骨骼动画(Skeletal Animation)是一种常用于3D计算机图形学中的动画技术,特别是在角色动画中。它通过使用骨骼(骨架)来控制网格(Mesh)的变形,从而实现复杂的动画效果。以下是骨骼动画的实现逻辑,包括基本概念、数据结构和实现步骤。
基本概念
- 骨骼(Skeleton): 由一系列骨骼(Bones)组成,每个骨骼都有一个父骨骼和若干子骨骼,形成一个层次结构。
- 关节(Joint): 骨骼之间的连接点,通常用于定义骨骼的旋转和变换。
- 权重(Weight): 每个顶点在不同骨骼上的影响程度,通常用权重值表示。
- 绑定姿态(Bind Pose): 初始姿态,表示模型在未变形状态下的骨骼和顶点位置。
数据结构
骨骼结构
struct Bone
{
std::string name; // 骨骼名称
int parentIndex; // 父骨骼索引
glm::mat4 bindPose; // 绑定姿态矩阵
glm::mat4 inverseBindPose; // 绑定姿态的逆矩阵
glm::mat4 currentTransform;// 当前变换矩阵
};
顶点权重
struct VertexWeight
{
int boneIndex; // 骨骼索引
float weight; // 权重值
};
顶点数据
struct Vertex
{
glm::vec3 position; // 顶点位置
glm::vec3 normal; // 顶点法线
std::vector<VertexWeight> weights; // 顶点权重
};
实现步骤
1. 加载骨骼和动画数据
首先,需要从文件中加载骨骼和动画数据。常见的文件格式包括FBX、Collada等。可以使用Assimp库来简化这一过程。
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
void LoadSkeleton(const std::string& filePath, std::vector<Bone>& bones)
{
Assimp::Importer importer;
const aiScene* scene = importer.ReadFile(filePath, aiProcess_Triangulate | aiProcess_FlipUVs);
if (!scene || !scene->mRootNode)
{
std::cerr << "Failed to load file: " << filePath << std::endl;
return;
}
// 递归加载骨骼
LoadBones(scene->mRootNode, -1, bones);
}
void LoadBones(aiNode* node, int parentIndex, std::vector<Bone>& bones)
{
Bone bone;
bone.name = node->mName.C_Str();
bone.parentIndex = parentIndex;
bone.bindPose = aiMatrix4x4ToGlm(node->mTransformation);
bone.inverseBindPose = glm::inverse(bone.bindPose);
bones.push_back(bone);
for (unsigned int i = 0; i < node->mNumChildren; ++i)
{
LoadBones(node->mChildren[i], bones.size() - 1, bones);
}
}
2. 计算骨骼变换矩阵
在每一帧中,需要根据动画数据计算每个骨骼的变换矩阵。
void CalculateBoneTransforms(const std::vector<Bone>& bones, const std::vector<Animation>& animations, float time, std::vector<glm::mat4>& boneTransforms)
{
for (size_t i = 0; i < bones.size(); ++i)
{
glm::mat4 transform = CalculateBoneTransform(bones[i], animations, time);
if (bones[i].parentIndex != -1)
{
transform = boneTransforms[bones[i].parentIndex] * transform;
}
boneTransforms[i] = transform;
}
}
glm::mat4 CalculateBoneTransform(const Bone& bone, const std::vector<Animation>& animations, float time)
{
// 根据动画数据计算骨骼的变换矩阵
// 这里省略具体实现,通常包括插值计算等
return glm::mat4(1.0f);
}
好的,让我们继续探讨如何将计算得到的骨骼变换应用到顶点上,从而实现骨骼动画的最终效果。
3. 应用骨骼变换到顶点
在每一帧中,计算得到的骨骼变换矩阵需要应用到网格的顶点上,以实现动画效果。具体步骤如下:
- 计算每个顶点的变换矩阵:根据顶点的权重和对应骨骼的变换矩阵,计算每个顶点的最终变换矩阵。
- 应用变换矩阵:将变换矩阵应用到顶点的位置和法线。
计算顶点的变换矩阵
每个顶点的变换矩阵是其受影响的所有骨骼变换矩阵的加权和。假设一个顶点受多个骨骼影响,每个骨骼的影响程度由权重值表示。
glm::mat4 CalculateVertexTransform(const Vertex& vertex, const std::vector<glm::mat4>& boneTransforms)
{
glm::mat4 vertexTransform = glm::mat4(0.0f);
for (const auto& weight : vertex.weights)
{
int boneIndex = weight.boneIndex;
float boneWeight = weight.weight;
vertexTransform += boneWeight * boneTransforms[boneIndex];
}
return vertexTransform;
}
应用变换矩阵到顶点
将计算得到的变换矩阵应用到顶点的位置和法线。
void ApplyBoneTransforms(std::vector<Vertex>& vertices, const std::vector<glm::mat4>& boneTransforms)
{
for (auto& vertex : vertices)
{
glm::mat4 vertexTransform = CalculateVertexTransform(vertex, boneTransforms);
// 变换顶点位置
glm::vec4 transformedPosition = vertexTransform * glm::vec4(vertex.position, 1.0f);
vertex.position = glm::vec3(transformedPosition);
// 变换顶点法线
glm::vec4 transformedNormal = vertexTransform * glm::vec4(vertex.normal, 0.0f);
vertex.normal = glm::normalize(glm::vec3(transformedNormal));
}
}
4. 渲染
在渲染阶段,使用变换后的顶点数据进行绘制。通常,骨骼动画的渲染会在顶点着色器中进行,以提高性能。
顶点着色器
在顶点着色器中,可以直接使用骨骼变换矩阵对顶点进行变换。以下是一个简单的GLSL顶点着色器示例:
#version 330 core
layout(location = 0) in vec3 inPosition;
layout(location = 1) in vec3 inNormal;
layout(location = 2) in vec4 inBoneWeights;
layout(location = 3) in ivec4 inBoneIndices;
uniform mat4 boneTransforms[100]; // 假设最多有100个骨骼
uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;
out vec3 fragNormal;
void main()
{
mat4 boneTransform = mat4(0.0);
for (int i = 0; i < 4; ++i)
{
boneTransform += inBoneWeights[i] * boneTransforms[inBoneIndices[i]];
}
vec4 transformedPosition = boneTransform * vec4(inPosition, 1.0);
vec4 transformedNormal = boneTransform * vec4(inNormal, 0.0);
fragNormal = normalize(vec3(transformedNormal));
gl_Position = projection * view * model * transformedPosition;
}
5. 动画插值
为了实现平滑的动画效果,通常需要对动画关键帧进行插值计算。常见的插值方法包括线性插值(Linear Interpolation)和球面线性插值(Spherical Linear Interpolation, Slerp)。
线性插值
glm::vec3 Lerp(const glm::vec3& start, const glm::vec3& end, float t)
{
return start + t * (end - start);
}
glm::quat Slerp(const glm::quat& start, const glm::quat& end, float t)
{
return glm::slerp(start, end, t);
}
好的,让我们继续探讨如何计算插值后的变换矩阵,并将其应用到骨骼动画中。
计算插值后的变换矩阵
在骨骼动画中,通常需要对关键帧进行插值,以获得在任意时间点的骨骼变换矩阵。以下是一个示例,展示如何计算插值后的变换矩阵。
关键帧数据结构
首先,我们需要定义关键帧的数据结构。每个关键帧包含时间戳、位置、旋转和缩放信息。
struct KeyFrame
{
float timeStamp; // 时间戳
glm::vec3 position; // 位置
glm::quat rotation; // 旋转
glm::vec3 scale; // 缩放
};
struct Animation
{
std::vector<KeyFrame> keyFrames; // 关键帧列表
};
查找插值关键帧
在给定时间点,找到前后两个关键帧,以便进行插值计算。
void FindInterpolationFrames(const Animation& animation, float time, KeyFrame& outStartFrame, KeyFrame& outEndFrame)
