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ddAnimate.js
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Initial experiments implementing PFNN player
//
// Phase-Functioned Neural Networks for Character Control
//
// PFNN system designed by Daniel Holden
//
// http://theorangeduck.com/page/phase-functioned-neural-networks-character-control
//
// Implemented in HiFi by David Wooldridge, November 2017
//
//
//
print("PFNN: Starting up. Yp experiments ready version");
// Urgh! I give up! Hard coding locallib functions for now
//Script.require("./libraries/pfnnApi.js");
//Script.include(Script.resolvePath('./libraries/Matrix3.js'));
//Script.include('./libraries/Matrix3.js');
var glm = Script.require('https://git.io/glm-js.min.js');
// Helper functions
var quatExp = function (vectorThree) {
var w = glm.length(vectorThree);
var q = w < 0.01 ?
glm.quat(1, 0, 0, 0) :
glm.quat(
Math.cos(w),
vectorThree.x * (Math.sin(w) / w),
vectorThree.y * (Math.sin(w) / w),
vectorThree.z * (Math.sin(w) / w)
);
// print(JSON.stringify(q / Math.sqrt(q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z))+" fkdjsf");
//return q / Math.sqrt(q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z);
return glm.normalize(q);
};
var mixDirections = function (x, y, a) {
var x_q = glm.angleAxis(Math.atan2(x.x, x.z), glm.vec3(0, 1, 0));
var y_q = glm.angleAxis(Math.atan2(y.x, y.z), glm.vec3(0, 1, 0));
var z_q = glm.slerp(x_q, y_q, a);
return z_q * glm.quat.getFront;
//return glm.Quat.multiply(z_q, Quat.getFront);
//return z_q * glm.vec3(0, 0, 1);
}
// Converts a 4 * 4 matrix to a quaternion
// Adapted from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
// Unsure if it will work, as am unsure if our 4*4 matrix is orthoganal - if not, it won't work
var quatCast = function(matrixFour) {
if (!matrixFour) {
return Quat.IDENTITY;
}
var m00 = matrixFour[0][0];
var m11 = matrixFour[1][1];
var m22 = matrixFour[2][2];
var m21 = matrixFour[2][1];
var m12 = matrixFour[1][2];
var m02 = matrixFour[0][2];
var m20 = matrixFour[2][0];
var m10 = matrixFour[1][0];
var m01 = matrixFour[0][1];
var qw = Math.sqrt(1 + m00 + m11 + m22) / 2;
var qx = (m21 - m12) / ( 4 * qw);
var qy = (m02 - m20) / ( 4 * qw);
var qz = (m10 - m01) / ( 4 * qw);
return { x: qx, y: qy, z: qz, w: qw };
}
var options = {
extraVelocitySmooth : 0.9,
extraDirectionSmooth : 0.9,
extraVelocitySmooth : 0.9,
extraStrafeSmooth : 0.9,
extraCrouchedSmooth : 0.9,
extraGaitSmooth : 0.1,
extraJointSmooth : 0.5
}
// precomputation techniques (aka mode) for PFNN
const MODE_CONSTANT = 0; // default
const MODE_LINEAR = 1; // not yet supported (uses interpolation to trade off memory and processing)
const MODE_CUBIC = 2; // not yet supported (uses interpolation to trade off memory and processing)
const PATH_TO_DATA = "./pfnn-data/";
PFNN = function(precomputationTechnique) {
var that = {};
//var data_url = "http://davedub.co.uk/highfidelity/pfnn/";
var mode = precomputationTechnique;
// array sizes
const XDIM = 342; // will need to adjust for HiFi avatar number of joints
const YDIM = 311;
const HDIM = 512;
that.XDIM = 342; // will need to adjust for HiFi avatar number of joints
that.YDIM = 311;
that.HDIM = 512;
// TODO: Check if array initialisation is still necessary here
// PFNN inputs and outputs
