#152 Fixes additive animation blending issues

Fixes additive animation blending issues due to wrong quaternion multiplication order in additive animation builder and blending job. Note that animations needs rebuild to benefit from the fix.
guillaumeblanc · Feb 17, 2024 · af9fbf3 · af9fbf3
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diff --git a/AUTHORS.md b/AUTHORS.md
@@ -15,3 +15,5 @@ The following authors have all licensed their contributions to ozz-animation und
 - Mikołaj Siedlarek <mikolaj@siedlarek.net>
 - Paul Gruenbacher <pgruenbacher@gmail.com>
 - Christophe Meyer <christophe.meyer.pro@gmail.com>
+- Blaž Tomažič <>
+- Jan Krassnigg <jan@krassnigg.de>
diff --git a/CHANGES.md b/CHANGES.md
@@ -1,6 +1,9 @@
 Next release
 ----------------------
 
+* Library
+  - [offline/animation] #152 Fixes additive animation blending issues due to wrong quaternion multiplication order in additive animation builder and blending job. Note that animations needs rebuild to benefit from the fix.
+
 * Build pipeline
   - Adds CI for WebAssembly.
 

diff --git a/media/bin/astro_max_animation.ozz b/media/bin/astro_max_animation.ozz
diff --git a/media/bin/astro_max_skeleton.ozz b/media/bin/astro_max_skeleton.ozz
diff --git a/media/bin/astro_maya_animation.ozz b/media/bin/astro_maya_animation.ozz
diff --git a/media/bin/astro_maya_skeleton.ozz b/media/bin/astro_maya_skeleton.ozz
diff --git a/media/bin/baked_animation.ozz b/media/bin/baked_animation.ozz
diff --git a/media/bin/pab_atlas_raw.ozz b/media/bin/pab_atlas_raw.ozz
diff --git a/media/bin/pab_crackhead.ozz b/media/bin/pab_crackhead.ozz
diff --git a/media/bin/pab_crackhead_additive.ozz b/media/bin/pab_crackhead_additive.ozz
diff --git a/media/bin/pab_crossarms.ozz b/media/bin/pab_crossarms.ozz
diff --git a/media/bin/pab_curl_additive.ozz b/media/bin/pab_curl_additive.ozz
diff --git a/media/bin/pab_jog.ozz b/media/bin/pab_jog.ozz
diff --git a/media/bin/pab_run.ozz b/media/bin/pab_run.ozz
diff --git a/media/bin/pab_skeleton.ozz b/media/bin/pab_skeleton.ozz
diff --git a/media/bin/pab_splay_additive.ozz b/media/bin/pab_splay_additive.ozz
diff --git a/media/bin/pab_walk.ozz b/media/bin/pab_walk.ozz
diff --git a/media/bin/robot_animation.ozz b/media/bin/robot_animation.ozz
diff --git a/media/bin/robot_skeleton.ozz b/media/bin/robot_skeleton.ozz
diff --git a/media/bin/robot_track_grasp.ozz b/media/bin/robot_track_grasp.ozz
diff --git a/media/bin/ruby_animation.ozz b/media/bin/ruby_animation.ozz
diff --git a/media/bin/ruby_mesh.ozz b/media/bin/ruby_mesh.ozz
diff --git a/media/bin/ruby_skeleton.ozz b/media/bin/ruby_skeleton.ozz
diff --git a/media/bin/seymour_animation.ozz b/media/bin/seymour_animation.ozz
diff --git a/media/bin/versioning/animation_v6_be.ozz b/media/bin/versioning/animation_v6_be.ozz
diff --git a/media/bin/versioning/animation_v6_le.ozz b/media/bin/versioning/animation_v6_le.ozz
diff --git a/media/bin/versioning/raw_animation_v3_be.ozz b/media/bin/versioning/raw_animation_v3_be.ozz
diff --git a/media/bin/versioning/raw_animation_v3_le.ozz b/media/bin/versioning/raw_animation_v3_le.ozz
diff --git a/src/animation/offline/additive_animation_builder.cc b/src/animation/offline/additive_animation_builder.cc
@@ -63,7 +63,7 @@ math::Float3 MakeDeltaTranslation(const math::Float3& _reference,
 
 math::Quaternion MakeDeltaRotation(const math::Quaternion& _reference,
                                    const math::Quaternion& _value) {
-  return _value * Conjugate(_reference);
+  return Conjugate(_reference) * _value;
 }
 
 math::Float3 MakeDeltaScale(const math::Float3& _reference,

diff --git a/src/animation/runtime/blending_job.cc b/src/animation/runtime/blending_job.cc
@@ -129,7 +129,7 @@ namespace {
     const math::SoaQuaternion interp_quat = {                                \
         rotation.x * _simd_weight, rotation.y * _simd_weight,                \
         rotation.z * _simd_weight, (rotation.w - one) * _simd_weight + one}; \
-    _out.rotation = NormalizeEst(interp_quat) * _out.rotation;               \
+    _out.rotation = _out.rotation * NormalizeEst(interp_quat);               \
     _out.scale =                                                             \
         _out.scale * (one_minus_weight_f3 + (_in.scale * _simd_weight));     \
   } while (void(0), 0)
@@ -147,7 +147,7 @@ namespace {
     const math::SoaQuaternion interp_quat = {                                  \
         rotation.x * _simd_weight, rotation.y * _simd_weight,                  \
         rotation.z * _simd_weight, (rotation.w - one) * _simd_weight + one};   \
-    _out.rotation = Conjugate(NormalizeEst(interp_quat)) * _out.rotation;      \
+    _out.rotation = _out.rotation * Conjugate(NormalizeEst(interp_quat));      \
     const math::SoaFloat3 rcp_scale = {                                        \
         math::RcpEst(math::MAdd(_in.scale.x, _simd_weight, one_minus_weight)), \
         math::RcpEst(math::MAdd(_in.scale.y, _simd_weight, one_minus_weight)), \

diff --git a/test/animation/offline/additive_animation_builder_tests.cc b/test/animation/offline/additive_animation_builder_tests.cc
@@ -88,7 +88,7 @@ TEST(Build, AdditiveAnimationBuilder) {
 
   // First track is empty
   {
-      // input.tracks[0]
+    // input.tracks[0]
   }
 
   // 2nd track
@@ -202,7 +202,7 @@ TEST(BuildRefPose, AdditiveAnimationBuilder) {
 
   // First track is empty
   {
-      // input.tracks[0]
+    // input.tracks[0]
   }
 
   // 2nd track
@@ -284,7 +284,7 @@ TEST(BuildRefPose, AdditiveAnimationBuilder) {
           output.tracks[1].rotations;
       EXPECT_EQ(rotations.size(), 1u);
       EXPECT_FLOAT_EQ(rotations[0].time, 0.f);
-      EXPECT_QUATERNION_EQ(rotations[0].value, .5f, .5f, -.5f, .5f);
+      EXPECT_QUATERNION_EQ(rotations[0].value, .5f, -.5f, -.5f, .5f);
       const RawAnimation::JointTrack::Scales& scales = output.tracks[1].scales;
       EXPECT_EQ(scales.size(), 1u);
       EXPECT_FLOAT_EQ(scales[0].time, 0.f);