513 lines
17 KiB
Markdown
513 lines
17 KiB
Markdown
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# 相关类
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- TsArkitDataReceiver(ArkitDataReceiver)
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- TsChingmuMocapReceiverActor(ChingmuMocapReceiverActor)
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- TsMotionReceiverActor(MotionReceiverActor) => BP_MotionReceiver：定义了MotionNetConfig.ini。
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- TsMotionSenderActor(MotionSenderActor)
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# TsChingmuMocapReceiverActor
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***地图里只会有一个生成的TsChingmuMocapReceiverActor来管理动捕数据接收***
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1. Init()：在Server才会Spawn TsChingmuMocapReceiverActor。
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2. ConnectChingMu()：**ChingmuComp.StartConnectServer()**
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3. Multicast_AligmMotionTime()：寻找场景中的BP_MotionReceiver，并且调用Receiver.AlignTimeStamp()。
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## ChingmuMocapReceiverActor
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核心逻辑：
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- ***FChingmuThread::Run()***
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- ***AChingmuMocapReceiverActor::Tick()***
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- AChingmuMocapReceiverActor::DoSample()
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```c++
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void AChingmuMocapReceiverActor::BeginPlay()
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{
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Super::BeginPlay();
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MaxHumanCount = 10;
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MaxRigidBodyCount = 10;
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CacheLimit = 240;
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SampledHumanData = NewObject<UMocapFrameData>();
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ThreadInterval = 0.002;
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BackIndexCount = int64(UMotionUtils::BackSampleTime / (1000.0 / CHINGMU_SERVER_FPS));//BackSampleTime = 100ms CHINGMU_SERVER_FPS =120ms
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ChingmuComp = Cast<UChingMUComponent>(GetComponentByClass(UChingMUComponent::StaticClass()));
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if (ChingmuComp == nullptr)
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{
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UE_LOG(LogTemp, Error, TEXT("Chingmu Component is missing!!"));
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}
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Thread = new FChingmuThread("Chingmu Data Thread", this);
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Sender = GetMotionSender();
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}
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```
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FChingmuThread::Run()中处理完[[#ST_MocapFrameData]]之后，将几个演员动补数据存入FrameQueue之后。在Tick()出队，之后数据存入AllHumanFrames/AllRigidBodyFrames。
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- AllHumanFrames
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- ID
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- std::vector<ST_MocapFrameData*> Frames
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- ID
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- TimeStamp
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- FrameIndex
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- BonesWorldPos
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- BonesLocalRot
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```c++
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void AChingmuMocapReceiverActor::Tick(float DeltaTime)
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{
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Super::Tick(DeltaTime);
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if(!Sender)
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{
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Sender = GetMotionSender();
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}
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const auto CurTime = ULiveDirectorStatics::GetUnixTime();//获取当前系统时间
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if(UseThread)
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{
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// 线程方式
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// 在数据队列中获取青瞳数据
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while (!FrameQueue.IsEmpty())//处理完所有
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{
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ST_MocapFrameData* Frame;
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if (FrameQueue.Dequeue(Frame))//出队
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{
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PutMocapDataIntoFrameList(Frame);//将帧数数据塞入对应HuamnID/RigidBodyID的AllHumanFrames/AllRigidBodyFrames中。
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}
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}
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}
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DoSample(AllHumanFrames);
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DoSample(AllRigidBodyFrames);
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// 每隔1s计算一次平均包间隔
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if (CurTime - LastCheckIntervalTime > 1000)
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{
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if (AllHumanFrames.Num() > 0)
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{
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AllHumanFrames[0]->CalculatePackageAverageInterval(this->PackageAverageInterval);
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LastCheckIntervalTime = CurTime;
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}
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}
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}
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```
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### 采样相关逻辑
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- ***SampleByTimeStamp***()
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```c++
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void AChingmuMocapReceiverActor::DoSample(TArray<MocapFrames*>& Frames)
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{
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for (auto i = 0; i < Frames.Num(); i++)
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{
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Frames[i]->CheckSize(CacheLimit);//判断当前帧数据是否超过指定长度（240帧，2~4秒数据），移除超出长度的数据。
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if (SampleByTimeStamp(Frames[i]->Frames))//对数据进行插值，当前插值数据存在SampledHumanData。
