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Disable elbow pole vectors, solve from joint limit centers.

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Anthony J. Thibault 2018-03-19 18:53:00 -07:00
parent 47437c9564
commit 69f462baeb
1 changed files with 7 additions and 8 deletions
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15
libraries/animation/src/Rig.cpp
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@ -1246,6 +1246,7 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) { const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) {
const bool ENABLE_POLE_VECTORS = false;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f; const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f;
int hipsIndex = indexOfJoint("Hips"); int hipsIndex = indexOfJoint("Hips");
@ -1268,7 +1269,7 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int handJointIndex = _animSkeleton->nameToJointIndex("LeftHand"); int handJointIndex = _animSkeleton->nameToJointIndex("LeftHand");
int armJointIndex = _animSkeleton->nameToJointIndex("LeftArm"); int armJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm"); int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
if (!leftArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) { if (ENABLE_POLE_VECTORS && !leftArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) {
glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, true); glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, true);
// smooth toward desired pole vector from previous pole vector... to reduce jitter // smooth toward desired pole vector from previous pole vector... to reduce jitter
@ -1315,7 +1316,7 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int handJointIndex = _animSkeleton->nameToJointIndex("RightHand"); int handJointIndex = _animSkeleton->nameToJointIndex("RightHand");
int armJointIndex = _animSkeleton->nameToJointIndex("RightArm"); int armJointIndex = _animSkeleton->nameToJointIndex("RightArm");
int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm"); int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm");
if (!rightArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) { if (ENABLE_POLE_VECTORS && !rightArmEnabled && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) {
glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, false); glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, false);
// smooth toward desired pole vector from previous pole vector... to reduce jitter // smooth toward desired pole vector from previous pole vector... to reduce jitter
@ -1555,18 +1556,16 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
updateFeet(leftFootEnabled, rightFootEnabled, updateFeet(leftFootEnabled, rightFootEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot]); params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot]);
// Always relax IK chains toward joint limit centers.
_animVars.set("solutionSource", (int)AnimInverseKinematics::SolutionSource::RelaxToLimitCenterPoses);
// if the hips or the feet are being controlled. // if the hips or the feet are being controlled.
if (hipsEnabled || rightFootEnabled || leftFootEnabled) { if (hipsEnabled || rightFootEnabled || leftFootEnabled) {
// for more predictable IK solve from the center of the joint limits, not from the underpose
_animVars.set("solutionSource", (int)AnimInverseKinematics::SolutionSource::RelaxToLimitCenterPoses);
// replace the feet animation with the default pose, this is to prevent unexpected toe wiggling. // replace the feet animation with the default pose, this is to prevent unexpected toe wiggling.
_animVars.set("defaultPoseOverlayAlpha", 1.0f); _animVars.set("defaultPoseOverlayAlpha", 1.0f);
_animVars.set("defaultPoseOverlayBoneSet", (int)AnimOverlay::BothFeetBoneSet); _animVars.set("defaultPoseOverlayBoneSet", (int)AnimOverlay::BothFeetBoneSet);
} else { } else {
// augment the IK with the underPose.
_animVars.set("solutionSource", (int)AnimInverseKinematics::SolutionSource::RelaxToUnderPoses);
// feet should follow source animation // feet should follow source animation
_animVars.unset("defaultPoseOverlayAlpha"); _animVars.unset("defaultPoseOverlayAlpha");
_animVars.unset("defaultPoseOverlayBoneSet"); _animVars.unset("defaultPoseOverlayBoneSet");