var Xmean = new Array(XDIM);
var Xstd = new Array(XDIM);
var Ymean = new Array(YDIM);
var Ystd = new Array(YDIM);
// containers for weights (loaded as separate files)
var W0; // array size dependent on precomputation technique, so not initialised yet
var W1; // array size dependent on precomputation technique, so not initialised yet
var W2; // array size dependent on precomputation technique, so not initialised yet
//
var b0; // array size dependent on precomputation technique, so not initialised yet
var b1; // array size dependent on precomputation technique, so not initialised yet
var b2; // array size dependent on precomputation technique, so not initialised yet
// PFNN input and output arrays
var Xp = new Array(XDIM);
var Yp = new Array(YDIM);
//
var H0 = new Array(HDIM);
var H1 = new Array(HDIM);
// PFNN weights
var W0p = new Array(HDIM); // these are multi-dimensional arrays
var W1p = new Array(HDIM); // these are multi-dimensional arrays
var W2p = new Array(YDIM); // these are multi-dimensional arrays
// PFNN biases
var b0p = new Array(HDIM);
var b1p = new Array(HDIM);
var b2p = new Array(YDIM);
that.initialise = function() {
// PFNN inputs and outputs
Xmean = Script.require(Script.resolvePath(PATH_TO_DATA + "Xmean.json"));
Xstd = Script.require(Script.resolvePath(PATH_TO_DATA + "Xstd.json"));
Ymean = Script.require(Script.resolvePath(PATH_TO_DATA + "Ymean.json"));
Ystd = Script.require(Script.resolvePath(PATH_TO_DATA + "Ystd.json"));
// set initial state for PFNN output (Yp)
for (i = 0 ; i < YDIM ; i++) {
Yp[i] = Ymean[i];
}
return;
switch (mode) {
case MODE_CONSTANT:
const ARRAY_SIZE = 50;
W0 = new Array(ARRAY_SIZE);
W1 = new Array(ARRAY_SIZE);
W2 = new Array(ARRAY_SIZE);
b0 = new Array(ARRAY_SIZE);
b1 = new Array(ARRAY_SIZE);
b2 = new Array(ARRAY_SIZE);
print("PFNN: Loading data");
//print("Loading data");
for (var i = 0 ; i < ARRAY_SIZE ; i++) {
var index;
if (i < 10) {
index = "00" + i;
} else {
index = "0" + i;
}
//print("Set index to " + index);
W0[i] = Script.require(Script.resolvePath(PATH_TO_DATA + "W0_" + index + ".json"));
W1[i] = Script.require(Script.resolvePath(PATH_TO_DATA + "W0_" + index + ".json"));
W2[i] = Script.require(Script.resolvePath(PATH_TO_DATA + "W0_" + index + ".json"));
b0[i] = Script.require(Script.resolvePath(PATH_TO_DATA + "b0_" + index + ".json"));
b1[i] = Script.require(Script.resolvePath(PATH_TO_DATA + "b1_" + index + ".json"));
b2[i] = Script.require(Script.resolvePath(PATH_TO_DATA + "b2_" + index + ".json"));
//print("Loaded " + (i + 1) + " PFNN weights");
print("PFNN: Loading: " + (100 * (i + 1) / ARRAY_SIZE) + "% done");
}
//print("Data loaded");
print("PFNN: Data loaded");
break;
}
}
//that.updateXpInput = function(index, value) {
// Xp[index] = value;
//}
//that.dumpXp = function() {
// print("Xp is now: " + JSON.stringify(Xp, null, " "));
//}
that.getYp = function() {
return Yp;
}
//var debugbool = true;
// Predict the next frame. P is the current phase
that.predict = function(P) {
var pamount;
var pindex_0, pindex_1, pindex_2, pindex_3;
//if (debugbool) {
// print("Xp is: " + JSON.stringify(Xp, null, " "));
//}
//Xp = (Xp - Xmean) / Xstd;
Xp = arrayFunctions.arrayDivide((arrayFunctions.arraySubtract(Xp, Xmean)), Xstd);
//Xp = (arrayFunctions.arraySubtract(Xp, Xmean));
// Xp = arrayFunctions.arrayDivide(Xp, Xstd);