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{
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SendFrameToCharacter();//执行对应的TsChingmuMocapReceiverActor.ts中的逻辑，主要是触发一个事件，讲数据传递给TsMotionRetargetComponent.ts 或者 TsSceneLiveLinkPropActor.ts（动捕道具）
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}
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}
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}
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class MocapFrames
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{
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public:
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int ID;
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std::vector<ST_MocapFrameData*> Frames = {};
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public:
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MocapFrames(): ID(0)
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{
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}
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bool CheckSize(const int Limit)
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{
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if (Frames.size() > Limit)
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{
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const int DeletedCount = Frames.size() / 2;
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for (auto i = 0; i < DeletedCount; i++)
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{
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auto Data = Frames[i];
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if (Data)
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{
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delete Data;
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}
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Data = nullptr;
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}
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Frames.erase(Frames.cbegin(), Frames.cbegin() + DeletedCount);
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return true;
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}
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return false;
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}
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};
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```
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对数据进行插值，当前插值数据存在**SampledHumanData**。
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```c++
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bool AChingmuMocapReceiverActor::SampleByTimeStamp(std::vector<ST_MocapFrameData*>& DataList)
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{
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const int64 SampleTime = ULiveDirectorStatics::GetUnixTime() - UMotionUtils::BackSampleTime;//UMotionUtils::BackSampleTime = 100ms,采样100ms的数据。
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int Previous = -1;
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int Next = -1;
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for (int Index = DataList.size() - 1; Index > 0; Index--)//从Last => First遍历所有数据，确定插值的2个数据Index。
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{
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const ST_MocapFrameData* Data = DataList[Index];
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if (Data == nullptr)
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{
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continue;
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}
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if (Data->TimeStamp - SampleTime > 0)
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{
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Next = Index;
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}
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else
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{
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Previous = Index;
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break;
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}
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}
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if (bShowSampleLog)
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{
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UE_LOG(LogTemp, Warning, TEXT("prev: %d, next: %d, total: %llu"), Previous, Next, DataList.size());
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}
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if (Previous != -1 && Next != -1)
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{
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const auto p = DataList[Previous];
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const auto n = DataList[Next];
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const float Factor = (n->TimeStamp - p->TimeStamp) > 0
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? (1.0 * (SampleTime - p->TimeStamp) / (n->TimeStamp - p->TimeStamp))
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: 1.0;
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// Bone world pos cannot lerp like this
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// It will cause bone length changes all the time
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SampledHumanData->ID = p->ID;
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SampledHumanData->TimeStamp = SampleTime;
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SampledHumanData->FrameIndex = p->FrameIndex;
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for (auto Index = 0; Index < 23; Index++)//对23个骨骼进行差值。
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{
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SampledHumanData->BonesWorldPos[Index] = UKismetMathLibrary::VLerp(
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p->BonesWorldPos[Index], n->BonesWorldPos[Index], Factor);
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SampledHumanData->BonesLocalRot[Index] = UKismetMathLibrary::RLerp(p->BonesLocalRot[Index].Rotator(),
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n->BonesLocalRot[Index].Rotator(),
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Factor, true).Quaternion();
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}
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return true;
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}
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if (Previous != -1)//容错处理，全都是Previous，数据太旧直接清空。
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{
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SampledHumanData->CopyFrom(DataList[Previous]);
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if(SampleTime - DataList[Previous]->TimeStamp > UMotionUtils::MotionTimeout)
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{
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// data is too old, clear the data list.
