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added the wrist and position coeffs back in, 1.0 works

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This commit is contained in:
Angus Antley 2019-02-20 06:25:44 -08:00
parent 951380db15
commit 1e73422b80
2 changed files with 41 additions and 27 deletions
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66
libraries/animation/src/Rig.cpp
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@ -1691,7 +1691,7 @@ void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm
}
}
static float getHandPositionTheta(glm::vec3 armToHand, float defaultArmLength) {
static float getHandPositionTheta(glm::vec3 armToHand, float defaultArmLength, bool left) {
float handPositionTheta = 0.0f;
//calculate the hand position influence on theta
const float zStart = 0.6f;
@ -1720,10 +1720,10 @@ static float getHandPositionTheta(glm::vec3 armToHand, float defaultArmLength) {
xFactor = weights[0] * (((armToHand[0] / defaultArmLength) + xStart) - (0.2f) * ((1.0f + (armToHand[1] / defaultArmLength)) / 2.0f));
}
float theta = xFactor + yFactor + zFactor;
handPositionTheta = xFactor + yFactor + zFactor;
if (handPositionTheta < 13.0f) {
handPositionTheta = 13.0f;
if (handPositionTheta < 50.0f) {
handPositionTheta = 50.0f;
}
if (handPositionTheta > 175.0f) {
handPositionTheta = 175.0f;
@ -1755,9 +1755,9 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
twistCoefficient = 1.0f;
}
if (twistTheta < 0.0f) {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient;
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} else {
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient;
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
}
if (fabsf(ulnarCorrection) > 20.0f) {
ulnarCorrection = glm::sign(ulnarCorrection) * 20.0f;
@ -1777,9 +1777,9 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
twistCoefficient = 1.0f;
}
if (twistTheta < 0.0f) {
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient;
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} else {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient;
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
}
if (fabsf(ulnarCorrection) > 20.0f) {
ulnarCorrection = glm::sign(ulnarCorrection) * 20.0f;
@ -1795,7 +1795,7 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
static float computeTwistCompensation(float twistTheta, bool left) {
const float TWIST_DEADZONE = (4 * PI) / 9.0f;
const float TWIST_DEADZONE = PI / 2.0f;
float twistCorrection = 0.0f;
if (left) {
if (fabsf(twistTheta) > TWIST_DEADZONE) {
@ -1822,9 +1822,9 @@ static float computeFlexCompensation(float flexTheta, bool left) {
float currentWristCoefficient = 0.0f;
if (left) {
if (flexTheta > FLEX_BOUNDARY) {
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 180.0f;
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 60.0f;
} else if (flexTheta < EXTEND_BOUNDARY) {
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 180.0f;
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 60.0f;
}
if (fabsf(flexCorrection) > 175.0f) {
flexCorrection = glm::sign(flexCorrection) * 175.0f;
@ -1832,9 +1832,9 @@ static float computeFlexCompensation(float flexTheta, bool left) {
currentWristCoefficient += flexCorrection;
} else {
if (flexTheta > FLEX_BOUNDARY) {
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 180.0f;
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 60.0f;
} else if (flexTheta < EXTEND_BOUNDARY) {
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 180.0f;
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 60.0f;
}
if (fabsf(flexCorrection) > 175.0f) {
flexCorrection = glm::sign(flexCorrection) * 175.0f;
@ -1870,7 +1870,8 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
unitAxis = Vectors::UNIT_Y;
}
float theta = 175.0f;// getHandPositionTheta(armToHand, defaultArmLength);
