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remove world-frame hand/palm set methods

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This commit is contained in:
Andrew Meadows 2014-06-03 14:48:57 -07:00
parent 05af993262
commit e7f32c211b
4 changed files with 5 additions and 232 deletions
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135
interface/src/avatar/SkeletonModel.cpp
View file

@ -70,7 +70,7 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
} else if (leftPalmIndex == rightPalmIndex) {
// right hand only
applyPalmData(geometry.rightHandJointIndex, hand->getPalms()[leftPalmIndex]);
applyPalmDataInModelFrame(geometry.rightHandJointIndex, hand->getPalms()[leftPalmIndex]);
restoreLeftHandPosition(HAND_RESTORATION_RATE, PALM_PRIORITY);
} else {
@ -132,29 +132,6 @@ bool operator<(const IndexValue& firstIndex, const IndexValue& secondIndex) {
return firstIndex.value < secondIndex.value;
}
void SkeletonModel::applyHandPosition(int jointIndex, const glm::vec3& position) {
if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
return;
}
setJointPosition(jointIndex, position, glm::quat(), false, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
const FBXGeometry& geometry = _geometry->getFBXGeometry();
glm::vec3 handPosition, elbowPosition;
getJointPosition(jointIndex, handPosition);
getJointPosition(geometry.joints.at(jointIndex).parentIndex, elbowPosition);
glm::vec3 forearmVector = handPosition - elbowPosition;
float forearmLength = glm::length(forearmVector);
if (forearmLength < EPSILON) {
return;
}
JointState& state = _jointStates[jointIndex];
glm::quat handRotation = state.getJointRotation();
// align hand with forearm
float sign = (jointIndex == geometry.rightHandJointIndex) ? 1.0f : -1.0f;
state.applyRotationDelta(rotationBetween(handRotation * glm::vec3(-sign, 0.0f, 0.0f), forearmVector), true, PALM_PRIORITY);
}
void SkeletonModel::applyHandPositionInModelFrame(int jointIndex, const glm::vec3& position) {
if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
return;
@ -178,52 +155,6 @@ void SkeletonModel::applyHandPositionInModelFrame(int jointIndex, const glm::vec
state.applyRotationDeltaInModelFrame(rotationBetween(handRotation * glm::vec3(-sign, 0.0f, 0.0f), forearmVector), true, PALM_PRIORITY);
}
void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
return;
}
const FBXGeometry& geometry = _geometry->getFBXGeometry();
float sign = (jointIndex == geometry.rightHandJointIndex) ? 1.0f : -1.0f;
int parentJointIndex = geometry.joints.at(jointIndex).parentIndex;
if (parentJointIndex == -1) {
return;
}
// rotate palm to align with its normal (normal points out of hand's palm)
glm::quat palmRotation;
if (!Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK) &&
Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
JointState parentState = _jointStates[parentJointIndex];
palmRotation = parentState.getJointRotation();
} else {
JointState state = _jointStates[jointIndex];
palmRotation = state.getJointRotation();
}
palmRotation = rotationBetween(palmRotation * geometry.palmDirection, palm.getNormal()) * palmRotation;
// rotate palm to align with finger direction
glm::vec3 direction = palm.getFingerDirection();
palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction) * palmRotation;
// set hand position, rotation
if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
setHandPosition(jointIndex, palm.getPosition(), palmRotation);
} else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
glm::vec3 forearmVector = palmRotation * glm::vec3(sign, 0.0f, 0.0f);
setJointPosition(parentJointIndex, palm.getPosition() + forearmVector *
geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale),
glm::quat(), false, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
JointState& parentState = _jointStates[parentJointIndex];
parentState.setRotation(palmRotation, PALM_PRIORITY);
// slam parent-relative rotation to identity
_jointStates[jointIndex]._rotation = glm::quat();
} else {
setJointPosition(jointIndex, palm.getPosition(), palmRotation,
true, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
}
}
void SkeletonModel::applyPalmDataInModelFrame(int jointIndex, PalmData& palm) {
if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
return;
@ -377,70 +308,6 @@ void SkeletonModel::renderJointConstraints(int jointIndex) {
glLineWidth(1.0f);
}
void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation) {
// this algorithm is from sample code from sixense
const FBXGeometry& geometry = _geometry->getFBXGeometry();
int elbowJointIndex = geometry.joints.at(jointIndex).parentIndex;
if (elbowJointIndex == -1) {
return;
}
int shoulderJointIndex = geometry.joints.at(elbowJointIndex).parentIndex;
glm::vec3 shoulderPosition;
if (!getJointPosition(shoulderJointIndex, shoulderPosition)) {
return;
}
// precomputed lengths
float scale = extractUniformScale(_scale);
float upperArmLength = geometry.joints.at(elbowJointIndex).distanceToParent * scale;
float lowerArmLength = geometry.joints.at(jointIndex).distanceToParent * scale;
// first set wrist position
glm::vec3 wristPosition = position;
glm::vec3 shoulderToWrist = wristPosition - shoulderPosition;
float distanceToWrist = glm::length(shoulderToWrist);
// prevent gimbal lock
if (distanceToWrist > upperArmLength + lowerArmLength - EPSILON) {
distanceToWrist = upperArmLength + lowerArmLength - EPSILON;
shoulderToWrist = glm::normalize(shoulderToWrist) * distanceToWrist;
wristPosition = shoulderPosition + shoulderToWrist;
}
// cosine of angle from upper arm to hand vector
float cosA = (upperArmLength * upperArmLength + distanceToWrist * distanceToWrist - lowerArmLength * lowerArmLength) /
(2 * upperArmLength * distanceToWrist);
float mid = upperArmLength * cosA;
float height = sqrt(upperArmLength * upperArmLength + mid * mid - 2 * upperArmLength * mid * cosA);
// direction of the elbow
glm::vec3 handNormal = glm::cross(rotation * glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow rotating with wrist
glm::vec3 relaxedNormal = glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow pointing straight down
const float NORMAL_WEIGHT = 0.5f;
glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
bool rightHand = (jointIndex == geometry.rightHandJointIndex);
if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
}
glm::vec3 tangent = glm::normalize(glm::cross(shoulderToWrist, finalNormal));
// ik solution
glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
glm::quat shoulderRotation = rotationBetween(forwardVector, elbowPosition - shoulderPosition);
JointState& shoulderState = _jointStates[shoulderJointIndex];
shoulderState.setRotation(shoulderRotation, PALM_PRIORITY);
JointState& elbowState = _jointStates[elbowJointIndex];
elbowState.setRotation(rotationBetween(shoulderRotation * forwardVector, wristPosition - elbowPosition) * shoulderRotation, PALM_PRIORITY);
JointState& handState = _jointStates[jointIndex];
handState.setRotation(rotation, PALM_PRIORITY);
}
void SkeletonModel::setHandPositionInModelFrame(int jointIndex, const glm::vec3& position, const glm::quat& rotation) {
// this algorithm is from sample code from sixense
const FBXGeometry& geometry = _geometry->getFBXGeometry();