//if (debugbool) {
// debugbool = false;
// print("Xp is now: " + JSON.stringify(Xp, null, " "));
//}
//print("Predict called with phase equal to " + P.toFixed(2));
/*
switch (mode) {
case MODE_CONSTANT:
pindex_1 = (int)((P / (2*M_PI)) * 50);
H0 = (W0[pindex_1].matrix() * Xp.matrix()).array() + b0[pindex_1]; ELU(H0);
H1 = (W1[pindex_1].matrix() * H0.matrix()).array() + b1[pindex_1]; ELU(H1);
Yp = (W2[pindex_1].matrix() * H1.matrix()).array() + b2[pindex_1];
break;
default:
break;
}
Yp = (Yp * Ystd) + Ymean;
*/
}
return that;
}
Trajectory = function() {
var that = {};
var debugBool = true;
that.LENGTH = 120; // There are LENGTH trajectory points
that.MARKER_RATIO = 10; // 3D overlays are drawn every MARKER_RATIO sample points. MARKER_RATIO / LENGTH must be an integer
that.MOVE_THRESHOLD = 0.01; //0.075; // movement dead zone
that.MARKER_SIZE = 0.1;
// following terrain involves LENGTH intersection calls - too many for HiFi JS?
that.terrainFollowing = false;
// these are the parameters (Xp values) that are fed into the PFNN
that.positions = new Array(that.LENGTH); // Vec3
that.directions = new Array(that.LENGTH); // Vec3
that.rotations = new Array(that.LENGTH); // Vec3
that.heights = new Array(that.LENGTH); // float
that.gaitStand = new Array(that.LENGTH); // float
that.gaitWalk = new Array(that.LENGTH); // float
that.gaitJog = new Array(that.LENGTH); // float
that.gaitCrouch = new Array(that.LENGTH); // float
that.gaitJump = new Array(that.LENGTH); // float
that.gaitBump = new Array(that.LENGTH); // float
that.targetDir = { x: 0, y: 0, z: 1 }; // Vec3
that.targetVel = { x: 0, y: 0, z: 0 }; // Vec3
// End of PFNN Xp parameters
// trajectory overlays
that.locationOverlays = new Array(that.LENGTH / that.MARKER_RATIO);
that.directionOverlays = new Array(that.LENGTH / that.MARKER_RATIO);
// getters
that.getLength = function() {
return that.LENGTH;
}
that.initialise = function() {
// initialise trajectory
var pickRay = { origin: MyAvatar.position, direction: { x:0, y:-1, z:0 } };
var hipsToFeet = Entities.findRayIntersection(pickRay, true).distance;
for (var i = 0 ; i < that.LENGTH ; i++) {
that.positions[i] = Vec3.sum(MyAvatar.position, { x:0.0, y:-hipsToFeet, z:0.0 });
that.rotations[i] = Quat.multiply(MyAvatar.orientation, Quat.getFront); // Quat.safeEulerAngles(MyAvatar.orientation);
//directions[i] = Quat.getFront(MyAvatar.headOrientation, Quat.getFront); // Quat.safeEulerAngles(MyAvatar.orientation);{ x: 0, y: 0, z: 1 };
that.directions[i] = Quat.multiply(MyAvatar.orientation, Quat.getFront);
that.heights[i] = character.avatarHipsToFeet(MyAvatar.position);
that.gaitStand[i] = 1.0;
that.gaitWalk[i] = 0.0;
that.gaitJog[i] = 0.0;
that.gaitCrouch[i] = 0.0;
that.gaitJump[i] = 0.0;
that.gaitBump[i] = 0.0;
}
that.targetDir = { x: 0, y: 0, z: 1 };
that.targetVel = { x: 0, y: 0, z: 0 };
// initialse overlays
for (var i = 0 ; i < that.LENGTH / that.MARKER_RATIO ; i++) {
var locationOverlay = Overlays.addOverlay("sphere", {
position: that.positions[i],
rotation: that.rotations[i],
color: {
//red: gaitJump[i],
//green: gaitBump[i],
//blue: gaitCrouch[i]
red: 0,
green: 0,
blue: 0
},
alpha: 1.0,
visible: true,
isSolid: true,
size: that.MARKER_SIZE,
scale: that.MARKER_SIZE,
//isFacingAvatar: true,
drawInFront: false
});
