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Implemented skeleton mapper that can convert an animated skelton to a ragdoll skeleton and back (#203)

Jorrit Rouwe 3 years ago
parent
commit
3f2a0021de

+ 12514 - 0
Assets/Human/jog_hd.tof

@@ -0,0 +1,12514 @@
+TOS 1.00
+
+declare SkeletalAnimation 2
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+  mIsLooping bool
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  71
+      "rootBone"
+      58
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+          -0.00729848538 0.20885624 0.0306759924
+          1.33333337
+          -0.202840969 -0.128254831 0.605855048 0.758515656
+          -0.00729848538 0.20885624 0.0306759924
+          1.36666667
+          -0.201585829 -0.122579135 0.612428367 0.754499197
+          -0.00729848538 0.20885624 0.0306759924
+          1.39999998
+          -0.208742529 -0.116696097 0.616138756 0.750454307
+          -0.00729848538 0.20885624 0.0306759924
+          1.43333328
+          -0.214411482 -0.123287156 0.619639874 0.744898975
+          -0.00729848538 0.20885624 0.0306759924
+          1.46666658
+          -0.214462012 -0.131945103 0.62411499 0.739646614
+          -0.00729848538 0.20885624 0.0306759924
+          1.49999988
+          -0.209681153 -0.130979642 0.618575752 0.745816469
+          -0.00729848538 0.20885624 0.0306759924
+          1.53333318
+          -0.206353277 -0.126806736 0.604959309 0.758526623
+          -0.00729848538 0.20885624 0.0306759924
+          1.56666648
+          -0.209215239 -0.129629135 0.593831718 0.766021729
+          -0.00729848538 0.20885624 0.0306759924
+          1.59999979
+          -0.210440964 -0.131583795 0.582484901 0.774023116
+          -0.00729848538 0.20885624 0.0306759924
+          1.63333309
+          -0.213776946 -0.140323669 0.575685143 0.776656568
+          -0.00729848538 0.20885624 0.0306759924
+          1.66666639
+          -0.218163997 -0.135190398 0.560951591 0.787058711
+          -0.00729848538 0.20885624 0.0306759924
+          1.69999969
+          -0.221402049 -0.116729975 0.552743077 0.794877589
+          -0.00729848584 0.208856255 0.0306759942
+          1.73333299
+          -0.222483382 -0.104098715 0.554898322 0.794828594
+          -0.00729848538 0.20885624 0.0306759924
+          1.76666629
+          -0.221587732 -0.101046339 0.564189553 0.788909853
+          -0.00729848538 0.20885624 0.0306759924
+          1.79999959
+          -0.218594536 -0.10874673 0.581099451 0.776346624
+          -0.00729848538 0.20885624 0.0306759924
+          1.8333329
+          -0.220661119 -0.121960156 0.58877337 0.767971635
+          -0.00729848538 0.20885624 0.0306759924
+          1.8666662
+          -0.22361064 -0.13097991 0.594681561 0.761049569
+          -0.00729848538 0.20885624 0.0306759924
+          1.8999995
+  true

