Mirrors/overte-JulianGro
3
0
Fork 0
mirror of https://github.com/JulianGro/overte.git synced 2025-04-16 10:48:58 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Enabled elbow pole vectors

Browse source 
There are still some issues with rotations of the elbow pole vectors.
* When the (hand - shoulder) vector approaches the normal vector used in Rig::calculateElbowPoleVector() unexpected twists can occur.
* Also, when the (hand - shoulder) vector approaches zero, the IK system starts to flutter between two states.
* The shoulder twist constraint probably needs to be opened up for more natural range of motion.
This commit is contained in:
Anthony J. Thibault 2017-06-16 17:29:56 -07:00
parent cdfba52488
commit e7991579ef
4 changed files with 110 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

10
interface/resources/avatar/avatar-animation.json
View file

@ -68,7 +68,10 @@
"typeVar": "rightHandType",
"weightVar": "rightHandWeight",
"weight": 1.0,
"flexCoefficients": [1, 0.5, 0.5, 0.2, 0.01, 0.005, 0.001, 0.0, 0.0]
"flexCoefficients": [1, 0.5, 0.5, 0.2, 0.01, 0.005, 0.001, 0.0, 0.0],
"poleVectorEnabledVar": "rightHandPoleVectorEnabled",
"poleReferenceVectorVar": "rightHandPoleReferenceVector",
"poleVectorVar": "rightHandPoleVector"
},
{
"jointName": "LeftHand",
@ -77,7 +80,10 @@
"typeVar": "leftHandType",
"weightVar": "leftHandWeight",
"weight": 1.0,
"flexCoefficients": [1, 0.5, 0.5, 0.2, 0.01, 0.005, 0.001, 0.0, 0.0]
"flexCoefficients": [1, 0.5, 0.5, 0.2, 0.01, 0.005, 0.001, 0.0, 0.0],
"poleVectorEnabledVar": "leftHandPoleVectorEnabled",
"poleReferenceVectorVar": "leftHandPoleReferenceVector",
"poleVectorVar": "leftHandPoleVector"
},
{
"jointName": "RightFoot",

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

@ -42,7 +42,7 @@ static void lookupJointChainInfo(AnimInverseKinematics::JointChainInfo* jointCha
}
}
float easeOutExpo(float t) {
static float easeOutExpo(float t) {
return 1.0f - powf(2, -10.0f * t);
}

