Adding GfMatrix4f versions of all computations on UsdSkelSkeletonQuer…

…y, UsdSkelAnimQuery and UsdSkelSkinningQuery. Updating UsdSkel's utility methods to work with arbitrary containers as well as both GfMatrix4d and GfMatrix4f types. Misc code cleanup (Internal change: 1940812) (Internal change: 1940994) (Internal change: 1940995)
PixarAnimationStudios · Feb 20, 2019 · e380a5c · e380a5c
1 parent 077007c
commit e380a5c
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Showing 20 changed files with 1,813 additions and 885 deletions.
diff --git a/pxr/usd/lib/usdSkel/animMapper.cpp b/pxr/usd/lib/usdSkel/animMapper.cpp
@@ -23,6 +23,8 @@
 //
 #include "pxr/usd/usdSkel/animMapper.h"
 
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/matrix4f.h"
 #include "pxr/base/tf/type.h"
 
 #include <algorithm>
@@ -226,16 +228,26 @@ BOOST_PP_SEQ_FOR_EACH(_UNTYPED_REMAP, ~, SDF_VALUE_TYPES);
 }
 
 
+template <typename Matrix4>
 bool
-UsdSkelAnimMapper::RemapTransforms(const VtMatrix4dArray& source,
-                                   VtMatrix4dArray* target,
+UsdSkelAnimMapper::RemapTransforms(const VtArray<Matrix4>& source,
+                                   VtArray<Matrix4>* target,
                                    int elementSize) const
 {
-    static const GfMatrix4d identity(1);
+    static const Matrix4 identity(1);
     return Remap(source, target, elementSize, &identity);
 }
 
 
+template USDSKEL_API bool
+UsdSkelAnimMapper::RemapTransforms(const VtMatrix4dArray&,
+                                   VtMatrix4dArray*, int) const;
+
+template USDSKEL_API bool
+UsdSkelAnimMapper::RemapTransforms(const VtMatrix4fArray&,
+                                   VtMatrix4fArray*, int) const;
+
+
 bool
 UsdSkelAnimMapper::operator==(const UsdSkelAnimMapper& o) const
 {

diff --git a/pxr/usd/lib/usdSkel/animMapper.h b/pxr/usd/lib/usdSkel/animMapper.h
@@ -29,8 +29,10 @@
 #include "pxr/pxr.h"
 #include "pxr/usd/usdSkel/api.h"
 
-#include "pxr/base/vt/array.h"
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/matrix4f.h"
 #include "pxr/base/tf/span.h"
+#include "pxr/base/vt/array.h"
 #include "pxr/usd/sdf/types.h"
 
 #include <type_traits>
@@ -97,9 +99,10 @@ class UsdSkelAnimMapper {
     /// Convenience method for the common task of remapping transform arrays.
     /// This performs the same operation as Remap(), but sets the matrix
     /// identity as the default value.
+    template <typename Matrix4>
     USDSKEL_API
-    bool RemapTransforms(const VtMatrix4dArray& source,
-                         VtMatrix4dArray* target,
+    bool RemapTransforms(const VtArray<Matrix4>& source,
+                         VtArray<Matrix4>* target,
                          int elementSize=1) const;
 
     /// Returns true if this is an identity map.

diff --git a/pxr/usd/lib/usdSkel/animQuery.cpp b/pxr/usd/lib/usdSkel/animQuery.cpp
@@ -30,6 +30,8 @@
 #include "pxr/usd/usd/attribute.h"
 
 #include "pxr/base/gf/interval.h"
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/matrix4f.h"
 
 
 PXR_NAMESPACE_OPEN_SCOPE
@@ -42,8 +44,9 @@ UsdSkelAnimQuery::GetPrim() const
 }
 
 
+template <typename Matrix4>
 bool
-UsdSkelAnimQuery::ComputeJointLocalTransforms(VtMatrix4dArray* xforms,
+UsdSkelAnimQuery::ComputeJointLocalTransforms(VtArray<Matrix4>* xforms,
                                               UsdTimeCode time) const
 {
     if(TF_VERIFY(IsValid(), "invalid anim query.")) {
@@ -53,6 +56,15 @@ UsdSkelAnimQuery::ComputeJointLocalTransforms(VtMatrix4dArray* xforms,
 }
 
