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WIP, straight arm still rotates..

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This commit is contained in:
Anthony J. Thibault 2017-06-07 10:49:27 -07:00
parent 02f06d4d4e
commit bb45fe0388
1 changed files with 5 additions and 4 deletions
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9
libraries/animation/src/AnimInverseKinematics.cpp
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@ -169,11 +169,11 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
// AJT: HACK REMOVE manually set pole vector. // AJT: HACK REMOVE manually set pole vector.
if (targetVar.jointName == "RightHand") { if (targetVar.jointName == "RightHand") {
target.setPoleVector(glm::normalize(glm::vec3(-1, -1, 0))); target.setPoleVector(glm::normalize(glm::vec3(-1, -2, -1)));
target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName)); target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName));
} }
if (targetVar.jointName == "LeftHand") { if (targetVar.jointName == "LeftHand") {
target.setPoleVector(glm::normalize(glm::vec3(1, -1, 0))); target.setPoleVector(glm::normalize(glm::vec3(1, -2, -1)));
target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName)); target.setPoleIndex(_skeleton->nameToJointIndex(targetVar.jointName));
} }
@ -522,7 +522,8 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit; glm::vec3 pProj = p - glm::dot(p, dUnit) * dUnit;
float eProjLen = glm::length(eProj); float eProjLen = glm::length(eProj);
float pProjLen = glm::length(pProj); float pProjLen = glm::length(pProj);
if (eProjLen > EPSILON && pProjLen > EPSILON) { const float MIN_E_PROJ_LEN = 0.2f; // cm
if (eProjLen > MIN_E_PROJ_LEN && pProjLen > EPSILON) {
float dot = glm::clamp(glm::dot(eProj / eProjLen, pProj / pProjLen), 0.0f, 1.0f); float dot = glm::clamp(glm::dot(eProj / eProjLen, pProj / pProjLen), 0.0f, 1.0f);
float theta = acos(dot); float theta = acos(dot);
glm::vec3 cross = glm::cross(eProj, pProj); glm::vec3 cross = glm::cross(eProj, pProj);
@ -1265,7 +1266,7 @@ void AnimInverseKinematics::initConstraints() {
// we determine the max/min angles by rotating the swing limit lines from parent- to child-frame // we determine the max/min angles by rotating the swing limit lines from parent- to child-frame
// then measure the angles to swing the yAxis into alignment // then measure the angles to swing the yAxis into alignment
glm::vec3 hingeAxis = - mirror * Vectors::UNIT_Z; glm::vec3 hingeAxis = - mirror * Vectors::UNIT_Z;
const float MIN_ELBOW_ANGLE = 0.15f; // ~8.6 deg (ajt-rad-to-deg 0.15) const float MIN_ELBOW_ANGLE = 0.05f; // ~2.8 deg (ajt-rad-to-deg 0.05)
const float MAX_ELBOW_ANGLE = 11.0f * PI / 12.0f; const float MAX_ELBOW_ANGLE = 11.0f * PI / 12.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation); glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_ELBOW_ANGLE, hingeAxis) * Vectors::UNIT_Y; glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_ELBOW_ANGLE, hingeAxis) * Vectors::UNIT_Y;