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tweaked the weights for the arms and negated the theta for the left arm

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This commit is contained in:
amantley 2019-02-07 11:14:33 -08:00
parent e2c9058f0a
commit 4d9d597b4f
1 changed files with 9 additions and 5 deletions
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14
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -50,13 +50,13 @@ float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm
// phi_0 is the lowest angle we can have
const float phi_0 = 15.0f;
// biases
const glm::vec3 biases(60.0f, 120.0f, -30.0f);
const glm::vec3 biases(30.0f, 120.0f, -30.0f);
// weights
const glm::vec3 weights(-70.0f, 60.0f, 210.0f);
const glm::vec3 weights(-30.0f, 30.0f, 210.0f);
glm::vec3 armToHand = hand - shoulder;
qCDebug(animation) << "current arm length " << glm::length(armToHand);
float initial_valuesX = ((fabsf(armToHand[0]) / defaultArmLength) * weights[0]) + biases[0];
float initial_valuesY = ((armToHand[1] / defaultArmLength) * weights[1]) + biases[1];
float initial_valuesY = ((fabs(armToHand[1]) / defaultArmLength) * weights[1]) + biases[1];
float initial_valuesZ = ((armToHand[2] / defaultArmLength) * weights[2]) + biases[2];
if (initial_valuesX < 0.0f) {
initial_valuesX = 0.0f;
@ -169,13 +169,17 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
float theta = copysignf(1.0f, sideDot) * acosf(dot);
float fred;
if (_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) {
if ((_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) || (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex)) {
qCDebug(animation) << "theta from the old code " << theta;
fred = findThetaNewWay(tipPose.trans(), basePose.trans());
if (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex) {
fred = -1.0f * fred;
}
theta = ((180.0f - fred) / 180.0f)*PI;
}
//glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
glm::quat deltaRot = glm::angleAxis(((180.0f - fred)/180.0f)*PI, unitAxis);
glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
// transform result back into parent relative frame.
glm::quat relBaseRot = glm::inverse(baseParentPose.rot()) * deltaRot * basePose.rot();