pymomentum-cpu 0.1.93.post0__cp312-cp312-macosx_14_0_arm64.whl

include/momentum/character_solver/plane_error_function.h

@@ -0,0 +1,102 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/constraint_error_function.h>
+
+namespace momentum {
+
+/// Point-on-plane or Point-in-half-plane constraint data.
+/// The constraint uses the plane equation: x.dot(normal) - d = 0; use -d instead of +d to be
+/// backwards compatible with previous implementation.
+template <typename T>
+struct PlaneDataT : ConstraintData {
+  Vector3<T> offset;
+  Vector3<T> normal;
+  T d;
+
+  explicit PlaneDataT(
+      const Vector3<T>& inOffset,
+      const Vector3<T>& inNormal,
+      const T inD,
+      size_t pIndex,
+      float w,
+      const std::string& n = "")
+      : ConstraintData(pIndex, w, n), offset(inOffset), normal(inNormal.normalized()), d(inD) {}
+};
+
+/// Create non-penetration half-plane constraints from locators with the input prefix
+template <typename T>
+std::vector<PlaneDataT<T>> createFloorConstraints(
+    const std::string& prefix,
+    const LocatorList& locators,
+    const Vector3<T>& floorNormal,
+    const T& floorOffset,
+    float weight);
+
+/// The PlaneErrorFunction computes the point-on-plane error or point-in-half-plane error.
+/// For point-on-plane error (above = false), it computes the signed distance of a point to a plane
+/// using the plane equation. For half-plane error (above = true), the error is zero when the
+/// distance is greater than zero (ie. the point being above).
+template <typename T>
+class PlaneErrorFunctionT : public ConstraintErrorFunctionT<T, PlaneDataT<T>, 1> {
+ public:
+  /// Constructor
+  ///
+  /// @param[in] skel: character skeleton
+  /// @param[in] pt: character parameter transformation
+  /// @param[in] above: true means "above the plane" (half plane inequality), false means "on the
+  /// plane" (equality).
+  /// @param[in] lossAlpha: alpha parameter for the loss function
+  /// @param[in] lossC: c parameter for the loss function
+  explicit PlaneErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      const bool above = false,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : ConstraintErrorFunctionT<T, PlaneDataT<T>, 1>(skel, pt, lossAlpha, lossC),
+        halfPlane_(above) {}
+
+  /// A convenience api where character contains info of the skeleton and parameter transform.
+  ///
+  /// @param[in] character: character definition
+  /// @param[in] above: true means "above the plane" (half plane inequality), false means "on the
+  /// plane" (equality).
+  /// @param[in] lossAlpha: alpha parameter for the loss function
+  /// @param[in] lossC: c parameter for the loss function
+  explicit PlaneErrorFunctionT(
+      const Character& character,
+      const bool above = false,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : PlaneErrorFunctionT(
+            character.skeleton,
+            character.parameterTransform,
+            above,
+            lossAlpha,
+            lossC) {}
+
+  /// Default constant weight in MarkerErrorFunction. This can be used for backwards compatibility
+  /// in setWeight().
+  static constexpr T kLegacyWeight = 1e-4f;
+
+ protected:
+  void evalFunction(
+      size_t constrIndex,
+      const JointStateT<T>& state,
+      Vector<T, 1>& f,
+      optional_ref<std::array<Vector3<T>, 1>> v = {},
+      optional_ref<std::array<Eigen::Matrix<T, 1, 3>, 1>> /*dfdv*/ = {}) const final;
+
+ private:
+  /// True for an inequality constraint to be *above* the plane rather than *on* the plane
+  bool halfPlane_ = false;
+};
+
+} // namespace momentum

