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[Tydra] Skeleton and SkelAnimation support w.i.p.
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@syoyo
syoyo committed Apr 20, 2024
1 parent 1101bd8 commit 487177c
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Showing 4 changed files with 137 additions and 28 deletions.
2 changes: 2 additions & 0 deletions src/tydra/render-data.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
// - [ ] linear sRGB <-> linear DisplayP3
// - [x] Compute tangentes and binormals
// - [x] displayColor, displayOpacity primvar(vertex color)
// - [ ] Support SkelAnimation and Skeleton
// - [ ] Support Inbetween BlendShape
// - [ ] Support material binding collection(Collection API)
// - [ ] Support multiple skel animation
Expand Down Expand Up @@ -3578,6 +3579,7 @@ bool RenderSceneConverter::ConvertMesh(

if (skelPath.is_valid()) {
// TODO
// GetSkeletonImpl
}
}

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2 changes: 1 addition & 1 deletion src/tydra/render-data.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -1721,7 +1721,7 @@ class RenderSceneConverter {
/// Convert SkelAnimation to Tydra Animation.
///
/// @param[in] abs_path USD Path to SkelAnimation Prim
/// @param[in] skelAnim SkelAnimation
/// @param[in] skelAnim SkelAnimatio
/// @param[in] anim_out UVTexture
///
bool ConvertSkelAnimation(const RenderSceneConverterEnv &env,
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131 changes: 123 additions & 8 deletions src/tydra/scene-access.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2408,7 +2408,7 @@ bool GetGeomPrimvar(const Stage &stage, const GPrim *gprim, const std::string &v

constexpr auto kPrimvars = "primvars:";
constexpr auto kIndices = ":indices";

std::string primvar_name = kPrimvars + varname;

const auto it = gprim->props.find(primvar_name);
Expand All @@ -2420,7 +2420,7 @@ bool GetGeomPrimvar(const Stage &stage, const GPrim *gprim, const std::string &v
const Attribute &attr = it->second.get_attribute();

if (attr.is_connection()) {
// follow targetPath to get Attribute
// follow targetPath to get Attribute
Attribute terminal_attr;
bool ret = tydra::GetTerminalAttribute(stage, attr, primvar_name, &terminal_attr, err);
if (!ret) {
Expand Down Expand Up @@ -2461,7 +2461,7 @@ bool GetGeomPrimvar(const Stage &stage, const GPrim *gprim, const std::string &v
}

if (indexAttr.is_connection()) {
// follow targetPath to get Attribute
// follow targetPath to get Attribute
Attribute terminal_indexAttr;
bool ret = tydra::GetTerminalAttribute(stage, indexAttr, index_name, &terminal_indexAttr, err);
if (!ret) {
Expand All @@ -2474,7 +2474,7 @@ bool GetGeomPrimvar(const Stage &stage, const GPrim *gprim, const std::string &v
if (!tss.from_timesamples(ts)) {
PUSH_ERROR_AND_RETURN(fmt::format("Index Attribute seems not an timesamples with int[] type: {}", index_name));
}

primvar.set_indices(tss);
} else if (terminal_indexAttr.is_value()) {

Expand All @@ -2489,14 +2489,14 @@ bool GetGeomPrimvar(const Stage &stage, const GPrim *gprim, const std::string &v
primvar.set_indices(indices);

}

} else if (indexAttr.is_timesamples()) {
const auto &ts = indexAttr.get_var().ts_raw();
TypedTimeSamples<std::vector<int32_t>> tss;
if (!tss.from_timesamples(ts)) {
PUSH_ERROR_AND_RETURN(fmt::format("Index Attribute seems not an timesamples with int[] type: {}", index_name));
}

primvar.set_indices(tss);
} else if (indexAttr.is_blocked()) {
// Value blocked. e.g. `float2[] primvars:st:indices = None`
Expand Down Expand Up @@ -2597,7 +2597,7 @@ bool GetTerminalAttributeImpl(
} else if (prop.is_attribute()) {

(*value) = prop.get_attribute();

} else {
// ???
PUSH_ERROR_AND_RETURN(
Expand Down Expand Up @@ -2657,7 +2657,7 @@ bool GetTerminalAttribute(

return GetTerminalAttributeImpl(stage, *targetPrim, targetPrimPropName,
value, err, visited_paths);

} else {
PUSH_ERROR_AND_RETURN(targetPrimRet.error());
}
Expand All @@ -2671,6 +2671,121 @@ bool GetTerminalAttribute(

}

namespace detail {

bool BuildSkelHierarchyImpl(/* inout */std::set<size_t> &visitSet, const int parentJointId, const std::vector<int> &parentJointIds, const std::vector<value::token> &jointNames, const std::vector<value::matrix4d> bindTransforms, const std::vector<value::matrix4d> &restTransforms, SkelNode &node, std::string *err = nullptr) {

