mirror of
https://github.com/HifiExperiments/overte.git
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837b19ed1b
* Removed MyAvatar.reset() access from JavaScript * Added HMD.centerUI() to JavaScript, which can be used to reset the 3D UI sphere around the current HMD orientation. * Added MyAvatar.clearIKJOintLimitHistory() which can be used to reset any remembered IK joint limit history. * Added MyAvatar.centerBody() which can be used to instantly re-orient the avatar's so that the hips and toes are facing the same direction as the current HMD orientation. away.js now uses the above new API's instead of MyAvatar.reset()
95 lines
3.2 KiB
C++
95 lines
3.2 KiB
C++
//
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// AnimInverseKinematics.h
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//
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// Copyright 2015 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#ifndef hifi_AnimInverseKinematics_h
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#define hifi_AnimInverseKinematics_h
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#include <string>
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#include <map>
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#include <vector>
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#include "AnimNode.h"
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#include "IKTarget.h"
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#include "RotationAccumulator.h"
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class RotationConstraint;
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class AnimInverseKinematics : public AnimNode {
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public:
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explicit AnimInverseKinematics(const QString& id);
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virtual ~AnimInverseKinematics() override;
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void loadDefaultPoses(const AnimPoseVec& poses);
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void loadPoses(const AnimPoseVec& poses);
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void computeAbsolutePoses(AnimPoseVec& absolutePoses) const;
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void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar, const QString& typeVar);
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virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, AnimNode::Triggers& triggersOut) override;
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virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
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void clearIKJointLimitHistory();
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protected:
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void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
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void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
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int solveTargetWithCCD(const IKTarget& target, AnimPoseVec& absolutePoses);
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virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
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// for AnimDebugDraw rendering
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virtual const AnimPoseVec& getPosesInternal() const override { return _relativePoses; }
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RotationConstraint* getConstraint(int index);
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void clearConstraints();
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void initConstraints();
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// no copies
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AnimInverseKinematics(const AnimInverseKinematics&) = delete;
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AnimInverseKinematics& operator=(const AnimInverseKinematics&) = delete;
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struct IKTargetVar {
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IKTargetVar(const QString& jointNameIn,
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const QString& positionVarIn,
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const QString& rotationVarIn,
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const QString& typeVarIn) :
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positionVar(positionVarIn),
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rotationVar(rotationVarIn),
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typeVar(typeVarIn),
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jointName(jointNameIn),
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jointIndex(-1)
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{}
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QString positionVar;
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QString rotationVar;
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QString typeVar;
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QString jointName;
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int jointIndex; // cached joint index
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};
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std::map<int, RotationConstraint*> _constraints;
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std::vector<RotationAccumulator> _accumulators;
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std::vector<IKTargetVar> _targetVarVec;
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AnimPoseVec _defaultRelativePoses; // poses of the relaxed state
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AnimPoseVec _relativePoses; // current relative poses
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// experimental data for moving hips during IK
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glm::vec3 _hipsOffset { Vectors::ZERO };
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int _headIndex { -1 };
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int _hipsIndex { -1 };
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int _hipsParentIndex { -1 };
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// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
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// during the the cyclic coordinate descent algorithm
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int _maxTargetIndex { 0 };
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};
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#endif // hifi_AnimInverseKinematics_h
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