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revision of spine spline rotation calculation

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This commit is contained in:
Anthony J. Thibault 2017-05-26 17:09:30 -07:00
parent fc12d7547a
commit 39c23bfe2f
3 changed files with 59 additions and 30 deletions
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68
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -1319,6 +1319,13 @@ void AnimInverseKinematics::initRelativePosesFromSolutionSource(SolutionSource s
}
}
struct SplineJointInfo {
int index;
float ratio;
AnimPose defaultPose;
AnimPose offsetPose;
};
void AnimInverseKinematics::debugDrawSpineSpline(const AnimContext& context) const {
AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix());
@ -1327,21 +1334,22 @@ void AnimInverseKinematics::debugDrawSpineSpline(const AnimContext& context) con
float d = glm::length(hipsPose.trans() - headPose.trans());
const float BACK_GAIN = 1.0f;
const float NECK_GAIN = 0.33f;
glm::vec3 cp0 = hipsPose.trans();
glm::vec3 cm0 = BACK_GAIN * d * (hipsPose.rot() * Vectors::UNIT_Y);
glm::vec3 cp1 = headPose.trans();
glm::vec3 cm1 = NECK_GAIN * d * (headPose.rot() * Vectors::UNIT_Y);
const float BACK_GAIN = 0.5f;
const float NECK_GAIN = 1.0f;
glm::vec3 p0 = hipsPose.trans();
glm::vec3 m0 = BACK_GAIN * d * (hipsPose.rot() * Vectors::UNIT_Y);
glm::vec3 p1 = headPose.trans();
glm::vec3 m1 = NECK_GAIN * d * (headPose.rot() * Vectors::UNIT_Y);
CubicHermiteSplineFunctorWithArcLength hermiteFunc(cp0, cm0, cp1, cm1);
CubicHermiteSplineFunctorWithArcLength hermiteFunc(p0, m0, p1, m1);
const glm::vec4 BLUE(0.0f, 0.0f, 1.0f, 1.0f);
const glm::vec4 WHITE(1.0f, 1.0f, 1.0f, 1.0f);
const glm::vec4 RED(1.0f, 0.0f, 0.0f, 1.0f);
const glm::vec4 WHITE(1.0f, 1.0f, 1.0f, 1.0f);
const glm::vec4 BLUE(0.0f, 0.0f, 1.0f, 1.0f);
const glm::vec4 GREEN(0.0f, 1.0f, 0.0f, 1.0f);
const glm::vec4 CYAN(0.0f, 1.0f, 1.0f, 1.0f);
// draw red and white stripped spline, parameterized by arc length.
// i.e. each stripe should be the same length.
int NUM_SUBDIVISIONS = 20;
float totalArcLength = hermiteFunc.arcLength(1.0f);
const float dArcLength = totalArcLength / NUM_SUBDIVISIONS;
@ -1353,25 +1361,27 @@ void AnimInverseKinematics::debugDrawSpineSpline(const AnimContext& context) con
arcLength += dArcLength;
}
/*
AnimPose p0 = hipsPose;
AnimPose p1 = AnimPose(glm::vec3(1.0f), glm::normalize(glm::lerp(hipsPose.rot(), headPose.rot(), 0.25f)), hermiteSpline(cp0, cm0, cp1, cm1, 0.25f));
AnimPose p2 = AnimPose(glm::vec3(1.0f), glm::normalize(glm::lerp(hipsPose.rot(), headPose.rot(), 0.75f)), hermiteSpline(cp0, cm0, cp1, cm1, 0.75f));
AnimPose p3 = headPose;
AnimPose defaultHipsPose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
AnimPose defaultHeadPose = _skeleton->getAbsoluteDefaultPose(_headIndex);
float hipsToHeadHeight = defaultHeadPose.trans().y - defaultHipsPose.trans().y;
DebugDraw::getInstance().drawRay(cp0, cp0 + cm0, GREEN);
DebugDraw::getInstance().drawRay(cp0 + cm0, cp1, CYAN);
DebugDraw::getInstance().drawRay(cp1, cp1 + cm1, GREEN);
// draw the spline itself
int NUM_SUBDIVISIONS = 20;
float D_ALPHA = 1.0f / NUM_SUBDIVISIONS;
float alpha = 0.0f;
for (int i = 0; i < NUM_SUBDIVISIONS; i++) {
DebugDraw::getInstance().drawRay(hermiteSpline(cp0, cm0, cp1, cm1, alpha),
hermiteSpline(cp0, cm0, cp1, cm1, alpha + D_ALPHA),
(i % 2) == 0 ? RED : WHITE);
alpha += D_ALPHA;
// iterate down the chain and build the splineJointInfoVec
std::vector<SplineJointInfo> splineJointInfoVec;
int index = _headIndex;
int endIndex = _skeleton->getParentIndex(_hipsIndex);
while (index != endIndex) {
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(index);
float ratio = (defaultPose.trans().y - defaultHipsPose.trans().y) / hipsToHeadHeight;
SplineJointInfo splineJointInfo = { index, ratio, defaultPose, AnimPose() };
splineJointInfoVec.push_back(splineJointInfo);
index = _skeleton->getParentIndex(index);
}
*/
for (auto& splineJointInfo : splineJointInfoVec) {
float t = hermiteFunc.arcLengthInverse(splineJointInfo.ratio * totalArcLength);
glm::vec3 trans = hermiteFunc(t);
glm::quat rot = glm::normalize(glm::lerp(hipsPose.rot(), headPose.rot(), t));
DebugDraw::getInstance().addMarker(QString("splineJoint%1").arg(splineJointInfo.index), rot, trans, BLUE);
}
}

19
libraries/shared/src/CubicHermiteSpline.h
View file

@ -31,6 +31,25 @@ public:
return w0 * _p0 + w1 * _m0 + w2 * _p1 + w3 * _m1;
}
// evaulate the first derivative of the hermite curve at parameter t (0..1)
glm::vec3 d(float t) const {
float t2 = t * t;
float w0 = -6.0f * t + 6.0f * t2;
float w1 = 1.0f - 4.0f * t + 3.0f * t2;
float w2 = 6.0 * t - 6.0f * t2;
float w3 = -2.0f * t + 3.0f * t2;
return w0 * _p0 + w1 * _m0 + w2 * _p1 + w3 * _m1;
}
// evaulate the second derivative of the hermite curve at paramter t (0..1)
glm::vec3 d2(float t) const {
float w0 = -6.0f + 12.0f * t;
float w1 = -4.0f + 6.0f * t;
float w2 = 6.0f - 12.0f * t;
float w3 = -2.0f + 6.0f * t;
return w0 + _p0 + w1 * _m0 + w2 * _p1 + w3 * _m1;
}
protected:
glm::vec3 _p0;
glm::vec3 _m0;

2
libraries/shared/src/GLMHelpers.cpp
View file

@ -540,7 +540,7 @@ void generateBasisVectors(const glm::vec3& primaryAxis, const glm::vec3& seconda
// if secondaryAxis is parallel with the primaryAxis, pick another axis.
const float EPSILON = 1.0e-4f;
if (fabsf(fabsf(glm::dot(uAxisOut, secondaryAxis)) - 1.0f) > EPSILON) {
if (fabsf(fabsf(glm::dot(uAxisOut, secondaryAxis)) - 1.0f) > EPSILON) {
// pick a better secondaryAxis.
normSecondary = glm::vec3(1.0f, 0.0f, 0.0f);
if (fabsf(fabsf(glm::dot(uAxisOut, secondaryAxis)) - 1.0f) > EPSILON) {