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Fix use of actors that only has trajectory animation #1947

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merged 4 commits into from
Apr 25, 2023
Merged

Fix use of actors that only has trajectory animation #1947

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3620632
actor working without mesh or skeleton
iche033 Mar 29, 2023
a024baf
add integration
iche033 Mar 29, 2023
b29c8a9
remove todo
iche033 Mar 31, 2023
e73121a
lint
iche033 Mar 31, 2023
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10 changes: 10 additions & 0 deletions src/SdfEntityCreator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -508,6 +508,16 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Actor *_actor)
this->dataPtr->ecm->CreateComponent(actorEntity,
components::Name(_actor->Name()));

// Links
for (uint64_t linkIndex = 0; linkIndex < _actor->LinkCount();
++linkIndex)
{
auto link = _actor->LinkByIndex(linkIndex);
auto linkEntity = this->CreateEntities(link);

this->SetParent(linkEntity, actorEntity);
}

// Actor plugins
this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(actorEntity,
_actor->Plugins());
Expand Down
103 changes: 54 additions & 49 deletions src/rendering/RenderUtil.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1204,6 +1204,13 @@ void RenderUtil::Update()
entityId, std::get<1>(model), std::get<2>(model));
}

for (const auto &actor : newActors)
{
this->dataPtr->sceneManager.CreateActor(
std::get<0>(actor), std::get<1>(actor), std::get<2>(actor),
std::get<3>(actor));
}

for (const auto &link : newLinks)
{
this->dataPtr->sceneManager.CreateLink(
Expand All @@ -1216,13 +1223,6 @@ void RenderUtil::Update()
std::get<0>(visual), std::get<1>(visual), std::get<2>(visual));
}

for (const auto &actor : newActors)
{
this->dataPtr->sceneManager.CreateActor(
std::get<0>(actor), std::get<1>(actor), std::get<2>(actor),
std::get<3>(actor));
}

for (const auto &light : newLights)
{
auto newLightRendering = this->dataPtr->sceneManager.CreateLight(
Expand Down Expand Up @@ -1336,7 +1336,7 @@ void RenderUtil::Update()
{
auto actorMesh = this->dataPtr->sceneManager.ActorMeshById(tf.first);
auto actorVisual = this->dataPtr->sceneManager.NodeById(tf.first);
if (!actorMesh || !actorVisual)
if (!actorVisual)
{
ignerr << "Actor with Entity ID '" << tf.first << "'. not found. "
<< "Skipping skeleton animation update." << std::endl;
Expand Down Expand Up @@ -1371,7 +1371,8 @@ void RenderUtil::Update()
}

tf.second.erase("actorPose");
actorMesh->SetSkeletonLocalTransforms(tf.second);
if (actorMesh)
actorMesh->SetSkeletonLocalTransforms(tf.second);
}
}
else
Expand Down Expand Up @@ -3118,7 +3119,7 @@ void RenderUtilPrivate::UpdateAnimation(const std::unordered_map<Entity,
auto actorVisual = this->sceneManager.NodeById(it.first);
auto actorSkel = this->sceneManager.ActorSkeletonById(
it.first);
if (!actorMesh || !actorVisual || !actorSkel)
if (!actorVisual)
{
ignerr << "Actor with Entity ID '" << it.first << "'. not found. "
<< "Skipping skeleton animation update." << std::endl;
Expand All @@ -3131,51 +3132,55 @@ void RenderUtilPrivate::UpdateAnimation(const std::unordered_map<Entity,
ignerr << "invalid animation update data" << std::endl;
continue;
}
// Enable skeleton animation
if (!actorMesh->SkeletonAnimationEnabled(animData.animationName))

if (actorMesh && actorSkel)
{
// disable all animations for this actor
for (unsigned int i = 0; i < actorSkel->AnimationCount(); ++i)
// Enable skeleton animation
if (!actorMesh->SkeletonAnimationEnabled(animData.animationName))
{
// disable all animations for this actor
for (unsigned int i = 0; i < actorSkel->AnimationCount(); ++i)
{
actorMesh->SetSkeletonAnimationEnabled(
actorSkel->Animation(i)->Name(), false, false, 0.0);
}

// enable requested animation
actorMesh->SetSkeletonAnimationEnabled(
actorSkel->Animation(i)->Name(), false, false, 0.0);
animData.animationName, true, animData.loop);

// Set skeleton root node weight to zero so it is not affected by
// the animation being played. This is needed if trajectory animation
// is enabled. We need to let the trajectory animation set the
// position of the actor instead
common::SkeletonPtr skeleton =
this->sceneManager.ActorSkeletonById(it.first);
if (skeleton)
{
float rootBoneWeight = (animData.followTrajectory) ? 0.0 : 1.0;
std::unordered_map<std::string, float> weights;
weights[skeleton->RootNode()->Name()] = rootBoneWeight;
actorMesh->SetSkeletonWeights(weights);
}
}

// enable requested animation
actorMesh->SetSkeletonAnimationEnabled(
animData.animationName, true, animData.loop);

// Set skeleton root node weight to zero so it is not affected by
// the animation being played. This is needed if trajectory animation
// is enabled. We need to let the trajectory animation set the
// position of the actor instead
common::SkeletonPtr skeleton =
this->sceneManager.ActorSkeletonById(it.first);
if (skeleton)
{
float rootBoneWeight = (animData.followTrajectory) ? 0.0 : 1.0;
std::unordered_map<std::string, float> weights;
weights[skeleton->RootNode()->Name()] = rootBoneWeight;
actorMesh->SetSkeletonWeights(weights);
// Update skeleton animation by setting animation time.
// Note that animation time is different from sim time. An actor can
// have multiple animations. Animation time is associated with
// current animation that is being played. It is also adjusted if
// interpotate_x is enabled.
actorMesh->UpdateSkeletonAnimation(animData.time);

// manually update root transform in order to sync with trajectory
// animation
if (animData.followTrajectory)
{
common::SkeletonPtr skeleton =
this->sceneManager.ActorSkeletonById(it.first);
std::map<std::string, math::Matrix4d> rootTf;
rootTf[skeleton->RootNode()->Name()] = animData.rootTransform;
actorMesh->SetSkeletonLocalTransforms(rootTf);
}
}
// Update skeleton animation by setting animation time.
// Note that animation time is different from sim time. An actor can
// have multiple animations. Animation time is associated with
// current animation that is being played. It is also adjusted if
// interpotate_x is enabled.
actorMesh->UpdateSkeletonAnimation(animData.time);

// manually update root transform in order to sync with trajectory
// animation
if (animData.followTrajectory)
{
common::SkeletonPtr skeleton =
this->sceneManager.ActorSkeletonById(it.first);
std::map<std::string, math::Matrix4d> rootTf;
rootTf[skeleton->RootNode()->Name()] = animData.rootTransform;
actorMesh->SetSkeletonLocalTransforms(rootTf);
}

// update actor trajectory animation
math::Pose3d globalPose;
Expand Down
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