{
for (size_t i = 0; i < animation.keyFrames.size() - 1; ++i)
{
if (time >= animation.keyFrames[i].timeStamp && time <= animation.keyFrames[i + 1].timeStamp)
{
outStartFrame = animation.keyFrames[i];
outEndFrame = animation.keyFrames[i + 1];
return;
}
}
// 如果时间超出范围,返回最后一个关键帧
outStartFrame = animation.keyFrames.back();
outEndFrame = animation.keyFrames.back();
}
计算插值后的变换矩阵
使用线性插值(Lerp)和球面线性插值(Slerp)计算插值后的变换矩阵。
glm::mat4 CalculateInterpolatedTransform(const Bone& bone, const Animation& animation, float time)
{
KeyFrame startFrame, endFrame;
FindInterpolationFrames(animation, time, startFrame, endFrame);
float deltaTime = endFrame.timeStamp - startFrame.timeStamp;
float factor = (time - startFrame.timeStamp) / deltaTime;
glm::vec3 interpolatedPosition = Lerp(startFrame.position, endFrame.position, factor);
glm::quat interpolatedRotation = Slerp(startFrame.rotation, endFrame.rotation, factor);
glm::vec3 interpolatedScale = Lerp(startFrame.scale, endFrame.scale, factor);
glm::mat4 translationMatrix = glm::translate(glm::mat4(1.0f), interpolatedPosition);
glm::mat4 rotationMatrix = glm::toMat4(interpolatedRotation);
glm::mat4 scaleMatrix = glm::scale(glm::mat4(1.0f), interpolatedScale);
return translationMatrix * rotationMatrix * scaleMatrix;
}
完整的骨骼动画实现流程
- 加载骨骼和动画数据:从文件中加载骨骼和动画数据。
- 计算骨骼变换矩阵:在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
- 应用骨骼变换到顶点:将计算得到的骨骼变换矩阵应用到网格的顶点上。
- 渲染:使用变换后的顶点数据进行绘制。
以下是一个完整的示例,展示如何实现骨骼动画:
#include <iostream>
#include <vector>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/gtx/quaternion.hpp>
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
// 数据结构定义
struct Bone
{
std::string name;
int parentIndex;
glm::mat4 bindPose;
glm::mat4 inverseBindPose;
glm::mat4 currentTransform;
};
struct VertexWeight
{
int boneIndex;
float weight;
};
struct Vertex
{
glm::vec3 position;
glm::vec3 normal;
std::vector<VertexWeight> weights;
};
struct KeyFrame
{
float timeStamp;
glm::vec3 position;
glm::quat rotation;
glm::vec3 scale;
};
struct Animation
{
std::vector<KeyFrame> keyFrames;
};
好的,让我们继续完成骨骼动画的实现流程。
### 加载骨骼和动画数据
首先,我们需要从文件中加载骨骼和动画数据。这里我们使用Assimp库来简化这一过程。
```cpp
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
// 递归加载骨骼
void LoadBones(aiNode* node, int parentIndex, std::vector<Bone>& bones)
{
Bone bone;
bone.name = node->mName.C_Str();
bone.parentIndex = parentIndex;
bone.bindPose = aiMatrix4x4ToGlm(node->mTransformation);
bone.inverseBindPose = glm::inverse(bone.bindPose);
bones.push_back(bone);
for (unsigned int i = 0; i < node->mNumChildren; ++i)
{
LoadBones(node->mChildren[i], bones.size() - 1, bones);
}
}
void LoadSkeleton(const std::string& filePath, std::vector<Bone>& bones)
{
Assimp::Importer importer;
const aiScene* scene = importer.ReadFile(filePath, aiProcess_Triangulate | aiProcess_FlipUVs);
if (!scene || !scene->mRootNode)
{
std::cerr << "Failed to load file: " << filePath << std::endl;
return;
}
LoadBones(scene->mRootNode, -1, bones);
}
// 辅助函数:将Assimp的aiMatrix4x4转换为GLM的mat4
glm::mat4 aiMatrix4x4ToGlm(const aiMatrix4x4& from)
{
glm::mat4 to;
to[0][0] = from.a1; to[0][1] = from.b1; to[0][2] = from.c1; to[0][3] = from.d1;
to[1][0] = from.a2; to[1][1] = from.b2; to[1][2] = from.c2; to[1][3] = from.d2;
to[2][0] = from.a3; to[2][1] = from.b3; to[2][2] = from.c3; to[2][3] = from.d3;
to[3][0] = from.a4; to[3][1] = from.b4; to[3][2] = from.c4; to[3][3] = from.d4;
return to;
}
计算骨骼变换矩阵
在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
void CalculateBoneTransforms(const std::vector<Bone>& bones, const std::vector<Animation>& animations, float time, std::vector<glm::mat4>& boneTransforms)
{
for (size_t i = 0; i < bones.size(); ++i)
{
glm::mat4 transform = CalculateInterpolatedTransform(bones[i], animations[i], time);
if (bones[i].parentIndex != -1)
{
transform = boneTransforms[bones[i].parentIndex] * transform;
}
boneTransforms[i] = transform;
}
}
glm::mat4 CalculateInterpolatedTransform(const Bone& bone, const Animation& animation, float time)
{
KeyFrame startFrame, endFrame;
FindInterpolationFrames(animation, time, startFrame, endFrame);
float deltaTime = endFrame.timeStamp - startFrame.timeStamp;
float factor = (time - startFrame.timeStamp) / deltaTime;
glm::vec3 interpolatedPosition = Lerp(startFrame.position, endFrame.position, factor);
glm::quat interpolatedRotation = Slerp(startFrame.rotation, endFrame.rotation, factor);
glm::vec3 interpolatedScale = Lerp(startFrame.scale, endFrame.scale, factor);
glm::mat4 translationMatrix = glm::translate(glm::mat4(1.0f), interpolatedPosition);
glm::mat4 rotationMatrix = glm::toMat4(interpolatedRotation);
glm::mat4 scaleMatrix = glm::scale(glm::mat4(1.0f), interpolatedScale);
return translationMatrix * rotationMatrix * scaleMatrix;
}
好的,让我们继续完成应用骨骼变换到顶点的部分,并总结整个骨骼动画的实现流程。
应用骨骼变换到顶点(续)
将计算得到的骨骼变换矩阵应用到网格的顶点上。
void ApplyBoneTransforms(std::vector<Vertex>& vertices, const std::vector<glm::mat4>& boneTransforms)
{
for (auto& vertex : vertices)
{
glm::mat4 vertexTransform = CalculateVertexTransform(vertex, boneTransforms);
