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Bug fix centerLimit rot for LeftArm, also, lower arms in centerLimit pose

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Lowering the arms in centerLimit poses will help keep the elbows relaxed on the side of the body.
This commit is contained in:
Anthony J. Thibault 2017-05-09 09:47:26 -07:00
parent 5a4b21c0a9
commit fe69f58174
3 changed files with 21 additions and 7 deletions
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13
libraries/animation/src/AnimInverseKinematics.cpp
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@ -955,6 +955,19 @@ void AnimInverseKinematics::initLimitCenterPoses() {
}
_limitCenterPoses.push_back(pose);
}
// The limit center rotations for the LeftArm and RightArm form a t-pose.
// In order for the elbows to look more natural, we rotate them down by the avatar's sides
const float UPPER_ARM_THETA = 3.0f * PI / 8.0f; // 67.5 deg
int leftArmIndex = _skeleton->nameToJointIndex("LeftArm");
const glm::quat armRot = glm::angleAxis(UPPER_ARM_THETA, Vectors::UNIT_X);
if (leftArmIndex >= 0 && leftArmIndex < _limitCenterPoses.size()) {
_limitCenterPoses[leftArmIndex].rot() = _limitCenterPoses[leftArmIndex].rot() * armRot;
}
int rightArmIndex = _skeleton->nameToJointIndex("RightArm");
if (rightArmIndex >= 0 && rightArmIndex < _limitCenterPoses.size()) {
_limitCenterPoses[rightArmIndex].rot() = _limitCenterPoses[rightArmIndex].rot() * armRot;
}
}
void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) {

2
libraries/animation/src/Rig.cpp
View file

@ -1031,7 +1031,7 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
_animVars.set("notIsTalking", !params.isTalking);
if (params.hipsEnabled) {
_animVars.set("solutionSource", (int)AnimInverseKinematics::SolutionSource::RelaxToCenterJointLimits);
_animVars.set("solutionSource", (int)AnimInverseKinematics::SolutionSource::RelaxToLimitCenterPoses);
_animVars.set("hipsType", (int)IKTarget::Type::RotationAndPosition);
_animVars.set("hipsPosition", extractTranslation(params.hipsMatrix));
_animVars.set("hipsRotation", glmExtractRotation(params.hipsMatrix));

13
libraries/animation/src/SwingTwistConstraint.cpp
View file

@ -433,15 +433,16 @@ void SwingTwistConstraint::clearHistory() {
}
glm::quat SwingTwistConstraint::computeCenterRotation() const {
const size_t NUM_TWIST_LIMITS = 2;
const size_t NUM_MIN_DOTS = getMinDots().size();
const size_t NUM_LIMITS = 2 * NUM_MIN_DOTS;
std::vector<glm::quat> swingLimits;
swingLimits.reserve(NUM_LIMITS);
swingLimits.reserve(NUM_MIN_DOTS);
glm::quat twistLimits[2];
glm::quat twistLimits[NUM_TWIST_LIMITS];
if (_minTwist != _maxTwist) {
twistLimits[0] = glm::angleAxis(_minTwist, _referenceRotation * Vectors::UNIT_Y);
twistLimits[1] = glm::angleAxis(_maxTwist, _referenceRotation * Vectors::UNIT_Y);
// to ensure that twists do not flip the center rotation, we devide twist angle by 2.
twistLimits[0] = glm::angleAxis(_minTwist / 2.0f, _referenceRotation * Vectors::UNIT_Y);
twistLimits[1] = glm::angleAxis(_maxTwist / 2.0f, _referenceRotation * Vectors::UNIT_Y);
}
const float D_THETA = TWO_PI / (NUM_MIN_DOTS - 1);
float theta = 0.0f;
@ -450,7 +451,7 @@ glm::quat SwingTwistConstraint::computeCenterRotation() const {
float phi = acos(getMinDots()[i]);
float cos_phi = getMinDots()[i];
float sin_phi = sinf(phi);
glm::vec3 swungAxis(sin_phi * cosf(theta), cos_phi, sin_phi * sinf(theta));
glm::vec3 swungAxis(sin_phi * cosf(theta), cos_phi, -sin_phi * sinf(theta));
// to ensure that swings > 90 degrees do not flip the center rotation, we devide phi / 2
glm::quat swing = glm::angleAxis(phi / 2, glm::normalize(glm::cross(Vectors::UNIT_Y, swungAxis)));