+ 373 - 0
Assets/Human/neutral_hd.tof

@@ -0,0 +1,373 @@
+TOS 1.00
+
+declare SkeletalAnimation 2
+  mAnimatedJoints array instance SkeletalAnimation::AnimatedJoint 
+  mIsLooping bool
+
+declare SkeletalAnimation::AnimatedJoint 2
+  mJointName string
+  mKeyframes array instance SkeletalAnimation::Keyframe 
+
+declare SkeletalAnimation::Keyframe 3
+  mRotation quat
+  mTranslation vec3
+  mTime float
+
+object SkeletalAnimation 00000001
+  71
+      "rootBone"
+      1
+          -0.707106829 0 0 0.707106769
+          0 0 0
+          0
+      "C_Neck_sjnt_2"
+      1
+          0 0 0 1
+          6.31036857e-18 0.0540000014 0
+          0
+      "R_Clavicle_sjnt_0"
+      1
+          -0.131128147 -0.144681439 0.617813051 0.761695385
+          -0.00729848538 0.20885624 0.0306759924
+          0
+      "R_Leg_sjnt_0"
+      1
+          0.999642909 -0.0237673745 -0.000290388998 0.0122136045
+          -0.104853801 -0.000224408359 7.95794331e-05
+          0
+      "C_Spine_sjnt_4"
+      1
+          0 0 0 1
+          4.77984621e-18 0.0489999987 3.10862448e-17
+          0
+      "L_Middle_sjnt_3"
+      1
+          0 0 0 1
+          5.85307589e-07 -0.0180757623 3.17060227e-07
+          0
+      "C_Neck_sjnt_0"
+      1
+          0.21643962 0 0 0.976296008
+          -6.33361028e-18 0.206347629 -0.0381180719
+          0
+      "C_Head_sjnt_0"
+      1
+          0 0 0 1
+          6.31036857e-18 0.0540000014 2.8532731e-16
+          0
+      "C_Spine_sjnt_1"
+      1
+          0 0 0 1
+          4.77984621e-18 0.0489999987 0
+          0
+      "L_Ring_sjnt_0"
+      1
+          0.119370371 -0.698211312 0.204397932 0.675628006
+          -0.006254646 -0.0797718689 0.0093988115
+          0
+      "R_Index_sjnt_2"
+      1
+          0.175203487 0 0 0.984532237
+          3.01980666e-16 0.0204999987 0
+          0
+      "R_Ring_sjnt_0"
+      1
+          0.119370371 -0.698211312 0.204397932 0.675628006
+          0.00625085598 0.0797746703 -0.00940056238
+          0
+      "R_Index_sjnt_0"
+      1
+          -0.19517909 0.755869865 -0.161748767 -0.603658199
+          -0.00134941039 0.0782186612 0.028039448
+          0
+      "R_Pinky_sjnt_1"
+      1
+          0.22303848 0 0 0.974809647
+          -3.55271347e-16 0.0372027382 0
+          0
+      "L_Pinky_sjnt_1"
+      1
+          0.22303848 0 0 0.974809647
+          3.70620683e-07 -0.0372028351 1.38079258e-07
+          0
+      "R_Middle_sjnt_0"
+      1
+          0.156041026 -0.732423544 0.191366434 0.63449657
+          0.00616463134 0.0818372741 0.0097120041
+          0
+      "R_Arm_sjnt_1"
+      1
+          0.184809059 0 0 0.982774496
+          -1.42108544e-16 0.260629684 4.440892e-18
+          0
+      "L_Foot_sjnt_2"
+      1
+          0 0 0 1
+          -1.7763568e-17 -0.0488719977 4.88498128e-17
+          0
+      "L_Pinky_sjnt_2"
+      1
+          0.0992502794 0 0 0.99506253
+          -1.85520605e-07 -0.0186209753 6.46735657e-07
+          0
+      "L_Ring_sjnt_3"
+      1
+          0 0 0 1
+          4.95807114e-07 -0.0159507934 1.36332858e-07
+          0
+      "L_Clavicle_sjnt_0"
+      1
+          0.761695385 -0.617813051 -0.144681439 0.131128147
+          0.00729848957 0.208856419 0.0306760129
+          0
+      "L_Pinky_sjnt_3"
+      1
+          0 0 0 1
+          3.66131957e-07 -0.0121525498 -7.50564652e-07
+          0
+      "R_Thumb_sjnt_3"
+      1
+          0 0 0 1
+          7.1054272e-17 0.0181292463 -2.62012622e-16
+          0
+      "R_Foot_sjnt_2"
+      1
+          0 0 0 1
+          3.5527136e-17 0.0488717034 -3.99680272e-17
+          0
+      "L_Leg_sjnt_0"
+      1
+          -0.0122135505 -0.000290387718 0.0237673745 0.999642909
+          0.104854003 -0.000224642019 7.96136592e-05
+          0
+      "L_Middle_sjnt_1"
+      1
+          0.184680417 0 0 0.982798636
+          -2.44896114e-07 -0.0481087901 -7.74885621e-07
+          0
+      "L_Pinky_sjnt_0"
+      1
+          0.105012663 -0.656231523 0.23035267 0.710823596
+          -0.00242854073 -0.0733879432 0.0260373093
+          0
+      "L_Wrist_sjnt_0"
+      1
+          0 0 0 1
+          6.57227065e-06 -0.242271721 2.52947029e-06
+          0
+      "R_Ring_sjnt_1"
+      1
+          0.251216322 0 0 0.967930973
+          -5.3290704e-17 0.0443951264 -5.68434176e-16
+          0
+      "R_Pinky_sjnt_2"
+      1
+          0.0992502794 0 0 0.99506253
+          -1.06581408e-16 0.0186204202 -7.1054272e-17
+          0
+      "L_Prop_fjnt_0"
+      1
+          0 1 0 -4.37113883e-08
+          0.0276746862 -0.0656316727 -0.000328583526
+          0
+      "L_Middle_sjnt_2"
+      1
+          0.157416984 0 0 0.987532258
+          -6.02384603e-07 -0.0248495787 6.76881555e-08
+          0
+      "R_Middle_sjnt_1"
+      1
+          0.184680417 0 0 0.982798636
+          -6.39488435e-16 0.048108764 1.42108544e-16
+          0
+      "L_Leg_sjnt_1"
+      1
+          0.060151346 0 0 0.99818927
+          2.61005539e-07 -0.461806506 -3.93129014e-08
+          0
+      "L_Thumb_sjnt_2"
+      1
+          -0.0012165627 0 0 0.999999285
+          5.15941792e-07 -0.0251661409 -5.85450152e-07
+          0
+      "L_Ring_sjnt_1"
+      1
+          0.251216322 0 0 0.967930973
+          3.12667623e-07 -0.0443952158 -5.95922245e-07
+          0
+      "R_Foot_sjnt_1"
+      1
+          -0.251680881 0 0 0.967810273
+          -8.88178367e-17 0.133286357 -0.00287180441
+          0
+      "C_Neck_sjnt_1"
+      1
+          -0.21643962 0 0 0.976296008
+          5.18627479e-18 0.0540000014 0
+          0
+      "R_Ring_sjnt_3"
+      1
+          0 0 0 1
+          -5.3290704e-17 0.0159499999 -7.1054272e-17
+          0
+      "L_Index_sjnt_0"
+      1
+          -0.19517909 0.755869865 -0.161748767 -0.603658199
+          0.00134612026 -0.0782155693 -0.0280411374
+          0
+      "L_Index_sjnt_1"
+      1
+          0.229845911 0 0 0.973227024
+          7.62208856e-07 -0.041899953 -1.70619145e-07
+          0
+      "R_Thumb_sjnt_1"
+      1
+          0.0813905671 0 0 0.996682286
+          -2.13162816e-16 0.0301780477 1.42108544e-16
+          0
+      "L_Thumb_sjnt_3"
+      1
+          0 0 0 1
+          -7.5862016e-07 -0.0181290414 5.47535365e-07
+          0
+      "R_Index_sjnt_3"
+      1
+          0 0 0 1
+          3.10862442e-16 0.019439999 5.3290704e-17
+          0
+      "R_Middle_sjnt_2"
+      1
+          0.157416984 0 0 0.987532258
+          -1.7763568e-17 0.0248499978 7.1054272e-17
+          0
+      "hipsBone"
+      1
+          3.09086232e-08 0.707106829 0.707106829 3.09086232e-08
+          0 0.0230353847 0.931121647
+          0
+      "R_Pinky_sjnt_3"
+      1
+          0 0 0 1
+          7.1054272e-17 0.0121525582 3.5527136e-17
+          0
+      "L_Foot_sjnt_0"
+      1
+          -0.546992362 0.0110395309 -0.0210499652 0.836800098
+          -9.25209633e-07 -0.388170779 2.78088415e-08
+          0
+      "L_Index_sjnt_2"
+      1
+          0.175203487 0 0 0.984532237
+          8.53871498e-08 -0.0204997063 3.77475885e-07
+          0
+      "C_Spine_sjnt_3"
+      1
+          0 0 0 1
+          4.77984621e-18 0.0489999987 1.7763568e-17
+          0
+      "R_Foot_sjnt_0"
+      1
+          -0.546992362 0.0110395309 -0.0210499652 0.836800098
+          0 0.38817063 0
+          0
+      "R_Ring_sjnt_2"
+      1
+          0.121089756 0 0 0.992641568
+          -5.3290704e-17 0.0234420039 1.42108544e-16
+          0
+      "R_Wrist_sjnt_0"
+      1
+          0 0 0 1
+          4.26325632e-16 0.24226594 -3.90798503e-16
+          0
+      "L_Middle_sjnt_0"
+      1
+          0.156041026 -0.732423544 0.191366434 0.63449657
+          -0.00616830075 -0.0818345174 -0.0097129494
+          0
+      "L_Ring_sjnt_2"
+      1
+          0.121089756 0 0 0.992641568
+          1.66412786e-08 -0.0234416053 4.04103446e-07
+          0
+      "L_Index_sjnt_3"
+      1
+          0 0 0 1
+          -2.39056641e-09 -0.0194404367 -1.39765135e-07
+          0
+      "C_Spine_sjnt_0"
+      1
+          0 0 0 1
+          3.76215184e-18 0.0554419272 8.881784e-18
+          0
+      "L_Arm_sjnt_1"
+      1
+          0.184809059 0 0 0.982774496
+          -1.14686986e-06 -0.260628074 -4.16461354e-08
+          0
+      "R_Leg_sjnt_1"
+      1
+          0.060151346 0 0 0.99818927
+          3.5527136e-17 0.461806893 8.881784e-18
+          0
+      "R_Thumb_sjnt_2"
+      1
+          -0.0012165627 0 0 0.999999285
+          4.26325632e-16 0.0251665488 5.10702581e-16
+          0
+      "L_Foot_sjnt_1"
+      1
+          -0.251680881 0 0 0.967810273
+          5.3290704e-17 -0.133285969 0.00287160906
+          0
+      "R_Pinky_sjnt_0"
+      1
+          0.105012663 -0.656231523 0.23035267 0.710823596
+          0.00242519076 0.0733913928 -0.0260387883
+          0
+      "R_Middle_sjnt_3"
+      1
+          0 0 0 1
+          2.48689959e-16 0.0180759132 -7.1054272e-17
+          0
+      "L_Thumb_sjnt_1"
+      1
+          0.0813905671 0 0 0.996682286
+          -5.24074721e-07 -0.0301787555 -2.92531354e-07
+          0
+      "C_Spine_sjnt_2"
+      1
+          0 0 0 1
+          4.7798458e-18 0.0489999987 -2.22044592e-17
+          0
+      "R_Prop_fjnt_0"
+      1
+          0 0 0 1
+          -0.0276775807 0.0656346902 0.000327039947
+          0
+      "L_Thumb_sjnt_0"
+      1
+          0.416852266 -0.817598581 -0.284677148 -0.27699402
+          0.020829184 -0.0239574499 -0.0221176092
+          0
+      "R_Thumb_sjnt_0"
+      1
+          0.416852266 -0.817598581 -0.284677148 -0.27699402
+          -0.0208326261 0.0239606146 0.0221159924
+          0
+      "L_Arm_sjnt_0"
+      1
+          0.199253842 -0.0567296185 0.463827372 0.861361623
+          0.0704552606 -0.150702849 0.00581921311
+          0
+      "R_Arm_sjnt_0"
+      1
+          0.199253842 -0.0567296185 0.463827372 0.861361623
+          -0.0704575405 0.150702029 -0.00581940683
+          0
+      "R_Index_sjnt_1"
+      1
+          0.229845911 0 0 0.973227024
+          -5.3290704e-17 0.0419000015 1.42108544e-16
+          0
+  true

