Fixed joint attachment component and skeleton visualization

Code/Engine/GameEngine/Animation/Skeletal/AnimatedMeshComponent.h

@@ -45,6 +45,5 @@ class EZ_GAMEENGINE_DLL ezAnimatedMeshComponent : public ezSkinnedMeshComponent
   void InitializeAnimationPose();
 
   ezTransform m_RootTransform;
-  ezSkeletonResourceHandle m_hSkeleton;
   ezSkinningSpaceAnimationPose m_SkinningSpacePose;
 };

Code/Engine/GameEngine/Animation/Skeletal/Implementation/AnimatedMeshComponent.cpp

@@ -78,19 +78,15 @@ void ezAnimatedMeshComponent::InitializeAnimationPose()
   if (pMesh.GetAcquireResult() != ezResourceAcquireResult::Final)
     return;
 
-  m_hSkeleton = pMesh->m_hDefaultSkeleton;
+  const auto hSkeleton = pMesh->m_hDefaultSkeleton;
 
-  if (!m_hSkeleton.IsValid())
+  if (!hSkeleton.IsValid())
     return;
 
-  ezResourceLock<ezSkeletonResource> pSkeleton(m_hSkeleton, ezResourceAcquireMode::BlockTillLoaded);
+  ezResourceLock<ezSkeletonResource> pSkeleton(hSkeleton, ezResourceAcquireMode::BlockTillLoaded);
   if (pSkeleton.GetAcquireResult() != ezResourceAcquireResult::Final)
     return;
 
-  const ezSkeleton& skeleton = pSkeleton->GetDescriptor().m_Skeleton;
-
-  m_RootTransform = pSkeleton->GetDescriptor().m_RootTransform;
-
   {
     const ozz::animation::Skeleton* pOzzSkeleton = &pSkeleton->GetDescriptor().m_Skeleton.GetOzzSkeleton();
     const ezUInt32 uiNumSkeletonJoints = pOzzSkeleton->num_joints();
@@ -107,37 +103,12 @@ void ezAnimatedMeshComponent::InitializeAnimationPose()
 
     ezMsgAnimationPoseUpdated msg;
     msg.m_ModelTransforms = pPoseMatrices;
+    msg.m_pRootTransform = &pSkeleton->GetDescriptor().m_RootTransform;
     msg.m_pSkeleton = &pSkeleton->GetDescriptor().m_Skeleton;
 
     OnAnimationPoseUpdated(msg);
   }
 
-  // for (auto itBone : pMesh->m_Bones)
-  //{
-  //  const ezUInt16 uiJointIdx = skeleton.FindJointByName(ezTempHashedString(itBone.Key().GetData()));
-  //  const ezMat4 modelSpaceTransform = m_SkinningSpacePose.m_Transforms[uiJointIdx];
-
-  //  m_SkinningSpacePose.m_Transforms[itBone.Value().m_uiBoneIndex] = modelSpaceTransform * itBone.Value().m_GlobalInverseBindPoseMatrix;
-
-  //  ezUInt16 uiParentJointIdx = skeleton.GetJointByIndex(uiJointIdx).GetParentIndex();
-  //  while (uiParentJointIdx != ezInvalidJointIndex)
-  //  {
-  //    auto parentName = skeleton.GetJointByIndex(uiParentJointIdx).GetName();
-
-  //    auto itParent = pMesh->m_Bones.Find(parentName);
-
-  //    if (itParent.IsValid())
-  //    {
-  //      auto& l = m_Lines.ExpandAndGetRef();
-  //      l.m_start = itBone.Value().m_GlobalInverseBindPoseMatrix.GetInverse().GetTranslationVector();
-  //      l.m_end = itParent.Value().m_GlobalInverseBindPoseMatrix.GetInverse().GetTranslationVector();
-  //      break;
-  //    }
-
-  //    uiParentJointIdx = skeleton.GetJointByIndex(uiParentJointIdx).GetParentIndex();
-  //  }
-  //}
-
   // Create the buffer for the skinning matrices
   CreateSkinningTransformBuffer(m_SkinningSpacePose.m_Transforms);
 }
@@ -161,9 +132,11 @@ ezMeshRenderData* ezAnimatedMeshComponent::CreateRenderData() const
 
 void ezAnimatedMeshComponent::OnAnimationPoseUpdated(ezMsgAnimationPoseUpdated& msg)
 {
-  if (!m_hSkeleton.IsValid() || !m_hMesh.IsValid())
+  if (!m_hMesh.IsValid())
     return;
 
+  m_RootTransform = *msg.m_pRootTransform;
+
   ezResourceLock<ezMeshResource> pMesh(m_hMesh, ezResourceAcquireMode::BlockTillLoaded);
 
   m_SkinningSpacePose.MapModelSpacePoseToSkinningSpace(pMesh->m_Bones, *msg.m_pSkeleton, msg.m_ModelTransforms);
@@ -174,7 +147,12 @@ void ezAnimatedMeshComponent::OnQueryAnimationSkeleton(ezMsgQueryAnimationSkelet
   if (!msg.m_hSkeleton.IsValid())
   {
     // only overwrite, if no one else had a better skeleton (e.g. the ezSkeletonComponent)
-    msg.m_hSkeleton = m_hSkeleton;
+
+    ezResourceLock<ezMeshResource> pMesh(m_hMesh, ezResourceAcquireMode::BlockTillLoaded);
+    if (pMesh.GetAcquireResult() == ezResourceAcquireResult::Final)
+    {
+      msg.m_hSkeleton = pMesh->m_hDefaultSkeleton;
+    }
   }
 }
 