// 变换顶点位置
glm::vec4 transformedPosition = vertexTransform * glm::vec4(vertex.position, 1.0f);
vertex.position = glm::vec3(transformedPosition);
// 变换顶点法线
glm::vec4 transformedNormal = vertexTransform * glm::vec4(vertex.normal, 0.0f);
vertex.normal = glm::normalize(glm::vec3(transformedNormal));
}
}
glm::mat4 CalculateVertexTransform(const Vertex& vertex, const std::vector<glm::mat4>& boneTransforms)
{
glm::mat4 vertexTransform = glm::mat4(0.0f);
for (const auto& weight : vertex.weights)
{
int boneIndex = weight.boneIndex;
float boneWeight = weight.weight;
vertexTransform += boneWeight * boneTransforms[boneIndex];
}
return vertexTransform;
}
渲染
在渲染阶段,使用变换后的顶点数据进行绘制。通常,骨骼动画的渲染会在顶点着色器中进行,以提高性能。
顶点着色器
在顶点着色器中,可以直接使用骨骼变换矩阵对顶点进行变换。以下是一个简单的GLSL顶点着色器示例:
#version 330 core
layout(location = 0) in vec3 inPosition;
layout(location = 1) in vec3 inNormal;
layout(location = 2) in vec4 inBoneWeights;
layout(location = 3) in ivec4 inBoneIndices;
uniform mat4 boneTransforms[100]; // 假设最多有100个骨骼
uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;
out vec3 fragNormal;
void main()
{
mat4 boneTransform = mat4(0.0);
for (int i = 0; i < 4; ++i)
{
boneTransform += inBoneWeights[i] * boneTransforms[inBoneIndices[i]];
}
vec4 transformedPosition = boneTransform * vec4(inPosition, 1.0);
vec4 transformedNormal = boneTransform * vec4(inNormal, 0.0);
fragNormal = normalize(vec3(transformedNormal));
gl_Position = projection * view * model * transformedPosition;
}
完整的骨骼动画实现流程
- 加载骨骼和动画数据:从文件中加载骨骼和动画数据。
- 计算骨骼变换矩阵:在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
- 应用骨骼变换到顶点:将计算得到的骨骼变换矩阵应用到网格的顶点上。
- 渲染:使用变换后的顶点数据进行绘制。
以下是一个完整的示例,展示如何实现骨骼动画:
#include <iostream>
#include <vector>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/gtx/quaternion.hpp>
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
// 数据结构定义
struct Bone
{
std::string name;
int parentIndex;
glm::mat4 bindPose;
glm::mat4 inverseBindPose;
glm::mat4 currentTransform;
};
struct VertexWeight
{
int boneIndex;
float weight;
};
struct Vertex
{
glm::vec3 position;
glm::vec3 normal;
std::vector<VertexWeight> weights;
};
struct KeyFrame
{
float timeStamp;
glm::vec3 position;
glm::quat rotation;
glm::vec3 scale;
};
struct Animation
{
std::vector<KeyFrame> keyFrames;
};
好的,让我们继续完成加载骨骼和动画数据的部分,并总结整个骨骼动画的实现流程。
### 加载骨骼和动画数据(续)
```cpp
void LoadBones(aiNode* node, int parentIndex, std::vector<Bone>& bones)
{
Bone bone;
bone.name = node->mName.C_Str();
bone.parentIndex = parentIndex;
bone.bindPose = aiMatrix4x4ToGlm(node->mTransformation);
bone.inverseBindPose = glm::inverse(bone.bindPose);
bones.push_back(bone);
for (unsigned int i = 0; i < node->mNumChildren; ++i)
{
LoadBones(node->mChildren[i], bones.size() - 1, bones);
}
}
void LoadSkeleton(const std::string& filePath, std::vector<Bone>& bones)
{
Assimp::Importer importer;
const aiScene* scene = importer.ReadFile(filePath, aiProcess_Triangulate | aiProcess_FlipUVs);
if (!scene || !scene->mRootNode)
{
std::cerr << "Failed to load file: " << filePath << std::endl;
return;
}
LoadBones(scene->mRootNode, -1, bones);
}
// 辅助函数:将Assimp的aiMatrix4x4转换为GLM的mat4
glm::mat4 aiMatrix4x4ToGlm(const aiMatrix4x4& from)
{
glm::mat4 to;
to[0][0] = from.a1; to[0][1] = from.b1; to[0][2] = from.c1; to[0][3] = from.d1;
to[1][0] = from.a2; to[1][1] = from.b2; to[1][2] = from.c2; to[1][3] = from.d2;
to[2][0] = from.a3; to[2][1] = from.b3; to[2][2] = from.c3; to[2][3] = from.d3;
to[3][0] = from.a4; to[3][1] = from.b4; to[3][2] = from.c4; to[3][3] = from.d4;
return to;
}
计算骨骼变换矩阵
在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
void CalculateBoneTransforms(const std::vector<Bone>& bones, const std::vector<Animation>& animations, float time, std::vector<glm::mat4>& boneTransforms)
{
for (size_t i = 0; i < bones.size(); ++i)
{
glm::mat4 transform = CalculateInterpolatedTransform(bones[i], animations[i], time);
if (bones[i].parentIndex != -1)
{
transform = boneTransforms[bones[i].parentIndex] * transform;
}
boneTransforms[i] = transform;
}
}
glm::mat4 CalculateInterpolatedTransform(const Bone& bone, const Animation& animation, float time)
{
KeyFrame startFrame, endFrame;
FindInterpolationFrames(animation, time, startFrame, endFrame);
float deltaTime = endFrame.timeStamp - startFrame.timeStamp;
float factor = (time - startFrame.timeStamp) / deltaTime;
glm::vec3 interpolatedPosition = Lerp(startFrame.position, endFrame.position, factor);
glm::quat interpolatedRotation = Slerp(startFrame.rotation, endFrame.rotation, factor);
glm::vec3 interpolatedScale = Lerp(startFrame.scale, endFrame.scale, factor);
glm::mat4 translationMatrix = glm::translate(glm::mat4(1.0f), interpolatedPosition);
glm::mat4 rotationMatrix = glm::toMat4(interpolatedRotation);
glm::mat4 scaleMatrix = glm::scale(glm::mat4(1.0f), interpolatedScale);
return translationMatrix * rotationMatrix * scaleMatrix;
}
应用骨骼变换到顶点
将计算得到的骨骼变换矩阵应用到网格的顶点上。
void ApplyBoneTransforms(std::vector<Vertex>& vertices, const std::vector<glm::mat4>& boneTransforms)
