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fix scale
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Constantine Rudenko committed Jul 16, 2019
1 parent bfb107f commit 60d436b
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Showing 3 changed files with 67 additions and 64 deletions.
75 changes: 33 additions & 42 deletions Code/DQ skinning/DualQuaternionSkinner.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,8 @@
/// <a class="bold" href="https://docs.unity3d.com/ScriptReference/SkinnedMeshRenderer.html">SkinnedMeshRenderer</a> is required to extract some information about the mesh during <b>Start()</b> and is destroyed immediately after.
/// </summary>
[RequireComponent(typeof(MeshFilter))]
public class DualQuaternionSkinner : MonoBehaviour {
public class DualQuaternionSkinner : MonoBehaviour
{

struct DualQuaternion
{
Expand All @@ -31,11 +32,9 @@ struct BoneWeightInfo
public float weight3;
}

DualQuaternion[] poseDualQuaternions;

const int numthreads = 1024; // must be same in compute shader code
const int numthreads = 1024; // must be same in compute shader code
const int textureWidth = 1024; // no need to adjust compute shaders

public ComputeShader shaderComputeBoneDQ;
public ComputeShader shaderDQBlend;
public ComputeShader shaderApplyMorph;
Expand All @@ -46,7 +45,10 @@ struct BoneWeightInfo
/// </summary>
public bool started { get; private set; } = false;

ComputeBuffer bufPoseDq;
DualQuaternion[] poseDualQuaternions;
Matrix4x4[] poseMatrices;

ComputeBuffer bufPoseMatrices;
ComputeBuffer bufSkinnedDq;
ComputeBuffer bufOriginalVertices;
ComputeBuffer bufOriginalNormals;
Expand Down Expand Up @@ -232,7 +234,7 @@ void SetMesh(Mesh mesh)
{
// could use float3 instead of float4 but NVidia says structures not aligned to 128 bits are slow
// https://developer.nvidia.com/content/understanding-structured-buffer-performance
this.arrBufMorphDeltaTangents[i] = new ComputeBuffer(this.mf.mesh.vertexCount, sizeof(float) * 4);
this.arrBufMorphDeltaTangents[i] = new ComputeBuffer(this.mf.mesh.vertexCount, sizeof(float) * 4);
for (int k = 0; k < this.mf.mesh.vertexCount; k++)
tempVec4[k] = deltaTangents[k];
this.arrBufMorphDeltaTangents[i].SetData(tempVec4);
Expand All @@ -254,6 +256,7 @@ void SetMesh(Mesh mesh)
this.shaderDQBlend.SetInt("textureWidth", textureWidth);

this.poseDualQuaternions = new DualQuaternion[this.mf.mesh.bindposes.Length];
this.poseMatrices = new Matrix4x4[this.mf.mesh.bindposes.Length];

// initiate textures and buffers

Expand Down Expand Up @@ -281,8 +284,8 @@ void SetMesh(Mesh mesh)
this.rtSkinnedData_3.Create();
this.shaderDQBlend.SetTexture(this.kernelHandleComputeBoneDQ, "skinned_data_3", this.rtSkinnedData_3);

this.bufPoseDq = new ComputeBuffer(this.mf.mesh.bindposes.Length, sizeof(float) * 8);
this.shaderComputeBoneDQ.SetBuffer(this.kernelHandleComputeBoneDQ, "pose_dual_quaternions", this.bufPoseDq);
this.bufPoseMatrices = new ComputeBuffer(this.mf.mesh.bindposes.Length, sizeof(float) * 16);
this.shaderComputeBoneDQ.SetBuffer(this.kernelHandleComputeBoneDQ, "pose_matrices", this.bufPoseMatrices);