float theta = getHandPositionTheta(armToHand, defaultArmLength, left);
qCDebug(animation) << "hand position theta " << left << " " << theta;
float deltaTheta = 0.0f;
if (left) {
@ -1887,7 +1888,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
glm::quat axisRotation;
glm::quat nonAxisRotation;
swingTwistDecomposition(updatedBase.rot(), unitAxis, nonAxisRotation, axisRotation);
qCDebug(animation) << "the rotation about the axis of the arm " << (glm::sign(glm::axis(axisRotation)[2]) * glm::angle(axisRotation) / PI)*180.0f << " delta Rot theta " << deltaTheta;
//qCDebug(animation) << "the rotation about the axis of the arm " << (glm::sign(glm::axis(axisRotation)[2]) * glm::angle(axisRotation) / PI)*180.0f << " delta Rot theta " << deltaTheta;
// now we calculate the contribution of the hand rotation relative to the arm
// we are adding in the delta rotation so that we have the hand correction relative to the
@ -1984,16 +1985,22 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
currentWristCoefficient += computeFlexCompensation(_flexThetaRunningAverageRight, left);
}
// i think limit theta here so we don't subtract more than is possible from last theta.
// actually theta is limited. to what though?
if (left) {
_lastWristCoefficientLeft = _lastThetaLeft - theta;
_lastWristCoefficientLeft = _lastThetaLeft - _lastPositionThetaLeft;
_lastWristCoefficientLeft += currentWristCoefficient;
_lastPositionThetaLeft = theta;
theta += _lastWristCoefficientLeft;
if (theta > 0.0f) {
theta = 0.0f;
}
//qCDebug(animation) << "theta " << theta << " lastThetaLeft " << _lastThetaLeft << "last position theta left"<<_lastPositionThetaLeft << "last wrist coeff " << _lastWristCoefficientLeft;
} else {
_lastWristCoefficientRight = _lastThetaRight - theta;
_lastWristCoefficientRight = _lastThetaRight - _lastPositionThetaRight;
_lastWristCoefficientRight += currentWristCoefficient;
_lastPositionThetaRight = theta;
theta += _lastWristCoefficientRight;
if (theta < 0.0f) {
theta = 0.0f;
@ -2008,26 +2015,31 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
float thetaRadians = 0.0f;
if (left) {
// final global smoothing
_lastThetaLeft = 0.5f * _lastThetaLeft + 0.5f * theta;
//_lastThetaLeft = 0.5f * _lastThetaLeft + 0.5f * theta;
_lastThetaLeft = theta;
if (fabsf(_lastThetaLeft) < 50.0f) {
_lastThetaLeft = glm::sign(_lastThetaLeft) * 50.0f;
if (_lastThetaLeft > -50.0f) {
_lastThetaLeft = -50.0f;
}
if (fabsf(_lastThetaLeft) > 175.0f) {
_lastThetaLeft = glm::sign(_lastThetaLeft) * 175.0f;
if (_lastThetaLeft < -175.0f) {
_lastThetaLeft = -175.0f;
}
const float MIN_VALUE = 0.0001f;
if (fabsf(_lastPositionThetaLeft - _lastThetaLeft) > MIN_VALUE) {
qCDebug(animation) << "theta " << theta << " lastThetaLeft " << _lastThetaLeft << "last position theta left" << _lastPositionThetaLeft << "last wrist coeff " << _lastWristCoefficientLeft;
}
// convert to radians and make 180 0 to match pole vector theta
thetaRadians = ((180.0f - _lastThetaLeft) / 180.0f)*PI;
} else {
// final global smoothing
_lastThetaRight = 0.5f * _lastThetaRight + 0.5f * theta;
_lastThetaRight = theta; // 0.5f * _lastThetaRight + 0.5f * theta;
if (fabsf(_lastThetaRight) < 10.0f) {
_lastThetaRight = glm::sign(_lastThetaRight) * 50.0f;
if (_lastThetaRight < 50.0f) {
_lastThetaRight = 50.0f;
}
if (fabsf(_lastThetaRight) > 175.0f) {
_lastThetaRight = glm::sign(_lastThetaRight) * 175.0f;
if (_lastThetaRight > 175.0f) {
_lastThetaRight = 175.0f;
}
// convert to radians and make 180 0 to match pole vector theta
thetaRadians = ((180.0f - _lastThetaRight) / 180.0f)*PI;

2
libraries/animation/src/Rig.h
View file

@ -430,6 +430,8 @@ protected:
float _lastThetaRight { 0.0f };
float _lastWristCoefficientRight { 0.0f };
float _lastWristCoefficientLeft { 0.0f };
float _lastPositionThetaLeft { 0.0f };
float _lastPositionThetaRight { 0.0f };
AnimContext _lastContext;
AnimVariantMap _lastAnimVars;