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Gradually relax hands from controlled positions when lose tracking

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This commit is contained in:
David Rowe 2017-06-01 23:42:08 +12:00
parent 95aab28e91
commit 47e65e942e
4 changed files with 110 additions and 14 deletions
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20
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -453,7 +453,6 @@ const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVar
//virtual
const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) {
// allows solutionSource to be overridden by an animVar
auto solutionSource = animVars.lookup(_solutionSourceVar, (int)_solutionSource);
@ -581,6 +580,16 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
}
}
if (_leftHandIndex > -1) {
_uncontrolledLeftHandPose = _skeleton->getAbsolutePose(_leftHandIndex, underPoses);
}
if (_rightHandIndex > -1) {
_uncontrolledRightHandPose = _skeleton->getAbsolutePose(_rightHandIndex, underPoses);
}
if (_hipsIndex > -1) {
_uncontrolledHipsPose = _skeleton->getAbsolutePose(_hipsIndex, underPoses);
}
return _relativePoses;
}
@ -1064,12 +1073,21 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
} else {
_hipsParentIndex = -1;
}
_leftHandIndex = _skeleton->nameToJointIndex("LeftHand");
_rightHandIndex = _skeleton->nameToJointIndex("RightHand");
} else {
clearConstraints();
_headIndex = -1;
_hipsIndex = -1;
_hipsParentIndex = -1;
_leftHandIndex = -1;
_rightHandIndex = -1;
}
_uncontrolledLeftHandPose = AnimPose();
_uncontrolledRightHandPose = AnimPose();
_uncontrolledHipsPose = AnimPose();
}
static glm::vec3 sphericalToCartesian(float phi, float theta) {

10
libraries/animation/src/AnimInverseKinematics.h
View file

@ -56,6 +56,10 @@ public:
void setSolutionSource(SolutionSource solutionSource) { _solutionSource = solutionSource; }
void setSolutionSourceVar(const QString& solutionSourceVar) { _solutionSourceVar = solutionSourceVar; }
const AnimPose& getUncontrolledLeftHandPose() { return _uncontrolledLeftHandPose; }
const AnimPose& getUncontrolledRightHandPose() { return _uncontrolledRightHandPose; }
const AnimPose& getUncontrolledHipPose() { return _uncontrolledHipsPose; }
protected:
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solveWithCyclicCoordinateDescent(const AnimContext& context, const std::vector<IKTarget>& targets);
@ -118,6 +122,8 @@ protected:
int _hipsIndex { -1 };
int _hipsParentIndex { -1 };
int _hipsTargetIndex { -1 };
int _leftHandIndex { -1 };
int _rightHandIndex { -1 };
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm
@ -127,6 +133,10 @@ protected:
bool _previousEnableDebugIKTargets { false };
SolutionSource _solutionSource { SolutionSource::RelaxToUnderPoses };
QString _solutionSourceVar;
AnimPose _uncontrolledLeftHandPose { AnimPose() };
AnimPose _uncontrolledRightHandPose { AnimPose() };
AnimPose _uncontrolledHipsPose { AnimPose() };
};
#endif // hifi_AnimInverseKinematics_h

