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Merge pull request #16048 from luiscuenca/rotationOnlyInterpolationFix

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DEV-332: Ramp on and off Head IK to make reactions smoother
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Anthony Thibault 2019-08-09 16:18:12 -07:00 committed by GitHub
commit 1b225a777a
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2 changed files with 56 additions and 21 deletions
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75
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -213,6 +213,12 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
}
}
float AnimInverseKinematics::getInterpolationAlpha(float timer) {
float alpha = (JOINT_CHAIN_INTERP_TIME - timer) / JOINT_CHAIN_INTERP_TIME;
alpha = 1.0f - powf(2.0f, -10.0f * alpha);
return alpha;
}
void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<IKTarget>& targets, float dt, JointChainInfoVec& jointChainInfoVec) {
// compute absolute poses that correspond to relative target poses
AnimPoseVec absolutePoses;
@ -227,6 +233,8 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
accumulator.clearAndClean();
}
std::map<int, int> targetToChainMap;
float maxError = 0.0f;
int numLoops = 0;
const int MAX_IK_LOOPS = 16;
@ -248,17 +256,13 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
break;
}
}
// on last iteration, interpolate jointChains, if necessary
if (numLoops == MAX_IK_LOOPS) {
for (size_t i = 0; i < _prevJointChainInfoVec.size(); i++) {
targetToChainMap.insert(std::pair<int, int>(_prevJointChainInfoVec[i].target.getIndex(), (int)i));
if (_prevJointChainInfoVec[i].timer > 0.0f) {
float alpha = (JOINT_CHAIN_INTERP_TIME - _prevJointChainInfoVec[i].timer) / JOINT_CHAIN_INTERP_TIME;
// ease in expo
alpha = 1.0f - powf(2.0f, -10.0f * alpha);
float alpha = getInterpolationAlpha(_prevJointChainInfoVec[i].timer);
size_t chainSize = std::min(_prevJointChainInfoVec[i].jointInfoVec.size(), jointChainInfoVec[i].jointInfoVec.size());
if (jointChainInfoVec[i].target.getType() != IKTarget::Type::Unknown) {
@ -336,22 +340,47 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
for (auto& target: targets) {
int tipIndex = target.getIndex();
int parentIndex = (tipIndex >= 0) ? _skeleton->getParentIndex(tipIndex) : -1;
int chainIndex = targetToChainMap[tipIndex];
bool needsInterpolation = _prevJointChainInfoVec[chainIndex].timer > 0.0f;
float alpha = needsInterpolation ? getInterpolationAlpha(_prevJointChainInfoVec[chainIndex].timer) : 0.0f;
// update rotationOnly targets that don't lie on the ik chain of other ik targets.
if (parentIndex != -1 && !_rotationAccumulators[tipIndex].isDirty() && target.getType() == IKTarget::Type::RotationOnly) {
const glm::quat& targetRotation = target.getRotation();
// compute tip's new parent-relative rotation
// Q = Qp * q --> q' = Qp^ * Q
glm::quat newRelativeRotation = glm::inverse(absolutePoses[parentIndex].rot()) * targetRotation;
RotationConstraint* constraint = getConstraint(tipIndex);
if (constraint) {
constraint->apply(newRelativeRotation);
// TODO: ATM the final rotation target just fails but we need to provide
// feedback to the IK system so that it can adjust the bones up the skeleton
// to help this rotation target get met.
if (parentIndex != -1 && !_rotationAccumulators[tipIndex].isDirty() &&
(target.getType() == IKTarget::Type::RotationOnly || target.getType() == IKTarget::Type::Unknown)) {
if (target.getType() == IKTarget::Type::RotationOnly) {
const glm::quat& targetRotation = target.getRotation();
// compute tip's new parent-relative rotation
// Q = Qp * q --> q' = Qp^ * Q
glm::quat newRelativeRotation = glm::inverse(absolutePoses[parentIndex].rot()) * targetRotation;
RotationConstraint* constraint = getConstraint(tipIndex);
if (constraint) {
constraint->apply(newRelativeRotation);
// TODO: ATM the final rotation target just fails but we need to provide
// feedback to the IK system so that it can adjust the bones up the skeleton
// to help this rotation target get met.
}
if (needsInterpolation) {
_relativePoses[tipIndex].rot() = safeMix(_relativePoses[tipIndex].rot(), newRelativeRotation, alpha);
} else {
_relativePoses[tipIndex].rot() = newRelativeRotation;
}
// Add last known rotations to interpolate from
if (_rotationOnlyIKRotations.find(tipIndex) == _rotationOnlyIKRotations.end()) {
_rotationOnlyIKRotations.insert(std::pair<int, glm::quat>(tipIndex, _relativePoses[tipIndex].rot()));
} else {
_rotationOnlyIKRotations[tipIndex] = _relativePoses[tipIndex].rot();
}
absolutePoses[tipIndex].rot() = targetRotation;
} else {
bool rotationSnapshotExist = _rotationOnlyIKRotations.find(tipIndex) != _rotationOnlyIKRotations.end();
if (needsInterpolation) {
if (rotationSnapshotExist) {
glm::quat lastKnownRotation = _rotationOnlyIKRotations[tipIndex];
_relativePoses[tipIndex].rot() = safeMix(_relativePoses[tipIndex].rot(), lastKnownRotation, (1 - alpha));
}
} else if (rotationSnapshotExist) {
_rotationOnlyIKRotations.erase(tipIndex);
}
}
_relativePoses[tipIndex].rot() = newRelativeRotation;
absolutePoses[tipIndex].rot() = targetRotation;
}
}
@ -928,6 +957,10 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
(jointChainInfoVec[i].target.getType() != _prevJointChainInfoVec[i].target.getType() ||
jointChainInfoVec[i].target.getPoleVectorEnabled() != _prevJointChainInfoVec[i].target.getPoleVectorEnabled())) {
_prevJointChainInfoVec[i].timer = JOINT_CHAIN_INTERP_TIME;
// Clear the rotations when the target is known
if (jointChainInfoVec[i].target.getType() != IKTarget::Type::Unknown) {
_rotationOnlyIKRotations.erase(jointChainInfoVec[i].target.getIndex());
}
}
}
}

2
libraries/animation/src/AnimInverseKinematics.h
View file

@ -148,6 +148,7 @@ protected:
void clearConstraints();
void initConstraints();
void initLimitCenterPoses();
float getInterpolationAlpha(float timer);
// no copies
AnimInverseKinematics(const AnimInverseKinematics&) = delete;
@ -181,6 +182,7 @@ protected:
AnimPoseVec _defaultRelativePoses; // poses of the relaxed state
AnimPoseVec _relativePoses; // current relative poses
AnimPoseVec _limitCenterPoses; // relative
std::map<int, glm::quat> _rotationOnlyIKRotations;
std::map<int, AnimPose> _secondaryTargetsInRigFrame;