Code/Engine/GameEngine/Animation/Skeletal/Implementation/JointAttachmentComponent.cpp

@@ -5,6 +5,7 @@
 #include <GameEngine/Animation/Skeletal/JointAttachmentComponent.h>
 #include <RendererCore/AnimationSystem/AnimationPose.h>
 #include <RendererCore/AnimationSystem/Skeleton.h>
+#include <RendererCore/Debug/DebugRenderer.h>
 
 // clang-format off
 EZ_BEGIN_COMPONENT_TYPE(ezJointAttachmentComponent, 1, ezComponentMode::Dynamic);
@@ -79,14 +80,27 @@ void ezJointAttachmentComponent::OnAnimationPoseUpdated(ezMsgAnimationPoseUpdate
   if (m_uiJointIndex == ezInvalidJointIndex)
     return;
 
-  ezTransform t;
-  t.SetFromMat4(msg.m_ModelTransforms[m_uiJointIndex]);
+  const ezMat4 bone = msg.m_pRootTransform->GetAsMat4() * msg.m_ModelTransforms[m_uiJointIndex];
+  ezQuat boneRot;
 
-  const ezQuat rot = t.m_qRotation * m_vLocalRotationOffset;
+  // the bone might contain (non-uniform) scaling and mirroring, which the quaternion can't represent
+  // so reconstruct a representable rotation matrix
+  {
+    const ezVec3 x = bone.TransformDirection(ezVec3(1, 0, 0)).GetNormalized();
+    const ezVec3 y = bone.TransformDirection(ezVec3(0, 1, 0)).GetNormalized();
+    const ezVec3 z = x.CrossRH(y);
+
+    ezMat3 m;
+    m.SetColumn(0, x);
+    m.SetColumn(1, y);
+    m.SetColumn(2, z);
+
+    boneRot.SetFromMat3(m);
+  }
 
   ezGameObject* pOwner = GetOwner();
-  pOwner->SetLocalPosition(t.m_vPosition + rot * m_vLocalPositionOffset);
-  pOwner->SetLocalRotation(rot);
+  pOwner->SetLocalPosition(bone.GetTranslationVector() + bone.TransformDirection(m_vLocalPositionOffset));
+  pOwner->SetLocalRotation(boneRot * m_vLocalRotationOffset);
 }
 
 EZ_STATICLINK_FILE(GameEngine, GameEngine_Animation_Skeletal_Implementation_JointAttachmentComponent);

Code/Engine/GameEngine/Animation/Skeletal/Implementation/SimpleAnimationComponent.cpp

@@ -182,6 +182,7 @@ void ezSimpleAnimationComponent::Update()
   // inform child nodes/components that a new pose is available
   {
     ezMsgAnimationPoseUpdated msg;
+    msg.m_pRootTransform = &pSkeleton->GetDescriptor().m_RootTransform;
     msg.m_pSkeleton = &pSkeleton->GetDescriptor().m_Skeleton;
     msg.m_ModelTransforms = pPoseMatrices;
 

Code/Engine/RendererCore/AnimationSystem/AnimGraph/Implementation/AnimGraph.cpp

@@ -79,6 +79,7 @@ void ezAnimGraph::SendResultTo(ezGameObject* pObject)
   Finalize(pSkeleton.GetPointer());
 
   ezMsgAnimationPoseUpdated msg;
+  msg.m_pRootTransform = &pSkeleton->GetDescriptor().m_RootTransform;
   msg.m_pSkeleton = &pSkeleton->GetDescriptor().m_Skeleton;
   msg.m_ModelTransforms = m_ModelSpaceTransforms;
 

Code/Engine/RendererCore/AnimationSystem/Declarations.h

@@ -56,6 +56,7 @@ struct EZ_RENDERERCORE_DLL ezMsgAnimationPoseUpdated : public ezMessage
 {
   EZ_DECLARE_MESSAGE_TYPE(ezMsgAnimationPoseUpdated, ezMessage);
 
+  const ezTransform* m_pRootTransform = nullptr;
   const ezSkeleton* m_pSkeleton = nullptr;
   ezArrayPtr<const ezMat4> m_ModelTransforms;
 };

Code/Engine/RendererCore/AnimationSystem/Implementation/SkeletonComponent.cpp

@@ -131,8 +131,8 @@ void ezSkeletonComponent::OnAnimationPoseUpdated(ezMsgAnimationPoseUpdated& msg)
     if (parentBone == ozz::animation::Skeleton::kNoParent)
       return;
 
-    const ezVec3 v0 = msg.m_ModelTransforms[parentBone].GetTranslationVector();
-    const ezVec3 v1 = msg.m_ModelTransforms[currentBone].GetTranslationVector();
+    const ezVec3 v0 = *msg.m_pRootTransform * msg.m_ModelTransforms[parentBone].GetTranslationVector();
+    const ezVec3 v1 = *msg.m_pRootTransform * msg.m_ModelTransforms[currentBone].GetTranslationVector();
 
     bsphere.ExpandToInclude(v0);
 
@@ -181,6 +181,7 @@ void ezSkeletonComponent::UpdateSkeletonVis()
         }
 
         ezMsgAnimationPoseUpdated msg;
+        msg.m_pRootTransform = &pSkeleton->GetDescriptor().m_RootTransform;
         msg.m_pSkeleton = &pSkeleton->GetDescriptor().m_Skeleton;
         msg.m_ModelTransforms = ezArrayPtr<const ezMat4>(reinterpret_cast<const ezMat4*>(&modelTransforms[0]), (ezUInt32)modelTransforms.size());