 
+template USDSKEL_API bool
+UsdSkelAnimQuery::ComputeJointLocalTransforms(
+    VtArray<GfMatrix4d>*, UsdTimeCode) const;
+
+template USDSKEL_API bool
+UsdSkelAnimQuery::ComputeJointLocalTransforms(
+    VtArray<GfMatrix4f>*, UsdTimeCode) const;
+
+
 bool
 UsdSkelAnimQuery::ComputeJointLocalTransformComponents(
     VtVec3fArray* translations,
@@ -140,7 +152,8 @@ UsdSkelAnimQuery::GetBlendShapeOrder() const
 
 
 bool
-UsdSkelAnimQuery::GetBlendShapeWeightTimeSamples(std::vector<double>* times) const
+UsdSkelAnimQuery::GetBlendShapeWeightTimeSamples(
+    std::vector<double>* times) const
 {
     return GetBlendShapeWeightTimeSamplesInInterval(
         GfInterval::GetFullInterval(), times);

diff --git a/pxr/usd/lib/usdSkel/animQuery.h b/pxr/usd/lib/usdSkel/animQuery.h
@@ -89,9 +89,10 @@ class UsdSkelAnimQuery
     /// Compute joint transforms in joint-local space.
     /// Transforms are returned in the order specified by the joint ordering
     /// of the animation primitive itself.
+    template <typename Matrix4>
     USDSKEL_API
     bool ComputeJointLocalTransforms(
-             VtMatrix4dArray* xforms,
+             VtArray<Matrix4>* xforms,
              UsdTimeCode time=UsdTimeCode::Default()) const;
 
     /// Compute translation,rotation,scale components of the joint transforms

diff --git a/pxr/usd/lib/usdSkel/animQueryImpl.cpp b/pxr/usd/lib/usdSkel/animQueryImpl.cpp
@@ -23,6 +23,9 @@
 //
 #include "pxr/usd/usdSkel/animQueryImpl.h"
 
+#include "pxr/base/gf/matrix4d.h"
+#include "pxr/base/gf/matrix4f.h"
+
 #include "pxr/usd/usd/attributeQuery.h"
 #include "pxr/usd/usd/prim.h"
 #include "pxr/usd/usd/attribute.h"
@@ -52,7 +55,12 @@ class UsdSkel_SkelAnimationQueryImpl : public UsdSkel_AnimQueryImpl
     virtual UsdPrim GetPrim() const override { return _anim.GetPrim(); }
 
     bool ComputeJointLocalTransforms(VtMatrix4dArray* xforms,
-                                     UsdTimeCode time) const override;
+                                     UsdTimeCode time) const override
+         { return _ComputeJointLocalTransforms(xforms, time); }
+
+    bool ComputeJointLocalTransforms(VtMatrix4fArray* xforms,
+                                     UsdTimeCode time) const override
+         { return _ComputeJointLocalTransforms(xforms, time); }
 
     bool ComputeJointLocalTransformComponents(
              VtVec3fArray* translations,
@@ -78,6 +86,10 @@ class UsdSkel_SkelAnimationQueryImpl : public UsdSkel_AnimQueryImpl
 
     bool BlendShapeWeightsMightBeTimeVarying() const override;
 
+private:
+    template <typename Matrix4>
+    bool _ComputeJointLocalTransforms(VtArray<Matrix4>* xforms,
+                                      UsdTimeCode time) const;
 
 private:
     UsdSkelAnimation _anim;
@@ -93,43 +105,54 @@ UsdSkel_SkelAnimationQueryImpl::UsdSkel_SkelAnimationQueryImpl(
       _scales(anim.GetScalesAttr()),
       _blendShapeWeights(anim.GetBlendShapeWeightsAttr())
 {
-    if(TF_VERIFY(anim)) {
+    if (TF_VERIFY(anim)) {
         anim.GetJointsAttr().Get(&_jointOrder);
         anim.GetBlendShapesAttr().Get(&_blendShapeOrder);
     }
 }
 
