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put all the hand update code in one function that works for two bone IK

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and legacy animInverseKinematics Ik
This commit is contained in:
amantley 2019-01-25 11:28:37 -08:00
parent bc635306ea
commit 71df614989
2 changed files with 43 additions and 15 deletions
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13
libraries/animation/src/AnimSplineIK.cpp
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@ -189,7 +189,7 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimPose beforeSolveChestNeck;
if (_poses.size() > 0) {
// fix this to deal with no neck AA
beforeSolveChestNeck = _skeleton->getAbsolutePose(_skeleton->nameToJointIndex("Neck"), _poses);
secondaryJointChain.buildFromRelativePoses(_skeleton, _poses, secondaryTarget.getIndex());
@ -205,12 +205,13 @@ const AnimPoseVec& AnimSplineIK::evaluate(const AnimVariantMap& animVars, const
AnimPose secondaryTargetPose(target2.getRotation(), target2.getTranslation());
AnimPose secondaryTargetRelativePose = _skeleton->getAbsolutePose(secondaryTargetParent, _poses).inverse() * secondaryTargetPose;
_poses[_secondaryTargetIndex] = secondaryTargetRelativePose;
AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses);
AnimPose finalNeckAbsolute = AnimPose(safeLerp(target2.getRotation(), target.getRotation(), 1.0f),neckAbsolute.trans());
_poses[headParent] = spine2Target.inverse() * beforeSolveChestNeck;
*/
AnimPose secondaryTargetPose(secondaryTarget.getRotation(), secondaryTarget.getTranslation());
AnimPose neckAbsolute = _skeleton->getAbsolutePose(tipParent, _poses);
//AnimPose finalNeckAbsolute = AnimPose(safeLerp(target2.getRotation(), target.getRotation(), 1.0f),neckAbsolute.trans());
_poses[tipParent] = secondaryTargetPose.inverse() * beforeSolveChestNeck;
AnimPose tipTarget(target.getRotation(),target.getTranslation());
AnimPose tipRelativePose = _skeleton->getAbsolutePose(tipParent,_poses).inverse() * tipTarget;
_poses[_tipJointIndex] = tipRelativePose;

45
libraries/animation/src/Rig.cpp
View file

@ -1271,6 +1271,7 @@ void Rig::computeHeadFromHMD(const AnimPose& hmdPose, glm::vec3& headPositionOut
void Rig::updateHead(bool headEnabled, bool hipsEnabled, const AnimPose& headPose) {
if (_animSkeleton) {
if (headEnabled) {
_animVars.set("splineIKEnabled", true);
_animVars.set("headPosition", headPose.trans());
_animVars.set("headRotation", headPose.rot());
if (hipsEnabled) {
@ -1285,6 +1286,7 @@ void Rig::updateHead(bool headEnabled, bool hipsEnabled, const AnimPose& headPos
_animVars.set("headWeight", 8.0f);
}
} else {
_animVars.set("splineIKEnabled", false);
_animVars.unset("headPosition");
_animVars.set("headRotation", headPose.rot());
_animVars.set("headType", (int)IKTarget::Type::RotationOnly);
@ -1416,8 +1418,22 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
const bool ENABLE_POLE_VECTORS = true;
if (headEnabled) {
// always do IK if head is enabled
_animVars.set("leftHandIKEnabled", true);
_animVars.set("rightHandIKEnabled", true);
} else {
// only do IK if we have a valid foot.
_animVars.set("leftHandIKEnabled", leftHandEnabled);
_animVars.set("rightHandIKEnabled", rightHandEnabled);
}
if (leftHandEnabled) {
// we need this for twoBoneIK version of hands.
_animVars.set(LEFT_HAND_IK_POSITION_VAR, LEFT_HAND_POSITION);
_animVars.set(LEFT_HAND_IK_ROTATION_VAR, LEFT_HAND_ROTATION);
glm::vec3 handPosition = leftHandPose.trans();
glm::quat handRotation = leftHandPose.rot();
@ -1450,8 +1466,11 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
_animVars.set("leftHandPoleVectorEnabled", false);
}
} else {
// need this for two bone ik
_animVars.set(LEFT_HAND_IK_POSITION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_POSITION);
_animVars.set(LEFT_HAND_IK_ROTATION_VAR, MAIN_STATE_MACHINE_LEFT_HAND_ROTATION);
_animVars.set("leftHandPoleVectorEnabled", false);
_animVars.unset("leftHandPosition");
_animVars.unset("leftHandRotation");
@ -1465,6 +1484,10 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
if (rightHandEnabled) {
// need this for two bone IK
_animVars.set(RIGHT_HAND_IK_POSITION_VAR, RIGHT_HAND_POSITION);
_animVars.set(RIGHT_HAND_IK_ROTATION_VAR, RIGHT_HAND_ROTATION);
glm::vec3 handPosition = rightHandPose.trans();
glm::quat handRotation = rightHandPose.rot();
@ -1498,8 +1521,12 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
_animVars.set("rightHandPoleVectorEnabled", false);
}
} else {
_animVars.set("rightHandPoleVectorEnabled", false);
// need this for two bone IK
_animVars.set(RIGHT_HAND_IK_POSITION_VAR, MAIN_STATE_MACHINE_RIGHT_HAND_POSITION);
_animVars.set(RIGHT_HAND_IK_ROTATION_VAR, MAIN_STATE_MACHINE_RIGHT_HAND_ROTATION);
_animVars.set("rightHandPoleVectorEnabled", false);
_animVars.unset("rightHandPosition");
_animVars.unset("rightHandRotation");
@ -1857,14 +1884,14 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
updateHead(_headEnabled, hipsEnabled, params.primaryControllerPoses[PrimaryControllerType_Head]);
//updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, hipsEstimated, leftArmEnabled, rightArmEnabled, _headEnabled, dt,
// params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
// params.hipsShapeInfo, params.spineShapeInfo, params.spine1ShapeInfo, params.spine2ShapeInfo,
// params.rigToSensorMatrix, sensorToRigMatrix);
updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, hipsEstimated, leftArmEnabled, rightArmEnabled, _headEnabled, dt,
params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
params.hipsShapeInfo, params.spineShapeInfo, params.spine1ShapeInfo, params.spine2ShapeInfo,
params.rigToSensorMatrix, sensorToRigMatrix);
updateHands2(leftHandEnabled, rightHandEnabled, _headEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
params.rigToSensorMatrix, sensorToRigMatrix);
//updateHands2(leftHandEnabled, rightHandEnabled, _headEnabled,
// params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
// params.rigToSensorMatrix, sensorToRigMatrix);
updateFeet(leftFootEnabled, rightFootEnabled, _headEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot],