o3de/Gems/EMotionFX/Code/Tests/BlendTreeMirrorPoseNodeTests.cpp

/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */

#include <AzCore/Math/Vector3.h>
#include <EMotionFX/Source/AnimGraph.h>
#include <EMotionFX/Source/AnimGraphMotionNode.h>
#include <EMotionFX/Source/AnimGraphStateMachine.h>
#include <EMotionFX/Source/BlendTree.h>
#include <EMotionFX/Source/BlendTreeFinalNode.h>
#include <EMotionFX/Source/BlendTreeFloatConstantNode.h>
#include <EMotionFX/Source/BlendTreeMirrorPoseNode.h>
#include <EMotionFX/Source/EMotionFXManager.h>
#include <EMotionFX/Source/Importer/Importer.h>
#include <EMotionFX/Source/Motion.h>
#include <EMotionFX/Source/MotionInstance.h>
#include <EMotionFX/Source/MotionSet.h>
#include <EMotionFX/Source/Node.h>
#include <EMotionFX/Source/TransformData.h>
#include <EMotionFX/Source/Skeleton.h>
#include <Tests/JackGraphFixture.h>

namespace EMotionFX
{
    class BlendTreeMirrorPoseNodeFixture 
        : public JackGraphFixture
    {
    public:
        void SetupMirrorNodes(const Node* leftNode, const Node* rightNode)
        {
            m_actor->GetNodeMirrorInfo(leftNode->GetNodeIndex()).m_sourceNode = static_cast<uint16>(rightNode->GetNodeIndex());
            m_actor->GetNodeMirrorInfo(rightNode->GetNodeIndex()).m_sourceNode = static_cast<uint16>(leftNode->GetNodeIndex());
        }

        void ConstructGraph() override
        {
            JackGraphFixture::ConstructGraph();

            // MirrorSetup for essential nodes in tests
            m_actor->AllocateNodeMirrorInfos();
            m_jackSkeleton = m_actor->GetSkeleton();
            const Node* lUpArmNode = m_jackSkeleton->FindNodeByName("l_upArm");
            const Node* rUpArmNode = m_jackSkeleton->FindNodeByName("r_upArm");
            const Node* lShldrNode = m_jackSkeleton->FindNodeByName("l_shldr");
            const Node* rShldrNode = m_jackSkeleton->FindNodeByName("r_shldr");
            const Node* lLoArmNode = m_jackSkeleton->FindNodeByName("l_loArm");
            const Node* rLoArmNode = m_jackSkeleton->FindNodeByName("r_loArm");
            const Node* lHandNode = m_jackSkeleton->FindNodeByName("l_hand");
            const Node* rHandNode = m_jackSkeleton->FindNodeByName("r_hand");
            SetupMirrorNodes(lUpArmNode, rUpArmNode);
            SetupMirrorNodes(lShldrNode, rShldrNode);
            SetupMirrorNodes(lLoArmNode, rLoArmNode);
            SetupMirrorNodes(lHandNode, rHandNode);
            m_actor->AutoDetectMirrorAxes();
        
            // Import a motion of Jack centered in the axis, with right arm raised up
            const AZStd::string base64MotionData = 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            AZStd::vector<AZ::u8> skeletalMotiondata;
            AzFramework::StringFunc::Base64::Decode(skeletalMotiondata, base64MotionData.c_str(), base64MotionData.size());
            Motion* rightAramUpMotion = EMotionFX::GetImporter().LoadMotion(skeletalMotiondata.begin(), skeletalMotiondata.size());
            EMotionFX::MotionSet::MotionEntry* rightAramUpmotionEntry = aznew EMotionFX::MotionSet::MotionEntry();
            rightAramUpmotionEntry->SetMotion(rightAramUpMotion);
            m_motionSet->AddMotionEntry(rightAramUpmotionEntry);
            m_motionSet->SetMotionEntryId(rightAramUpmotionEntry, "jack_right_arm_up");