 
+template <typename Matrix4>
 bool
-UsdSkel_SkelAnimationQueryImpl::ComputeJointLocalTransforms(
-    VtMatrix4dArray* xforms,
+UsdSkel_SkelAnimationQueryImpl::_ComputeJointLocalTransforms(
+    VtArray<Matrix4>* xforms,
     UsdTimeCode time) const
 {
     TRACE_FUNCTION();
 
+    if (!xforms) {
+        TF_CODING_ERROR("'xforms' is null");
+        return false;
+    }
+
     VtVec3fArray translations;
     VtQuatfArray rotations;
     VtVec3hArray scales;
 
-    if(ComputeJointLocalTransformComponents(&translations, &rotations,
+    if (ComputeJointLocalTransformComponents(&translations, &rotations,
                                             &scales, time)) {
 
-        if(UsdSkelMakeTransforms(translations, rotations, scales, xforms)) {
-            if(xforms->size() == _jointOrder.size()) {
+        xforms->resize(translations.size());
+        if (UsdSkelMakeTransforms(translations, rotations,
+                                  scales, *xforms)) {
+
+            if (xforms->size() == _jointOrder.size()) {
                 return true;
-            } else {
-                if(xforms->size() == 0) {
-                    // XXX: If the size of all components was zero, we
-                    // infer that the arrays were *intentionally* authored as
-                    // empty, to nullify the animation. Since this is 
-                    // suspected to be intentional, we emit no warning.
-                    return false;
-                }
-                TF_WARN("%s -- size of transform component arrays [%zu] "
-                        "!= joint order size [%zu].",
-                        _anim.GetPrim().GetPath().GetText(),
-                        xforms->size(), _jointOrder.size());
+            } else if (xforms->empty()) {
+                // If all transform components were empty, that could mean:
+                // - the attributes were never authored
+                // - the attributes were blocked
+                // - the attributes were authored with empty arrays
+                //   (possibly intentionally)
+
+                // In many of these cases, we should expect the animation
+                // to be silently ignored, so throw no warning.
+                return false;
             }
+            TF_WARN("%s -- size of transform component arrays [%zu] "
+                    "!= joint order size [%zu].",
+                    _anim.GetPrim().GetPath().GetText(),
+                    xforms->size(), _jointOrder.size());
         } else {
             TF_WARN("%s -- failed composing transforms from components.",
                     _anim.GetPrim().GetPath().GetText());
@@ -190,7 +213,7 @@ UsdSkel_SkelAnimationQueryImpl::ComputeBlendShapeWeights(
     VtFloatArray* weights,
     UsdTimeCode time) const
 {
-    if(TF_VERIFY(_anim, "PackedJointAnimation schema object is invalid.")) {
+    if (TF_VERIFY(_anim, "PackedJointAnimation schema object is invalid.")) {
         return _blendShapeWeights.Get(weights, time);
     }
     return false;
@@ -214,14 +237,14 @@ UsdSkel_SkelAnimationQueryImpl::BlendShapeWeightsMightBeTimeVarying() const
 
 
 // --------------------------------------------------
-// UsdSkel_AnimQuery
+// UsdSkel_AnimQueryImpl
 // --------------------------------------------------
 
 
 UsdSkel_AnimQueryImplRefPtr
 UsdSkel_AnimQueryImpl::New(const UsdPrim& prim)
 {
-    if(prim.IsA<UsdSkelAnimation>()) {
+    if (prim.IsA<UsdSkelAnimation>()) {
         return TfCreateRefPtr(new UsdSkel_SkelAnimationQueryImpl(
                                   UsdSkelAnimation(prim)));
     }

diff --git a/pxr/usd/lib/usdSkel/animQueryImpl.h b/pxr/usd/lib/usdSkel/animQueryImpl.h
@@ -65,6 +65,9 @@ class UsdSkel_AnimQueryImpl : public TfRefBase
     virtual bool ComputeJointLocalTransforms(VtMatrix4dArray* xforms,
                                              UsdTimeCode time) const = 0;
 
+    virtual bool ComputeJointLocalTransforms(VtMatrix4fArray* xforms,
+                                             UsdTimeCode time) const = 0;
+
     virtual bool ComputeJointLocalTransformComponents(
                      VtVec3fArray* translations,
                      VtQuatfArray* rotations,