexId].push_back((float)b);
}

// Get animation for this bone.
for( uint32_t a = 0; a < scene->mNumAnimations; a++ )
{
for( uint32_t ac = 0; ac < scene->mAnimations[a]->mNumChannels; ac++ )
{
if(scene->mAnimations[a]->mChannels[ac]->mNodeName == scene->mMeshes[m]->mBones->mName)
{
for( uint32_t rk = 0; rk < scene->mAnimations[a]->mChannels[ac]->mNumRotationKeys; rk++ )
{
scene->mAnimations[a]->mChannels[ac]->mPreState = aiAnimBehaviour_LINEAR;
Ovgl::Curve curve;
curve.time = scene->mAnimations[a]->mChannels[ac]->mRotationKeys[rk].mTime;
curve.value.w = scene->mAnimations[a]->mChannels[ac]->mRotationKeys[rk].mValue.w;
curve.value.x = scene->mAnimations[a]->mChannels[ac]->mRotationKeys[rk].mValue.x;
curve.value.y = scene->mAnimations[a]->mChannels[ac]->mRotationKeys[rk].mValue.y;
curve.value.z = scene->mAnimations[a]->mChannels[ac]->mRotationKeys[rk].mValue.z;
mesh->bones->Rot_Keys.push_back( curve );
}
}
}
}
}
}

// Cap off bone influences to no more than 4.
for ( uint32_t w = 0; w < scene->mMeshes[m]->mNumVertices; w++)
{
weights[w].resize(4);
indices[w].resize(4);
if(!scene->mMeshes[m]->HasBones())
weights[w][0] = 1.0f;
}

// Get geometry.
for( uint32_t f = 0; f < scene->mMeshes[m]->mNumFaces; f++ )
{
uint32_t findices[4];
for( uint32_t i = 0; i < scene->mMeshes[m]->mFaces[f].mNumIndices; i++ )
{
int vi = scene->mMeshes[m]->mFaces[f].mIndices;
Vertex vertex;
vertex.position.x = scene->mMeshes[m]->mVertices[vi].x;
vertex.position.y = scene->mMeshes[m]->mVertices[vi].y;
vertex.position.z = scene->mMeshes[m]->mVertices[vi].z;
vertex.position = Vector3Transform(&vertex.position, &matrix);
vertex.normal.x = scene->mMeshes[m]->mNormals[vi].x;
vertex.normal.y = scene->mMeshes[m]->mNormals[vi].y;
vertex.normal.z = scene->mMeshes[m]->mNormals[vi].z;
vertex.normal = Vector3Transform(&vertex.normal, &matrix.Rotation());
if(scene->mMeshes[m]->GetNumUVChannels() > 0)
{
vertex.texture.x = scene->mMeshes[m]->mTextureCoords[0][vi].x;
vertex.texture.y = scene->mMeshes[m]->mTextureCoords[0][vi].y;
}
else
{
vertex.texture.x = 0.0f;
vertex.texture.y = 0.0f;
}
vertex.weight[0] = weights[vi][0];
vertex.weight[1] = weights[vi][1];
vertex.weight[2] = weights[vi][2];
vertex.weight[3] = weights[vi][3];
vertex.indices[0] = indices[vi][0];
vertex.indices[1] = indices[vi][1];
vertex.indices[2] = indices[vi][2];
vertex.indices[3] = indices[vi][3];
findices = (uint32_t)vi + voffset;
mesh->vertices[vi+voffset] = vertex;
}

if(scene->mMeshes[m]->mFaces[f].mNumIndices == 4)
{
Face face;
face.indices[0] = findices[0];
face.indices[1] = findices[2];
face.indices[2] = findices[3];
mesh->faces.push_back( face );
mesh->attributes.push_back(scene->mMeshes[m]->mMaterialIndex);
}
Face face;
face.indices[0] = findices[0];
face.indices[1] = findices[1];
face.indices[2] = findices[2];
mesh->faces.push_back( face );
mesh->attributes.push_back(scene->mMeshes[m]->mMaterialIndex);
}
}
}

// If no bones exist create one.
if(mesh->bones.size() == 0 )
{
Bone* bone = new Bone;
bone->matrix = MatrixIdentity();
bone->length = 1.0f;
bone->mesh = new Mesh;
bone->convex = NULL;
mesh->bones.push_back(bone);
}