+ 153 - 0
Assets/Human/skeleton_hd.tof

@@ -0,0 +1,153 @@
+TOS 1.00
+
+declare Skeleton 1
+  mJoints array instance Skeleton::Joint 
+
+declare Skeleton::Joint 2
+  mName string
+  mParentName string
+
+object Skeleton 00000001
+  71
+      "rootBone"
+      ""
+      "hipsBone"
+      "rootBone"
+      "C_Spine_sjnt_0"
+      "hipsBone"
+      "C_Spine_sjnt_1"
+      "C_Spine_sjnt_0"
+      "C_Spine_sjnt_2"
+      "C_Spine_sjnt_1"
+      "C_Spine_sjnt_3"
+      "C_Spine_sjnt_2"
+      "C_Spine_sjnt_4"
+      "C_Spine_sjnt_3"
+      "R_Clavicle_sjnt_0"
+      "C_Spine_sjnt_4"
+      "R_Arm_sjnt_0"
+      "R_Clavicle_sjnt_0"
+      "R_Arm_sjnt_1"
+      "R_Arm_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Arm_sjnt_1"
+      "R_Thumb_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Thumb_sjnt_1"
+      "R_Thumb_sjnt_0"
+      "R_Thumb_sjnt_2"
+      "R_Thumb_sjnt_1"
+      "R_Thumb_sjnt_3"
+      "R_Thumb_sjnt_2"
+      "R_Index_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Index_sjnt_1"
+      "R_Index_sjnt_0"
+      "R_Index_sjnt_2"
+      "R_Index_sjnt_1"
+      "R_Index_sjnt_3"
+      "R_Index_sjnt_2"
+      "R_Middle_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Middle_sjnt_1"
+      "R_Middle_sjnt_0"
+      "R_Middle_sjnt_2"
+      "R_Middle_sjnt_1"
+      "R_Middle_sjnt_3"
+      "R_Middle_sjnt_2"
+      "R_Ring_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Ring_sjnt_1"
+      "R_Ring_sjnt_0"
+      "R_Ring_sjnt_2"
+      "R_Ring_sjnt_1"
+      "R_Ring_sjnt_3"
+      "R_Ring_sjnt_2"
+      "R_Pinky_sjnt_0"
+      "R_Wrist_sjnt_0"
+      "R_Pinky_sjnt_1"
+      "R_Pinky_sjnt_0"
+      "R_Pinky_sjnt_2"
+      "R_Pinky_sjnt_1"
+      "R_Pinky_sjnt_3"
+      "R_Pinky_sjnt_2"
+      "R_Prop_fjnt_0"
+      "R_Wrist_sjnt_0"
+      "C_Neck_sjnt_0"
+      "C_Spine_sjnt_4"
+      "C_Neck_sjnt_1"
+      "C_Neck_sjnt_0"
+      "C_Neck_sjnt_2"
+      "C_Neck_sjnt_1"
+      "C_Head_sjnt_0"
+      "C_Neck_sjnt_2"
+      "L_Clavicle_sjnt_0"
+      "C_Spine_sjnt_4"
+      "L_Arm_sjnt_0"
+      "L_Clavicle_sjnt_0"
+      "L_Arm_sjnt_1"
+      "L_Arm_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Arm_sjnt_1"
+      "L_Thumb_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Thumb_sjnt_1"
+      "L_Thumb_sjnt_0"
+      "L_Thumb_sjnt_2"
+      "L_Thumb_sjnt_1"
+      "L_Thumb_sjnt_3"
+      "L_Thumb_sjnt_2"
+      "L_Index_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Index_sjnt_1"
+      "L_Index_sjnt_0"
+      "L_Index_sjnt_2"
+      "L_Index_sjnt_1"
+      "L_Index_sjnt_3"
+      "L_Index_sjnt_2"
+      "L_Middle_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Middle_sjnt_1"
+      "L_Middle_sjnt_0"
+      "L_Middle_sjnt_2"
+      "L_Middle_sjnt_1"
+      "L_Middle_sjnt_3"
+      "L_Middle_sjnt_2"
+      "L_Ring_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Ring_sjnt_1"
+      "L_Ring_sjnt_0"
+      "L_Ring_sjnt_2"
+      "L_Ring_sjnt_1"
+      "L_Ring_sjnt_3"
+      "L_Ring_sjnt_2"
+      "L_Pinky_sjnt_0"
+      "L_Wrist_sjnt_0"
+      "L_Pinky_sjnt_1"
+      "L_Pinky_sjnt_0"
+      "L_Pinky_sjnt_2"
+      "L_Pinky_sjnt_1"
+      "L_Pinky_sjnt_3"
+      "L_Pinky_sjnt_2"
+      "L_Prop_fjnt_0"
+      "L_Wrist_sjnt_0"
+      "R_Leg_sjnt_0"
+      "hipsBone"
+      "R_Leg_sjnt_1"
+      "R_Leg_sjnt_0"
+      "R_Foot_sjnt_0"
+      "R_Leg_sjnt_1"
+      "R_Foot_sjnt_1"
+      "R_Foot_sjnt_0"
+      "R_Foot_sjnt_2"
+      "R_Foot_sjnt_1"
+      "L_Leg_sjnt_0"
+      "hipsBone"
+      "L_Leg_sjnt_1"
+      "L_Leg_sjnt_0"
+      "L_Foot_sjnt_0"
+      "L_Leg_sjnt_1"
+      "L_Foot_sjnt_1"
+      "L_Foot_sjnt_0"
+      "L_Foot_sjnt_2"
+      "L_Foot_sjnt_1"

+ 2 - 0
Jolt/Jolt.cmake

@@ -373,6 +373,8 @@ set(JOLT_PHYSICS_SRC_FILES
 	${JOLT_PHYSICS_ROOT}/Skeleton/SkeletalAnimation.h
 	${JOLT_PHYSICS_ROOT}/Skeleton/Skeleton.cpp
 	${JOLT_PHYSICS_ROOT}/Skeleton/Skeleton.h
+	${JOLT_PHYSICS_ROOT}/Skeleton/SkeletonMapper.cpp
+	${JOLT_PHYSICS_ROOT}/Skeleton/SkeletonMapper.h
 	${JOLT_PHYSICS_ROOT}/Skeleton/SkeletonPose.cpp
 	${JOLT_PHYSICS_ROOT}/Skeleton/SkeletonPose.h
 	${JOLT_PHYSICS_ROOT}/TriangleGrouper/TriangleGrouper.h

+ 21 - 0
Jolt/Physics/Ragdoll/Ragdoll.cpp

@@ -486,6 +486,27 @@ void Ragdoll::SetPose(const Mat44 *inJointMatrices, bool inLockBodies)
 	}
 }
 
+void Ragdoll::GetPose(SkeletonPose &outPose, bool inLockBodies)
+{
+	JPH_ASSERT(outPose.GetSkeleton() == mRagdollSettings->mSkeleton);
+
+	GetPose(outPose.GetJointMatrices().data(), inLockBodies);
+}
+
+void Ragdoll::GetPose(Mat44 *outJointMatrices, bool inLockBodies)
+{
+	// Lock the bodies
+	int body_count = (int)mBodyIDs.size();
+	BodyLockMultiRead lock(sGetBodyLockInterface(mSystem, inLockBodies), mBodyIDs.data(), body_count);
+
+	// Get pose
+	for (int b = 0; b < body_count; ++b)
+	{
+		const Body *body = lock.GetBody(b);
+		outJointMatrices[b] = body->GetWorldTransform();
+	}
+}
+
 void Ragdoll::DriveToPoseUsingKinematics(const SkeletonPose &inPose, float inDeltaTime, bool inLockBodies)
 {
 	JPH_ASSERT(inPose.GetSkeleton() == mRagdollSettings->mSkeleton);

+ 6 - 0
Jolt/Physics/Ragdoll/Ragdoll.h

@@ -135,6 +135,12 @@ public:
 	/// Lower level version of SetPose that directly takes the world space joint matrices
 	void								SetPose(const Mat44 *inJointMatrices, bool inLockBodies = true);
 
+	/// Get the ragdoll pose (uses the world transform of the bodies to calculate the pose)
+	void								GetPose(SkeletonPose &outPose, bool inLockBodies = true);
+
+	/// Lower level version of GetPose that directly returns the world space joint matrices
+	void								GetPose(Mat44 *outJointMatrices, bool inLockBodies = true);
+
 	/// Drive the ragdoll to a specific pose by setting velocities on each of the bodies so that it will reach inPose in inDeltaTime
 	void								DriveToPoseUsingKinematics(const SkeletonPose &inPose, float inDeltaTime, bool inLockBodies = true);
 	

+ 155 - 0
Jolt/Skeleton/SkeletonMapper.cpp

@@ -0,0 +1,155 @@
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <Jolt/Jolt.h>
+
+#include <Jolt/Skeleton/SkeletonMapper.h>
+
+JPH_NAMESPACE_BEGIN
+
+void SkeletonMapper::Initialize(const Skeleton *inSkeleton1, const Mat44 *inNeutralPose1, const Skeleton *inSkeleton2, const Mat44 *inNeutralPose2, const CanMapJoint &inCanMapJoint)
+{
+	JPH_ASSERT(mMappings.empty() && mChains.empty() && mUnmapped.empty()); // Should not be initialized yet
+
+	// Count joints
+	int n1 = inSkeleton1->GetJointCount();
+	int n2 = inSkeleton2->GetJointCount();
+	JPH_ASSERT(n1 <= n2, "Skeleton 1 should be the low detail skeleton!");
+
+	// Keep track of mapped joints (initialize to false)
+	Array<bool> mapped1(n1, false);
+	Array<bool> mapped2(n2, false);
+
+	// Find joints that can be mapped directly
+	for (int j1 = 0; j1 < n1; ++j1)
+		for (int j2 = 0; j2 < n2; ++j2)
+			if (inCanMapJoint(inSkeleton1, j1, inSkeleton2, j2))
+			{
+				mMappings.emplace_back(j1, j2, inNeutralPose1[j1].Inversed() * inNeutralPose2[j2]);
+				mapped1[j1] = true;
+				mapped2[j2] = true;
+				break;
+			}
+
+	Array<int> cur_chain; // Taken out of the loop to minimize amount of allocations
+
+	// Find joint chains
+	for (int m1 = 0; m1 < (int)mMappings.size(); ++m1)
+	{
+		Array<int> chain2;
+		int chain2_m = -1;
+
+		for (int m2 = m1 + 1; m2 < (int)mMappings.size(); ++m2)
+		{
+			// Find the chain from back from m2 to m1
+			int start = mMappings[m1].mJointIdx2;
+			int end = mMappings[m2].mJointIdx2;
+			int cur = end;
+			cur_chain.clear(); // Should preserve memory
+			do
+			{
+				cur_chain.push_back(cur);
+				cur = inSkeleton2->GetJoint(cur).mParentJointIndex;
+			}
+			while (cur >= 0 && cur != start && !mapped2[cur]);
+			cur_chain.push_back(start);
+
+			if (cur == start // This should be the correct chain
+				&& cur_chain.size() > 2 // It should have joints between the mapped joints
+				&& cur_chain.size() > chain2.size()) // And it should be the longest so far
+			{
+				chain2.swap(cur_chain);
+				chain2_m = m2;
+			}
+		}
+
+		if (!chain2.empty())
+		{
+			// Get the chain for 1
+			Array<int> chain1;
+			int start = mMappings[m1].mJointIdx1;
+			int cur = mMappings[chain2_m].mJointIdx1;
+			do
+			{
+				chain1.push_back(cur);
+				cur = inSkeleton1->GetJoint(cur).mParentJointIndex;
+			}
+			while (cur >= 0 && cur != start && !mapped1[cur]);
+			chain1.push_back(start);
+
+			// If the chain exists in 1 too
+			if (cur == start)
+			{		
+				// Reverse the chains
+				reverse(chain1.begin(), chain1.end());
+				reverse(chain2.begin(), chain2.end());
+
+				// Mark elements mapped
+				for (int j1 : chain1)
+					mapped1[j1] = true;
+				for (int j2 : chain2)
+					mapped2[j2] = true;
+
+				// Insert the chain
+				mChains.emplace_back(move(chain1), move(chain2));
+			}
+		}
+	}
+
+	// Collect unmapped joints from 2
+	for (int j2 = 0; j2 < n2; ++j2)
+		if (!mapped2[j2])
+			mUnmapped.emplace_back(j2, inSkeleton2->GetJoint(j2).mParentJointIndex);
+}
+
+void SkeletonMapper::Map(const Mat44 *inPose1ModelSpace, const Mat44 *inPose2LocalSpace, Mat44 *outPose2ModelSpace) const
+{
+	// Apply direct mappings
+	for (const Mapping &m : mMappings)
+		outPose2ModelSpace[m.mJointIdx2] = inPose1ModelSpace[m.mJointIdx1] * m.mJoint1To2;
+
+	// Apply chain mappings
+	for (const Chain &c : mChains)
+	{
+		// Calculate end of chain given local space transforms of the joints of the chain
+		Mat44 &chain_start = outPose2ModelSpace[c.mJointIndices2.front()];
+		Mat44 chain_end = chain_start;
+		for (int j = 1; j < (int)c.mJointIndices2.size(); ++j)
+			chain_end = chain_end * inPose2LocalSpace[c.mJointIndices2[j]];
+
+		// Calculate the direction in world space for skeleton 1 and skeleton 2 and the rotation between them
+		Vec3 actual = chain_end.GetTranslation() - chain_start.GetTranslation();
+		Vec3 desired = inPose1ModelSpace[c.mJointIndices1.back()].GetTranslation() - inPose1ModelSpace[c.mJointIndices1.front()].GetTranslation();
+		Quat rotation = Quat::sFromTo(actual, desired);
+
+		// Rotate the start of the chain
+		chain_start.SetRotation(Mat44::sRotation(rotation) * chain_start.GetRotation());
+
+		// Update all joints but the first and the last joint using their local space transforms
+		for (int j = 1; j < (int)c.mJointIndices2.size() - 1; ++j)
+		{
+			int parent = c.mJointIndices2[j - 1];
+			int child = c.mJointIndices2[j];
+			outPose2ModelSpace[child] = outPose2ModelSpace[parent] * inPose2LocalSpace[child];
+		}
+	}
+
+	// All unmapped joints take the local pose and convert it to model space
+	for (const Unmapped &u : mUnmapped)
+		if (u.mParentJointIdx >= 0)
+		{
+			JPH_ASSERT(u.mParentJointIdx < u.mJointIdx, "Joints must be ordered: parents first");
+			outPose2ModelSpace[u.mJointIdx] = outPose2ModelSpace[u.mParentJointIdx] * inPose2LocalSpace[u.mJointIdx];
+		}
+		else
+			outPose2ModelSpace[u.mJointIdx] = inPose2LocalSpace[u.mJointIdx];
+}
+
+void SkeletonMapper::MapReverse(const Mat44 *inPose2ModelSpace, Mat44 *outPose1ModelSpace) const
+{
+	// Normally each joint in skeleton 1 should be present in the mapping, so we only need to apply the direct mappings
+	for (const Mapping &m : mMappings)
+		outPose1ModelSpace[m.mJointIdx1] = inPose2ModelSpace[m.mJointIdx2] * m.mJoint2To1;
+}
+
+JPH_NAMESPACE_END

+ 103 - 0
Jolt/Skeleton/SkeletonMapper.h

@@ -0,0 +1,103 @@
+// SPDX-FileCopyrightText: 2022 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Core/Reference.h>
+#include <Jolt/Skeleton/Skeleton.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Class that is able to map a low detail (ragdoll) skeleton to a high detail (animation) skeleton and vice versa
+class SkeletonMapper : public RefTarget<SkeletonMapper>
+{
+public:
+	/// A joint that maps 1-on-1 to a joint in the other skeleton
+	class Mapping
+	{
+	public:
+							Mapping() = default;
+							Mapping(int inJointIdx1, int inJointIdx2, Mat44Arg inJoint1To2) : mJointIdx1(inJointIdx1), mJointIdx2(inJointIdx2), mJoint1To2(inJoint1To2), mJoint2To1(inJoint1To2.Inversed()) { }
+
+		int					mJointIdx1;																	///< Index of joint from skeleton 1
+		int					mJointIdx2;																	///< Corresponding index of joint from skeleton 2
+		Mat44				mJoint1To2;																	///< Transforms this joint from skeleton 1 to 2
+		Mat44				mJoint2To1;																	///< Inverse of the transform above
+	};
+
+	/// A joint chain that starts with a 1-on-1 mapped joint and ends with a 1-on-1 mapped joint with intermediate joints that cannot be mapped
+	class Chain
+	{
+	public:
+							Chain() = default;
+							Chain(Array<int> &&inJointIndices1, Array<int> &&inJointIndices2) : mJointIndices1(move(inJointIndices1)), mJointIndices2(move(inJointIndices2)) { }
+
+		Array<int>			mJointIndices1;																///< Joint chain from skeleton 1
+		Array<int>			mJointIndices2;																///< Corresponding joint chain from skeleton 2
+	};
+
+	/// Joints that could not be mapped from skeleton 1 to 2
+	class Unmapped
+	{
+	public:
+							Unmapped() = default;
+							Unmapped(int inJointIdx, int inParentJointIdx) : mJointIdx(inJointIdx), mParentJointIdx(inParentJointIdx) { }
+
+		int					mJointIdx;																	///< Joint index of unmappable joint
+		int					mParentJointIdx;															///< Parent joint index of unmappable joint
+	};
+
+	/// A function that is called to determine if a joint can be mapped from source to target skeleton
+	using CanMapJoint = function<bool (const Skeleton *, int, const Skeleton *, int)>;
+
+	/// Default function that checks if the names of the joints are equal
+	static bool				sDefaultCanMapJoint(const Skeleton *inSkeleton1, int inIndex1, const Skeleton *inSkeleton2, int inIndex2)
+	{
+		return inSkeleton1->GetJoint(inIndex1).mName == inSkeleton2->GetJoint(inIndex2).mName;
+	}
+
+	/// Initialize the skeleton mapper. Skeleton 1 should be the (low detail) ragdoll skeleton and skeleton 2 the (high detail) animation skeleton.
+	/// We assume that each joint in skeleton 1 can be mapped to a joint in skeleton 2 (if not mapping from animation skeleton to ragdoll skeleton will be undefined).
+	/// Skeleton 2 should have the same hierarchy as skeleton 1 but can contain extra joints between those in skeleton 1 and it can have extra joints at the root and leaves of the skeleton. 
+	/// @param inSkeleton1 Source skeleton to map from.
+	/// @param inNeutralPose1 Neutral pose of the source skeleton (model space)
+	/// @param inSkeleton2 Target skeleton to map to.
+	/// @param inNeutralPose2 Neutral pose of the target skeleton (model space), inNeutralPose1 and inNeutralPose2 must match as closely as possible, preferably the position of the mappable joints should be identical.
+	void					Initialize(const Skeleton *inSkeleton1, const Mat44 *inNeutralPose1, const Skeleton *inSkeleton2, const Mat44 *inNeutralPose2, const CanMapJoint &inCanMapJoint = sDefaultCanMapJoint);
+
+	/// Map a pose. Joints that were directly mappable will be copied in model space from pose 1 to pose 2. Any joints that are only present in skeleton 2
+	/// will get their model space transform calculated through the local space transforms of pose 2. Joints that are part of a joint chain between two
+	/// mapped joints will be reoriented towards the next joint in skeleton 1. This means that it is possible for unmapped joints to have some animation,
+	/// but very extreme animation poses will show artifacts.
+	/// @param inPose1ModelSpace Pose on skeleton 1 in model space
+	/// @param inPose2LocalSpace Pose on skeleton 2 in local space (used for the joints that cannot be mapped)
+	/// @param outPose2ModelSpace Model space pose on skeleton 2 (the output of the mapping)
+	void					Map(const Mat44 *inPose1ModelSpace, const Mat44 *inPose2LocalSpace, Mat44 *outPose2ModelSpace) const;
+
+	/// Reverse map a pose, this will only use the mappings and not the chains (it assumes that all joints in skeleton 1 are mapped)
+	/// @param inPose2ModelSpace 
+	/// @param outPose1ModelSpace 
+	void					MapReverse(const Mat44 *inPose2ModelSpace, Mat44 *outPose1ModelSpace) const;
+
+	using MappingVector = Array<Mapping>;
+	using ChainVector = Array<Chain>;
+	using UnmappedVector = Array<Unmapped>;
+
+	///@name Access to the mapped joints
+	///@{
+	const MappingVector &	GetMappings() const															{ return mMappings; }
+	MappingVector &			GetMappings()																{ return mMappings; }
+	const ChainVector &		GetChains() const															{ return mChains; }
+	ChainVector &			GetChains()																	{ return mChains; }
+	const UnmappedVector &	GetUnmapped() const															{ return mUnmapped; }
+	UnmappedVector &		GetUnmapped()																{ return mUnmapped; }
+	///@}
+
+private:
+	/// Joint mappings
+	MappingVector			mMappings;
+	ChainVector				mChains;
+	UnmappedVector			mUnmapped;																	///< Joint indices that could not be mapped from 1 to 2 (these are indices in 2)
+};
+
+JPH_NAMESPACE_END

+ 30 - 5
Jolt/Skeleton/SkeletonPose.cpp

@@ -27,31 +27,56 @@ void SkeletonPose::CalculateJointMatrices()
 		int parent = mSkeleton->GetJoint(i).mParentJointIndex;
 		if (parent >= 0)
 		{
-			JPH_ASSERT(parent < i, "Bones must be ordered: parents first");
+			JPH_ASSERT(parent < i, "Joints must be ordered: parents first");
 			mJointMatrices[i] = mJointMatrices[parent] * mJointMatrices[i];
 		}
 	}
 }
 
+void SkeletonPose::CalculateJointStates()
+{
+	for (int i = 0; i < (int)mJoints.size(); ++i)
+	{
+		Mat44 local_transform;
+		int parent = mSkeleton->GetJoint(i).mParentJointIndex;
+		if (parent >= 0)
+			local_transform = mJointMatrices[parent].Inversed() * mJointMatrices[i];
+		else
+			local_transform = mJointMatrices[i];
+
+		JointState &joint = mJoints[i];
+		joint.mTranslation = local_transform.GetTranslation();
+		joint.mRotation = local_transform.GetRotation().GetQuaternion();
+	}
+}
+
+void SkeletonPose::CalculateLocalSpaceJointMatrices(Mat44 *outMatrices) const
+{
+	for (int i = 0; i < (int)mJoints.size(); ++i)
+		outMatrices[i] = mJoints[i].ToMatrix();
+}
+
 #ifdef JPH_DEBUG_RENDERER
-void SkeletonPose::Draw(const DrawSettings &inDrawSettings, DebugRenderer *inRenderer) const
+void SkeletonPose::Draw(const DrawSettings &inDrawSettings, DebugRenderer *inRenderer, Mat44Arg inOffset) const
 {
 	const Skeleton::JointVector &joints = mSkeleton->GetJoints();
 
 	for (int b = 0; b < mSkeleton->GetJointCount(); ++b)
 	{
+		Mat44 joint_transform = inOffset * mJointMatrices[b];
+
 		if (inDrawSettings.mDrawJoints)
 		{
 			int parent = joints[b].mParentJointIndex;
 			if (parent >= 0)
-				inRenderer->DrawLine(mJointMatrices[parent].GetTranslation(), mJointMatrices[b].GetTranslation(), Color::sGreen);
+				inRenderer->DrawLine(inOffset * mJointMatrices[parent].GetTranslation(), joint_transform.GetTranslation(), Color::sGreen);
 		}
 
 		if (inDrawSettings.mDrawJointOrientations)
-			inRenderer->DrawCoordinateSystem(mJointMatrices[b], 0.05f);
+			inRenderer->DrawCoordinateSystem(joint_transform, 0.05f);
 
 		if (inDrawSettings.mDrawJointNames)
-			inRenderer->DrawText3D(mJointMatrices[b].GetTranslation(), joints[b].mName, Color::sWhite, 0.05f);
+			inRenderer->DrawText3D(joint_transform.GetTranslation(), joints[b].mName, Color::sWhite, 0.05f);
 	}
 }
 #endif // JPH_DEBUG_RENDERER

+ 11 - 2
Jolt/Skeleton/SkeletonPose.h

@@ -30,6 +30,7 @@ public:
 
 	///@name Properties of the joints
 	///@{
+	uint						GetJointCount() const													{ return (uint)mJoints.size(); }
 	const JointStateVector &	GetJoints() const														{ return mJoints; }
 	JointStateVector &			GetJoints()																{ return mJoints; }
 	const JointState &			GetJoint(int inJoint) const												{ return mJoints[inJoint]; }
@@ -38,13 +39,21 @@ public:
 
 	///@name Joint matrices
 	///@{
-	void						CalculateJointMatrices();
 	const Mat44Vector &			GetJointMatrices() const												{ return mJointMatrices; }
 	Mat44Vector &				GetJointMatrices()														{ return mJointMatrices; }
 	const Mat44 &				GetJointMatrix(int inJoint) const										{ return mJointMatrices[inJoint]; }
 	Mat44 &						GetJointMatrix(int inJoint)												{ return mJointMatrices[inJoint]; }
 	///@}
 
+	/// Convert the joint states to joint matrices
+	void						CalculateJointMatrices();
+
+	/// Convert joint matrices to joint states
+	void						CalculateJointStates();
+
+	/// Outputs the joint matrices in local space (ensure that outMatrices has GetJointCount() elements, assumes that values in GetJoints() is up to date)
+	void						CalculateLocalSpaceJointMatrices(Mat44 *outMatrices) const;
+
 #ifdef JPH_DEBUG_RENDERER
 	/// Draw settings
 	struct DrawSettings
@@ -55,7 +64,7 @@ public:
 	};
 
 	/// Draw current pose
-	void						Draw(const DrawSettings &inDrawSettings, DebugRenderer *inRenderer) const;
+	void						Draw(const DrawSettings &inDrawSettings, DebugRenderer *inRenderer, Mat44Arg inOffset = Mat44::sIdentity()) const;
 #endif // JPH_DEBUG_RENDERER
 
 private:

+ 1 - 0
README.md

@@ -71,6 +71,7 @@ For more information see the [Architecture and API documentation](https://jrouwe
 	* Hard keying (kinematic only rigid bodies).
 	* Soft keying (setting velocities on dynamic rigid bodies).
 	* Driving constraint motors to an animated pose.
+	* Mapping a high detail (animation) skeleton onto a low detail (ragdoll) skeleton and vice versa.
 * Game character simulation (capsule)
 	* Rigid body character. Moves during the physics simulation. Cheapest option and most accurate collision response between character and dynamic bodies.
 	* Virtual character. Does not have a rigid body in the world but simulates one using collision checks. Updated outside of the physics update for more control. Less accurate interaction with dynamic bodies.

+ 2 - 0
Samples/Samples.cmake

@@ -135,6 +135,8 @@ set(SAMPLES_SRC_FILES
 	${SAMPLES_ROOT}/Tests/Rig/PoweredRigTest.h
 	${SAMPLES_ROOT}/Tests/Rig/RigPileTest.cpp
 	${SAMPLES_ROOT}/Tests/Rig/RigPileTest.h
+	${SAMPLES_ROOT}/Tests/Rig/SkeletonMapperTest.cpp
+	${SAMPLES_ROOT}/Tests/Rig/SkeletonMapperTest.h
 	${SAMPLES_ROOT}/Tests/Test.cpp
 	${SAMPLES_ROOT}/Tests/Test.h
 	${SAMPLES_ROOT}/Tests/Tools/LoadSnapshotTest.cpp

+ 2 - 0
Samples/SamplesApp.cpp

@@ -223,6 +223,7 @@ JPH_DECLARE_RTTI_FOR_FACTORY(KinematicRigTest)
 JPH_DECLARE_RTTI_FOR_FACTORY(PoweredRigTest)
 JPH_DECLARE_RTTI_FOR_FACTORY(RigPileTest)
 JPH_DECLARE_RTTI_FOR_FACTORY(LoadSaveBinaryRigTest)
+JPH_DECLARE_RTTI_FOR_FACTORY(SkeletonMapperTest)
 
 static TestNameAndRTTI sRigTests[] =
 {
@@ -231,6 +232,7 @@ static TestNameAndRTTI sRigTests[] =
 	{ "Load / Save Binary Rig",				JPH_RTTI(LoadSaveBinaryRigTest) },
 	{ "Kinematic Rig",						JPH_RTTI(KinematicRigTest) },
 	{ "Powered Rig",						JPH_RTTI(PoweredRigTest) },
+	{ "Skeleton Mapper",					JPH_RTTI(SkeletonMapperTest) },
 	{ "Rig Pile",							JPH_RTTI(RigPileTest) }
 };
 