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

@ -1172,10 +1172,10 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
// TODO: add isHipsEnabled
bool bodySensorTrackingEnabled = params.isLeftFootEnabled || params.isRightFootEnabled;
const float RELAX_DURATION = 0.6f;
if (params.isLeftEnabled) {
glm::vec3 handPosition = params.leftPosition;
if (!bodySensorTrackingEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
@ -1187,16 +1187,46 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_animVars.set("leftHandPosition", handPosition);
_animVars.set("leftHandRotation", params.leftOrientation);
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
_isLeftHandControlled = true;
_lastLeftHandControlledPosition = handPosition;
_lastLeftHandControlledOrientation = params.leftOrientation;
} else {
_animVars.unset("leftHandPosition");
_animVars.unset("leftHandRotation");
_animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
if (_isLeftHandControlled) {
_leftHandRelaxDuration = RELAX_DURATION;
_isLeftHandControlled = false;
}
if (_leftHandRelaxDuration > 0) {
// Move hand from controlled position to non-controlled position.
_leftHandRelaxDuration = std::max(_leftHandRelaxDuration - dt, 0.0f);
auto ikNode = getAnimInverseKinematicsNode();
if (ikNode) {
float alpha = _leftHandRelaxDuration / RELAX_DURATION;
auto uncontrolledHandPose = ikNode->getUncontrolledLeftHandPose();
auto uncontrolledHipsPose = ikNode->getUncontrolledHipPose();
glm::vec3 relaxedPosition = _geometryOffset * (uncontrolledHandPose.trans() - uncontrolledHipsPose.trans());
glm::vec3 handPosition = alpha * _lastLeftHandControlledPosition + (1.0f - alpha) * relaxedPosition;
const AnimPose geometryToRigPose(_geometryToRigTransform);
glm::quat handOrientation = geometryToRigPose.rot() * uncontrolledHandPose.rot();
handOrientation = slerp(handOrientation, _lastLeftHandControlledOrientation, alpha);
_animVars.set("leftHandPosition", handPosition);
_animVars.set("leftHandRotation", handOrientation);
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
}
} else {
_animVars.unset("leftHandPosition");
_animVars.unset("leftHandRotation");
_animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
}
}
if (params.isRightEnabled) {
glm::vec3 handPosition = params.rightPosition;
if (!bodySensorTrackingEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
@ -1208,10 +1238,42 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_animVars.set("rightHandPosition", handPosition);
_animVars.set("rightHandRotation", params.rightOrientation);
_animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
_isRightHandControlled = true;
_lastRightHandControlledPosition = handPosition;
_lastRightHandControlledOrientation = params.rightOrientation;
} else {
_animVars.unset("rightHandPosition");
_animVars.unset("rightHandRotation");
_animVars.set("rightHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
if (_isRightHandControlled) {
_rightHandRelaxDuration = RELAX_DURATION;
_isRightHandControlled = false;
}
if (_rightHandRelaxDuration > 0) {
// Move hand from controlled position to non-controlled position.
_rightHandRelaxDuration = std::max(_rightHandRelaxDuration - dt, 0.0f);
auto ikNode = getAnimInverseKinematicsNode();
if (ikNode) {
float alpha = _rightHandRelaxDuration / RELAX_DURATION;
auto uncontrolledHandPose = ikNode->getUncontrolledRightHandPose();
auto uncontrolledHipsPose = ikNode->getUncontrolledHipPose();
glm::vec3 relaxedPosition = _geometryOffset * (uncontrolledHandPose.trans() - uncontrolledHipsPose.trans());
glm::vec3 handPosition = alpha * _lastRightHandControlledPosition + (1.0f - alpha) * relaxedPosition;
const AnimPose geometryToRigPose(_geometryToRigTransform);
glm::quat handOrientation = geometryToRigPose.rot() * uncontrolledHandPose.rot();
handOrientation = slerp(handOrientation, _lastRightHandControlledOrientation, alpha);
_animVars.set("rightHandPosition", handPosition);
_animVars.set("rightHandRotation", handOrientation);
_animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
}
} else {
_animVars.unset("rightHandPosition");
_animVars.unset("rightHandRotation");
_animVars.set("rightHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
}
}
if (params.isLeftFootEnabled) {
@ -1233,7 +1295,6 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_animVars.unset("rightFootRotation");
_animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition);
}
}
}
@ -1509,5 +1570,3 @@ void Rig::computeAvatarBoundingCapsule(
glm::vec3 rigCenter = (geometryToRig * (0.5f * (totalExtents.maximum + totalExtents.minimum)));
localOffsetOut = rigCenter - (geometryToRig * rootPosition);
}

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

@ -355,6 +355,15 @@ private:
QMap<int, StateHandler> _stateHandlers;
int _nextStateHandlerId { 0 };
QMutex _stateMutex;
bool _isLeftHandControlled { false };
bool _isRightHandControlled { false };
float _leftHandRelaxDuration { 0.0f };
float _rightHandRelaxDuration { 0.0f };
glm::vec3 _lastLeftHandControlledPosition;
glm::vec3 _lastRightHandControlledPosition;
glm::quat _lastLeftHandControlledOrientation;
glm::quat _lastRightHandControlledOrientation;
};
#endif /* defined(__hifi__Rig__) */