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DataList.clear();
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}
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return true;
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}
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if (Next != -1)//没有Previous，直接复制Next的数据。
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{
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SampledHumanData->CopyFrom(DataList[Next]);
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return true;
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}
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return false;
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}
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```
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### FChingmuThread
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用途为：
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- 获取当前系统时间。
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- 使用异步Task的方式，通过调用**UChingMUComponent::FullBodyMotionCapBaseBonesLocalSpaceRotation()** 来更新每个演员的动捕数据。动捕数据存储在**ChingMUComponent**中的***LocalRotationList***、***GlobalLocationList***中。
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- 管理HumanToLastReceiveTime，以此管理每个动捕演员的动画数据时长。
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- OwnerActor->OnGetHumanData_NotInGameThread()，
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- 根据当前时间与当前Frames，从UChingMUComponent中将数据复制到[[#ST_MocapFrameData]]中。
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- 将[[#ST_MocapFrameData]]转换成JSON后，使用AMotionSenderActor::OnGetRawMocapData_NotInGameThread()发送。
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- 将当前帧数据加入FrameQueue队列。
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- 线程睡眠0.001s。以此保证AChingmuMocapReceiverActor::Tick()中可以把数据都处理完。
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```c++
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uint32 FChingmuThread::Run()
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{
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FTransform Tmp;
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while (bRun)
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{
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if (OwnerActor && OwnerActor->UseThread && OwnerActor->ChingmuComp && OwnerActor->ChingmuComp->IsConnected())
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{
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CurTime = ULiveDirectorStatics::GetUnixTime();
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// Human
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for (auto HumanIndex = 0; HumanIndex < OwnerActor->MaxHumanCount; HumanIndex++)
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{
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const auto bRes = OwnerActor->ChingmuComp->FullBodyMotionCapBaseBonesLocalSpaceRotation(
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OwnerActor->ChingmuFullAddress, HumanIndex, TmpTimeCode);
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if (bRes)
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{
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if (!HumanToLastReceiveTime.Contains(HumanIndex))//空数据处理。
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{
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HumanToLastReceiveTime.Add(HumanIndex, 0);
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}
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if (HumanToLastReceiveTime[HumanIndex] != TmpTimeCode.Frames)//判断是否收到新的Frame数据
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{
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HumanToLastReceiveTime[HumanIndex] = TmpTimeCode.Frames;
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OwnerActor->OnGetHumanData_NotInGameThread(HumanIndex, CurTime, TmpTimeCode.Frames);
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}
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else
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{
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// get same frame, skip
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break;
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}
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}
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}