95
libraries/animation/src/Rig.cpp
View file

@ -1140,6 +1140,47 @@ void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm
}
}
static float easeOutExpo(float t) {
return 1.0f - powf(2, -10.0f * t);
}
static glm::quat quatLerp(const glm::quat& q1, const glm::quat& q2, float alpha) {
float dot = glm::dot(q1, q2);
glm::quat temp;
if (dot < 0.0f) {
temp = -q2;
} else {
temp = q2;
}
return glm::normalize(glm::lerp(q1, temp, alpha));
}
glm::vec3 Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int hipsIndex, bool isLeft) const {
AnimPose hipsPose = _externalPoseSet._absolutePoses[hipsIndex];
AnimPose handPose = _externalPoseSet._absolutePoses[handIndex];
AnimPose elbowPose = _externalPoseSet._absolutePoses[elbowIndex];
AnimPose armPose = _externalPoseSet._absolutePoses[armIndex];
glm::vec3 d = glm::normalize(handPose.trans() - armPose.trans());
glm::quat elbowToHandDelta = handPose.rot() * glm::inverse(elbowPose.rot());
const float WRIST_POLE_ADJUST_FACTOR = 0.5f;
glm::quat poleAdjust = quatLerp(Quaternions::IDENTITY, elbowToHandDelta, WRIST_POLE_ADJUST_FACTOR);
glm::vec3 n;
if (isLeft) {
n = hipsPose.rot() * glm::normalize(glm::vec3(1.0f, 1.5f, -0.1f));
} else {
n = hipsPose.rot() * -glm::normalize(glm::vec3(-1.0f, 1.5f, -0.1f));
}
// project d onto n.
glm::vec3 dProj = d - glm::dot(d, n) * n;
glm::vec3 dProjRot = glm::angleAxis(PI / 2.0f, n) * dProj;
glm::vec3 pole = glm::normalize(dProjRot);
return glm::normalize(poleAdjust * pole);
}
glm::vec3 Rig::calculateKneePoleVector(int footJointIndex, const glm::quat& footTargetOrientation, int hipsIndex) const {
AnimPose defaultPose = _animSkeleton->getAbsoluteDefaultPose(footJointIndex);
@ -1175,6 +1216,8 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
const float RELAX_DURATION = 0.6f;
const float POLE_VECTOR_BLEND_FACTOR = 0.9f;
if (params.isLeftEnabled) {
glm::vec3 handPosition = params.leftPosition;
if (!bodySensorTrackingEnabled) {
@ -1191,7 +1234,32 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_isLeftHandControlled = true;
_lastLeftHandControlledPose = AnimPose(glm::vec3(1.0f), params.leftOrientation, handPosition);
// compute pole vector
int handJointIndex = _animSkeleton->nameToJointIndex("LeftHand");
int armJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
if (elbowJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) {
glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, true);
// smooth toward desired pole vector from previous pole vector... to reduce jitter
if (!_prevLeftHandPoleVectorValid) {
_prevLeftHandPoleVectorValid = true;
_prevLeftHandPoleVector = poleVector;
}
_prevLeftHandPoleVector = lerp(poleVector, _prevLeftHandPoleVector, POLE_VECTOR_BLEND_FACTOR);
_animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X);
_animVars.set("leftHandPoleVector", _prevLeftHandPoleVector);
} else {
_prevLeftHandPoleVectorValid = false;
_animVars.set("leftHandPoleVectorEnabled", false);
}
} else {
_prevLeftHandPoleVectorValid = false;
_animVars.set("leftHandPoleVectorEnabled", false);
if (_isLeftHandControlled) {
_leftHandRelaxDuration = RELAX_DURATION;
_isLeftHandControlled = false;
@ -1234,7 +1302,32 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_isRightHandControlled = true;
_lastRightHandControlledPose = AnimPose(glm::vec3(1.0f), params.rightOrientation, handPosition);
// compute pole vector
int handJointIndex = _animSkeleton->nameToJointIndex("RightHand");
int armJointIndex = _animSkeleton->nameToJointIndex("RightArm");
int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm");
if (elbowJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0) {
glm::vec3 poleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, hipsIndex, false);
// smooth toward desired pole vector from previous pole vector... to reduce jitter
if (!_prevRightHandPoleVectorValid) {
_prevRightHandPoleVectorValid = true;
_prevRightHandPoleVector = poleVector;
}
_prevRightHandPoleVector = lerp(poleVector, _prevRightHandPoleVector, POLE_VECTOR_BLEND_FACTOR);
_animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleReferenceVector", -Vectors::UNIT_X);
_animVars.set("rightHandPoleVector", _prevRightHandPoleVector);
} else {
_prevRightHandPoleVectorValid = false;
_animVars.set("rightHandPoleVectorEnabled", false);
}
} else {
_prevRightHandPoleVectorValid = false;
_animVars.set("rightHandPoleVectorEnabled", false);
if (_isRightHandControlled) {
_rightHandRelaxDuration = RELAX_DURATION;
_isRightHandControlled = false;
@ -1261,8 +1354,6 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
}
}
const float POLE_VECTOR_BLEND_FACTOR = 0.9f;
if (params.isLeftFootEnabled) {
_animVars.set("leftFootPosition", params.leftFootPosition);
_animVars.set("leftFootRotation", params.leftFootOrientation);

9
libraries/animation/src/Rig.h
View file

@ -249,7 +249,8 @@ protected:
void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::vec3& lookAt, const glm::vec3& saccade);
void calcAnimAlpha(float speed, const std::vector<float>& referenceSpeeds, float* alphaOut) const;
glm::vec3 Rig::calculateKneePoleVector(int footJointIndex, const glm::quat& footTargetOrientation, int hipsIndex) const;
glm::vec3 calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int hipsIndex, bool isLeft) const;
glm::vec3 calculateKneePoleVector(int footJointIndex, const glm::quat& footTargetOrientation, int hipsIndex) const;
AnimPose _modelOffset; // model to rig space
AnimPose _geometryOffset; // geometry to model space (includes unit offset & fst offsets)
@ -362,6 +363,12 @@ protected:
glm::vec3 _prevLeftFootPoleVector = { Vectors::UNIT_Z };
bool _prevLeftFootPoleVectorValid = { false };
glm::vec3 _prevRightHandPoleVector = { -Vectors::UNIT_Z };
bool _prevRightHandPoleVectorValid = { false };
glm::vec3 _prevLeftHandPoleVector = { -Vectors::UNIT_Z };
bool _prevLeftHandPoleVectorValid = { false };
};
#endif /* defined(__hifi__Rig__) */