3
interface/src/avatar/SkeletonModel.h
View file

@ -91,10 +91,8 @@ public:
protected:
void applyHandPosition(int jointIndex, const glm::vec3& position);
void applyHandPositionInModelFrame(int jointIndex, const glm::vec3& position);
void applyPalmData(int jointIndex, PalmData& palm);
void applyPalmDataInModelFrame(int jointIndex, PalmData& palm);
/// Updates the state of the joint at the specified index.
@ -107,7 +105,6 @@ protected:
private:
void renderJointConstraints(int jointIndex);
void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
void setHandPositionInModelFrame(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
Avatar* _owningAvatar;

94
interface/src/renderer/Model.cpp
View file

@ -1288,95 +1288,6 @@ void Model::updateJointState(int index) {
}
}
bool Model::setJointPosition(int jointIndex, const glm::vec3& translation, const glm::quat& rotation, bool useRotation,
int lastFreeIndex, bool allIntermediatesFree, const glm::vec3& alignment, float priority) {
if (jointIndex == -1 || _jointStates.isEmpty()) {
return false;
}
glm::vec3 relativePosition = translation - _translation;
const FBXGeometry& geometry = _geometry->getFBXGeometry();
const QVector<int>& freeLineage = geometry.joints.at(jointIndex).freeLineage;
if (freeLineage.isEmpty()) {
return false;
}
if (lastFreeIndex == -1) {
lastFreeIndex = freeLineage.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, try to rotate the end effector as close as possible to the target rotation, if any
glm::quat endRotation;
if (useRotation) {
JointState& state = _jointStates[jointIndex];
// TODO: figure out what this is trying to do and combine it into one JointState method
endRotation = state.getJointRotation();
state.applyRotationDelta(rotation * glm::inverse(endRotation), true, priority);
endRotation = state.getJointRotation();
}
// then, we go from the joint upwards, rotating the end as close as possible to the target
glm::vec3 endPosition = extractTranslation(_jointStates[jointIndex].getHybridTransform());
for (int j = 1; freeLineage.at(j - 1) != lastFreeIndex; j++) {
int index = freeLineage.at(j);
JointState& state = _jointStates[index];
const FBXJoint& joint = state.getFBXJoint();
if (!(joint.isFree || allIntermediatesFree)) {
continue;
}
glm::vec3 jointPosition = extractTranslation(state.getHybridTransform());
glm::vec3 jointVector = endPosition - jointPosition;
glm::quat oldCombinedRotation = _rotation * state.getRotationInModelFrame();
glm::quat combinedDelta;
float combinedWeight;
if (useRotation) {
combinedDelta = safeMix(rotation * glm::inverse(endRotation),
rotationBetween(jointVector, relativePosition - jointPosition), 0.5f);
combinedWeight = 2.0f;
} else {
combinedDelta = rotationBetween(jointVector, relativePosition - jointPosition);
combinedWeight = 1.0f;
}
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).getHybridTransform());
}
glm::vec3 projectedCenterOfMass = glm::cross(jointVector,
glm::cross(positionSum / (j - 1.0f) - jointPosition, jointVector));
glm::vec3 projectedAlignment = glm::cross(jointVector, glm::cross(worldAlignment, jointVector));
const float LENGTH_EPSILON = 0.001f;
if (glm::length(projectedCenterOfMass) > LENGTH_EPSILON && glm::length(projectedAlignment) > LENGTH_EPSILON) {
combinedDelta = safeMix(combinedDelta, rotationBetween(projectedCenterOfMass, projectedAlignment),
1.0f / (combinedWeight + 1.0f));
}
}
state.applyRotationDelta(combinedDelta, true, priority);
glm::quat actualDelta = _rotation * state.getRotationInModelFrame() * glm::inverse(oldCombinedRotation);
endPosition = actualDelta * jointVector + jointPosition;
if (useRotation) {
endRotation = actualDelta * endRotation;
}
}
}
// now update the joint states from the top
for (int j = freeLineage.size() - 1; j >= 0; j--) {
updateJointState(freeLineage.at(j));
}
_shapesAreDirty = true;
return true;
}
bool Model::setJointPositionInModelFrame(int jointIndex, const glm::vec3& position, const glm::quat& rotation, bool useRotation,
int lastFreeIndex, bool allIntermediatesFree, const glm::vec3& alignment, float priority) {
if (jointIndex == -1 || _jointStates.isEmpty()) {
@ -1614,9 +1525,10 @@ void Model::applyCollision(CollisionInfo& collision) {
axis = glm::normalize(axis);
glm::vec3 end;
getJointPosition(jointIndex, end);
glm::vec3 newEnd = start + glm::angleAxis(angle, axis) * (end - start);
// transform into model-frame
glm::vec3 newEnd = glm::inverse(_rotation) * (start + glm::angleAxis(angle, axis) * (end - start) - _translation);
// try to move it
setJointPosition(jointIndex, newEnd, glm::quat(), false, -1, true);
setJointPositionInModelFrame(jointIndex, newEnd, glm::quat(), false, -1, true);
}
}
}

5
interface/src/renderer/Model.h
View file

@ -176,6 +176,7 @@ public:
int getLastFreeJointIndex(int jointIndex) const;
bool getJointPosition(int jointIndex, glm::vec3& position) const;
bool getJointRotationInWorldFrame(int jointIndex, glm::quat& rotation) const;
bool getJointCombinedRotation(int jointIndex, glm::quat& rotation) const;
@ -268,10 +269,6 @@ protected:
/// Updates the state of the joint at the specified index.
virtual void updateJointState(int index);
bool setJointPosition(int jointIndex, const glm::vec3& translation, const glm::quat& rotation = glm::quat(),
bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
bool setJointPositionInModelFrame(int jointIndex, const glm::vec3& translation, const glm::quat& rotation = glm::quat(),
bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);