include/momentum/character_solver/point_triangle_vertex_error_function.h

@@ -0,0 +1,141 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/plane_error_function.h>
+#include <momentum/character_solver/position_error_function.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+#include <momentum/character_solver/vertex_error_function.h>
+#include <momentum/math/fwd.h>
+
+namespace momentum {
+
+template <typename T>
+struct PointTriangleVertexConstraintT {
+  int srcVertexIndex = -1;
+  Eigen::Vector3i tgtTriangleIndices;
+  Eigen::Vector3<T> tgtTriangleBaryCoords;
+  T depth = 0;
+  T weight = 1;
+
+  template <typename T2>
+  PointTriangleVertexConstraintT<T2> cast() const {
+    return {
+        this->srcVertexIndex,
+        this->tgtTriangleIndices,
+        this->tgtTriangleBaryCoords.template cast<T2>(),
+        static_cast<T2>(this->depth),
+        static_cast<T2>(this->weight)};
+  }
+};
+
+/// Support constraining different parts of the mesh together by specifying that a source vertex
+/// should target a location on the mesh defined by a target triangle and its normal.  The target
+/// point is specified as sum_i (bary_i * target_triangle_vertex_i) + depth *
+/// target_triangle_normal. Note that this constraint applies "forces" both to the source vertex and
+/// every vertex in the target triangle, so it will actually try to pull both toward each other.
+template <typename T>
+class PointTriangleVertexErrorFunctionT : public SkeletonErrorFunctionT<T> {
+ public:
+  explicit PointTriangleVertexErrorFunctionT(
+      const Character& character,
+      VertexConstraintType type = VertexConstraintType::Position);
+  virtual ~PointTriangleVertexErrorFunctionT() override;
+
+  [[nodiscard]] double getError(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState) final;
+
+  double getGradient(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) final;
+
+  double getJacobian(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::MatrixX<T>> jacobian,
+      Eigen::Ref<Eigen::VectorX<T>> residual,
+      int& usedRows) final;
+
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+  void addConstraint(
+      int vertexIndex,
+      const Eigen::Vector3i& triangleIndices,
+      const Eigen::Vector3<T>& triangleBaryCoords,
+      float depth = 0,
+      T weight = 1);
+  void clearConstraints();
+
+  [[nodiscard]] const std::vector<PointTriangleVertexConstraintT<T>>& getConstraints() const {
+    return constraints_;
+  }
+
+  static constexpr T kPositionWeight = PositionErrorFunctionT<T>::kLegacyWeight;
+  static constexpr T kPlaneWeight = PlaneErrorFunctionT<T>::kLegacyWeight;
+
+  size_t getNumVertices() const;
+  [[nodiscard]] const Character* getCharacter() const override {
+    return &character_;
+  }
+
+  /// Override to indicate this function requires mesh state
+  [[nodiscard]] bool needsMesh() const override {
+    return true;
+  }
+
+ private:
+  double calculatePositionJacobian(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      Ref<Eigen::MatrixX<T>> jac,
+      Ref<Eigen::VectorX<T>> res) const;
+
+  double calculateNormalJacobian(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      T sourceNormalWeight,
+      T targetNormalWeight,
+      Ref<Eigen::MatrixX<T>> jac,
+      T& res) const;
+
+  double calculatePositionGradient(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) const;
+
+  double calculateNormalGradient(
+      const ModelParametersT<T>& modelParameters,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      const PointTriangleVertexConstraintT<T>& constr,
+      T sourceNormalWeight,
+      T targetNormalWeight,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) const;
+
+  std::pair<T, T> computeNormalWeights() const;
+
+  const Character& character_;
+
+  std::vector<PointTriangleVertexConstraintT<T>> constraints_;
+
+  const VertexConstraintType constraintType_;
+};
+
+} // namespace momentum

include/momentum/character_solver/pose_prior_error_function.h

@@ -0,0 +1,80 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+#include <momentum/math/mppca.h>
+
+#include <span>
+
+namespace momentum {
+
+template <typename T>
+class PosePriorErrorFunctionT : public SkeletonErrorFunctionT<T> {
+ public:
+  PosePriorErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      std::shared_ptr<const MppcaT<T>> pp);
+  PosePriorErrorFunctionT(const Character& character, std::shared_ptr<const MppcaT<T>> pp);
+
+  void setPosePrior(std::shared_ptr<const MppcaT<T>> pp);
+
+  [[nodiscard]] double getError(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState) final;
+
+  double getGradient(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) final;
+
+  [[nodiscard]] double logProbability(const ModelParametersT<T>& params) const;
+
+  double getJacobian(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::MatrixX<T>> jacobian,
+      Eigen::Ref<Eigen::VectorX<T>> residual,
+      int& usedRows) final;
+
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+  [[nodiscard]] Eigen::VectorX<T> getMeanShape(const ModelParametersT<T>& params) const;
+
+ protected:
+  void loadInternal();
+  void getBestFitMode(
+      const ModelParametersT<T>& params,
+      size_t& bestIdx,
+      Eigen::VectorX<T>& bestDiff,
+      T& bestR,
+      T& minDist) const;
+
+  std::vector<size_t> ppMap_;
+  std::vector<size_t> invMap_;
+
+  // The pose prior: note that once passed in you must not modify it
+  // outside this class.  The easiest way to guarantee this is to use
+  // the standard loadMppca() functions which already returns a const-
+  // valued shared_ptr.
+  std::shared_ptr<const MppcaT<T>> posePrior_;
+
+  // weights for the error functions
+  static constexpr T kPosePriorWeight = 1e-3;
+
+ private:
+  // Is used for optimization purpose in getJacobian to allocate memory once
+  Eigen::MatrixX<T> gradientL_;
+};
+
+} // namespace momentum