{
for (auto& vertex : vertices)
{
glm::mat4 vertexTransform = CalculateVertexTransform(vertex, boneTransforms);
// 变换顶点位置
glm::vec4 transformedPosition = vertexTransform * glm::vec4好的,让我们继续完成应用骨骼变换到顶点的部分,并总结整个骨骼动画的实现流程。
### 应用骨骼变换到顶点(续)
```cpp
// 变换顶点位置
glm::vec4 transformedPosition = vertexTransform * glm::vec4(vertex.position, 1.0f);
vertex.position = glm::vec3(transformedPosition);
// 变换顶点法线
glm::vec4 transformedNormal = vertexTransform * glm::vec4(vertex.normal, 0.0f);
vertex.normal = glm::normalize(glm::vec3(transformedNormal));
}
}
glm::mat4 CalculateVertexTransform(const Vertex& vertex, const std::vector<glm::mat4>& boneTransforms)
{
glm::mat4 vertexTransform = glm::mat4(0.0f);
for (const auto& weight : vertex.weights)
{
int boneIndex = weight.boneIndex;
float boneWeight = weight.weight;
vertexTransform += boneWeight * boneTransforms[boneIndex];
}
return vertexTransform;
}
渲染
在渲染阶段,使用变换后的顶点数据进行绘制。通常,骨骼动画的渲染会在顶点着色器中进行,以提高性能。
顶点着色器
在顶点着色器中,可以直接使用骨骼变换矩阵对顶点进行变换。以下是一个简单的GLSL顶点着色器示例:
#version 330 core
layout(location = 0) in vec3 inPosition;
layout(location = 1) in vec3 inNormal;
layout(location = 2) in vec4 inBoneWeights;
layout(location = 3) in ivec4 inBoneIndices;
uniform mat4 boneTransforms[100]; // 假设最多有100个骨骼
uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;
out vec3 fragNormal;
void main()
{
mat4 boneTransform = mat4(0.0);
for (int i = 0; i < 4; ++i)
{
boneTransform += inBoneWeights[i] * boneTransforms[inBoneIndices[i]];
}
vec4 transformedPosition = boneTransform * vec4(inPosition, 1.0);
vec4 transformedNormal = boneTransform * vec4(inNormal, 0.0);
fragNormal = normalize(vec3(transformedNormal));
gl_Position = projection * view * model * transformedPosition;
}
完整的骨骼动画实现流程
- 加载骨骼和动画数据:从文件中加载骨骼和动画数据。
- 计算骨骼变换矩阵:在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
- 应用骨骼变换到顶点:将计算得到的骨骼变换矩阵应用到网格的顶点上。
- 渲染:使用变换后的顶点数据进行绘制。
以下是一个完整的示例,展示如何实现骨骼动画:
#include <iostream>
#include <vector>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/gtx/quaternion.hpp>
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
// 数据结构定义
struct Bone
{
std::string name;
int parentIndex;
glm::mat4 bindPose;
glm::mat4 inverseBindPose;
glm::mat4 currentTransform;
};
struct VertexWeight
{
int boneIndex;
float weight;
};
struct Vertex
{
glm::vec3 position;
glm::vec3 normal;
std::vector<VertexWeight> weights;
};
struct KeyFrame
{
float timeStamp;
glm::vec3 position;
glm::quat rotation;
glm::vec3 scale;
};
struct Animation
{
std::vector<KeyFrame> keyFrames;
};
// 加载骨骼和动画数据
void LoadBones(aiNode* node, int parentIndex, std::vector<Bone>& bones)
{
Bone bone;
bone.name = node->mName.C_Str();
bone.parentIndex = parentIndex;
bone.bindPose = aiMatrix4x4ToGlm(node->mTransformation);
bone.inverseBindPose = glm::inverse(bone.bindPose);
bones.push_back(bone);
for (unsigned int i = 0; i好的,让我们继续完成加载骨骼和动画数据的部分,并总结整个骨骼动画的实现流程。
### 加载骨骼和动画数据(续)
```cpp
for (unsigned int i = 0; i < node->mNumChildren; ++i)
{
LoadBones(node->mChildren[i], bones.size() - 1, bones);
}
}
void LoadSkeleton(const std::string& filePath, std::vector<Bone>& bones)
{
Assimp::Importer importer;
const aiScene* scene = importer.ReadFile(filePath, aiProcess_Triangulate | aiProcess_FlipUVs);
if (!scene || !scene->mRootNode)
{
std::cerr << "Failed to load file: " << filePath << std::endl;
return;
}
LoadBones(scene->mRootNode, -1, bones);
}
// 辅助函数:将Assimp的aiMatrix4x4转换为GLM的mat4
glm::mat4 aiMatrix4x4ToGlm(const aiMatrix4x4& from)
{
glm::mat4 to;
to[0][0] = from.a1; to[0][1] = from.b1; to[0][2] = from.c1; to[0][3] = from.d1;
to[1][0] = from.a2; to[1][1] = from.b2; to[1][2] = from.c2; to[1][3] = from.d2;
to[2][0] = from.a3; to[2][1] = from.b3; to[2][2] = from.c3; to[2][3] = from.d3;
to[3][0] = from.a4; to[3][1] = from.b4; to[3][2] = from.c4; to[3][3] = from.d4;
return to;
}
计算骨骼变换矩阵
在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
void CalculateBoneTransforms(const std::vector<Bone>& bones, const std::vector<Animation>& animations, float time, std::vector<glm::mat4>& boneTransforms)
{
for (size_t i = 0; i < bones.size(); ++i)
{
glm::mat4 transform = CalculateInterpolatedTransform(bones[i], animations[i], time);
if (bones[i].parentIndex != -1)
{
transform = boneTransforms[bones[i].parentIndex] * transform;
}
boneTransforms[i] = transform;
}
}
glm::mat4 CalculateInterpolatedTransform(const Bone& bone, const Animation& animation, float time)
{
KeyFrame startFrame, endFrame;
FindInterpolationFrames(animation, time, startFrame, endFrame);
float deltaTime = endFrame.timeStamp - startFrame.timeStamp;
float factor = (time - startFrame.timeStamp) / deltaTime;
glm::vec3 interpolatedPosition = Lerp(startFrame.position, endFrame.position, factor);
glm::quat interpolatedRotation = Slerp(startFrame.rotation, endFrame.rotation, factor);
glm::vec3 interpolatedScale = Lerp(startFrame.scale, endFrame.scale, factor);
glm::mat4 translationMatrix = glm::translate(glm::mat4(1.0f), interpolatedPosition);
glm::mat4 rotationMatrix = glm::toMat4(interpolatedRotation);