var directionOverlay = Overlays.addOverlay("line3d", {
start: that.positions[i],
end: Vec3.sum(that.positions[i], Vec3.multiply(0.25, that.directions[i])),
color: { red: 0, green: 0, blue: 0},
alpha: 1,
lineWidth: 5,
drawInFront: false
});
// store overlays
that.locationOverlays[i] = locationOverlay;
that.directionOverlays[i] = directionOverlay;
}
}
that.clean_up = function() {
for (var i = 0 ; i < that.LENGTH ; i++) {
Overlays.deleteOverlay(that.locationOverlays[i]);
Overlays.deleteOverlay(that.directionOverlays[i]);
}
}
return that;
};
Character = function() {
var that = {};
const JOINT_NUM = 31; // including End Sites (for some reason) - not 25;
that.numberOfJoints = JOINT_NUM;
var phase = 0;
// Initialise (by calling initialise) after trajectory and pfnn are instantiated
that.jointPositions = new Array(JOINT_NUM);
that.jointVelocities = new Array(JOINT_NUM);
that.jointRotations = new Array(JOINT_NUM);
// Armature details and tranform arrays
// Note: 'global' in this context actually means 'local with rotation relative to root'
// the non global ones are 'local with rotation relative to parent'
// Note 2: jointMeshXForm is the final set of transforms ready to be applied to the character
that.jointParents = new Array(JOINT_NUM); // array of indices of each joint's parent
that.jointAnimXForm = new Array(JOINT_NUM); // local transforms from Yp, relative to parent joint
that.jointRestXForm = new Array(JOINT_NUM); // local transforms from character_xforms.json, relative to parent joint
that.jointGlobalRestXForm = new Array(JOINT_NUM); // local transforms from Yp, relative to root
that.jointGlobalAnimXForm = new Array(JOINT_NUM); // local transforms from character_xforms.json, relative to root
that.jointMeshXForm = new Array(JOINT_NUM); // local transforms, relative to parent joint, ready to be applied to character
// Used to store the HiFi avatar joint rotations (as calculated each frame)
that.hiFiAvatarFinalJointRotations = {};
// These rotations will put the HiFi avatar into a 'K' / 'rest' pose simlar to the PFNN armature zeroed out pose
that.spineBend = 0; // 25; //-45; // -25; //
that.legsBend = 20; // -20; // 0; //
that.hiFiArmatureRestPose = {
"Hips" : Quat.multiply(MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("Hips")), Quat.fromPitchYawRollDegrees(-that.spineBend, 0, 0)),
"LeftUpLeg" : Quat.multiply(MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftUpLeg")), Quat.fromPitchYawRollDegrees(-that.spineBend, 0, that.legsBend)),
"LeftLeg" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftLeg")),
"LeftFoot" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftFoot")),
"LeftToeBase" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftToeBase")),
"RightUpLeg" : Quat.multiply(MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightUpLeg")), Quat.fromPitchYawRollDegrees(-that.spineBend, 0, -that.legsBend)),
"RightLeg" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightLeg")),
"RightFoot" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightFoot")),
"RightToeBase" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightToeBase")),
"Spine" : Quat.multiply(MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("Spine")), Quat.fromPitchYawRollDegrees(that.spineBend, 0, 0)),
"Spine1" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("Spine1")),