// Simple linear search
for(size_t i = 0; i < parentJointIds.size(); i++) {
if (visitSet.count(i)) {
continue;
}

int parentJointIdOfCurrIdx = parentJointIds[i];
if (parentJointId == parentJointIdOfCurrIdx) {
}
}

return true;
}

} // namespace detail

bool BuildSkelHierarchy(const Skeleton &skel,
SkelNode &dst, std::string *err) {

if (!skel.joints.authored()) {
PUSH_ERROR_AND_RETURN(fmt::format("Skeleton.joints attrbitue is not authored: {}", skel.name));
}

if (!skel.jointNames.authored()) {
PUSH_ERROR_AND_RETURN(fmt::format("Skeleton.jointNames attrbitue is not authored: {}", skel.name));
}

std::vector<value::token> joints;
if (!skel.joints.get_value(&joints)) {
PUSH_ERROR_AND_RETURN(fmt::format("Failed to get Skeleton.joints attrbitue: {}", skel.name));
}

if (joints.empty()) {
PUSH_ERROR_AND_RETURN(fmt::format("Skeleton.joints attrbitue is empty: {}", skel.name));
}

std::vector<value::token> jointNames;
if (!skel.jointNames.get_value(&jointNames)) {
PUSH_ERROR_AND_RETURN(fmt::format("Failed to get Skeleton.jointNames attrbitue: {}", skel.name));
}

if (joints.size() != jointNames.size()) {
PUSH_ERROR_AND_RETURN(fmt::format("Skeleton.joints.size {} must be equal to Skeleton.jointNames.size {}: {}", joints.size(), jointNames.size(), skel.name));
}

std::vector<value::matrix4d> restTransforms;
if (skel.restTransforms.authored()) {
if (!skel.restTransforms.get_value(&restTransforms)) {
PUSH_ERROR_AND_RETURN(fmt::format("Failed to get Skeleton.restTransforms attrbitue: {}", skel.name));
}
} else {
// TODO: Report error when `restTransforms` attribute is omitted?
restTransforms.assign(joints.size(), value::matrix4d::identity());
}

if (joints.size() != restTransforms.size()) {
PUSH_ERROR_AND_RETURN(fmt::format("Skeleton.joints.size {} must be equal to Skeleton.restTransforms.size {}: {}", joints.size(), restTransforms.size(), skel.name));
}


std::vector<value::matrix4d> bindTransforms;
if (skel.bindTransforms.authored()) {
if (!skel.bindTransforms.get_value(&bindTransforms)) {
PUSH_ERROR_AND_RETURN(fmt::format("Failed to get Skeleton.bindTransforms attrbitue: {}", skel.name));
}
} else {
// TODO: Report error when `restTransforms` attribute is omitted?
restTransforms.assign(joints.size(), value::matrix4d::identity());
}

if (joints.size() != bindTransforms.size()) {
PUSH_ERROR_AND_RETURN(fmt::format("Skeleton.joints.size {} must be equal to Skeleton.bindTransforms.size {}: {}", joints.size(), bindTransforms.size(), skel.name));
}

// Get flattened representation of joint hierarchy with BuildSkelTopology.
// For root node, parentJointId = -1.
std::vector<int> parentJointIds;
if (!BuildSkelTopology(joints, parentJointIds, err)) {
return false;
}

// Just in case. Chek if topology is single-rooted.
auto nroots = std::count_if(parentJointIds.begin(), parentJointIds.end(), [](int x) {
return x == -1;
});

if (nroots == 0) {
PUSH_ERROR_AND_RETURN(fmt::format("Invalid Skel topology. No root joint found: {}", skel.name));
}

if (nroots != 1) {
PUSH_ERROR_AND_RETURN(fmt::format("Invalid Skel topology. Topology must be single-rooted, but it has {} roots: {}", nroots, skel.name));
}


std::set<size_t> visitSet;

SkelNode root;
// Construct hierachy from flattened id array.
if (!detail::BuildSkelHierarchyImpl(visitSet, -1, parentJointIds, jointNames, bindTransforms, restTransforms, root, err)){
return false;
}

dst = root;

return true;
}


}


} // namespace tydra
} // namespace tinyusdz
30 changes: 11 additions & 19 deletions src/tydra/scene-access.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -517,46 +517,38 @@ bool IsPathIncluded(const CollectionMembershipQuery &query, const Stage &stage,
//

struct SkelNode {
std::string jointElementName; // elementName(leaf node name) of jointPath.
//std::string jointElementName; // elementName(leaf node name) of jointPath.
std::string jointPath; // joints in UsdSkel. Relative or Absolute Prim
// path(e.g. "root/head", "/root/head")
std::string jointName; // jointNames in UsdSkel
int jointId{-1}; // jointIndex(array index in UsdSkel joints)

value::matrix4d bindTransform{value::matrix4d::identity()};
value::matrix4d restTransform{value::matrix4d::identity()};
int parentNodeIndex{-1};
//int parentNodeIndex{-1};

std::vector<int> childNodeIndices;
std::vector<SkelNode> children;
};

class SkelHierarchy {
public:
SkelHierarchy() = default;

const std::string &name() const { return _name; }
std::string prim_name; // Skeleleton Prim name
std::string abs_path; // Absolute path to Skeleleton Prim
std::string display_name; // `displayName` Prim meta

bool get_root(SkelNode &dst) {
if (_skel_nodes.empty()) {
_err += "SkelNode is Empty\n";
return false;
}

dst = _skel_nodes[0];
return true;
}
SkelNode root_node;

private:
std::string _warm;
std::string _err;
std::string _name; // Skeleleton Prim name
std::vector<SkelNode> _skel_nodes; // [0] = root node.

};

///
/// Extract skeleleton info from Skeleton and build skeleton(bone) hierarchy.
///
bool BuildSkelHierarchy(const Stage &stage, const Skeleton &skel,
SkelHierarchy &dst, std::string *err = nullptr);
bool BuildSkelHierarchy(const Skeleton &skel,
SkelNode &dst, std::string *err = nullptr);

//
// For USDZ AR extensions
Expand Down

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