this.bufSkinnedDq = new ComputeBuffer(this.mf.mesh.bindposes.Length, sizeof(float) * 8);
this.shaderComputeBoneDQ.SetBuffer(this.kernelHandleComputeBoneDQ, "skinned_dual_quaternions", this.bufSkinnedDq);
Expand Down Expand Up @@ -442,7 +445,7 @@ void ReleaseBuffers()
this.bufOriginalNormals?.Release();
this.bufOriginalVertices?.Release();
this.bufOriginalTangents?.Release();
this.bufPoseDq?.Release();
this.bufPoseMatrices?.Release();
this.bufSkinnedDq?.Release();
this.bufMorphedNormals?.Release();
this.bufMorphedVertices?.Release();
Expand All @@ -464,13 +467,13 @@ void ReleaseBuffers()

void OnDestroy()
{
this.ReleaseBuffers();
this.ReleaseBuffers();
}

// Use this for initialization
void Start()
{
this.shaderComputeBoneDQ = (ComputeShader)Instantiate(this.shaderComputeBoneDQ); // bug workaround
this.shaderComputeBoneDQ = (ComputeShader)Instantiate(this.shaderComputeBoneDQ); // bug workaround
this.shaderDQBlend = (ComputeShader)Instantiate(this.shaderDQBlend); // bug workaround
this.shaderApplyMorph = (ComputeShader)Instantiate(this.shaderApplyMorph); // bug workaround

Expand Down Expand Up @@ -502,35 +505,16 @@ void Start()
}

// Update is called once per frame
void Update () {
void Update()
{
this.ApplyAllMorphs();

this.mf.mesh.MarkDynamic (); // once or every frame? idk.
// at least it does not affect performance

this.shaderComputeBoneDQ.SetVector(
"parent_rotation_quaternion",
Quaternion.Inverse(this.transform.parent.rotation).ToVector4()
);

this.shaderComputeBoneDQ.SetVector (
"parent_translation_quaternion",
new Vector4(
- this.transform.parent.position.x,
- this.transform.parent.position.y,
- this.transform.parent.position.z,
1
)
);
this.mf.mesh.MarkDynamic(); // once or every frame? idk.
// at least it does not affect performance

this.shaderComputeBoneDQ.SetVector(
"parent_scale",
new Vector4(
this.transform.parent.lossyScale.x,
this.transform.parent.lossyScale.y,
this.transform.parent.lossyScale.z,
1
)
this.shaderComputeBoneDQ.SetMatrix(
"self_matrix",
this.transform.worldToLocalMatrix
);

for (int i = 0; i < this.bones.Length; i++)
Expand All @@ -541,17 +525,24 @@ void Update () {

// could use float3 instead of float4 for position but NVidia says structures not aligned to 128 bits are slow
// https://developer.nvidia.com/content/understanding-structured-buffer-performance
this.poseDualQuaternions[i].position = new Vector4(pos.x, pos.y, pos.z, 1);
}
this.poseDualQuaternions[i].position = new Vector4(
pos.x,
pos.y,
pos.z,
0
);

this.bufPoseDq.SetData(this.poseDualQuaternions);
this.poseMatrices[i] = this.bones[i].localToWorldMatrix;
}

this.bufPoseMatrices.SetData(this.poseMatrices);

// Calculate blended quaternions

int numThreadGroups = this.bones.Length / numthreads;
if (this.bones.Length % numthreads != 0)
{
numThreadGroups ++;
numThreadGroups++;
}

this.shaderComputeBoneDQ.Dispatch(this.kernelHandleDQBlend, numThreadGroups, 1, 1);
Expand Down
32 changes: 10 additions & 22 deletions Code/DQ skinning/Shaders/Compute/ComputeBoneDQ.compute
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,6 @@

#include "DQ.cginc"

float4 parent_rotation_quaternion;
float4 parent_translation_quaternion;
float4 parent_scale;

struct boneWeight
{
int boneIndex0;
Expand All @@ -20,34 +16,26 @@ struct boneWeight
float boneWeight3;
};

RWStructuredBuffer<dual_quaternion> pose_dual_quaternions;
RWStructuredBuffer<float4x4> pose_matrices;
float4x4 self_matrix;

RWStructuredBuffer<dual_quaternion> bind_dual_quaternions;
RWStructuredBuffer<dual_quaternion> skinned_dual_quaternions;

