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precondition initial solution before solving to reduce limb locking.

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This commit is contained in:
Anthony J. Thibault 2017-06-15 15:02:42 -07:00
parent fac21033e7
commit cdfba52488
4 changed files with 56 additions and 7 deletions
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54
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -394,6 +394,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
const float MIN_AXIS_LENGTH = 1.0e-4f;
RotationConstraint* constraint = getConstraint(pivotIndex);
// only allow swing on lowerSpine if there is a hips IK target.
if (_hipsTargetIndex < 0 && constraint && constraint->isLowerSpine() && tipIndex != _headIndex) {
// for these types of targets we only allow twist at the lower-spine
@ -419,6 +420,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
float cosAngle = glm::clamp(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine)), -1.0f, 1.0f);
float angle = acosf(cosAngle);
const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
if (angle > MIN_ADJUSTMENT_ANGLE) {
// reduce angle by a flexCoefficient
angle *= target.getFlexCoefficient(chainDepth);
@ -791,6 +793,7 @@ const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVar
return _relativePoses;
}
//virtual
const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
// allows solutionSource to be overridden by an animVar
@ -904,6 +907,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
{
PROFILE_RANGE_EX(simulation_animation, "ik/ccd", 0xffff00ff, 0);
preconditionRelativePosesToAvoidLimbLock(context, targets);
solve(context, targets);
}
@ -1279,7 +1283,7 @@ void AnimInverseKinematics::initConstraints() {
// 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
glm::vec3 hingeAxis = - mirror * Vectors::UNIT_Z;
const float MIN_ELBOW_ANGLE = 0.05f; // ~2.8 deg (ajt-rad-to-deg 0.05)
const float MIN_ELBOW_ANGLE = 0.0f;
const float MAX_ELBOW_ANGLE = 11.0f * PI / 12.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_ELBOW_ANGLE, hingeAxis) * Vectors::UNIT_Y;
@ -1310,7 +1314,7 @@ void AnimInverseKinematics::initConstraints() {
// 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
const float MIN_KNEE_ANGLE = 0.097f; // ~5 deg
const float MIN_KNEE_ANGLE = 0.0f;
const float MAX_KNEE_ANGLE = 7.0f * PI / 8.0f; // 157.5 deg
glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_KNEE_ANGLE, hingeAxis) * Vectors::UNIT_Y;
@ -1659,6 +1663,50 @@ void AnimInverseKinematics::blendToPoses(const AnimPoseVec& targetPoses, const A
}
}
void AnimInverseKinematics::preconditionRelativePosesToAvoidLimbLock(const AnimContext& context, const std::vector<IKTarget>& targets) {
const int NUM_LIMBS = 4;
std::pair<int, int> limbs[NUM_LIMBS] = {
{_skeleton->nameToJointIndex("LeftHand"), _skeleton->nameToJointIndex("LeftArm")},
{_skeleton->nameToJointIndex("RightHand"), _skeleton->nameToJointIndex("RightArm")},
{_skeleton->nameToJointIndex("LeftFoot"), _skeleton->nameToJointIndex("LeftUpLeg")},
{_skeleton->nameToJointIndex("RightFoot"), _skeleton->nameToJointIndex("RightUpLeg")}
};
const float MIN_AXIS_LENGTH = 1.0e-4f;
for (auto& target : targets) {
if (target.getIndex() != -1) {
for (int i = 0; i < NUM_LIMBS; i++) {
if (limbs[i].first == target.getIndex()) {
int tipIndex = limbs[i].first;
int baseIndex = limbs[i].second;
// TODO: as an optimization, these poses can be computed in one pass down the chain, instead of three.
AnimPose tipPose = _skeleton->getAbsolutePose(tipIndex, _relativePoses);
AnimPose basePose = _skeleton->getAbsolutePose(baseIndex, _relativePoses);
AnimPose baseParentPose = _skeleton->getAbsolutePose(_skeleton->getParentIndex(baseIndex), _relativePoses);
// to help reduce limb locking, and to help the CCD solver converge faster
// rotate the limbs leverArm over the targetLine.
glm::vec3 targetLine = target.getTranslation() - basePose.trans();
glm::vec3 leverArm = tipPose.trans() - basePose.trans();
glm::vec3 axis = glm::cross(leverArm, targetLine);
float axisLength = glm::length(axis);
if (axisLength > MIN_AXIS_LENGTH) {
// compute angle of rotation that brings tip to target
axis /= axisLength;
float cosAngle = glm::clamp(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine)), -1.0f, 1.0f);
float angle = acosf(cosAngle);
glm::quat newBaseRotation = glm::angleAxis(angle, axis) * basePose.rot();
// convert base rotation into relative space of base.
_relativePoses[baseIndex].rot() = glm::inverse(baseParentPose.rot()) * newBaseRotation;
}
}
}
}
}
}
void AnimInverseKinematics::initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPoses) {
const float RELAX_BLEND_FACTOR = (1.0f / 16.0f);
const float COPY_BLEND_FACTOR = 1.0f;
@ -1678,7 +1726,7 @@ void AnimInverseKinematics::initRelativePosesFromSolutionSource(SolutionSource s
break;
case SolutionSource::LimitCenterPoses:
// essentially copy limitCenterPoses over to _relativePoses.
blendToPoses(_limitCenterPoses, underPoses, COPY_BLEND_FACTOR);
blendToPoses(underPoses, _limitCenterPoses, COPY_BLEND_FACTOR);
break;
}
}

1
libraries/animation/src/AnimInverseKinematics.h
View file

@ -82,6 +82,7 @@ protected:
void debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const;
void initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPose);
void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor);
void preconditionRelativePosesToAvoidLimbLock(const AnimContext& context, const std::vector<IKTarget>& targets);
// used to pre-compute information about each joint influeced by a spline IK target.
struct SplineJointInfo {

6
libraries/animation/src/AnimSkeleton.cpp
View file

@ -76,11 +76,11 @@ const QString& AnimSkeleton::getJointName(int jointIndex) const {
return _joints[jointIndex].name;
}
AnimPose AnimSkeleton::getAbsolutePose(int jointIndex, const AnimPoseVec& poses) const {
if (jointIndex < 0 || jointIndex >= (int)poses.size() || jointIndex >= _jointsSize) {
AnimPose AnimSkeleton::getAbsolutePose(int jointIndex, const AnimPoseVec& relativePoses) const {
if (jointIndex < 0 || jointIndex >= (int)relativePoses.size() || jointIndex >= _jointsSize) {
return AnimPose::identity;
} else {
return getAbsolutePose(_joints[jointIndex].parentIndex, poses) * poses[jointIndex];
return getAbsolutePose(_joints[jointIndex].parentIndex, relativePoses) * relativePoses[jointIndex];
}
}

2
libraries/animation/src/AnimSkeleton.h
View file

@ -50,7 +50,7 @@ public:
int getParentIndex(int jointIndex) const;
AnimPose getAbsolutePose(int jointIndex, const AnimPoseVec& poses) const;
AnimPose getAbsolutePose(int jointIndex, const AnimPoseVec& relativePoses) const;
void convertRelativePosesToAbsolute(AnimPoseVec& poses) const;
void convertAbsolutePosesToRelative(AnimPoseVec& poses) const;