+ 130 - 0
Samples/Tests/Rig/SkeletonMapperTest.cpp

@@ -0,0 +1,130 @@
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <TestFramework.h>
+
+#include <Tests/Rig/SkeletonMapperTest.h>
+#include <Jolt/Physics/StateRecorder.h>
+#include <Jolt/ObjectStream/ObjectStreamIn.h>
+#include <Renderer/DebugRendererImp.h>
+#include <Layers.h>
+#include <Utils/Log.h>
+
+JPH_IMPLEMENT_RTTI_VIRTUAL(SkeletonMapperTest) 
+{ 
+	JPH_ADD_BASE_CLASS(SkeletonMapperTest, Test) 
+}
+
+SkeletonMapperTest::~SkeletonMapperTest()
+{
+	mRagdoll->RemoveFromPhysicsSystem();
+}
+
+void SkeletonMapperTest::Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// Load ragdoll
+	mRagdollSettings = RagdollLoader::sLoad("Assets/Human.tof", EMotionType::Dynamic);
+
+	// Create ragdoll
+	mRagdoll = mRagdollSettings->CreateRagdoll(0, 0, mPhysicsSystem);
+	mRagdoll->AddToPhysicsSystem(EActivation::Activate);
+
+	// Load neutral animation for ragdoll
+	Ref<SkeletalAnimation> neutral_ragdoll;
+	if (!ObjectStreamIn::sReadObject("Assets/Human/neutral.tof", neutral_ragdoll))
+		FatalError("Could not open neutral animation");
+
+	// Load animation skeleton
+	Ref<Skeleton> animation_skeleton;
+	if (!ObjectStreamIn::sReadObject("Assets/Human/skeleton_hd.tof", animation_skeleton))
+		FatalError("Could not open skeleton_hd");
+	animation_skeleton->CalculateParentJointIndices();
+
+	// Load neutral animation
+	Ref<SkeletalAnimation> neutral_animation;
+	if (!ObjectStreamIn::sReadObject("Assets/Human/neutral_hd.tof", neutral_animation))
+		FatalError("Could not open neutral_hd animation");
+
+	// Load test animation
+	if (!ObjectStreamIn::sReadObject("Assets/Human/jog_hd.tof", mAnimation))
+		FatalError("Could not open jog_hd animation");
+
+	// Initialize pose
+	mAnimatedPose.SetSkeleton(animation_skeleton);
+	mRagdollPose.SetSkeleton(mRagdollSettings->GetSkeleton());
+
+	// Calculate neutral poses and initialize skeleton mapper
+	neutral_ragdoll->Sample(0.0f, mRagdollPose);
+	mRagdollPose.CalculateJointMatrices();
+	neutral_animation->Sample(0.0f, mAnimatedPose);
+	mAnimatedPose.CalculateJointMatrices();
+	mRagdollToAnimated.Initialize(mRagdollPose.GetSkeleton(), mRagdollPose.GetJointMatrices().data(), mAnimatedPose.GetSkeleton(), mAnimatedPose.GetJointMatrices().data());
+
+	// Calculate initial pose and set it
+	CalculateRagdollPose();
+	mRagdoll->SetPose(mRagdollPose);
+}
+
+void SkeletonMapperTest::CalculateRagdollPose()
+{
+	// Sample new animated pose
+	mAnimation->Sample(mTime, mAnimatedPose);
+	mAnimatedPose.CalculateJointMatrices();
+
+	// Map to ragdoll pose
+	mRagdollToAnimated.MapReverse(mAnimatedPose.GetJointMatrices().data(), mRagdollPose.GetJointMatrices().data());
+	mRagdollPose.CalculateJointStates();
+}
+
+void SkeletonMapperTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
+{ 
+	// Update time
+	mTime += inParams.mDeltaTime;
+
+	// Drive the ragdoll pose and drive motors to reach it
+	CalculateRagdollPose();
+	mRagdoll->DriveToPoseUsingMotors(mRagdollPose);
+
+#ifdef JPH_DEBUG_RENDERER
+	// Draw animated skeleton
+	mAnimatedPose.Draw(*inParams.mPoseDrawSettings, mDebugRenderer);
+	mDebugRenderer->DrawText3D(mAnimatedPose.GetJointMatrix(0).GetTranslation(), "Animated", Color::sWhite, 0.2f);
+
+	// Draw mapped skeleton
+	Mat44 offset = Mat44::sTranslation(Vec3(1.0f, 0, 0));
+	mRagdollPose.Draw(*inParams.mPoseDrawSettings, mDebugRenderer, offset);
+	mDebugRenderer->DrawText3D(offset * mAnimatedPose.GetJointMatrix(0).GetTranslation(), "Reverse Mapped", Color::sWhite, 0.2f);
+#endif // JPH_DEBUG_RENDERER
+
+	// Get ragdoll pose in model space
+	Array<Mat44> pose1_model(mRagdollPose.GetJointCount());
+	mRagdoll->GetPose(pose1_model.data());
+
+	// Get animated pose in local space
+	Array<Mat44> pose2_local(mAnimatedPose.GetJointCount());
+	mAnimatedPose.CalculateLocalSpaceJointMatrices(pose2_local.data());
+
+	// Map ragdoll to animated pose, filling in the extra joints using the local space animated pose
+	SkeletonPose pose2_world;
+	pose2_world.SetSkeleton(mAnimatedPose.GetSkeleton());
+	mRagdollToAnimated.Map(pose1_model.data(), pose2_local.data(), pose2_world.GetJointMatrices().data());
+
+#ifdef JPH_DEBUG_RENDERER
+	// Draw mapped pose
+	pose2_world.Draw(*inParams.mPoseDrawSettings, mDebugRenderer, offset);
+	mDebugRenderer->DrawText3D(offset * pose2_world.GetJointMatrix(1).GetTranslation(), "Mapped", Color::sWhite, 0.2f);
+#endif // JPH_DEBUG_RENDERER
+}
+
+void SkeletonMapperTest::SaveState(StateRecorder &inStream) const
+{
+	inStream.Write(mTime);
+}
+
+void SkeletonMapperTest::RestoreState(StateRecorder &inStream)
+{
+	inStream.Read(mTime);
+}

+ 43 - 0
Samples/Tests/Rig/SkeletonMapperTest.h

@@ -0,0 +1,43 @@
+// SPDX-FileCopyrightText: 2022 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Tests/Test.h>
+#include <Jolt/Skeleton/Skeleton.h>
+#include <Jolt/Skeleton/SkeletalAnimation.h>
+#include <Jolt/Skeleton/SkeletonPose.h>
+#include <Jolt/Skeleton/SkeletonMapper.h>
+#include <Utils/RagdollLoader.h>
+#include <Jolt/Physics/Ragdoll/Ragdoll.h>
+
+// This test takes shows how you can map a high detail animation skeleton on a low detail physics skeleton and back
+class SkeletonMapperTest : public Test
+{
+public:
+	JPH_DECLARE_RTTI_VIRTUAL(SkeletonMapperTest)
+
+	// Destructor
+	virtual					~SkeletonMapperTest() override;
+
+	// Number used to scale the terrain and camera movement to the scene
+	virtual float			GetWorldScale() const override								{ return 0.2f; }
+
+	virtual void			Initialize() override;
+	virtual void			PrePhysicsUpdate(const PreUpdateParams &inParams) override;
+
+	// Saving / restoring state for replay
+	virtual void			SaveState(StateRecorder &inStream) const override;
+	virtual void			RestoreState(StateRecorder &inStream) override;
+
+private:
+	void					CalculateRagdollPose();
+
+	float					mTime = 0.0f;
+	Ref<RagdollSettings>	mRagdollSettings;
+	Ref<Ragdoll>			mRagdoll;
+	Ref<SkeletalAnimation>	mAnimation;
+	SkeletonMapper			mRagdollToAnimated;
+	SkeletonPose			mAnimatedPose;
+	SkeletonPose			mRagdollPose;
+};