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WIP: added blend between hips and foot for knee pole vector

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This commit is contained in:
Anthony J. Thibault 2017-06-12 17:23:23 -07:00
parent 0cde22d937
commit 7521d6124e
1 changed files with 21 additions and 10 deletions
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31
libraries/animation/src/AnimInverseKinematics.cpp
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@ -161,9 +161,9 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
IKTarget target;
target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition));
if (target.getType() != IKTarget::Type::Unknown) {
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, defaultPose.rot());
glm::vec3 translation = animVars.lookupRigToGeometry(targetVar.positionVar, defaultPose.trans());
AnimPose absPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, absPose.rot());
glm::vec3 translation = animVars.lookupRigToGeometry(targetVar.positionVar, absPose.trans());
float weight = animVars.lookup(targetVar.weightVar, targetVar.weight);
target.setPose(rotation, translation);
@ -207,13 +207,24 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
}
*/
if (targetVar.jointName == "LeftFoot") {
glm::vec3 footY = rotation * Vectors::UNIT_Y;
target.setPoleVector(footY);
target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName));
} else if (targetVar.jointName == "RightFoot") {
glm::vec3 footY = rotation * Vectors::UNIT_Y;
target.setPoleVector(footY);
if (targetVar.jointName == "LeftFoot" || targetVar.jointName == "RightFoot") {
// compute the forward direction of the foot.
AnimPose defaultPose = _skeleton->getAbsoluteDefaultPose(targetVar.jointIndex);
glm::vec3 localForward = glm::inverse(defaultPose.rot()) * Vectors::UNIT_Z;
glm::vec3 footForward = rotation * localForward;
// compute the forward direction of the hips.
glm::quat hipsRotation = _skeleton->getAbsolutePose(_hipsIndex, _relativePoses).rot();
glm::vec3 hipsForward = hipsRotation * Vectors::UNIT_Z;
// blend between the hips and the foot.
const float FOOT_TO_HIPS_BLEND_FACTOR = 0.5f;
glm::vec3 poleVector = glm::normalize(lerp(footForward, hipsForward, FOOT_TO_HIPS_BLEND_FACTOR));
// TODO: smooth toward desired pole vector from previous pole vector... to reduce jitter
target.setPoleVector(poleVector);
target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName));
}