Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-27 05:35:37 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Merge pull request from AndrewMeadows/fix-hip-shift

Browse source 
fix hips shift when using HMD
This commit is contained in:
Anthony Thibault 2015-11-09 14:28:37 -08:00
commit 684b9f5f10
1 changed files with 4 additions and 4 deletions

8
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -160,7 +160,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
continue;
}
int pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
if (pivotsParentIndex == -1 || pivotIndex == _hipsIndex) {
if (pivotsParentIndex == -1) {
// TODO?: handle case where tip's parent is root?
continue;
}
@ -173,7 +173,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
glm::quat tipParentRotation = absolutePoses[pivotIndex].rot;
// descend toward root, pivoting each joint to get tip closer to target
while (pivotsParentIndex != _hipsIndex && pivotsParentIndex != -1) {
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
// compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans;
glm::vec3 leverArm = tipPosition - jointPosition;
@ -285,7 +285,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
// only update the absolutePoses that need it: those between lowestMovedIndex and _maxTargetIndex
for (int i = lowestMovedIndex; i <= _maxTargetIndex; ++i) {
int parentIndex = _skeleton->getParentIndex(i);
if (parentIndex != -1 && parentIndex != _hipsIndex) {
if (parentIndex != -1) {
absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i];
}
}
@ -295,7 +295,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
for (auto& target: targets) {
int tipIndex = target.getIndex();
int parentIndex = _skeleton->getParentIndex(tipIndex);
if (parentIndex != -1 && parentIndex != _hipsIndex) {
if (parentIndex != -1) {
const glm::quat& targetRotation = target.getRotation();
// compute tip's new parent-relative rotation
// Q = Qp * q --> q' = Qp^ * Q