"Spine2" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("Spine2")),
"RightShoulder" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightShoulder")),
"RightArm" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightArm")),
"RightForeArm" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightForeArm")),
"RightHand" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("RightHand")),
"LeftShoulder" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftShoulder")),
"LeftArm" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftArm")),
"LeftForeArm" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftForeArm")),
"LeftHand" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("LeftHand")),
"Neck" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("Neck")),
"Head" : MyAvatar.getDefaultJointRotation(MyAvatar.getJointIndex("Head"))
};
that.setFinalJointRotationsToRestPose = function() {
for (joint in that.hiFiArmatureRestPose) {
that.hiFiAvatarFinalJointRotations[joint] = that.hiFiArmatureRestPose[joint];
//that.hiFiAvatarFinalJointRotations[joint] = Quat.IDENTITY;
};
}
that.rootPosition;
that.rootRotation;
that.strafeTarget = 0;
that.strafeAmount = 0;
// Extras added by Dave
that.avatarHipsToFeet = function(pickRayOrigin) {
var pickRay = { origin: pickRayOrigin, direction: { x:0, y:-1, z:0 } };
return Entities.findRayIntersection(pickRay, true).distance;
}
that.initialise = function() {
MyAvatar.position = glm.vec3(0,0,0);
var hipsToFeet = this.avatarHipsToFeet(MyAvatar.position);
print("Character initialise called.");
MyAvatar.orientation = Quat.fromPitchYawRollDegrees(0, 0, 0);
print("Hips to feet comes in at " + hipsToFeet.toFixed(3) + "m.");
MyAvatar.position = { x: 0, y: hipsToFeet, z: 0 };
print("Set MyAvatar.position to { x:0, y:hipsToFeet, z:0");
print("Avatar root at { x:" + MyAvatar.position.x.toFixed(3) +
", y:" + (MyAvatar.position.y - hipsToFeet).toFixed(3) +
", z:" + MyAvatar.position.z.toFixed(3) + " }");
print("Avatar hips at { x:" + MyAvatar.position.x.toFixed(3) +
", y:" + MyAvatar.position.y.toFixed(3) +
", z:" + MyAvatar.position.z.toFixed(3) + " }");
var characterJointParents = Script.require(Script.resolvePath(PATH_TO_DATA + "character_parents.json"));
print("Loading parent joint information and 'rest' transform matrices for character");
for (parent in characterJointParents) {
//print("Joint number's " + parent + " is " + characterJointParents[parent]);
that.jointParents[parent] = characterJointParents[parent];
}
//print("Armature parents loaded for character: " + that.jointParents);
var characterRestXForms = Script.require(Script.resolvePath(PATH_TO_DATA + "character_xforms.json"));
for (xForm in characterRestXForms) {
that.jointRestXForm[xForm] = glm.transpose(glm.mat4(characterRestXForms[xForm]));
//print("jointRestXForm[" + xForm + "] = " + that.jointRestXForm[xForm].json + "\n");
}
print("Loaded parent joint information and 'rest' transform matrices for character");
/* */
var trajectoryLength = trajectory.getLength();
//var rootPosition = Vec3.sum(MyAvatar.position, { x:0, y:-character.getAvatarHipsToFeet(), z:0 });
that.rootPosition = glm.vec3(MyAvatar.position.x, MyAvatar.position.y, MyAvatar.position.z).add(glm.vec3(0, -hipsToFeet, 0))
