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Alignment to pull elbows towards ground.

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This commit is contained in:
Andrzej Kapolka 2013-11-13 12:06:08 -08:00
parent c2e4a70685
commit d87dccd614
2 changed files with 19 additions and 5 deletions
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21
interface/src/renderer/Model.cpp
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@ -584,7 +584,7 @@ bool Model::getJointRotation(int jointIndex, glm::quat& rotation, bool fromBind)
return true;
}
bool Model::setJointPosition(int jointIndex, const glm::vec3& position, int lastFreeIndex) {
bool Model::setJointPosition(int jointIndex, const glm::vec3& position, int lastFreeIndex, const glm::vec3& alignment) {
if (jointIndex == -1 || _jointStates.isEmpty()) {
return false;
}
@ -598,14 +598,12 @@ bool Model::setJointPosition(int jointIndex, const glm::vec3& position, int last
// this is a cyclic coordinate descent algorithm: see
// http://www.ryanjuckett.com/programming/animation/21-cyclic-coordinate-descent-in-2d
const int ITERATION_COUNT = 1;
glm::vec3 worldAlignment = _rotation * alignment;
for (int i = 0; i < ITERATION_COUNT; i++) {
// first, we go from the joint upwards, rotating the end as close as possible to the target
glm::vec3 endPosition = extractTranslation(_jointStates[jointIndex].transform);
for (int j = 1; freeLineage.at(j - 1) != lastFreeIndex; j++) {
int index = freeLineage.at(j);
if (glm::distance(endPosition, relativePosition) < EPSILON) {
return true; // close enough to target position
}
const FBXJoint& joint = geometry.joints.at(index);
if (!joint.isFree) {
continue;
@ -616,6 +614,21 @@ bool Model::setJointPosition(int jointIndex, const glm::vec3& position, int last
glm::quat oldCombinedRotation = state.combinedRotation;
applyRotationDelta(index, rotationBetween(jointVector, relativePosition - jointPosition));
endPosition = state.combinedRotation * glm::inverse(oldCombinedRotation) * jointVector + jointPosition;
if (alignment != glm::vec3() && j > 1) {
jointVector = endPosition - jointPosition;
glm::vec3 positionSum;
for (int k = j - 1; k > 0; k--) {
int index = freeLineage.at(k);
updateJointState(index);
positionSum += extractTranslation(_jointStates.at(index).transform);
}
glm::vec3 projectedCenterOfMass = glm::cross(jointVector,
glm::cross(positionSum / (j - 1.0f) - jointPosition, jointVector));
glm::vec3 projectedAlignment = glm::cross(jointVector, glm::cross(worldAlignment, jointVector));
if (glm::length(projectedCenterOfMass) > EPSILON && glm::length(projectedAlignment) > EPSILON) {
applyRotationDelta(index, rotationBetween(projectedCenterOfMass, projectedAlignment));
}
}
}
}

3
interface/src/renderer/Model.h
View file

@ -143,7 +143,8 @@ protected:
bool getJointPosition(int jointIndex, glm::vec3& position) const;
bool getJointRotation(int jointIndex, glm::quat& rotation, bool fromBind = false) const;
bool setJointPosition(int jointIndex, const glm::vec3& position, int lastFreeIndex = -1);
bool setJointPosition(int jointIndex, const glm::vec3& position, int lastFreeIndex = -1,
const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f));
bool setJointRotation(int jointIndex, const glm::quat& rotation, bool fromBind = false);
/// Restores the indexed joint to its default position.