            /*
            m_blendtree:
            +--------------------+
            |m_motionNode        +---+
            |                    |   |
            +--------------------+   |   +--------------------+      +--------------------+
                                     +-->+m_mirrorPoseNode    +----->+m_finalNode         |
                                     +-->+                    |      |                    |
            +--------------------+   |   +--------------------+      +--------------------+
            |m_floatConstantNode |   |
            |                    +---+
            +--------------------+
            */
            AnimGraphMotionNode* motionNode = aznew AnimGraphMotionNode();
            motionNode->AddMotionId( "jack_right_arm_up" );

            m_floatConstantNode = aznew BlendTreeFloatConstantNode();
            m_mirrorPoseNode = aznew BlendTreeMirrorPoseNode();
            BlendTreeFinalNode* finalNode = aznew BlendTreeFinalNode();

            m_blendTree = aznew BlendTree();
            m_blendTree->AddChildNode(motionNode);
            m_blendTree->AddChildNode(m_floatConstantNode);
            m_blendTree->AddChildNode(m_mirrorPoseNode);
            m_blendTree->AddChildNode(finalNode);

            m_animGraph->GetRootStateMachine()->AddChildNode(m_blendTree);
            m_animGraph->GetRootStateMachine()->SetEntryState(m_blendTree);
            
            m_mirrorPoseNode->AddConnection(motionNode, AnimGraphMotionNode::OUTPUTPORT_POSE, BlendTreeMirrorPoseNode::INPUTPORT_POSE);
            m_mirrorPoseNode->AddConnection(m_floatConstantNode, BlendTreeFloatConstantNode::OUTPUTPORT_RESULT, BlendTreeMirrorPoseNode::INPUTPORT_ENABLED);
            finalNode->AddConnection(m_mirrorPoseNode, BlendTreeMirrorPoseNode::OUTPUTPORT_RESULT, BlendTreeFinalNode::INPUTPORT_POSE);
        };

    protected:
        BlendTree* m_blendTree = nullptr;
        BlendTreeFloatConstantNode* m_floatConstantNode = nullptr;
        BlendTreeMirrorPoseNode* m_mirrorPoseNode = nullptr;
        Skeleton* m_jackSkeleton = nullptr;
    };

    TEST_F(BlendTreeMirrorPoseNodeFixture, OutputsCorrectPose)
    {
        GetEMotionFX().Update(1.0f / 60.0f);
        size_t l_upArmIndex;
        size_t r_upArmIndex;
        size_t l_loArmIndex;
        size_t r_loArmIndex;
        size_t l_handIndex;
        size_t r_handIndex;
        m_jackSkeleton->FindNodeAndIndexByName("l_upArm", l_upArmIndex);
        m_jackSkeleton->FindNodeAndIndexByName("r_upArm", r_upArmIndex);
        m_jackSkeleton->FindNodeAndIndexByName("l_loArm", l_loArmIndex);
        m_jackSkeleton->FindNodeAndIndexByName("r_loArm", r_loArmIndex);
        m_jackSkeleton->FindNodeAndIndexByName("l_hand", l_handIndex);
        m_jackSkeleton->FindNodeAndIndexByName("r_hand", r_handIndex);

        // Mirror Pose Node not enabled
        m_floatConstantNode->SetValue(0.0f);

        // Remember the original position for comparison later
        Pose * jackPose = m_actorInstance->GetTransformData()->GetCurrentPose();
        const AZ::Vector3 l_upArmOriginalPos = jackPose->GetModelSpaceTransform(l_upArmIndex).m_position;
        const AZ::Vector3 r_upArmOriginalPos = jackPose->GetModelSpaceTransform(r_upArmIndex).m_position;
        GetEMotionFX().Update(1.0f / 60.0f);

        // Remember mirrored position
        const AZ::Vector3 l_upArmMirroredPos = jackPose->GetModelSpaceTransform(l_upArmIndex).m_position;
        const AZ::Vector3 r_upArmMirroredPos = jackPose->GetModelSpaceTransform(r_upArmIndex).m_position;
        