//print("Character.initialise: rootPosition is { x:" + rootPosition.x + ", y:" + rootPosition.y + ", z:" + rootPosition.z + " }");
that.rootRotation = glm.mat3();
var Yp = pfnn.getYp();
var debugBool = true;
for (i = 0; i < JOINT_NUM; i++) {
var opos = 8 + (((trajectoryLength / 2) / 10) * 4) + (JOINT_NUM * 3 * 0);
var ovel = 8 + (((trajectoryLength / 2) / 10) * 4) + (JOINT_NUM * 3 * 1);
var orot = 8 + (((trajectoryLength / 2) / 10) * 4) + (JOINT_NUM * 3 * 2);
//from: glm.vec3 pos = (root_rotation * glm.vec3(Yp(opos + i * 3 + 0), Yp(opos + i * 3 + 1), Yp(opos + i * 3 + 2))) + root_position;
var oposX = parseFloat(Yp[opos + i * 3 + 0]);
var oposY = parseFloat(Yp[opos + i * 3 + 1]);
var oposZ = parseFloat(Yp[opos + i * 3 + 2]);
var oposVec3 = glm.vec3(oposX, oposY, oposZ);
var oposVec4 = glm.vec4(oposVec3, 1);
oposVec4 = glm.mat4(that.rootRotation).mul(oposVec4);
oposVec3 = glm.vec3(oposVec4);
var pos = oposVec3.add(that.rootPosition);
// from: glm.vec3 vel = (root_rotation * glm.vec3(Yp(ovel + i * 3 + 0), Yp(ovel + i * 3 + 1), Yp(ovel + i * 3 + 2)));
var ovelX = parseFloat(Yp[ovel + i * 3 + 0]);
var ovelY = parseFloat(Yp[ovel + i * 3 + 1]);
var ovelZ = parseFloat(Yp[ovel + i * 3 + 2]);
var ovelVec3 = glm.vec3(ovelX, ovelY, ovelZ);
var ovelVec4 = glm.vec4(ovelVec3, 1);
ovelVec4 = glm.mat4(that.rootRotation).mul(ovelVec4);
var vel = glm.vec3(ovelVec4);
// from: glm.mat3 rot = (root_rotation * glm.toMat3(quatExp(glm.vec3(Yp(orot + i * 3 + 0), Yp(orot + i * 3 + 1), Yp(orot + i * 3 + 2)))));
var orotX = parseFloat(Yp[orot + i * 3 + 0]);
var orotY = parseFloat(Yp[orot + i * 3 + 1]);
var orotZ = parseFloat(Yp[orot + i * 3 + 2]);
var orotVec3 = glm.vec3(orotX, orotY, orotZ);
var orotVec4 = quatExp(orotVec3);
var orotMat3 = glm.mat3(glm.toMat4(orotVec4));
var rot = glm.mat3(orotMat3).mul(that.rootRotation);
that.jointPositions[i] = pos;
that.jointVelocities[i] = vel;
that.jointRotations[i] = rot;
phase = 0.0;
// the 'should be' values copied over from C++ code values
if(debugBool) {
debugBool = false;
print("\nJOINT_NUM is " + JOINT_NUM.toFixed(2) + " should be 31" +
"\ntrajectoryLength is " + trajectoryLength.toFixed(2) + " should be 120" +
"\nopos is " + opos.toFixed(2) + " should be 32" +
"\novel is " + ovel.toFixed(2) + " should be 125" +
"\norot is " + orot.toFixed(2) + " should be 218" +
"\npos.x is " + Yp[opos + i * 3 + 0] + " should be 0" +
"\npos.y is " + Yp[opos + i * 3 + 1] + " should be 93.1293793" +
"\npos.z is " + Yp[opos + i * 3 + 2] + " should be 0" +
//"\nrot.x is " + Yp[orot + i * 3 + 0] + " should be 31" +
//"\nrot.y is " + Yp[orot + i * 3 + 1] + " should be 31" +
//"\nrot.z is " + Yp[orot + i * 3 + 2] + " should be 31" +
//"\nxVel is " + Yp[ovel + i * 3 + 0] + " should be 31" +
//"\nyVel is " + Yp[ovel + i * 3 + 1] + " should be 31" +
//"\nzVel is " + Yp[ovel + i * 3 + 2] + " should be 31" +
"\npos is " + pos.json + " should be {x=0.000000000 y=93.1293793 z=0.000000000 ...}" +
"\nvel is " + vel.json + " should be {x=-0.00416085264 y=-0.00193083170 z=1.23609018 ...}" +
"\nrot is " + rot.json + " should be + {x=0.999902189 y=-0.00122115412 z=0.0139327878...}, {x=-0.000351825875 y=0.993669689 z=0.112340435...},{x=-0.0139817735 y=-0.112334356 z=0.993572116...}" +
" ");
}
}
}
// This function updates the 'global' transforms for each joint from the 'local' transforms.
