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fixed out of range error in the two bone IK computation

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This commit is contained in:
Angus Antley 2019-04-05 16:31:18 -07:00
parent 04eac57950
commit 09e2da4c93
1 changed files with 5 additions and 3 deletions
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8
libraries/animation/src/AnimTwoBoneIK.cpp
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@ -128,7 +128,7 @@ const AnimPoseVec& AnimTwoBoneIK::evaluate(const AnimVariantMap& animVars, const
if (triggersOut.hasKey(endEffectorPositionVar)) {
targetPose.trans() = triggersOut.lookupRigToGeometry(endEffectorPositionVar, tipPose.trans());
} else if (animVars.hasKey(endEffectorRotationVar)) {
} else if (animVars.hasKey(endEffectorPositionVar)) {
targetPose.trans() = animVars.lookupRigToGeometry(endEffectorPositionVar, tipPose.trans());
}
@ -147,9 +147,11 @@ const AnimPoseVec& AnimTwoBoneIK::evaluate(const AnimVariantMap& animVars, const
// http://mathworld.wolfram.com/Circle-CircleIntersection.html
float midAngle = 0.0f;
if (d < r0 + r1) {
if ((d < r0 + r1) && (d > 0.0f) && (r0 > 0.0f) && (r1 > 0.0f)) {
float y = sqrtf((-d + r1 - r0) * (-d - r1 + r0) * (-d + r1 + r0) * (d + r1 + r0)) / (2.0f * d);
midAngle = PI - (acosf(y / r0) + acosf(y / r1));
float yR0Quotient = glm::clamp(y / r0, -1.0f, 1.0f);
float yR1Quotient = glm::clamp(y / r1, -1.0f, 1.0f);
midAngle = PI - (acosf(yR0Quotient) + acosf(yR1Quotient));
}
// compute midJoint rotation