glm::mat4 scaleMatrix = glm::scale(glm::mat4(1.0f), interpolatedScale);
return translationMatrix * rotationMatrix * scaleMatrix;
}
void FindInterpolationFrames(const Animation& animation, float time, KeyFrame& startFrame, KeyFrame& endFrame)
{
for (size_t i = 0; i < animation.keyFrames.size() - 1; ++i)
{
if (time >= animation.keyFrames[i].timeStamp && time <= animation.keyFrames[i + 1].timeStamp)
{
startFrame = animation.keyFrames[i];
endFrame = animation.keyFrames[i + 1];
return;
}
}
// 如果没有找到合适的帧,默认返回第一个和最后一个帧
startFrame = animation.keyFrames.front();
endFrame = animation.keyFrames.back();
}
glm::vec3 Lerp(const glm::vec3& start, const glm::vec3& end, float factor)
{
return start + factor * (end - start);
}
好的,让我们继续完成骨骼动画的实现流程。
### 计算骨骼变换矩阵(续)
```cpp
glm::quat Slerp(const glm::quat& start, const glm::quat& end, float factor)
{
return glm::slerp(start, end, factor);
}
应用骨骼变换到顶点
将计算得到的骨骼变换矩阵应用到网格的顶点上。
void ApplyBoneTransforms(std::vector<Vertex>& vertices, const std::vector<glm::mat4>& boneTransforms)
{
for (auto& vertex : vertices)
{
glm::mat4 vertexTransform = CalculateVertexTransform(vertex, boneTransforms);
// 变换顶点位置
glm::vec4 transformedPosition = vertexTransform * glm::vec4(vertex.position, 1.0f);
vertex.position = glm::vec3(transformedPosition);
// 变换顶点法线
glm::vec4 transformedNormal = vertexTransform * glm::vec4(vertex.normal, 0.0f);
vertex.normal = glm::normalize(glm::vec3(transformedNormal));
}
}
glm::mat4 CalculateVertexTransform(const Vertex& vertex, const std::vector<glm::mat4>& boneTransforms)
{
glm::mat4 vertexTransform = glm::mat4(0.0f);
for (const auto& weight : vertex.weights)
{
int boneIndex = weight.boneIndex;
float boneWeight = weight.weight;
vertexTransform += boneWeight * boneTransforms[boneIndex];
}
return vertexTransform;
}
渲染
在渲染阶段,使用变换后的顶点数据进行绘制。通常,骨骼动画的渲染会在顶点着色器中进行,以提高性能。
顶点着色器
在顶点着色器中,可以直接使用骨骼变换矩阵对顶点进行变换。以下是一个简单的GLSL顶点着色器示例:
#version 330 core
layout(location = 0) in vec3 inPosition;
layout(location = 1) in vec3 inNormal;
layout(location = 2) in vec4 inBoneWeights;
layout(location = 3) in ivec4 inBoneIndices;
uniform mat4 boneTransforms[100]; // 假设最多有100个骨骼
uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;
out vec3 fragNormal;
void main()
{
mat4 boneTransform = mat4(0.0);
for (int i = 0; i < 4; ++i)
{
boneTransform += inBoneWeights[i] * boneTransforms[inBoneIndices[i]];
}
vec4 transformedPosition = boneTransform * vec4(inPosition, 1.0);
vec4 transformedNormal = boneTransform * vec4(inNormal, 0.0);
fragNormal = normalize(vec3(transformedNormal));
gl_Position = projection * view * model * transformedPosition;
}
完整的骨骼动画实现流程
- 加载骨骼和动画数据:从文件中加载骨骼和动画数据。
- 计算骨骼变换矩阵:在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
- 应用骨骼变换到顶点:将计算得到的骨骼变换矩阵应用到网格的顶点上。
- 渲染:使用变换后的顶点数据进行绘制。
以下是一个完整的示例,展示如何实现骨骼动画:
#include <iostream>
#include <vector>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/gtx/quaternion.hpp>
#include <assimp/Importer.hpp>
#include <assimp/scene.h>
#include <assimp/postprocess.h>
// 数据结构定义
struct Bone
{
std::string name;
int parentIndex;
glm::mat4 bindPose;
glm::mat4 inverseBindPose;
glm::mat4 currentTransform;
};
struct VertexWeight
{
int boneIndex;
float weight;
};
struct Vertex
{
glm::vec3 position;
glm::vec3 normal;
std::vector<VertexWeight> weights;
};
struct KeyFrame
{
float timeStamp;
glm::vec3 position;
glm::quat rotation;
glm::vec3 scale;
};
好的,让我们继续完成完整的骨骼动画实现示例。
### 完整的骨骼动画实现流程(续)
```cpp
struct Animation
{
std::vector<KeyFrame> keyFrames;
};
// 加载骨骼和动画数据
void LoadBones(aiNode* node, int parentIndex, std::vector<Bone>& bones)
{
Bone bone;
bone.name = node->mName.C_Str();
bone.parentIndex = parentIndex;
bone.bindPose = aiMatrix4x4ToGlm(node->mTransformation);
bone.inverseBindPose = glm::inverse(bone.bindPose);
bones.push_back(bone);
for (unsigned int i = 0; i < node->mNumChildren; ++i)
{
LoadBones(node->mChildren[i], bones.size() - 1, bones);
}
}
void LoadSkeleton(const std::string& filePath, std::vector<Bone>& bones)
{
Assimp::Importer importer;
const aiScene* scene = importer.ReadFile(filePath, aiProcess_Triangulate | aiProcess_FlipUVs);
if (!scene || !scene->mRootNode)
{
std::cerr << "Failed to load file: " << filePath << std::endl;
return;
}
LoadBones(scene->mRootNode, -1, bones);
}
// 辅助函数:将Assimp的aiMatrix4x4转换为GLM的mat4
glm::mat4 aiMatrix4x4ToGlm(const aiMatrix4x4& from)
{
glm::mat4 to;
to[0][0] = from.a1; to[0][1] = from.b1; to[0][2] = from.c1; to[0][3] = from.d1;
to[1][0] = from.a2; to[1][1] = from.b2; to[1][2] = from.c2; to[1][3] = from.d2;
to[2][0] = from.a3; to[2][1] = from.b3; to[2][2] = from.c3; to[2][3] = from.d3;
to[3][0] = from.a4; to[3][1] = from.b4; to[3][2] = from.c4; to[3][3] = from.d4;
return to;
}
// 计算骨骼变换矩阵
void CalculateBoneTransforms(const std::vector<Bone>& bones, const std::vector<Animation>& animations, float time, std::vector<glm::mat4>& boneTransforms)
{
for (size_t i = 0; i < bones.size(); ++i)
{
glm::mat4 transform = CalculateInterpolatedTransform(bones[i], animations[i], time);
if (bones[i].parentIndex != -1)
