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WIP pole vectors work.. but still have issues...

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This commit is contained in:
Anthony J. Thibault 2017-06-06 17:05:06 -07:00
parent 6564cfd5d1
commit 02f06d4d4e
1 changed files with 72 additions and 28 deletions
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100
libraries/animation/src/AnimInverseKinematics.cpp
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@ -169,7 +169,11 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
// AJT: HACK REMOVE manually set pole vector.
if (targetVar.jointName == "RightHand") {
target.setPoleVector(glm::normalize(glm::vec3(-1, 0, 0)));
target.setPoleVector(glm::normalize(glm::vec3(-1, -1, 0)));
target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName));
}
if (targetVar.jointName == "LeftHand") {
target.setPoleVector(glm::normalize(glm::vec3(1, -1, 0)));
target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName));
}
@ -478,60 +482,99 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
if (target.getPoleIndex() != -1) {
int topIndex = target.getPoleIndex();
int midIndex = _skeleton->getParentIndex(topIndex);
if (midIndex != -1) {
int baseIndex = _skeleton->getParentIndex(midIndex);
if (baseIndex != -1) {
int baseParentIndex = _skeleton->getParentIndex(baseIndex);
int topJointIndex = target.getPoleIndex();
int midJointIndex = _skeleton->getParentIndex(topJointIndex);
if (midJointIndex != -1) {
int baseJointIndex = _skeleton->getParentIndex(midJointIndex);
if (baseJointIndex != -1) {
int baseParentJointIndex = _skeleton->getParentIndex(baseJointIndex);
AnimPose topPose, midPose, basePose, baseParentPose;
int topChainIndex = -1, baseChainIndex = -1;
AnimPose postAbsPoses[MAX_CHAIN_DEPTH];
AnimPose accum = absolutePoses[_hipsIndex];
for (int i = (int)chainDepth - 1; i >= 0; i--) {
accum = accum * AnimPose(glm::vec3(1.0f), jointChainInfos[i].relRot, jointChainInfos[i].relTrans);
postAbsPoses[i] = accum;
if (jointChainInfos[i].jointIndex == topIndex) {
if (jointChainInfos[i].jointIndex == topJointIndex) {
topChainIndex = i;
topPose = accum;
}
if (jointChainInfos[i].jointIndex == midIndex) {
if (jointChainInfos[i].jointIndex == midJointIndex) {
midPose = accum;
}
if (jointChainInfos[i].jointIndex == baseIndex) {
if (jointChainInfos[i].jointIndex == baseJointIndex) {
baseChainIndex = i;
basePose = accum;
}
if (jointChainInfos[i].jointIndex == baseParentIndex) {
if (jointChainInfos[i].jointIndex == baseParentJointIndex) {
baseParentPose = accum;
}
}
// AJT: TODO: check for parallel edge cases.
glm::vec3 d = glm::normalize(basePose.trans() - topPose.trans());
glm::vec3 e = midPose.trans() - topPose.trans();
glm::vec3 dHat = glm::dot(e, d) * d + topPose.trans();
glm::vec3 eHat = glm::normalize(midPose.trans() - dHat);
float theta = acos(glm::dot(eHat, target.getPoleVector()));
glm::vec3 axis = glm::normalize(glm::cross(eHat, target.getPoleVector()));
glm::quat poleRot = glm::angleAxis(-theta, axis);
glm::quat poleRot = Quaternions::IDENTITY;
glm::vec3 d = basePose.trans() - topPose.trans();
float dLen = glm::length(d);
if (dLen > EPSILON) {
glm::vec3 dUnit = d / dLen;
glm::vec3 e = midPose.trans() - basePose.trans();
glm::vec3 p = target.getPoleVector();
glm::vec3 eProj = e - glm::dot(e, dUnit) * dUnit;
glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit;
float eProjLen = glm::length(eProj);
float pProjLen = glm::length(pProj);
if (eProjLen > EPSILON && pProjLen > EPSILON) {
float dot = glm::clamp(glm::dot(eProj / eProjLen, pProj / pProjLen), 0.0f, 1.0f);