// Note again that 'global' in this context actually means 'local with rotation relative to the root'
// and 'local' in this context actually means 'local with rotation relative to parent joint'
that.forwardKinematics = function() {
for (i = 0; i < JOINT_NUM; i++) {
that.jointGlobalAnimXForm[i] = that.jointAnimXForm[i];
that.jointGlobalRestXForm[i] = that.jointRestXForm[i];
var j = that.jointParents[i];
//print("jointAnimXForm[i] = " + that.jointAnimXForm[i].json);
//print("jointRestXForm[i] = " + that.jointRestXForm[i].json);
while (j != -1) {
that.jointGlobalAnimXForm[i] = that.jointAnimXForm[j].mul(that.jointGlobalAnimXForm[i]);
that.jointGlobalRestXForm[i] = that.jointRestXForm[j].mul(that.jointGlobalRestXForm[i]);
j = that.jointParents[j];
//print("Tracing joint " + i + "'s parent: " + j);
}
//print("jointGlobalRestXForm[" + i + "]: " + that.jointGlobalRestXForm[i]);
var inverseJointGlobalRestXForm = glm.inverse(that.jointGlobalRestXForm[i]);
that.jointMeshXForm[i] = that.jointGlobalAnimXForm[i].mul(inverseJointGlobalRestXForm);
}
//print("jointMeshXForm: " + that.jointMeshXForm); // verified :-)
}
return that;
};
arrayFunctions = (function() {
return {
// subtract arrayTwo from arrayOne and return the result
arraySubtract: function(arrayOne, arrayTwo) {
if (!(arrayOne.length == arrayTwo.length)) {
return ["Error: The arrays must be the same size."]
} else {
var arrayOneMinusArrayTwo = new Array(arrayOne.length);
for (i in arrayOne) {
arrayOneMinusArrayTwo[i] = arrayOne[i] - arrayTwo[i];
}
return arrayOneMinusArrayTwo;
}
},
// divide arrayOne by arrayTwo and return the result
arrayDivide: function(arrayOne, arrayTwo) {
//print("arrayDivide: array one is " + arrayOne.length + " and array two is " + arrayTwo.length);
if (arrayOne.length != arrayTwo.length) {
return ["Error: The arrays must be the same size."]
} else {
var arrayOneDividedByArrayTwo = [];
for (i in arrayOne) {
arrayOneDividedByArrayTwo[i] = arrayOne[i] / arrayTwo[i];
}
return arrayOneDividedByArrayTwo;
}
}
}
})(); // end object literal
// PFNN armature (lhs) mappings to HiFi armature (rhs)
var pfnnToHiFiArmatureMapping = {
"Hips" : "Hips",
"LHipJoint" : "LeftUpLeg",
"LeftUpLeg" : "LeftUpLeg",
"LeftLeg" : "LeftLeg",
"LeftFoot" : "LeftFoot",
"LeftToeBase" : "LeftToeBase",
"RHipJoint" : "RightUpLeg",
"RightUpLeg" : "RightUpLeg",
"RightLeg" : "RightLeg",
"RightFoot" : "RightFoot",
"RightToeBase" : "RightToeBase",
"LowerBack" : "Spine",
"Spine" : "Spine1",
"Spine1" : "Spine2",
"Neck" : "Neck",
"Neck1" : "Neck",
"Head" : "Head",
"LeftShoulder" : "LeftShoulder",
"LeftArm" : "LeftArm",
"LeftForeArm" : "LeftForeArm",
"LeftHand" : "LeftHand",
"LeftFingerBase" : "LeftHand",
"LeftHandIndex1" : "LeftHand",
"LThumb" : "LeftHand",
"RightShoulder" : "RightShoulder",
"RightArm" : "RightArm",
"RightForeArm" : "RightForeArm",
"RightHand" : "RightHand",
"RightFingerBase" : "RightHand",
"RightHandIndex1" : "RightHand",