[numthreads(1024,1,1)]
void CSMain (uint3 id : SV_DispatchThreadID)
{
struct dual_quaternion dq_parent;
struct dual_quaternion dq_pose;
struct dual_quaternion dq_bind;
dq_bind.rotation_quaternion = bind_dual_quaternions.Load(id.x).rotation_quaternion;
dq_bind.translation_quaternion = bind_dual_quaternions.Load(id.x).translation_quaternion;
dq_bind.translation_quaternion = QuaternionMultiply(dq_bind.translation_quaternion, dq_bind.rotation_quaternion) * 0.5;

dq_parent .rotation_quaternion = parent_rotation_quaternion;
dq_pose .rotation_quaternion = pose_dual_quaternions.Load(id.x).rotation_quaternion;
dq_bind .rotation_quaternion = bind_dual_quaternions.Load(id.x).rotation_quaternion;

dq_parent .translation_quaternion = parent_translation_quaternion;
dq_pose .translation_quaternion = pose_dual_quaternions.Load(id.x).translation_quaternion;
dq_bind .translation_quaternion = bind_dual_quaternions.Load(id.x).translation_quaternion;
float4x4 pose_matrix = transpose(pose_matrices.Load(id.x));
pose_matrix = mul(self_matrix, pose_matrix);

dq_parent .translation_quaternion = QuaternionMultiply(dq_parent .rotation_quaternion, dq_parent .translation_quaternion ) * 0.5;
dq_pose .translation_quaternion = QuaternionMultiply(dq_pose .translation_quaternion, dq_pose .rotation_quaternion ) * 0.5;
dq_bind .translation_quaternion = QuaternionMultiply(dq_bind .translation_quaternion, dq_bind .rotation_quaternion ) * 0.5;

struct dual_quaternion dq_skinned = DualQuaternionMultiply(dq_parent, dq_pose);

dq_skinned.translation_quaternion /= parent_scale;
struct dual_quaternion dq_pose = DualQuaternionFromMatrix4x4(pose_matrix);

dq_skinned = DualQuaternionMultiply(dq_skinned, dq_bind);
struct dual_quaternion dq_skinned = DualQuaternionMultiply(dq_pose, dq_bind);

skinned_dual_quaternions[id.x].rotation_quaternion = dq_skinned.rotation_quaternion;
skinned_dual_quaternions[id.x].translation_quaternion = dq_skinned.translation_quaternion;
Expand Down
24 changes: 24 additions & 0 deletions Code/DQ skinning/Shaders/Compute/DQ.cginc
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Original file line number Diff line number Diff line change
Expand Up @@ -40,4 +40,28 @@ struct dual_quaternion DualQuaternionShortestPath(struct dual_quaternion dq1, st
dq1.rotation_quaternion = isBadPath ? -dq1.rotation_quaternion : dq1.rotation_quaternion;
dq1.translation_quaternion = isBadPath ? -dq1.translation_quaternion : dq1.translation_quaternion;
return dq1;
}

float4 QuaternionApplyRotation(float4 v, float4 rotQ)
{
v = QuaternionMultiply(rotQ, v);
return QuaternionMultiply(v, QuaternionInvert(rotQ));
}

struct dual_quaternion DualQuaternionFromMatrix4x4(float4x4 m)
{
struct dual_quaternion dq;

dq.rotation_quaternion.w = sqrt(m[0][0] + m[1][1] + m[2][2] + 1.0)*0.5; // assume m[3][3] = 1.0

float w4 = dq.rotation_quaternion.w * 4.0;

dq.rotation_quaternion.x = (m[2][1] - m[1][2]) / w4;
dq.rotation_quaternion.y = (m[0][2] - m[2][0]) / w4;
dq.rotation_quaternion.z = (m[1][0] - m[0][1]) / w4;

dq.translation_quaternion = float4(m[0][3], m[1][3], m[2][3], 0);
dq.translation_quaternion = QuaternionMultiply(dq.translation_quaternion, dq.rotation_quaternion) * 0.5;

return dq;
}

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