crosstyan
ab728c7e9a
Switch viewer playback from Magnum Math::slerp() to Math::slerpShortestPath() when interpolating adjacent OpenSim frame orientations. Why: - Adjacent OpenSim quaternions can cross sign while representing nearly identical orientations. - Non-shortest-path interpolation can create artificial long-arc spins between valid sampled poses. - That makes playback exaggerate or invent visible bone flips that are not present in the sampled frame states. What changed: - Updated playback interpolation in src/ViewerApp.cpp to use shortest-path quaternion slerp. - Added docs/motion-troubleshooting.md documenting the distinction between viewer interpolation artifacts and upstream IK discontinuities. - Added a README pointer to the troubleshooting note. Investigation log: - Verified the viewer loads .mot through OpenSim state storage and renders PhysicalFrame transforms directly. - Reproduced the target Sports2D/Pose2Sim/OpenSim clip and confirmed the .mot already contains large coordinate discontinuities and limit clamping, indicating upstream IK failure. - Confirmed the viewer also had a separate interpolation issue due to non-shortest-path quaternion slerp. Validation: - Rebuilt with: cmake --build build -j - Relaunched the viewer successfully against the problematic .osim/.mot pair after the fix.
939 B
939 B
osim-magnum-viewer
Read-only OpenSim viewer built with OpenSim, Magnum, SDL2, and ImGui.
Build
git submodule update --init --recursive
cmake -S . -B build -DOpenSim_DIR=/home/crosstyan/Code/opensim-core-build/install/lib/cmake/OpenSim
cmake --build build -j
Run
./build/bin/osim-magnum-viewer /path/to/model.osim /path/to/motion.mot
Optional flags:
./build/bin/osim-magnum-viewer model.osim motion.mot --geometry-dir /path/to/Geometry --speed 0.5 --start-paused
The repo vendors a Geometry/ directory and searches it automatically at runtime.
Sample run:
./build/bin/osim-magnum-viewer \
/home/crosstyan/Code/opensim-core/OpenSim/Moco/Test/walk_gait1018_subject01.osim \
/home/crosstyan/Code/opensim-core/OpenSim/Moco/Test/walk_gait1018_state_reference.mot
Notes
- Motion troubleshooting notes:
docs/motion-troubleshooting.md