include/momentum/character_solver/position_error_function.h

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character_solver/constraint_error_function.h>
+
+namespace momentum {
+
+/// 3D position constraint data
+template <typename T>
+struct PositionDataT : ConstraintData {
+  /// Positional offset in the parent joint space
+  Vector3<T> offset;
+  /// Target position
+  Vector3<T> target;
+
+  explicit PositionDataT(
+      const Vector3<T>& inOffset,
+      const Vector3<T>& inTarget,
+      size_t pIndex,
+      float w,
+      const std::string& n = "")
+      : ConstraintData(pIndex, w, n), offset(inOffset), target(inTarget) {}
+};
+
+/// The PositionErrorFunction computes the 3D positional errors from a list of Constraints.
+/// Each constraint specifies a locator on the skeleton (parent joint and offset), and its target 3D
+/// position.
+template <typename T>
+class PositionErrorFunctionT : public ConstraintErrorFunctionT<T, PositionDataT<T>> {
+ public:
+  /// Constructor
+  ///
+  /// @param[in] skel: character skeleton
+  /// @param[in] pt: character parameter transformation
+  /// @param[in] lossAlpha: alpha parameter for the loss function
+  /// @param[in] lossC: c parameter for the loss function
+  explicit PositionErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : ConstraintErrorFunctionT<T, PositionDataT<T>>(skel, pt, lossAlpha, lossC) {}
+
+  /// A convenience api where character contains info of the skeleton and parameter transform.
+  ///
+  /// @param[in] character: character definition
+  /// @param[in] lossAlpha: alpha parameter for the loss function
+  /// @param[in] lossC: c parameter for the loss function
+  explicit PositionErrorFunctionT(
+      const Character& character,
+      const T& lossAlpha = GeneralizedLossT<T>::kL2,
+      const T& lossC = T(1))
+      : PositionErrorFunctionT(character.skeleton, character.parameterTransform, lossAlpha, lossC) {
+  }
+
+  /// Default constant weight in MarkerErrorFunction. This can be used for backwards compatibility
+  /// in setWeight().
+  static constexpr T kLegacyWeight = 1e-4f;
+
+ protected:
+  void evalFunction(
+      size_t constrIndex,
+      const JointStateT<T>& state,
+      Vector3<T>& f,
+      optional_ref<std::array<Vector3<T>, 1>> v = {},
+      optional_ref<std::array<Matrix3<T>, 1>> dfdv = {}) const final;
+};
+
+} // namespace momentum

include/momentum/character_solver/projection_error_function.h

@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+#include <momentum/character/locator.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+
+namespace momentum {
+
+template <typename T>
+struct ProjectionConstraintDataT {
+  // Project a 3d point (after skinning) to (rxz, ryz, z) where
+  // (rx,ry) is the residual.
+  //
+  // This encodes the target 2d point, the view and camera transforms, and the
+  // camera distortion (if any).
+  //
+  // This projection model was copied from the hand IK FullProjectionConstraint.
+  // Ideally we would refactor somehow to make them share more code but
+  // the kinematic models are so different this would take some work.
+  Eigen::Matrix<T, 3, 4> projection; // Projection matrix
+
+  size_t parent{}; // parent joint of the constraint
+  Eigen::Vector3<T> offset = Eigen::Vector3<T>::Zero(); // relative offset to the parent
+  T weight = 1; // constraint weight
+
+  Eigen::Vector2<T> target = Eigen::Vector2<T>::Zero();
+
+  static ProjectionConstraintDataT<T> createFromLocator(const momentum::Locator& locator);
+};
+
+template <typename T>
+class ProjectionErrorFunctionT : public momentum::SkeletonErrorFunctionT<T> {
+ public:
+  ProjectionErrorFunctionT(
+      const momentum::Skeleton& skel,
+      const momentum::ParameterTransform& pt,
+      T nearClip = T(1));
+
+  [[nodiscard]] double getError(
+      const momentum::ModelParametersT<T>& params,
+      const momentum::SkeletonStateT<T>& state,
+      const momentum::MeshStateT<T>& meshState) final;
+  double getGradient(
+      const momentum::ModelParametersT<T>& params,
+      const momentum::SkeletonStateT<T>& state,
+      const momentum::MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::VectorX<T>> gradient) final;
+  double getJacobian(
+      const momentum::ModelParametersT<T>& params,
+      const momentum::SkeletonStateT<T>& state,
+      const momentum::MeshStateT<T>& meshState,
+      Eigen::Ref<Eigen::MatrixX<T>> jacobian,
+      Eigen::Ref<Eigen::VectorX<T>> residual,
+      int& usedRows) final;
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+  void addConstraint(const ProjectionConstraintDataT<T>& data);
+
+  void clearConstraints() {
+    constraints_.clear();
+  }
+  [[nodiscard]] bool empty() const {
+    return constraints_.empty();
+  }
+  [[nodiscard]] size_t numConstraints() const {
+    return constraints_.size();
+  }
+  void setConstraints(std::vector<ProjectionConstraintDataT<T>> constraints) {
+    constraints_ = std::move(constraints);
+  }
+
+  [[nodiscard]] const std::vector<ProjectionConstraintDataT<T>>& getConstraints() const {
+    return constraints_;
+  }
+
+ protected:
+  std::vector<ProjectionConstraintDataT<T>> constraints_;
+
+  // Projection error is roughly in radians, so a value near 1 is reasonable here:
+  static constexpr T kProjectionWeight = 1.0f;
+
+  // Ignore projection constraints involving joints closer than this distance.
+  // Prevents divide-by-zero in the projection matrix and bad behavior close to
+  // the camera.
+  T _nearClip = 1.0f;
+};
+
+} // namespace momentum

