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added safeLerp, shortest angle quat lerp with post normalize

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This commit is contained in:
Anthony J. Thibault 2017-07-05 09:31:02 -07:00
parent 7ed1382ac9
commit 1a24d4d8ec
3 changed files with 18 additions and 11 deletions
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17
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -491,9 +491,8 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
glm::quat twistPart;
glm::vec3 axis = glm::normalize(deltaRotation * leverArm);
swingTwistDecomposition(missingRotation, axis, swingPart, twistPart);
float dotSign = copysignf(1.0f, twistPart.w);
const float LIMIT_LEAK_FRACTION = 0.1f;
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * twistPart, LIMIT_LEAK_FRACTION)) * deltaRotation;
deltaRotation = safeLerp(glm::quat(), twistPart, LIMIT_LEAK_FRACTION);
}
}
}
@ -502,9 +501,8 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// An HmdHead target slaves the orientation of the end-effector by distributing rotation
// deltas up the hierarchy. Its target position is enforced later (by shifting the hips).
deltaRotation = target.getRotation() * glm::inverse(tipOrientation);
float dotSign = copysignf(1.0f, deltaRotation.w);
const float ANGLE_DISTRIBUTION_FACTOR = 0.45f;
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR));
deltaRotation = safeLerp(glm::quat(), deltaRotation, ANGLE_DISTRIBUTION_FACTOR);
}
// compute joint's new parent-relative rotation after swing
@ -761,7 +759,7 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
// This prevents the rotation interpolation from rotating the wrong physical way (but correct mathematical way)
// when the head is arched backwards very far.
glm::quat halfRot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), 0.5f));
glm::quat halfRot = safeLerp(basePose.rot(), tipPose.rot(), 0.5f);
if (glm::dot(halfRot * Vectors::UNIT_Z, basePose.rot() * Vectors::UNIT_Z) < 0.0f) {
tipPose.rot() = -tipPose.rot();
}
@ -784,7 +782,7 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
if (target.getIndex() == _headIndex) {
rotT = t * t;
}
glm::quat twistRot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), rotT));
glm::quat twistRot = safeLerp(basePose.rot(), tipPose.rot(), rotT);
// compute the rotation by using the derivative of the spline as the y-axis, and the twistRot x-axis
glm::vec3 y = glm::normalize(spline.d(t));
@ -1682,7 +1680,7 @@ void AnimInverseKinematics::debugDrawConstraints(const AnimContext& context) con
const int NUM_SWING_STEPS = 10;
for (int i = 0; i < NUM_SWING_STEPS + 1; i++) {
glm::quat rot = glm::normalize(glm::lerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS)));
glm::quat rot = safeLerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS));
glm::vec3 axis = transformVectorFast(geomToWorldMatrix, parentAbsRot * rot * refRot * Vectors::UNIT_Y);
DebugDraw::getInstance().drawRay(pos, pos + TWIST_LENGTH * axis, CYAN);
}
@ -1700,7 +1698,7 @@ void AnimInverseKinematics::debugDrawConstraints(const AnimContext& context) con
const int NUM_SWING_STEPS = 10;
for (int i = 0; i < NUM_SWING_STEPS + 1; i++) {
glm::quat rot = glm::normalize(glm::lerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS)));
glm::quat rot = safeLerp(minRot, maxRot, i * (1.0f / NUM_SWING_STEPS));
glm::vec3 axis = transformVectorFast(geomToWorldMatrix, parentAbsRot * rot * refRot * Vectors::UNIT_X);
DebugDraw::getInstance().drawRay(pos, pos + TWIST_LENGTH * axis, CYAN);
}
@ -1740,10 +1738,9 @@ void AnimInverseKinematics::blendToPoses(const AnimPoseVec& targetPoses, const A
// relax toward poses
int numJoints = (int)_relativePoses.size();
for (int i = 0; i < numJoints; ++i) {
float dotSign = copysignf(1.0f, glm::dot(_relativePoses[i].rot(), targetPoses[i].rot()));
if (_rotationAccumulators[i].isDirty()) {
// this joint is affected by IK --> blend toward the targetPoses rotation
_relativePoses[i].rot() = glm::normalize(glm::lerp(_relativePoses[i].rot(), dotSign * targetPoses[i].rot(), blendFactor));
_relativePoses[i].rot() = safeLerp(_relativePoses[i].rot(), targetPoses[i].rot(), blendFactor);
} else {
// this joint is NOT affected by IK --> slam to underPoses rotation
_relativePoses[i].rot() = underPoses[i].rot();

2
libraries/animation/src/AnimUtil.cpp
View file

@ -28,7 +28,7 @@ void blend(size_t numPoses, const AnimPose* a, const AnimPose* b, float alpha, A
}
result[i].scale() = lerp(aPose.scale(), bPose.scale(), alpha);
result[i].rot() = glm::normalize(glm::lerp(aPose.rot(), q2, alpha));
result[i].rot() = safeLerp(aPose.rot(), bPose.rot(), alpha);
result[i].trans() = lerp(aPose.trans(), bPose.trans(), alpha);
}
}

10
libraries/animation/src/AnimUtil.h
View file

@ -21,4 +21,14 @@ glm::quat averageQuats(size_t numQuats, const glm::quat* quats);
float accumulateTime(float startFrame, float endFrame, float timeScale, float currentFrame, float dt, bool loopFlag,
const QString& id, AnimNode::Triggers& triggersOut);
inline glm::quat safeLerp(const glm::quat& a, const glm::quat& b, float alpha) {
// adjust signs if necessary
glm::quat bTemp = b;
float dot = glm::dot(a, bTemp);
if (dot < 0.0f) {
bTemp = -bTemp;
}
return glm::normalize(glm::lerp(a, bTemp, alpha));
}
#endif