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getJointPosition -> getJointPositionInWorldFrame

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This commit is contained in:
Andrew Meadows 2014-06-04 10:52:10 -07:00
parent 14e782e439
commit 30d936c15b
6 changed files with 23 additions and 24 deletions
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6
interface/src/avatar/Avatar.cpp
View file

@ -377,7 +377,7 @@ void Avatar::simulateAttachments(float deltaTime) {
if (!isMyAvatar()) {
model->setLODDistance(getLODDistance());
}
if (_skeletonModel.getJointPosition(jointIndex, jointPosition) &&
if (_skeletonModel.getJointPositionInWorldFrame(jointIndex, jointPosition) &&
_skeletonModel.getJointCombinedRotation(jointIndex, jointRotation)) {
model->setTranslation(jointPosition + jointRotation * attachment.translation * _scale);
model->setRotation(jointRotation * attachment.rotation);
@ -713,7 +713,7 @@ glm::vec3 Avatar::getJointPosition(int index) const {
return position;
}
glm::vec3 position;
_skeletonModel.getJointPosition(index, position);
_skeletonModel.getJointPositionInWorldFrame(index, position);
return position;
}
@ -725,7 +725,7 @@ glm::vec3 Avatar::getJointPosition(const QString& name) const {
return position;
}
glm::vec3 position;
_skeletonModel.getJointPosition(getJointIndex(name), position);
_skeletonModel.getJointPositionInWorldFrame(getJointIndex(name), position);
return position;
}

4
interface/src/avatar/FaceModel.cpp
View file

@ -94,6 +94,6 @@ bool FaceModel::getEyePositions(glm::vec3& firstEyePosition, glm::vec3& secondEy
return false;
}
const FBXGeometry& geometry = _geometry->getFBXGeometry();
return getJointPosition(geometry.leftEyeJointIndex, firstEyePosition) &&
getJointPosition(geometry.rightEyeJointIndex, secondEyePosition);
return getJointPositionInWorldFrame(geometry.leftEyeJointIndex, firstEyePosition) &&
getJointPositionInWorldFrame(geometry.rightEyeJointIndex, secondEyePosition);
}

20
interface/src/avatar/SkeletonModel.cpp
View file

@ -373,11 +373,11 @@ void SkeletonModel::setHandPositionInModelFrame(int jointIndex, const glm::vec3&
}
bool SkeletonModel::getLeftHandPosition(glm::vec3& position) const {
return getJointPosition(getLeftHandJointIndex(), position);
return getJointPositionInWorldFrame(getLeftHandJointIndex(), position);
}
bool SkeletonModel::getRightHandPosition(glm::vec3& position) const {
return getJointPosition(getRightHandJointIndex(), position);
return getJointPositionInWorldFrame(getRightHandJointIndex(), position);
}
bool SkeletonModel::restoreLeftHandPosition(float fraction, float priority) {
@ -385,7 +385,7 @@ bool SkeletonModel::restoreLeftHandPosition(float fraction, float priority) {
}
bool SkeletonModel::getLeftShoulderPosition(glm::vec3& position) const {
return getJointPosition(getLastFreeJointIndex(getLeftHandJointIndex()), position);
return getJointPositionInWorldFrame(getLastFreeJointIndex(getLeftHandJointIndex()), position);
}
float SkeletonModel::getLeftArmLength() const {
@ -397,7 +397,7 @@ bool SkeletonModel::restoreRightHandPosition(float fraction, float priority) {
}
bool SkeletonModel::getRightShoulderPosition(glm::vec3& position) const {
return getJointPosition(getLastFreeJointIndex(getRightHandJointIndex()), position);
return getJointPositionInWorldFrame(getLastFreeJointIndex(getRightHandJointIndex()), position);
}
float SkeletonModel::getRightArmLength() const {
@ -405,11 +405,11 @@ float SkeletonModel::getRightArmLength() const {
}
bool SkeletonModel::getHeadPosition(glm::vec3& headPosition) const {
return isActive() && getJointPosition(_geometry->getFBXGeometry().headJointIndex, headPosition);
return isActive() && getJointPositionInWorldFrame(_geometry->getFBXGeometry().headJointIndex, headPosition);
}
bool SkeletonModel::getNeckPosition(glm::vec3& neckPosition) const {
return isActive() && getJointPosition(_geometry->getFBXGeometry().neckJointIndex, neckPosition);
return isActive() && getJointPositionInWorldFrame(_geometry->getFBXGeometry().neckJointIndex, neckPosition);
}
bool SkeletonModel::getNeckParentRotation(glm::quat& neckParentRotation) const {
@ -428,14 +428,14 @@ bool SkeletonModel::getEyePositions(glm::vec3& firstEyePosition, glm::vec3& seco
return false;
}
const FBXGeometry& geometry = _geometry->getFBXGeometry();
if (getJointPosition(geometry.leftEyeJointIndex, firstEyePosition) &&
getJointPosition(geometry.rightEyeJointIndex, secondEyePosition)) {
if (getJointPositionInWorldFrame(geometry.leftEyeJointIndex, firstEyePosition) &&
getJointPositionInWorldFrame(geometry.rightEyeJointIndex, secondEyePosition)) {
return true;
}
// no eye joints; try to estimate based on head/neck joints
glm::vec3 neckPosition, headPosition;
if (getJointPosition(geometry.neckJointIndex, neckPosition) &&
getJointPosition(geometry.headJointIndex, headPosition)) {
if (getJointPositionInWorldFrame(geometry.neckJointIndex, neckPosition) &&
getJointPositionInWorldFrame(geometry.headJointIndex, headPosition)) {
const float EYE_PROPORTION = 0.6f;
glm::vec3 baseEyePosition = glm::mix(neckPosition, headPosition, EYE_PROPORTION);
glm::quat headRotation;