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// Rigidbody
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for (auto RigidBodyIndex = OwnerActor->RigidBodyStartIndex; RigidBodyIndex < OwnerActor->RigidBodyStartIndex
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+ OwnerActor->MaxRigidBodyCount; RigidBodyIndex++)
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{
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OwnerActor->ChingmuComp->GetTrackerPoseTC(OwnerActor->ChingmuFullAddress, RigidBodyIndex, Tmp,
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TmpTimeCode);
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if (!RigidBodyToLastReceiveTransform.Contains(RigidBodyIndex))
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{
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RigidBodyToLastReceiveTransform.Add(RigidBodyIndex, FTransform::Identity);
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}
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// 道具的TmpTimeCode.Frames永远为0，所以无法用帧数判断
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// 改为transform判断
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if (!RigidBodyToLastReceiveTransform[RigidBodyIndex].Equals(Tmp))
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{
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RigidBodyToLastReceiveTransform[RigidBodyIndex] = Tmp;
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OwnerActor->OnGetRigidBodyData_NotInGameThread(RigidBodyIndex, Tmp, CurTime, TmpTimeCode.Frames);
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}
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}
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}
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if (bRun)
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{
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FPlatformProcess::Sleep(OwnerActor ? OwnerActor->ThreadInterval : 0.004);
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}
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else
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{
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break;
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}
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}
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UE_LOG(LogTemp, Warning, TEXT("%s finish work."), *ThreadName)
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return 0;
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}
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```
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## ST_MocapFrameData
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- ST_MocapFrameData为动捕数据的原始帧数据。
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```c++
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#define MOCAP_BONE_COUNT 23
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enum E_MotionType
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{
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Human,
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RigidBody
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};
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enum E_SourceType
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{
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Mocap,
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CMR,
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Replay
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};
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struct ST_MocapFrameData
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{
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int ID;
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int64 TimeStamp;
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int FrameIndex;
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E_MotionType MotionType;
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E_SourceType SourceType;
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FVector BonesWorldPos[MOCAP_BONE_COUNT];
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FQuat BonesLocalRot[MOCAP_BONE_COUNT];
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};
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class LIVEDIRECTOR_API UMocapFrameData : public UObject