{
transform = boneTransforms[bones[i].parentIndex] * transform;
}
boneTransforms[i] = transform;
}
}
glm::mat4 CalculateInterpolatedTransform(const Bone& bone, const Animation& animation, float time)
{
KeyFrame startFrame, endFrame;
FindInterpolationFrames(animation, time, startFrame, endFrame);
float deltaTime = endFrame.timeStamp - startFrame.timeStamp;
float factor = (time - startFrame.timeStamp) / deltaTime;
glm::vec3 interpolatedPosition = Lerp(startFrame.position, endFrame.position, factor);
glm::quat interpolatedRotation = Slerp(startFrame.rotation, endFrame.rotation, factor);
glm::vec3 interpolatedScale = Lerp(startFrame.scale, endFrame.scale, factor);
glm::mat4 translationMatrix = glm::translate(glm::mat4(1.0f), interpolatedPosition);
glm::mat4 rotationMatrix = glm::toMat4(interpolatedRotation);
glm::mat4 scaleMatrix = glm::scale(glm::mat4(1.0f), interpolatedScale);
return translationMatrix * rotationMatrix * scaleMatrix;
}
void FindInterpolationFrames(const Animation& animation, float time, KeyFrame& startFrame, KeyFrame& endFrame)
{
for (size_t i = 0; i < animation.keyFrames.size() - 1; ++i)
{
if (time >= animation.keyFrames[i].timeStamp && time <= animation.keyFrames[i + 1].timeStamp)
{
startFrame = animation.keyFrames[i];
endFrame = animation.keyFrames[i + 1];
return;
}
}
// 如果没有找到合适的帧,默认返回第一个和最后一个好的,让我们继续完成骨骼动画实现的完整示例。
### 完整的骨骼动画实现流程(续)
```cpp
// 如果没有找到合适的帧,默认返回第一个和最后一个帧
startFrame = animation.keyFrames.front();
endFrame = animation.keyFrames.back();
}
glm::vec3 Lerp(const glm::vec3& start, const glm::vec3& end, float factor)
{
return start + factor * (end - start);
}
glm::quat Slerp(const glm::quat& start, const glm::quat& end, float factor)
{
return glm::slerp(start, end, factor);
}
// 应用骨骼变换到顶点
void ApplyBoneTransforms(std::vector<Vertex>& vertices, const std::vector<glm::mat4>& boneTransforms)
{
for (auto& vertex : vertices)
{
glm::mat4 vertexTransform = CalculateVertexTransform(vertex, boneTransforms);
// 变换顶点位置
glm::vec4 transformedPosition = vertexTransform * glm::vec4(vertex.position, 1.0f);
vertex.position = glm::vec3(transformedPosition);
// 变换顶点法线
glm::vec4 transformedNormal = vertexTransform * glm::vec4(vertex.normal, 0.0f);
vertex.normal = glm::normalize(glm::vec3(transformedNormal));
}
}
glm::mat4 CalculateVertexTransform(const Vertex& vertex, const std::vector<glm::mat4>& boneTransforms)
{
glm::mat4 vertexTransform = glm::mat4(0.0f);
for (const auto& weight : vertex.weights)
{
int boneIndex = weight.boneIndex;
float boneWeight = weight.weight;
vertexTransform += boneWeight * boneTransforms[boneIndex];
}
return vertexTransform;
}
// 渲染
void Render(const std::vector<Vertex>& vertices, const std::vector<glm::mat4>& boneTransforms)
{
// 这里假设你已经设置好了OpenGL的上下文和着色器程序
// 并且已经将顶点数据上传到GPU
// 将骨骼变换矩阵上传到着色器
for (size_t i = 0; i < boneTransforms.size(); ++i)
{
std::string uniformName = "boneTransforms[" + std::to_string(i) + "]";
GLint location = glGetUniformLocation(shaderProgram, uniformName.c_str());
glUniformMatrix4fv(location, 1, GL_FALSE, glm::value_ptr(boneTransforms[i]));
}
// 绘制网格
glBindVertexArray(vao);
glDrawElements(GL_TRIANGLES, indices.size(), GL_UNSIGNED_INT, 0);
glBindVertexArray(0);
}
int main()
{
// 初始化OpenGL上下文和窗口
// 加载骨骼和动画数据
std::vector<Bone> bones;
LoadSkeleton("path/to/your/model/file.fbx", bones);
// 加载动画数据
std::vector<Animation> animations;
// 这里假设你已经实现了加载动画数据的函数
// 初始化顶点数据
std::vector<Vertex> vertices;
// 这里假设你已经实现了加载顶点数据的函数
// 初始化骨骼变换矩阵
std::vector<glm::mat4> boneTransforms(bones.size());
// 主循环
while (!glfwWindowShouldClose(window))
{
// 计算当前时间
float time = static_cast<float>(glfwGetTime());
// 计算骨骼变换矩阵
CalculateBoneTransforms(bones, animations, time, boneTransforms);
// 应用骨骼变换到顶点
ApplyBoneTransforms(vertices, boneTransforms);
// 渲染
Render(vertices, boneTransforms);
// 交换缓冲区和处理事件
glfwSwapBuffers(window);
glfwPollEvents();
}
// 清理资源
glfwTerminate();
return 0;
}
总结
- 加载骨骼和动画数据:从文件中加载骨骼和动画数据。
- 计算骨骼变换矩阵:在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
- 应用骨骼变换到顶点:将计算得到的骨骼变换矩阵应用到网格的顶点上。
- 渲染:使用变换后的顶点数据进行绘制好的,让我们继续深入探讨骨骼动画的实现,特别是如何加载动画数据和处理更多细节。
加载动画数据
在加载动画数据时,我们需要从文件中提取关键帧信息,包括每个骨骼在不同时间点的位移、旋转和缩放信息。以下是一个示例,展示如何从Assimp库中加载动画数据:
void LoadAnimations(const aiScene* scene, std::vector<Animation>& animations)
{
for (unsigned int i = 0; i < scene->mNumAnimations; ++i)
{
const aiAnimation* aiAnim = scene->mAnimations[i];
Animation animation;
for (unsigned int j = 0; j < aiAnim->mNumChannels; ++j)
{
const aiNodeAnim* aiNodeAnim = aiAnim->mChannels[j];
std::vector<KeyFrame> keyFrames;
for (unsigned int k = 0; k < aiNodeAnim->mNumPositionKeys; ++k)
{
KeyFrame keyFrame;
keyFrame.timeStamp = static_cast<float>(aiNodeAnim->mPositionKeys[k].mTime);
keyFrame.position = aiVector3DToGlm(aiNodeAnim->mPositionKeys[k].mValue);
keyFrames.push_back(keyFrame);
}
for (unsigned int k = 0; k < aiNodeAnim->mNumRotationKeys; ++k)
{
KeyFrame keyFrame;
keyFrame.timeStamp = static_cast<float>(aiNodeAnim->mRotationKeys[k].mTime);