float theta = acos(dot);
glm::vec3 cross = glm::cross(eProj, pProj);
float crossLen = glm::length(cross);
if (crossLen > EPSILON) {
glm::vec3 axis = cross / crossLen;
poleRot = glm::angleAxis(theta, axis);
}
}
}
if (debug) {
const vec4 RED(1.0f, 0.0f, 0.0f, 1.0f);
const vec4 GREEN(0.0f, 1.0f, 0.0f, 1.0f);
const vec4 BLUE(0.0f, 0.0f, 1.0f, 1.0f);
const vec4 YELLOW(1.0f, 1.0f, 0.0f, 1.0f);
const vec4 WHITE(1.0f, 1.0f, 1.0f, 1.0f);
AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix());
glm::vec3 dUnit = d / dLen;
glm::vec3 e = midPose.trans() - basePose.trans();
glm::vec3 p = target.getPoleVector();
glm::vec3 eProj = e - glm::dot(e, dUnit) * dUnit;
glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit;
float eProjLen = glm::length(eProj);
float pProjLen = glm::length(pProj);
const float POLE_VECTOR_LEN = 10.0f;
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(basePose.trans()), geomToWorldPose.xformPoint(topPose.trans()), GREEN);
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(dHat), geomToWorldPose.xformPoint(dHat + POLE_VECTOR_LEN * eHat), RED);
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(dHat), geomToWorldPose.xformPoint(dHat + POLE_VECTOR_LEN * target.getPoleVector()), BLUE);
glm::vec3 midPoint = (basePose.trans() + topPose.trans()) * 0.5f;
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(basePose.trans()),
geomToWorldPose.xformPoint(topPose.trans()),
YELLOW);
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(midPoint),
geomToWorldPose.xformPoint(midPoint + POLE_VECTOR_LEN * glm::normalize(eProj)),
RED);
/*
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(midPoint),
geomToWorldPose.xformPoint(midPoint + POLE_VECTOR_LEN * glm::normalize(p)),
BLUE);
*/
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(midPoint),
geomToWorldPose.xformPoint(midPoint + POLE_VECTOR_LEN * glm::normalize(pProj)),
GREEN);
}
glm::quat newBaseRelRot = glm::inverse(baseParentPose.rot()) * poleRot * basePose.rot() * glm::inverse(jointChainInfos[baseIndex].relRot);
jointChainInfos[baseIndex].relRot = glm::quat(); //newBaseRelRot * jointChainInfos[baseIndex].relRot;
glm::quat newTopRelRot = glm::inverse(midPose.rot()) * glm::inverse(poleRot) * topPose.rot() * glm::inverse(jointChainInfos[topIndex].relRot);
jointChainInfos[topIndex].relRot = glm::quat(); //newTopRelRot * jointChainInfos[topIndex].relRot;
glm::quat newBaseRelRot = glm::inverse(baseParentPose.rot()) * poleRot * basePose.rot();
jointChainInfos[baseChainIndex].relRot = newBaseRelRot;
glm::quat newTopRelRot = glm::inverse(midPose.rot()) * glm::inverse(poleRot) * topPose.rot();
jointChainInfos[topChainIndex].relRot = newTopRelRot;
}
}
}
@ -1222,7 +1265,7 @@ void AnimInverseKinematics::initConstraints() {
// we determine the max/min angles by rotating the swing limit lines from parent- to child-frame
// then measure the angles to swing the yAxis into alignment
glm::vec3 hingeAxis = - mirror * Vectors::UNIT_Z;
const float MIN_ELBOW_ANGLE = 0.05f;
const float MIN_ELBOW_ANGLE = 0.15f; // ~8.6 deg (ajt-rad-to-deg 0.15)
const float MAX_ELBOW_ANGLE = 11.0f * PI / 12.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_ELBOW_ANGLE, hingeAxis) * Vectors::UNIT_Y;
@ -1388,6 +1431,7 @@ void AnimInverseKinematics::debugDrawRelativePoses(const AnimContext& context) c
// convert relative poses to absolute
_skeleton->convertRelativePosesToAbsolute(poses);
mat4 geomToWorldMatrix = context.getRigToWorldMatrix() * context.getGeometryToRigMatrix();
const vec4 RED(1.0f, 0.0f, 0.0f, 1.0f);