Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-14 01:46:18 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

disable mid joint when not valid. more work on this tomorrow

Browse source
This commit is contained in:
amantley 2019-01-28 17:49:46 -08:00
parent dffd41ecb0
commit 1919cc3b1a
2 changed files with 49 additions and 38 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
interface/resources/avatar/avatar-animation_withSplineIKNode.json
View file

@ -182,7 +182,7 @@
"enabled": false,
"interpDuration": 15,
"baseJointName": "Hips",
"midJointName": "Spine2",
"midJointName": "none",
"tipJointName": "Head",
"basePositionVar": "hipsPosition",
"baseRotationVar": "hipsRotation",

85
libraries/animation/src/AnimSplineIK.cpp
View file

@ -163,40 +163,48 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
jointChain.buildDirtyAbsolutePoses();
jointChain.outputRelativePoses(_poses);
// initialize the middle joint target
IKTarget midTarget;
midTarget.setType((int)IKTarget::Type::Spline);
midTarget.setIndex(_midJointIndex);
// set the middle joint to the position that was just determined by the base-tip spline.
AnimPose afterSolveMidTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
// use the rotation from the ik target value, if there is one.
glm::quat midTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveMidTarget.rot());
AnimPose updatedMidTarget = AnimPose(midTargetRotation, afterSolveMidTarget.trans());
midTarget.setPose(updatedMidTarget.rot(), updatedMidTarget.trans());
midTarget.setWeight(1.0f);
midTarget.setFlexCoefficients(_numMidTargetFlexCoefficients, _midTargetFlexCoefficients);
if (_midJointIndex != -1) {
AnimChain midJointChain;
// Find the pose of the middle target's child. This is to correct the mid to tip
// after the base to mid spline is set.
int childOfMiddleJointIndex = -1;
AnimPose childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
childOfMiddleJointIndex = _tipJointIndex;
while (_skeleton->getParentIndex(childOfMiddleJointIndex) != _midJointIndex) {
childOfMiddleJointIndex = _skeleton->getParentIndex(childOfMiddleJointIndex);
// initialize the middle joint target
midTarget.setType((int)IKTarget::Type::Spline);
midTarget.setIndex(_midJointIndex);
// set the middle joint to the position that was just determined by the base-tip spline.
AnimPose afterSolveMidTarget = _skeleton->getAbsolutePose(_midJointIndex, _poses);
// use the rotation from the ik target value, if there is one.
glm::quat midTargetRotation = animVars.lookupRigToGeometry(_midRotationVar, afterSolveMidTarget.rot());
AnimPose updatedMidTarget = AnimPose(midTargetRotation, afterSolveMidTarget.trans());
midTarget.setPose(updatedMidTarget.rot(), updatedMidTarget.trans());
midTarget.setWeight(1.0f);
midTarget.setFlexCoefficients(_numMidTargetFlexCoefficients, _midTargetFlexCoefficients);
AnimChain midJointChain;
// Find the pose of the middle target's child. This is to correct the mid to tip
// after the base to mid spline is set.
int childOfMiddleJointIndex = -1;
AnimPose childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
childOfMiddleJointIndex = _tipJointIndex;
while ((_skeleton->getParentIndex(childOfMiddleJointIndex) != _midJointIndex) && (childOfMiddleJointIndex != -1)) {
childOfMiddleJointIndex = _skeleton->getParentIndex(childOfMiddleJointIndex);
}
// if the middle joint is not actually between the base and the tip then don't create spline for it
if (childOfMiddleJointIndex != -1) {
childOfMiddleJointAbsolutePoseAfterBaseTipSpline = _skeleton->getAbsolutePose(childOfMiddleJointIndex, _poses);
AnimPoseVec absolutePosesAfterBaseTipSpline;
absolutePosesAfterBaseTipSpline.resize(_poses.size());
computeAbsolutePoses(absolutePosesAfterBaseTipSpline);
midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
solveTargetWithSpline(context, midTarget, absolutePosesAfterBaseTipSpline, context.getEnableDebugDrawIKChains(), midJointChain);
midJointChain.outputRelativePoses(_poses);
// set the mid to tip segment to match the absolute rotation of the tip target.
AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation());
_poses[childOfMiddleJointIndex] = midTargetPose.inverse() * childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
}
}
childOfMiddleJointAbsolutePoseAfterBaseTipSpline = _skeleton->getAbsolutePose(childOfMiddleJointIndex, _poses);
AnimPoseVec absolutePosesAfterBaseTipSpline;
absolutePosesAfterBaseTipSpline.resize(_poses.size());
computeAbsolutePoses(absolutePosesAfterBaseTipSpline);
midJointChain.buildFromRelativePoses(_skeleton, _poses, midTarget.getIndex());
solveTargetWithSpline(context, midTarget, absolutePosesAfterBaseTipSpline, context.getEnableDebugDrawIKChains(), midJointChain);
midJointChain.outputRelativePoses(_poses);
// set the mid to tip segment to match the absolute rotation of the target.
AnimPose midTargetPose(midTarget.getRotation(), midTarget.getTranslation());
_poses[childOfMiddleJointIndex] = midTargetPose.inverse() * childOfMiddleJointAbsolutePoseAfterBaseTipSpline;
// compute chain
AnimChain ikChain;
@ -249,11 +257,12 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
QString name = QString("ikTargetSplineTip");
DebugDraw::getInstance().addMyAvatarMarker(name, glmExtractRotation(avatarTargetMat), extractTranslation(avatarTargetMat), WHITE);
glm::mat4 geomTargetMat2 = createMatFromQuatAndPos(midTarget.getRotation(), midTarget.getTranslation());
glm::mat4 avatarTargetMat2 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat2;
QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().addMyAvatarMarker(name2, glmExtractRotation(avatarTargetMat2), extractTranslation(avatarTargetMat2), WHITE);
if (_midJointIndex != -1) {
glm::mat4 geomTargetMat2 = createMatFromQuatAndPos(midTarget.getRotation(), midTarget.getTranslation());
glm::mat4 avatarTargetMat2 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat2;
QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().addMyAvatarMarker(name2, glmExtractRotation(avatarTargetMat2), extractTranslation(avatarTargetMat2), WHITE);
}
glm::mat4 geomTargetMat3 = createMatFromQuatAndPos(baseTargetAbsolutePose.rot(), baseTargetAbsolutePose.trans());
glm::mat4 avatarTargetMat3 = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat3;
@ -266,8 +275,10 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
QString name = QString("ikTargetSplineTip");
DebugDraw::getInstance().removeMyAvatarMarker(name);
QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().removeMyAvatarMarker(name2);
if (_midJointIndex != -1) {
QString name2 = QString("ikTargetSplineMid");
DebugDraw::getInstance().removeMyAvatarMarker(name2);
}
QString name3 = QString("ikTargetSplineBase");
DebugDraw::getInstance().removeMyAvatarMarker(name3);