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Merge pull request #7125 from hyperlogic/tony/ik-bugfix

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AnimInverseKinematics: fix for extra twist in lowerSpine joints.
This commit is contained in:
Andrew Meadows 2016-02-17 08:56:16 -08:00
commit 07df96b6b3
1 changed files with 3 additions and 3 deletions
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6
libraries/animation/src/AnimInverseKinematics.cpp
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@ -278,8 +278,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
if (axisLength > MIN_AXIS_LENGTH) { if (axisLength > MIN_AXIS_LENGTH) {
// compute angle of rotation that brings tip closer to target // compute angle of rotation that brings tip closer to target
axis /= axisLength; axis /= axisLength;
float angle = acosf(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine))); float cosAngle = glm::clamp(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine)), -1.0f, 1.0f);
float angle = acosf(cosAngle);
const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f; const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
if (angle > MIN_ADJUSTMENT_ANGLE) { if (angle > MIN_ADJUSTMENT_ANGLE) {
// reduce angle by a fraction (for stability) // reduce angle by a fraction (for stability)
@ -348,7 +348,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
} }
// keep track of tip's new transform as we descend towards root // keep track of tip's new transform as we descend towards root
tipPosition = jointPosition + deltaRotation * leverArm; tipPosition = jointPosition + deltaRotation * (tipPosition - jointPosition);
tipOrientation = glm::normalize(deltaRotation * tipOrientation); tipOrientation = glm::normalize(deltaRotation * tipOrientation);
tipParentOrientation = glm::normalize(deltaRotation * tipParentOrientation); tipParentOrientation = glm::normalize(deltaRotation * tipParentOrientation);