        // Expect poses to be at the same position because mirror pose node is off
        EXPECT_FALSE(m_mirrorPoseNode->GetIsMirroringEnabled(m_animGraphInstance));
        EXPECT_TRUE(l_upArmOriginalPos == l_upArmMirroredPos);
        EXPECT_TRUE(r_upArmOriginalPos == r_upArmMirroredPos);

        // Mirror Pose Node enabled
        m_floatConstantNode->SetValue(1.0f);
        const AZ::Vector3 l_upArmPos = jackPose->GetModelSpaceTransform(l_upArmIndex).m_position;
        const AZ::Vector3 r_upArmPos = jackPose->GetModelSpaceTransform(r_upArmIndex).m_position;
        const AZ::Vector3 l_loArmPos = jackPose->GetModelSpaceTransform(l_loArmIndex).m_position;
        const AZ::Vector3 r_loArmPos = jackPose->GetModelSpaceTransform(r_loArmIndex).m_position;
        const AZ::Vector3 l_handPos = jackPose->GetModelSpaceTransform(l_handIndex).m_position;
        const AZ::Vector3 r_handPos = jackPose->GetModelSpaceTransform(r_handIndex).m_position;
        GetEMotionFX().Update(1.0f / 60.0f);
        const AZ::Vector3 mirroredl_upArmPos = jackPose->GetModelSpaceTransform(l_upArmIndex).m_position;
        const AZ::Vector3 mirroredr_upArmPos = jackPose->GetModelSpaceTransform(r_upArmIndex).m_position;
        const AZ::Vector3 mirroredl_loArmPos = jackPose->GetModelSpaceTransform(l_loArmIndex).m_position;
        const AZ::Vector3 mirroredr_loArmPos = jackPose->GetModelSpaceTransform(r_loArmIndex).m_position;
        const AZ::Vector3 mirroredl_handPos = jackPose->GetModelSpaceTransform(l_handIndex).m_position;
        const AZ::Vector3 mirroredr_handPos = jackPose->GetModelSpaceTransform(r_handIndex).m_position;

        EXPECT_TRUE(m_mirrorPoseNode->GetIsMirroringEnabled(m_animGraphInstance));

        // If mirrored positions correctly changed, then mirror pose node is properly functioning.
        // Original position: Vector3(-x,y,z), mirrored across x-axis
        // Mirrored position: Vector3(x,y,z)
        EXPECT_NEAR(mirroredl_upArmPos.GetX(), -r_upArmPos.GetX(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredl_upArmPos.GetY(), r_upArmPos.GetY(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredl_upArmPos.GetZ(), r_upArmPos.GetZ(), AZ::Constants::Tolerance);

        EXPECT_NEAR(mirroredr_upArmPos.GetX(), -l_upArmPos.GetX(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredr_upArmPos.GetY(), l_upArmPos.GetY(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredr_upArmPos.GetZ(), l_upArmPos.GetZ(), AZ::Constants::Tolerance);

        EXPECT_NEAR(mirroredl_loArmPos.GetX(), -r_loArmPos.GetX(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredl_loArmPos.GetY(), r_loArmPos.GetY(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredl_loArmPos.GetZ(), r_loArmPos.GetZ(), AZ::Constants::Tolerance);

        EXPECT_NEAR(mirroredr_loArmPos.GetX(), -l_loArmPos.GetX(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredr_loArmPos.GetY(), l_loArmPos.GetY(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredr_loArmPos.GetZ(), l_loArmPos.GetZ(), AZ::Constants::Tolerance);

        EXPECT_NEAR(mirroredl_handPos.GetX(), -r_handPos.GetX(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredl_handPos.GetY(), r_handPos.GetY(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredl_handPos.GetZ(), r_handPos.GetZ(), AZ::Constants::Tolerance);

        EXPECT_NEAR(mirroredr_handPos.GetX(), -l_handPos.GetX(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredr_handPos.GetY(), l_handPos.GetY(), AZ::Constants::Tolerance);
        EXPECT_NEAR(mirroredr_handPos.GetZ(), l_handPos.GetZ(), AZ::Constants::Tolerance);
    };
}// end namespace EMotionFX