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AnimInverseKinematics: opened up UpLeg and Leg constraints

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This improves the quality of the jump animations, while IK is enabled.
This commit is contained in:
Anthony J. Thibault 2016-02-04 17:56:41 -08:00
parent 8ca8550f26
commit 51189cfc50
1 changed files with 18 additions and 11 deletions
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29
libraries/animation/src/AnimInverseKinematics.cpp
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@ -590,17 +590,24 @@ void AnimInverseKinematics::initConstraints() {
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot);
stConstraint->setTwistLimits(-PI / 4.0f, PI / 4.0f);
// these directions are approximate swing limits in root-frame
// NOTE: they don't need to be normalized
std::vector<glm::vec3> swungDirections;
swungDirections.push_back(glm::vec3(mirror * 0.25f, 0.0f, 1.0f));
swungDirections.push_back(glm::vec3(mirror * -0.5f, 0.0f, 1.0f));
swungDirections.push_back(glm::vec3(mirror * -1.0f, 0.0f, 1.0f));
swungDirections.push_back(glm::vec3(mirror * -1.0f, 0.0f, 0.0f));
swungDirections.push_back(glm::vec3(mirror * -0.5f, -0.5f, -1.0f));
swungDirections.push_back(glm::vec3(mirror * 0.0f, -0.75f, -1.0f));
swungDirections.push_back(glm::vec3(mirror * 0.25f, -1.0f, 0.0f));
swungDirections.push_back(glm::vec3(mirror * 0.25f, -1.0f, 1.0f));
float deltaTheta = PI / 4.0f;
float theta = 0.0f;
swungDirections.push_back(glm::vec3(mirror * cos(theta), 0.25f, sin(theta)));
theta += deltaTheta;
swungDirections.push_back(glm::vec3(mirror * cos(theta), 0.0f, sin(theta)));
theta += deltaTheta;
swungDirections.push_back(glm::vec3(mirror * cos(theta), -0.25f, sin(theta))); // posterior
theta += deltaTheta;
swungDirections.push_back(glm::vec3(mirror * cos(theta), 0.0f, sin(theta)));
theta += deltaTheta;
swungDirections.push_back(glm::vec3(mirror * cos(theta), 0.25f, sin(theta)));
theta += deltaTheta;
swungDirections.push_back(glm::vec3(mirror * cos(theta), 0.5f, sin(theta)));
theta += deltaTheta;
swungDirections.push_back(glm::vec3(mirror * cos(theta), 0.5f, sin(theta))); // anterior
theta += deltaTheta;
swungDirections.push_back(glm::vec3(mirror * cos(theta), 0.5f, sin(theta)));
// rotate directions into joint-frame
glm::quat invAbsoluteRotation = glm::inverse(absolutePoses[i].rot);
@ -755,7 +762,7 @@ 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 = 0.0f;
const float MAX_KNEE_ANGLE = 3.0f * PI / 4.0f;
const float MAX_KNEE_ANGLE = 7.0f * PI / 8.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_KNEE_ANGLE, hingeAxis) * Vectors::UNIT_Y;
glm::vec3 maxSwingAxis = invReferenceRotation * glm::angleAxis(MAX_KNEE_ANGLE, hingeAxis) * Vectors::UNIT_Y;