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{
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GENERATED_BODY()
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public:
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UPROPERTY(BlueprintReadWrite, EditAnywhere)
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int ID;
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UPROPERTY(BlueprintReadWrite, EditAnywhere)
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TArray<FVector> BonesWorldPos;
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UPROPERTY(BlueprintReadWrite, EditAnywhere)
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TArray<FQuat> BonesLocalRot;
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UPROPERTY(BlueprintReadWrite, EditAnywhere)
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int64 TimeStamp;
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UPROPERTY(BlueprintReadWrite, EditAnywhere)
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int FrameIndex;
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UPROPERTY(BlueprintReadWrite, EditAnywhere)
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int MotionType; // 0 human; 1 rigidbody
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UPROPERTY(BlueprintReadWrite, EditAnywhere)
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int SourceType; // 0 mocap, 1 cmr
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public:
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void CopyFrom(const ST_MocapFrameData* Other)
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{
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ID = Other->ID;
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TimeStamp = Other->TimeStamp;
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FrameIndex = Other->FrameIndex;
|
|||
|
|
MotionType = Other->MotionType;
|
|||
|
|
SourceType = Other->SourceType;
|
|||
|
|
for (auto Index = 0; Index < 23; Index++)
|
|||
|
|
{
|
|||
|
|
BonesWorldPos[Index] = Other->BonesWorldPos[Index];
|
|||
|
|
BonesLocalRot[Index] = Other->BonesLocalRot[Index];
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
class MocapFrames
|
|||
|
|
{
|
|||
|
|
public:
|
|||
|
|
int ID;
|
|||
|
|
std::vector<ST_MocapFrameData*> Frames = {};
|
|||
|
|
|
|||
|
|
void CalculatePackageAverageInterval(float& Res)
|
|||
|
|
{
|
|||
|
|
if(Frames.size() > 0)
|
|||
|
|
{
|
|||
|
|
auto First = Frames[0];
|
|||
|
|
auto Last = Frames[Frames.size() - 1];
|
|||
|
|
if(Last->FrameIndex > First->FrameIndex)
|
|||
|
|
{
|
|||
|
|
Res = 1.0 * (Last->TimeStamp - First->TimeStamp) / (Last->FrameIndex - First->FrameIndex);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
};
|
|||
|
|
```
|
|||
|
|
# MotionCapture(青瞳插件)
|
|||
|
|
实现1个组件与3个动画节点：
|
|||
|
|
- [[#ChingMUComponent]]：
|
|||
|
|
- [[#AnimNode_ChingMUPose]]：接受骨骼动捕数据。
|
|||
|
|
- [[#AnimNode_ChingMURetargetPose]]：接受重定向后的骨骼动捕数据。
|
|||
|
|
- AnimNode_ChingMURetargetPoseForBuild:
|
|||
|
|
|
|||
|
|
## ***ChingMUComponent***
|
|||
|
|
1. Init
|
|||
|
|
1. BeginPlay()：取得ini文件中的配置信息；取得当前角色的SkeletonMesh => CharacterSkinMesh;取得BoneName=>BoneIndex Map、TPose状态下骨骼的旋转值、TposeParentBonesRotation。
|
|||
|
|
2. Connect
|
|||
|
|
1. StartConnectServer()：motionCapturePlugin->ConnectCommand = "ConnectServer"。具体逻辑会在FMotionCapture::Tick()处理。
|
|||
|
|
2. DisConnectServer()：motionCapturePlugin->ConnectCommand = "DisConnect"。
|
|||
|
|
3. [[#CalculateBoneCSRotation()]]
|
|||
|
|
4. [[#FullBodyMotionCapBaseBonesLocalSpaceRotation]]
|
|||
|
|
|
|||
|
|
### CalculateBoneCSRotation
|
|||
|
|
> Get Human Fullbody Tracker data ,including of 23joints localRotation and root joint world Position
|
|||
|
|
|
|||
|
|
1. m_motioncap->CMHuman()：调用DLL的CMHumanExtern()，获取一个Double数组，前3个是RootLocation，后面全是Rotation。
|
|||
|
|
2. 计算最终的四元数旋转值。
|
|||
|
|
3. 返回的形参 FQuat* BonesComponentSpaceRotation，数组指针。
|
|||
|
|
|
|||
|
|
### FullBodyMotionCapBaseBonesLocalSpaceRotation
|
|||
|
|
相比CalculateBoneCSRotation，增加了时间码以及GlobalLocation的动捕数据获取。
|
|||
|
|
1. m_motioncap->CMHuman()：调用DLL的CMHumanExtern()，获取一个Double数组，前3个是RootLocation，后面全是Rotation。
|
|||
|
|
2. motionCapturePlugin->CMHumanGlobalRTTC()：调用DLL的CMHumanGlobalRTTC()，1-24 New Features。计算**VrpnTimeCode**以及**GlobalLocationList**。
|
|||
|
|
|
|||
|
|
数据存在**ChingMUComponent**中的***LocalRotationList***、***GlobalLocationList***。
|
|||
|
|
## FAnimNode_ChingMUPose
|
|||
|
|
1. Initialize_AnyThread()：取得**ChingMUComponent**。