// Save vertices which influence each bone for bone shape automatic generation.
for( uint32_t i = 0; i < mesh->bones.size(); i++ )
{
for( uint32_t v = 0; v < mesh->vertices.size(); v++ )
{
for( uint32_t j = 0; j < 4; j++)
{
if(mesh->vertices[v].indices[j] == i && mesh->vertices[v].weight[j] > 0.1f)
{
Vertex Vertex;
Vertex.position = Vector3Transform( &mesh->vertices[v].position, &MatrixInverse( &Vector4( 0.0f, 0.0f, 0.0f, 0.0f ), &mesh->bones->matrix));
Vertex.weight[0] = 1.0f;
mesh->bones->mesh->vertices.push_back( Vertex );
}
}
}
}

// Null index and vertex buffers.
mesh->VertexBuffer = 0;
mesh->IndexBuffers = 0;

// Update video memory copies of index and vertex buffers.
mesh->Update();
Meshes.push_back( mesh );
return mesh;
}

// Function failed so return NULL.
return NULL;
}

If anyone can help me figure this out they will be my hero!!!
Want an easy to use open source 3D video game SDK that handles Physics, Graphics, Audio, and AI right out of the box?
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Bump. unsure.png
Want an easy to use open source 3D video game SDK that handles Physics, Graphics, Audio, and AI right out of the box?
General advice: Which is the first point you encounter in a debugging session that deviates from your expectation? Fix that, and move on to anything else that looks wrong. Add tests as you go.

Also, use a simple test model with, say, two or three bones before moving on. You need to be able to do the associated calculations in your head or at least on paper to be able to follow along with your code.
http://www.mr-edd.co.uk
http://bitbucket.org/edd

General advice: Which is the first point you encounter in a debugging session that deviates from your expectation? Fix that, and move on to anything else that looks wrong. Add tests as you go.

Also, use a simple test model with, say, two or three bones before moving on. You need to be able to do the associated calculations in your head or at least on paper to be able to follow along with your code.


Thank you for reply. Though I'm mainly hoping someone can tell me why the bone nodes are not in bind-pose. It just does not make sense to me.
Want an easy to use open source 3D video game SDK that handles Physics, Graphics, Audio, and AI right out of the box?
Follow the advice and you should be able to tell yourself.

Anyone that fixes the problem for you is essentially going to do what I suggested you should do, but without your code and tools in front of them. Wouldn't you agree it is perhaps a little rude to ask someone to do that when you haven't done so yourself, especially given that they're in a less privileged position than you?
http://www.mr-edd.co.uk
http://bitbucket.org/edd
You can check out my code that I wrote to extract animation data from ASSIMP that might help you out. . ..

http://nolimitsdesigns.com/?s=assimp
Wisdom is knowing when to shut up, so try it.
--Game Development http://nolimitsdesigns.com: Reliable UDP library, Threading library, Math Library, UI Library. Take a look, its all free.

You can check out my code that I wrote to extract animation data from ASSIMP that might help you out. . ..

http://nolimitsdesigns.com/?s=assimp


I really appreciate you linking me to your code but I'm afraid I can't see where you offset the bones by the inverse of the final frame of animation. Is it normal that my nodes are offset like this?
Want an easy to use open source 3D video game SDK that handles Physics, Graphics, Audio, and AI right out of the box?

You can check out my code that I wrote to extract animation data from ASSIMP that might help you out. . ..

http://nolimitsdesigns.com/?s=assimp


In a previous post you stated that I needed to add all the matrices back to the root bone in order to get the bind pose but now I've figured out that I really needed the inverse of mOffsetMatrix... Still having problems with the orientation of the animations but what was the reason you told me to do that?
Want an easy to use open source 3D video game SDK that handles Physics, Graphics, Audio, and AI right out of the box?
One of the users on here named Kyall has been trying to help me figure this out but we have still had no luck. If anyone has done this before we could really use some help!
Want an easy to use open source 3D video game SDK that handles Physics, Graphics, Audio, and AI right out of the box?
The very first thing that pops into my head is: Have you tried using an existing slerp and quaternion-to-matrix from a library you know works? It could be a good sanity check before trying anything else.

This topic is closed to new replies.

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