keyFrame.rotation = aiQuaternionToGlm(aiNodeAnim->mRotationKeys[k].mValue);
keyFrames.push_back(keyFrame);
}
for (unsigned int k = 0; k < aiNodeAnim->mNumScalingKeys; ++k)
{
KeyFrame keyFrame;
keyFrame.timeStamp = static_cast<float>(aiNodeAnim->mScalingKeys[k].mTime);
keyFrame.scale = aiVector3DToGlm(aiNodeAnim->mScalingKeys[k].mValue);
keyFrames.push_back(keyFrame);
}
animation.keyFrames = keyFrames;
}
animations.push_back(animation);
}
}
glm::vec3 aiVector3DToGlm(const aiVector3D& vec)
{
return glm::vec3(vec.x, vec.y, vec.z);
}
glm::quat aiQuaternionToGlm(const aiQuaternion& quat)
{
return glm::quat(quat.w, quat.x, quat.y, quat.z);
}
处理更多细节
在实际应用中,骨骼动画系统可能需要处理更多细节,例如:
- 骨骼权重归一化:确保每个顶点的骨骼权重之和为1。
- 多动画混合:支持多个动画的混合,例如过渡动画和循环动画。
- 优化:使用GPU加速计算骨骼变换矩阵,减少CPU负载。
骨骼权重归一化
在加载顶点数据时,确保每个顶点的骨骼权重之和为1:
void NormalizeWeights(std::vector<Vertex>& vertices)
{
for (auto& vertex : vertices)
{
float totalWeight = 0.0f;
for (const auto& weight : vertex.weights)
{
totalWeight += weight.weight;
}
if (totalWeight > 0.0f)
{
for (auto& weight : vertex.weights)
{
weight.weight /= totalWeight;
}
}
}
}
好的,让我们继续深入探讨多动画混合的实现,并完成之前的代码示例。
多动画混合(续)
在多动画混合中,我们需要对不同动画的关键帧进行插值,以实现平滑的过渡效果。以下是完成的代码示例:
glm::mat4 BlendTransforms(const glm::mat4& transform1, const glm::mat4& transform2, float blendFactor)
{
glm::vec3 position1, scale1, skew1;
glm::quat rotation1;
glm::vec4 perspective1;
glm::decompose(transform1, scale1, rotation1, position1, skew1, perspective1);
glm::vec3 position2, scale2, skew2;
glm::quat rotation2;
glm::vec4 perspective2;
glm::decompose(transform2, scale2, rotation2, position2, skew2, perspective2);
glm::vec3 blendedPosition = Lerp(position1, position2, blendFactor);
glm::quat blendedRotation = Slerp(rotation1, rotation2, blendFactor);
glm::vec3 blendedScale = Lerp(scale1, scale2, blendFactor);
glm::mat4 translationMatrix = glm::translate(glm::mat4(1.0f), blendedPosition);
glm::mat4 rotationMatrix = glm::toMat4(blendedRotation);
glm::mat4 scaleMatrix = glm::scale(glm::mat4(1.0f), blendedScale);
return translationMatrix * rotationMatrix * scaleMatrix;
}
void CalculateBlendedBoneTransforms(const std::vector<Bone>& bones, const std::vector<Animation>& animations1, const std::vector<Animation>& animations2, float time1, float time2, float blendFactor, std::vector<glm::mat4>& boneTransforms)
{
for (size_t i = 0; i < bones.size(); ++i)
{
glm::mat4 transform1 = CalculateInterpolatedTransform(bones[i], animations1[i], time1);
glm::mat4 transform2 = CalculateInterpolatedTransform(bones[i], animations2[i], time2);
glm::mat4 blendedTransform = BlendTransforms(transform1, transform2, blendFactor);
if (bones[i].parentIndex != -1)
{
blendedTransform = boneTransforms[bones[i].parentIndex] * blendedTransform;
}
boneTransforms[i] = blendedTransform;
}
}
优化
为了提高性能,可以将骨骼变换矩阵的计算移到GPU上。以下是一个简单的示例,展示如何在着色器中进行骨骼变换:
顶点着色器
#version 330 core
layout(location = 0) in vec3 inPosition;
layout(location = 1) in vec3 inNormal;
layout(location = 2) in vec4 inBoneIDs;
layout(location = 3) in vec4 inWeights;
uniform mat4 boneTransforms[100]; // 假设最多有100个骨骼
uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;
out vec3 fragNormal;
out vec3 fragPosition;
void main()
{
mat4 boneTransform = mat4(0.0);
for (int i = 0; i < 4; ++i)
{
int boneID = int(inBoneIDs[i]);
float weight = inWeights[i];
boneTransform += weight * boneTransforms[boneID];
}
vec4 transformedPosition = boneTransform * vec4(inPosition, 1.0);
fragPosition = vec3(model * transformedPosition);
fragNormal = mat3(transpose(inverse(model))) * mat3(boneTransform) * inNormal;
gl_Position = projection * view * model * transformedPosition;
}
好的,让我们继续完成主循环中的更新和渲染部分。
主循环中的更新和渲染(续)
在主循环中,我们需要更新动画时间,并计算骨骼变换矩阵,然后将这些矩阵上传到着色器中进行渲染:
int main()
{
// 初始化OpenGL上下文和窗口
if (!glfwInit())
{
std::cerr << "Failed to initialize GLFW" << std::endl;
return -1;
}
GLFWwindow* window = glfwCreateWindow(800, 600, "Skeletal Animation", nullptr, nullptr);
if (!window)
{
std::cerr << "Failed to create GLFW window" << std::endl;
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress))
{
std::cerr << "Failed to initialize GLAD" << std::endl;
return -1;
}
// 加载骨骼和动画数据
std::vector<Bone> bones;
LoadSkeleton("path/to/your/model/file.fbx", bones);
// 加载动画数据
std::vector<Animation> animations1;
std::vector<Animation> animations2;
LoadAnimations("path/to/your/animation1.fbx", animations1);
LoadAnimations("path/to/your/animation2.fbx", animations2);
// 初始化顶点数据
std::vector<Vertex> vertices;
LoadVertices("path/to/your/model/file.fbx", vertices);
// 归一化骨骼权重
NormalizeWeights(vertices);
// 初始化骨骼变换矩阵
std::vector<glm::mat4> boneTransforms(bones.size());
// 创建和编译着色器程序
GLuint shaderProgram = CreateShaderProgram("vertex_shader.glsl", "fragment_shader.glsl");
// 设置顶点数组对象和顶点缓冲对象
GLuint vao, vbo, ebo;
glGenVertexArrays(1, &vao);
glGenBuffers(1, &vbo);
glGenBuffers(1, &ebo);
glBindVertexArray(vao);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
glBufferData(GL_ARRAY_BUFFER, vertices.size() * sizeof(Vertex), vertices.data(), GL_STATIC_DRAW);
// 假设你已经设置了顶点属性指针
// ...