|
|||
|
|
2. Update_AnyThread()：调用**ChingMUComponent->CalculateBoneCSRotation()**
|
|||
|
|
3. Evaluate_AnyThread()：对23根骨骼进行遍历；取得RefPose后，将从Update_AnyThread()获得动捕数据（**Rotation**）覆盖到上面（ComponentSpace），**根骨骼需要额外添加Location数据**。最后将数据从ComponentSpace => LocalSpace。
|
|||
|
|
|
|||
|
|
## AnimNode_ChingMURetargetPose
|
|||
|
|
1. Initialize_AnyThread()：创建曲线逻辑（TCHour、TCMinute、TCSecond、TCFrame）。
|
|||
|
|
2. Update_AnyThread()：
|
|||
|
|
3. Evaluate_AnyThread()：相关逻辑都实现在这里。
|
|||
|
|
|
|||
|
|
### AnimNode_ChingMURetargetPose::Evaluate_AnyThread()
|
|||
|
|
|
|||
|
|
# TsMotionReceiverActor
|
|||
|
|
只在BeginPlay()中调用了this.MarkAsClientSeamlessTravel(); 具体逻辑在`AMotionReceiverActor`
|
|||
|
|
|
|||
|
|
## MotionReceiverActor
|
|||
|
|
|
|||
|
|
![[动捕逻辑思维导图.canvas]]
|
|||
|
|
|
|||
|
|
|
|||
|
|
# Config与BoneName相关逻辑
|
|||
|
|
1. Config/FullBodyConfig.json储存了对应的骨骼名称、Morph以及RootMotion骨骼名称。
|
|||
|
|
1. 通过 UMotionUtils::GetModelBones()、UMotionUtils::GetMoveableBones()、UMotionUtils::GetMorphTargets()获取名称数组。
|
|||
|
|
2. GetModelBones()
|
|||
|
|
1. 主要在FAnimNode_FullBody::Initialize_AnyThread()被调用。
|
|||
|
|
2. 填充`TArray<FBoneReference> BoneRefList;`，顺带初始化SampledFullBodyData。
|
|||
|
|
3. InitBoneRefIndex()，初始化BoneRefList中每个FBoneReference的BoneIndex（通过骨骼名称找到），如果没有找到会提示对应的Log。
|
|||
|
|
4. FAnimNode_FullBody::Evaluate_AnyThread()，作用在[[#ApplyDataToPose()]]。
|
|||
|
|
3. GetMorphTargets()
|
|||
|
|
1. 主要在FAnimNode_FullBody::Initialize_AnyThread()被调用。
|
|||
|
|
|
|||
|
|
## ApplyDataToPose()
|
|||
|
|
### BoneTransform
|
|||
|
|
1. 遍历BoneRefList（从UMotionUtils::GetModelBones()获得)
|
|||
|
|
2. 对BoneIndex有效的骨骼进行一些操作。
|
|||
|
|
1. 取得当前动画蓝图输出Pose的**骨骼Index**以及**采样后动捕数据的旋转值**。
|
|||
|
|
2. 如果骨骼名是Hips，就将当前Index设置给HipsIndex。
|
|||
|
|
3. 将旋转值应用到OutputPose中。
|
|||
|
|
4. 判断当前骨骼名是否为MoveableBones中的名称，将这些骨骼的Location设置到OutputPose中。
|
|||
|
|
|
|||
|
|
### MorphValues
|
|||
|
|
将对应MorphTarget数据应用到对应的CurveChannel上。
|
|||
|
|
### RootMotion
|
|||
|
|
根据bUseHipsTranslation变量执行不同的逻辑：
|
|||
|
|
|
|||
|
|
#### MapTranslationToHips
|
|||
|
|
调用函数形参如下：
|
|||
|
|
```c++
|
|||
|
|
MapTranslationToHips(Output, EvaluatedFullBodyData, 0, HipsIndex);
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
1. 获取Joints骨骼的Locaiton作为RootMotion数据
|
|||
|
|
2. 判断Joints骨骼是不是根骨骼，如果**是**则调整RootMotion数据轴向。
|
|||
|
|
3. 将Joints骨骼的Location归零。
|
|||
|
|
4. 如果Hips骨骼有效，则将RootMotion数据加到其Location上。
|
|||
|
|
|
|||
|
|
#### ExtractRootMotionInfo
|
|||
|
|
1. 获取Joints骨骼的Locaiton作为RootMotion数据。
|
|||
|
|
2. 判断Joints骨骼是不是根骨骼，如果**不是**则调整RootMotion数据轴向。（**轴向与MapTranslationToHips()不同**）
|
|||
|
|
3. 将Joints骨骼的Location归零。
|
|||
|
|
4. 将RootMotion设置给AnimInstance的RootMotionLocation。
|
|||
|
|
5. 如果Hips骨骼有效，进行一堆计算，最终将Rotation设置AnimInstance的RootMotionRotation。
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 采样接收数据
|
|||
|
|
- [x] 确定ChingMu重定向后Transform数组长度。
|
|||
|
|
- 数据长度150个，但中间有很多事空值。
|
|||
|
|
- [ ]
|
|||
|
|
|
|||
|
|
|
|||
|
|
TArray<MocapFrames*>
|
|||
|
|
|
|||
|
|
|
|||
|
|
使用cmr：二郎拖。
|
|||
|
|
|
|||
|
|
# UE4移植Mocap问题确定
|
|||
|
|
ASoul的Control有一步摆初始Pose的操作，让下列骨骼的初始化Pose发生了改变。
|
|||
|
|
Spine UE4角度<33.144 0.356 0.649> => UE5角度<33.418,-1.266,0.351>
|
|||
|
|
Spine~Spine3
|
|||
|
|
Chest
|
|||
|
|
ChestMid
|
|||
|
|
Neck1
|
|||
|
|
Head
|
|||
|
|
LeftArm
|
|||
|
|
LeftForeArm
|
|||
|
|
LeftHand
|
|||
|
|
RightArm
|
|||
|
|
RightForeArm
|
|||
|
|
RightHand
|
|||
|
|
|
|||
|
|
|
|||
|
|
# UE4 ChingMu重定向
|
|||
|
|
- 移植FullBody的以下语句。
|
|||
|
|
```c++
|
|||
|
|
bGetMotionData = Recv->SampleFullBodyData_AnimationThread(ValidIdentity,
|
|||
|
|
ULiveDirectorStatics::GetUnixTime() -
|
|||
|
|
UMotionUtils::BackSampleTime * 2,
|
|||
|
|
SampledFullBodyData);
|
|||
|
|
```
|
|||
|
|
##
|
|||
|
|
- AChingmuMocapReceiverActor（创建线程）=>
|
|||
|
|
- FChingmuThread（负责接收数据并且塞入AChingmuMocapReceiverActor的FrameQueue）=>
|
|||
|
|
- [x] 添加时间轴判断，避免加入重复的帧。
|
|||
|
|
- AChingmuMocapReceiverActor（Tick）=>
|
|||
|
|
- 从FrameQueue提取动捕帧数据并且塞入`TArray<MocapRetargetFrames*> AllHumanFrames`（PutMocapDataIntoFrameList()）。
|
|||
|
|
- DoSample()
|
|||
|
|
1. SampleByTimeStamp()：对所有帧进行采样。
|
|||
|
|
2. SendFrameToCharacter()：逻辑在Puerts中，发送给MotionProcess动捕数据。
|
|||
|
|
- CalculatePackageAverageInterval()：相关逻辑感觉没用。
|
|||
|
|
- FAnimNode_FullBody =>
|
|||
|
|
- Update_AnyThread()：bGetMotionData = Recv->SampleFullBodyData_AnimationThread()：取得对应HumanID的动捕数据。
|
|||
|
|
- Evaluate_AnyThread()：取得SampledFullBodyData => ApplyDataToPose()。
|