2
interface/src/devices/PrioVR.cpp
View file

@ -92,7 +92,7 @@ static void setPalm(float deltaTime, int index) {
skeletonModel->getJointRotation(jointIndex, rotation, true);
rotation = inverseRotation * rotation * glm::quat(glm::vec3(0.0f, -PI_OVER_TWO, 0.0f));
}
skeletonModel->getJointPosition(jointIndex, position);
skeletonModel->getJointPositionInWorldFrame(jointIndex, position);
position = inverseRotation * (position - skeletonModel->getTranslation());
palm->setRawRotation(rotation);

13
interface/src/renderer/Model.cpp
View file

@ -747,12 +747,11 @@ void Model::setURL(const QUrl& url, const QUrl& fallback, bool retainCurrent, bo
}
}
bool Model::getJointPosition(int jointIndex, glm::vec3& position) const {
bool Model::getJointPositionInWorldFrame(int jointIndex, glm::vec3& position) const {
if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
return false;
}
position = _translation + extractTranslation(_jointStates[jointIndex].getHybridTransform());
//position = _translation + _rotation * _jointState[jointIndex].getPositionInModelFrame();
position = _translation + _rotation * _jointStates[jointIndex].getPositionInModelFrame();
return true;
}
@ -1234,7 +1233,7 @@ void Model::simulateInternal(float deltaTime) {
glm::vec3 jointTranslation = _translation;
glm::quat jointRotation = _rotation;
getJointPosition(attachment.jointIndex, jointTranslation);
getJointPositionInWorldFrame(attachment.jointIndex, jointTranslation);
getJointRotationInWorldFrame(attachment.jointIndex, jointRotation);
model->setTranslation(jointTranslation + jointRotation * attachment.translation * _scale);
@ -1508,12 +1507,12 @@ void Model::applyCollision(CollisionInfo& collision) {
glm::vec3 jointPosition(0.0f);
int jointIndex = collision._intData;
if (getJointPosition(jointIndex, jointPosition)) {
if (getJointPositionInWorldFrame(jointIndex, jointPosition)) {
const FBXJoint& joint = _geometry->getFBXGeometry().joints[jointIndex];
if (joint.parentIndex != -1) {
// compute the approximate distance (travel) that the joint needs to move
glm::vec3 start;
getJointPosition(joint.parentIndex, start);
getJointPositionInWorldFrame(joint.parentIndex, start);
glm::vec3 contactPoint = collision._contactPoint - start;
glm::vec3 penetrationEnd = contactPoint + collision._penetration;
glm::vec3 axis = glm::cross(contactPoint, penetrationEnd);
@ -1524,7 +1523,7 @@ void Model::applyCollision(CollisionInfo& collision) {
float angle = asinf(travel / (glm::length(contactPoint) * glm::length(penetrationEnd)));
axis = glm::normalize(axis);
glm::vec3 end;
getJointPosition(jointIndex, end);
getJointPositionInWorldFrame(jointIndex, end);
// transform into model-frame
glm::vec3 newEnd = glm::inverse(_rotation) * (start + glm::angleAxis(angle, axis) * (end - start) - _translation);
// try to move it

2
interface/src/renderer/Model.h
View file

@ -173,7 +173,7 @@ public:
/// Returns the index of the last free ancestor of the indexed joint, or -1 if not found.
int getLastFreeJointIndex(int jointIndex) const;
bool getJointPosition(int jointIndex, glm::vec3& position) const;
bool getJointPositionInWorldFrame(int jointIndex, glm::vec3& position) const;
bool getJointRotationInWorldFrame(int jointIndex, glm::quat& rotation) const;
bool getJointCombinedRotation(int jointIndex, glm::quat& rotation) const;