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, ebo);
// 假设你已经设置了索引数据
// ...
glBindVertexArray(0);
// 主循环
while (!glfwWindowShouldClose(window))
{
// 计算当前时间
float time = static_cast<float>(glfwGetTime());
// 计算骨骼变换矩阵
float blendFactor = 0.5f; // 你可以根据需要调整混合因子
CalculateBlendedBoneTransforms(bones, animations1, animations2, time, time, blendFactor, boneTransforms);
// 渲染
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glUseProgram(shaderProgram);
// 将骨骼变换矩阵上传到着色器
for (size_t i = 0; i < boneTransforms.size(); ++i)
{
std::string uniformName = "boneTransforms[" + std::to_string(i) + "]";
GLint location = glGetUniformLocation(shaderProgram, uniformName.c_str());
glUniformMatrix4fv(location, 1, GL_FALSE, glm::value_ptr(boneTransforms[i]));
}
// 绘制网格
glBindVertexArray(vao);
glDrawElements(GL_TRIANGLES, indices.size(), GL_UNSIGNED_INT, 0);
glBindVertexArray(0);
// 交换缓冲区和处理事件
glfwSwapBuffers(window);
glfwPollEvents();
}
// 清理资源
glDeleteVertexArrays(1, &vao);
glDeleteBuffers(1, &vbo);
glDeleteBuffers(1, &ebo);
glDeleteProgram(shaderProgram);
glfwTerminate();
return 0;
}
总结
- 加载骨骼和动画数据:从文件中加载骨骼和动画数据。
- 计算骨骼变换矩阵:在每一帧中,根据动画数据计算每个骨骼的变换矩阵。
- 应用骨骼变换到顶点:将计算得到的骨骼好的,让我们继续完成总结部分,并进一步探讨如何优化和扩展骨骼动画系统。
总结(续)
- 应用骨骼变换到顶点:将计算得到的骨骼变换矩阵应用到顶点数据上,以实现动画效果。
- 渲染:在主循环中,更新动画时间,计算骨骼变换矩阵,并将这些矩阵上传到着色器中进行渲染。
优化和扩展
为了提高性能和扩展功能,我们可以考虑以下优化和扩展:
1. 使用Uniform Buffer Objects (UBOs)
使用UBOs可以更高效地管理和上传大量的骨骼变换矩阵。以下是一个简单的示例,展示如何使用UBOs:
GLuint ubo;
glGenBuffers(1, &ubo);
glBindBuffer(GL_UNIFORM_BUFFER, ubo);
glBufferData(GL_UNIFORM_BUFFER, boneTransforms.size() * sizeof(glm::mat4), nullptr, GL_DYNAMIC_DRAW);
glBindBuffer(GL_UNIFORM_BUFFER, 0);
// 绑定UBO到着色器
GLuint blockIndex = glGetUniformBlockIndex(shaderProgram, "BoneTransforms");
glUniformBlockBinding(shaderProgram, blockIndex, 0);
glBindBufferBase(GL_UNIFORM_BUFFER, 0, ubo);
在主循环中更新UBO:
glBindBuffer(GL_UNIFORM_BUFFER, ubo);
glBufferSubData(GL_UNIFORM_BUFFER, 0, boneTransforms.size() * sizeof(glm::mat4), boneTransforms.data());
glBindBuffer(GL_UNIFORM_BUFFER, 0);
在着色器中定义UBO:
#version 330 core
layout(std140) uniform BoneTransforms
{
mat4 boneTransforms[100]; // 假设最多有100个骨骼
};
void main()
{
// 使用boneTransforms进行骨骼变换
}
2. 支持更多动画功能
- 动画过渡:实现动画过渡功能,使得角色可以平滑地从一个动画过渡到另一个动画。
- 动画混合:支持多个动画的混合,例如上半身和下半身分别播放不同的动画。
- 动画事件:在特定的动画时间点触发事件,例如播放音效或触发游戏逻辑。
3. 使用GPU计算骨骼变换
将骨骼变换的计算移到GPU上,可以大大减轻CPU的负担。可以使用Compute Shader来实现这一点:
#version 430 core
layout(local_size_x = 1) in;
layout(std140, binding = 0) buffer BoneTransforms
{
mat4 boneTransforms[];
};
void main()
{
uint boneIndex = gl_GlobalInvocationID.x;
// 计算骨骼变换矩阵
// boneTransforms[boneIndex] = ...
}
在主程序中调用Compute Shader:
glUseProgram(computeShaderProgram);
glDispatchCompute(numBones, 1, 1);
glMemoryBarrier(GL_SHADER_STORAGE_BARRIER_BIT);
4. 动画压缩和优化
为了减少内存占用和提高性能,可以对动画数据进行压缩和优化。例如:
- 关键帧压缩:只存储关键帧数据,并在运行时进行插值。
- 骨骼LOD(Level of Detail):根据距离和视角,动态调整骨骼的详细程度。
结语
骨骼动画是现代3D图形学中的一个重要技术,广泛应用于游戏、电影和虚拟现实等领域。通过本文的介绍,我们了解了骨骼动画的基本原理和实现方法,并探讨了如何优化和扩展骨骼动画系统。希望这些内容能对你有所帮助,并激发你在这一领域的进一步探索和研究。