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turned off pole vector when hand behind back

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amantley 2019-02-21 13:14:51 -08:00
parent de10aebbb5
commit 0bdc527ce7
1 changed files with 17 additions and 9 deletions
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26
libraries/animation/src/Rig.cpp
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@ -1874,11 +1874,13 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
unitAxis = Vectors::UNIT_Y; unitAxis = Vectors::UNIT_Y;
} }
if ((armToHand.z < 0.0f) && (armToHand.y < 0.0f)) {
// turn off the poleVector when the hand is back and down
return false;
}
// get the pole vector theta based on the hand position relative to the shoulder. // get the pole vector theta based on the hand position relative to the shoulder.
float positionalTheta = getHandPositionTheta(armToHand, defaultArmLength, left); float positionalTheta = getHandPositionTheta(armToHand, defaultArmLength, left);
if (left) {
qCDebug(animation) << "positional theta left "<< positionalTheta;
}
// now we calculate the contribution of the hand rotation relative to the arm // now we calculate the contribution of the hand rotation relative to the arm
glm::quat relativeHandRotation = (elbowPose.inverse() * handPose).rot(); glm::quat relativeHandRotation = (elbowPose.inverse() * handPose).rot();
@ -1966,14 +1968,20 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
// limit the correction anatomically possible angles and change to radians // limit the correction anatomically possible angles and change to radians
const float LOWER_ANATOMICAL_ANGLE = 175.0f; const float LOWER_ANATOMICAL_ANGLE = 175.0f;
const float UPPER_ANATOMICAL_ANGLE = 50.0f; const float UPPER_ANATOMICAL_ANGLE = 50.0f;
// make the lower boundary vary with the body
float lowerBoundary = LOWER_ANATOMICAL_ANGLE;
if (fabsf(positionalTheta) < LOWER_ANATOMICAL_ANGLE) {
lowerBoundary = positionalTheta;
}
float thetaRadians = 0.0f; float thetaRadians = 0.0f;
if (left) { if (left) {
if (_lastThetaLeft > -50.0f) { if (_lastThetaLeft > -UPPER_ANATOMICAL_ANGLE) {
_lastThetaLeft = -50.0f; _lastThetaLeft = -UPPER_ANATOMICAL_ANGLE;
} }
if (_lastThetaLeft < -LOWER_ANATOMICAL_ANGLE) { if (_lastThetaLeft < lowerBoundary) {
_lastThetaLeft = -LOWER_ANATOMICAL_ANGLE; _lastThetaLeft = lowerBoundary;
} }
// convert to radians and make 180 0 to match pole vector theta // convert to radians and make 180 0 to match pole vector theta
thetaRadians = ((180.0f - _lastThetaLeft) / 180.0f)*PI; thetaRadians = ((180.0f - _lastThetaLeft) / 180.0f)*PI;
@ -1982,8 +1990,8 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
if (_lastThetaRight < UPPER_ANATOMICAL_ANGLE) { if (_lastThetaRight < UPPER_ANATOMICAL_ANGLE) {
_lastThetaRight = UPPER_ANATOMICAL_ANGLE; _lastThetaRight = UPPER_ANATOMICAL_ANGLE;
} }
if (_lastThetaRight > LOWER_ANATOMICAL_ANGLE) { if (_lastThetaRight > lowerBoundary) {
_lastThetaRight = LOWER_ANATOMICAL_ANGLE; _lastThetaRight = lowerBoundary;
} }
// convert to radians and make 180 0 to match pole vector theta // convert to radians and make 180 0 to match pole vector theta
thetaRadians = ((180.0f - _lastThetaRight) / 180.0f)*PI; thetaRadians = ((180.0f - _lastThetaRight) / 180.0f)*PI;