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Merge pull request from ctrlaltdavid/21202

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Relax hands to default position/rotation when controller tracking is lost
This commit is contained in:
Seth Alves 2017-06-08 16:38:08 -07:00 committed by GitHub
commit 73a88236a0
4 changed files with 97 additions and 15 deletions

25
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;
}
@ -722,8 +731,10 @@ void AnimInverseKinematics::initConstraints() {
loadDefaultPoses(_skeleton->getRelativeBindPoses());
// compute corresponding absolute poses
int numJoints = (int)_defaultRelativePoses.size();
/* KEEP THIS CODE for future experimentation
// compute corresponding absolute poses
AnimPoseVec absolutePoses;
absolutePoses.resize(numJoints);
for (int i = 0; i < numJoints; ++i) {
@ -734,6 +745,7 @@ void AnimInverseKinematics::initConstraints() {
absolutePoses[i] = absolutePoses[parentIndex] * _defaultRelativePoses[i];
}
}
*/
clearConstraints();
for (int i = 0; i < numJoints; ++i) {
@ -1061,12 +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

70
libraries/animation/src/Rig.cpp
View file

@ -28,6 +28,7 @@
#include "AnimClip.h"
#include "AnimInverseKinematics.h"
#include "AnimSkeleton.h"
#include "AnimUtil.h"
#include "IKTarget.h"
static bool isEqual(const glm::vec3& u, const glm::vec3& v) {
@ -1172,10 +1173,10 @@ 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 +1188,38 @@ 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;
_lastLeftHandControlledPose = AnimPose(glm::vec3(1.0f), params.leftOrientation, handPosition);
} 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 = 1.0f - _leftHandRelaxDuration / RELAX_DURATION;
const AnimPose geometryToRigTransform(_geometryToRigTransform);
AnimPose uncontrolledHandPose = geometryToRigTransform * ikNode->getUncontrolledLeftHandPose();
AnimPose handPose;
::blend(1, &_lastLeftHandControlledPose, &uncontrolledHandPose, alpha, &handPose);
_animVars.set("leftHandPosition", handPose.trans());
_animVars.set("leftHandRotation", handPose.rot());
_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 +1231,34 @@ 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;
_lastRightHandControlledPose = AnimPose(glm::vec3(1.0f), params.rightOrientation, handPosition);
} 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 = 1.0f - _rightHandRelaxDuration / RELAX_DURATION;
const AnimPose geometryToRigTransform(_geometryToRigTransform);
AnimPose uncontrolledHandPose = geometryToRigTransform * ikNode->getUncontrolledRightHandPose();
AnimPose handPose;
::blend(1, &_lastRightHandControlledPose, &uncontrolledHandPose, alpha, &handPose);
_animVars.set("rightHandPosition", handPose.trans());
_animVars.set("rightHandRotation", handPose.rot());
_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 +1280,6 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_animVars.unset("rightFootRotation");
_animVars.set("rightFootType", (int)IKTarget::Type::RotationAndPosition);
}
}
}
@ -1509,5 +1555,3 @@ void Rig::computeAvatarBoundingCapsule(
glm::vec3 rigCenter = (geometryToRig * (0.5f * (totalExtents.maximum + totalExtents.minimum)));
localOffsetOut = rigCenter - (geometryToRig * rootPosition);
}

7
libraries/animation/src/Rig.h
View file

@ -355,6 +355,13 @@ private:
QMap<int, StateHandler> _stateHandlers;
int _nextStateHandlerId { 0 };
QMutex _stateMutex;
bool _isLeftHandControlled { false };
bool _isRightHandControlled { false };
float _leftHandRelaxDuration { 0.0f };
float _rightHandRelaxDuration { 0.0f };
AnimPose _lastLeftHandControlledPose;
AnimPose _lastRightHandControlledPose;
};
#endif /* defined(__hifi__Rig__) */