include/momentum/character_solver/simd_collision_error_function.h

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/character/collision_geometry.h>
+#include <momentum/character/collision_geometry_state.h>
+#include <momentum/character_solver/fwd.h>
+#include <momentum/character_solver/skeleton_error_function.h>
+#include <momentum/common/aligned.h>
+#include <momentum/simd/simd.h>
+
+#include <axel/Bvh.h>
+
+#include <unordered_set>
+#include <vector>
+
+namespace momentum {
+
+/// Represents an error function that penalizes self-intersections between collision geometries of
+/// the character.
+///
+/// The function pre-filters collision geometries to ignore those attached to the same joint, those
+/// intersecting in the rest pose, or those very close in the rest pose.
+template <typename T>
+class SimdCollisionErrorFunctionT : public SkeletonErrorFunctionT<T> {
+ public:
+  explicit SimdCollisionErrorFunctionT(
+      const Skeleton& skel,
+      const ParameterTransform& pt,
+      const CollisionGeometry& collisionGeometry);
+
+  explicit SimdCollisionErrorFunctionT(const Character& character);
+
+  [[nodiscard]] double getError(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& /* meshState */) final;
+
+  double getGradient(
+      const ModelParametersT<T>& params,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& /* meshState */,
+      Ref<VectorX<T>> gradient) override;
+
+  double getJacobian(
+      const ModelParametersT<T>& /*unused*/,
+      const SkeletonStateT<T>& state,
+      const MeshStateT<T>& /* meshState */,
+      Ref<MatrixX<T>> jacobian,
+      Ref<VectorX<T>> residual,
+      int& usedRows) override;
+
+  [[nodiscard]] size_t getJacobianSize() const final;
+
+ protected:
+  void updateCollisionPairs();
+
+  // Update collisionState_, bvh_, and collisionPairs_ given the new skeleton state.
+  void computeBroadPhase(const SkeletonStateT<T>& state);
+
+  using PairId = std::pair<size_t, size_t>;
+
+  struct PairHash {
+    std::size_t operator()(const std::pair<size_t, size_t>& p) const {
+      // Use the smaller value as the high-order bits and the larger value as the low-order bits
+      return (static_cast<uint64_t>(std::min(p.first, p.second)) << (sizeof(size_t) * 8 / 2)) |
+          std::max(p.first, p.second);
+    }
+  };
+
+  struct PairEqual {
+    bool operator()(const PairId& a, const PairId& b) const {
+      return (a.first == b.first && a.second == b.second) ||
+          (a.first == b.second && a.second == b.first);
+    }
+  };
+
+  const CollisionGeometry collisionGeometry_;
+
+  std::unordered_set<PairId, PairHash, PairEqual> excludingPairIds_;
+
+  std::vector<std::vector<int, AlignedAllocator<int, momentum::kSimdAlignment>>> collisionPairs_;
+
+  size_t jacobianSize_ = 0;
+
+  CollisionGeometryStateT<T> collisionState_;
+
+  // weights for the error functions
+  static constexpr T kCollisionWeight = 5e-3f;
+
+  axel::Bvh<T> bvh_;
+};
+
+} // namespace momentum