"RThumb" : "RightHand"
};
var prerotations = {
"name":"prerotations",
"version":"1.0",
"joints":{
"Hips":{
"x":0,
"y":0,
"z":0
},
"LeftUpLeg":{
"x":0,
"y":0,
"z":-180,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"RightUpLeg":{
"x":0,
"y":0,
"z":180,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"LeftLeg":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"RightLeg":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"LeftFoot":{
"x":80,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"RightFoot":{
"x":80,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"LeftToeBase":{
"x":28.5194,
"y":-1.43586,
"z":0.685672
},
"RightToeBase":{
"x":28.0842,
"y":1.45959,
"z":-0.687243
},
"Spine":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"Spine1":{
"x":0,
"y":0,
"z":0
},
"Spine2":{
"x":0,
"y":0,
"z":0
},
"LeftShoulder":{
"x":-75,
"y":85,
"z":180,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"RightShoulder":{
"x":-75,
"y":-85,
"z":-180,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"LeftArm":{
"x":-17,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"RightArm":{
"x":-17,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"LeftForeArm":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"RightForeArm":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"LeftHand":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"RightHand":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"Neck":{
"x":0,
"y":0,
"z":0,
"pitch":0,
"yaw":0,
"roll":0,
"pitchPhase":0,
"yawPhase":0,
"rollPhase":0
},
"Head":{
"x":0,
"y":0,
"z":0
},
"LeftHandPinky1":{
"x":-1.59,
"y":0,
"z":1.34
},
"LeftHandPinky2":{
"x":3.84,
"y":0,
"z":0
},
"LeftHandPinky3":{
"x":4.91,
"y":0,
"z":0
},
"LeftHandPinky4":{
"x":0,
"y":0,
"z":0
},
"LeftHandRing1":{
"x":-1.12,
"y":0,
"z":0.34
},
"LeftHandRing2":{
"x":4.35,
"y":0,
"z":0
},
"LeftHandRing3":{
"x":-2.89,
"y":0,
"z":0
},
"LeftHandRing4":{
"x":0,
"y":0,
"z":0
},
"LeftHandMiddle1":{
"x":1.12,
"y":0,
"z":3.67
},
"LeftHandMiddle2":{
"x":5.14,
"y":0,
"z":0
},
"LeftHandMiddle3":{
"x":1.71,
"y":0,
"z":0
},
"LeftHandMiddle4":{
"x":0,
"y":0,
"z":0
},
"LeftHandIndex1":{
"x":3.8,
"y":0,
"z":0.48
},
"LeftHandIndex2":{
"x":3,
"y":0,
"z":0
},
"LeftHandIndex3":{
"x":7.94,
"y":0,
"z":0
},
"LeftHandIndex4":{
"x":0,
"y":0,
"z":0
},
"LeftHandThumb1":{
"x":18.28,
"y":0,
"z":31.87
},
"LeftHandThumb2":{
"x":5.96,
"y":0,
"z":0
},
"LeftHandThumb3":{
"x":-7.57,
"y":0,
"z":0
},
"LeftHandThumb4":{
"x":0,
"y":0,
"z":0
},
"RightHandPinky1":{
"x":-3.8,
"y":0,
"z":-3.1
},
"RightHandPinky2":{
"x":0.85,
"y":0,
"z":0
},
"RightHandPinky3":{
"x":0.86,
"y":0,
"z":0
},
"RightHandPinky4":{
"x":0,
"y":0,
"z":0
},
"RightHandRing1":{
"x":-0.97,
"y":0,
"z":-1.13
},
"RightHandRing2":{
"x":-1.24,
"y":0,
"z":0
},
"RightHandRing3":{
"x":-4.53,
"y":0,
"z":0
},
"RightHandRing4":{
"x":0,
"y":0,
"z":0
},
"RightHandMiddle1":{
"x":-3.31,
"y":0,
"z":0
},
"RightHandMiddle2":{
"x":3.83,
"y":0,
"z":0