JoltPhysics/Jolt/Skeleton/SkeletonMapper.h

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// 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 JPH_EXPORT 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())
		{
			// Ensure bottom right element is 1 (numerical imprecision in the inverse can make this not so)
			mJoint2To1(3, 3) = 1.0f;
		}

		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(std::move(inJointIndices1)), mJointIndices2(std::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
	};

	/// Joints that should have their translation locked (fixed)
	class Locked
	{
	public:
		int					mJointIdx;																	///< Joint index of joint with locked translation (in skeleton 2)
		int					mParentJointIdx;															///< Parent joint index of joint with locked translation (in skeleton 2)
		Vec3				mTranslation;																///< Translation of neutral pose
	};

	/// 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.
	/// @param inCanMapJoint Function that checks if joints in skeleton 1 and skeleton 2 are equal.
	void					Initialize(const Skeleton *inSkeleton1, const Mat44 *inNeutralPose1, const Skeleton *inSkeleton2, const Mat44 *inNeutralPose2, const CanMapJoint &inCanMapJoint = sDefaultCanMapJoint);

	/// This can be called so lock the translation of a specified set of joints in skeleton 2.
	/// Because constraints are never 100% rigid, there's always a little bit of stretch in the ragdoll when the ragdoll is under stress.
	/// Locking the translations of the pose will remove the visual stretch from the ragdoll but will introduce a difference between the
	/// physical simulation and the visual representation.
	/// @param inSkeleton2 Target skeleton to map to.
	/// @param inLockedTranslations An array of bools the size of inSkeleton2->GetJointCount(), for each joint indicating if the joint is locked.
	/// @param inNeutralPose2 Neutral pose to take reference translations from
	void					LockTranslations(const Skeleton *inSkeleton2, const bool *inLockedTranslations, const Mat44 *inNeutralPose2);

	/// After Initialize(), this can be called to lock the translation of all joints in skeleton 2 below the first mapped joint to those of the neutral pose.
	/// Because constraints are never 100% rigid, there's always a little bit of stretch in the ragdoll when the ragdoll is under stress.
	/// Locking the translations of the pose will remove the visual stretch from the ragdoll but will introduce a difference between the
	/// physical simulation and the visual representation.
	/// @param inSkeleton2 Target skeleton to map to.
	/// @param inNeutralPose2 Neutral pose to take reference translations from
	void					LockAllTranslations(const Skeleton *inSkeleton2, const Mat44 *inNeutralPose2);

	/// 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 Model space pose on skeleton 2
	/// @param outPose1ModelSpace When the function returns this will contain the model space pose for skeleton 1
	void					MapReverse(const Mat44 *inPose2ModelSpace, Mat44 *outPose1ModelSpace) const;

	/// Search through the directly mapped joints (mMappings) and find inJoint1Idx, returns the corresponding Joint2Idx or -1 if not found.
	int						GetMappedJointIdx(int inJoint1Idx) const;

	/// Search through the locked translations (mLockedTranslations) and find if joint inJoint2Idx is locked.
	bool					IsJointTranslationLocked(int inJoint2Idx) const;

	using MappingVector = Array<Mapping>;
	using ChainVector = Array<Chain>;
	using UnmappedVector = Array<Unmapped>;
	using LockedVector = Array<Locked>;

	///@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; }
	const LockedVector &	GetLockedTranslations() const												{ return mLockedTranslations; }
	LockedVector &			GetLockedTranslations()														{ return mLockedTranslations; }
	///@}

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)
	LockedVector			mLockedTranslations;
};

JPH_NAMESPACE_END