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cleaning up theta functions

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This commit is contained in:
Angus Antley 2019-02-20 07:18:14 -08:00
parent 1e73422b80
commit 7639eac3ad
1 changed files with 51 additions and 33 deletions
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84
libraries/animation/src/Rig.cpp
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@ -1743,6 +1743,7 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
float ulnarDiff = 0.0f;
float ulnarCorrection = 0.0f;
float currentWristCoefficient = 0.0f;
/*
if (left) {
if (ulnarRadialTheta > ULNAR_BOUNDARY_MINUS) {
ulnarDiff = ulnarRadialTheta - ULNAR_BOUNDARY_MINUS;
@ -1787,6 +1788,35 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
currentWristCoefficient += ulnarCorrection;
}
}
*/
if (ulnarRadialTheta > ULNAR_BOUNDARY_MINUS) {
ulnarDiff = ulnarRadialTheta - ULNAR_BOUNDARY_MINUS;
} else if (ulnarRadialTheta < ULNAR_BOUNDARY_PLUS) {
ulnarDiff = ulnarRadialTheta - ULNAR_BOUNDARY_PLUS;
}
if (fabsf(ulnarDiff) > 0.0f) {
float twistCoefficient = (fabsf(twistTheta) / (PI / 20.0f));
if (twistCoefficient > 1.0f) {
twistCoefficient = 1.0f;
}
if (twistTheta < 0.0f) {
if (left) {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} else {
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
}
} else {
if (left) {
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} else {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
}
}
if (fabsf(ulnarCorrection) > 20.0f) {
ulnarCorrection = glm::sign(ulnarCorrection) * 20.0f;
}
currentWristCoefficient += ulnarCorrection;
}
return currentWristCoefficient;
@ -1797,14 +1827,9 @@ static float computeTwistCompensation(float twistTheta, bool left) {
const float TWIST_DEADZONE = PI / 2.0f;
float twistCorrection = 0.0f;
if (left) {
if (fabsf(twistTheta) > TWIST_DEADZONE) {
twistCorrection = glm::sign(twistTheta) * ((fabsf(twistTheta) - TWIST_DEADZONE) / PI) * 100.0f;
}
} else {
if (fabsf(twistTheta) > TWIST_DEADZONE) {
twistCorrection = glm::sign(twistTheta) * ((fabsf(twistTheta) - TWIST_DEADZONE) / PI) * 100.0f;
}
if (fabsf(twistTheta) > TWIST_DEADZONE) {
twistCorrection = glm::sign(twistTheta) * ((fabsf(twistTheta) - TWIST_DEADZONE) / PI) * 100.0f;
}
// limit the twist correction
if (fabsf(twistCorrection) > 30.0f) {
@ -1820,25 +1845,18 @@ static float computeFlexCompensation(float flexTheta, bool left) {
const float EXTEND_BOUNDARY = -PI / 4.0f;
float flexCorrection = 0.0f;
float currentWristCoefficient = 0.0f;
if (flexTheta > FLEX_BOUNDARY) {
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 60.0f;
} else if (flexTheta < EXTEND_BOUNDARY) {
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 60.0f;
}
if (fabsf(flexCorrection) > 175.0f) {
flexCorrection = glm::sign(flexCorrection) * 175.0f;
}
if (left) {
if (flexTheta > FLEX_BOUNDARY) {
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 60.0f;
} else if (flexTheta < EXTEND_BOUNDARY) {
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 60.0f;
}
if (fabsf(flexCorrection) > 175.0f) {
flexCorrection = glm::sign(flexCorrection) * 175.0f;
}
currentWristCoefficient += flexCorrection;
} else {
if (flexTheta > FLEX_BOUNDARY) {
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 60.0f;
} else if (flexTheta < EXTEND_BOUNDARY) {
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 60.0f;
}
if (fabsf(flexCorrection) > 175.0f) {
flexCorrection = glm::sign(flexCorrection) * 175.0f;
}
currentWristCoefficient -= flexCorrection;
}
@ -1870,14 +1888,14 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
unitAxis = Vectors::UNIT_Y;
}
float theta = getHandPositionTheta(armToHand, defaultArmLength, left);
qCDebug(animation) << "hand position theta " << left << " " << theta;
float positionalTheta = getHandPositionTheta(armToHand, defaultArmLength, left);
qCDebug(animation) << "hand position theta " << left << " " << positionalTheta;
float deltaTheta = 0.0f;
if (left) {
deltaTheta = theta - _lastThetaLeft;
deltaTheta = positionalTheta - _lastThetaLeft;
} else {
deltaTheta = theta - _lastThetaRight;
deltaTheta = positionalTheta - _lastThetaRight;
}
float deltaThetaRadians = (deltaTheta / 180.0f)*PI;
AnimPose deltaRot(glm::angleAxis(deltaThetaRadians, unitAxis), glm::vec3());
@ -1987,12 +2005,12 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
// i think limit theta here so we don't subtract more than is possible from last theta.
// actually theta is limited. to what though?
float theta = 0.0f;
if (left) {
_lastWristCoefficientLeft = _lastThetaLeft - _lastPositionThetaLeft;
_lastWristCoefficientLeft += currentWristCoefficient;
_lastPositionThetaLeft = theta;
theta += _lastWristCoefficientLeft;
_lastPositionThetaLeft = positionalTheta;
theta = positionalTheta + _lastWristCoefficientLeft;
if (theta > 0.0f) {
theta = 0.0f;
}
@ -2000,8 +2018,8 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
} else {
_lastWristCoefficientRight = _lastThetaRight - _lastPositionThetaRight;
_lastWristCoefficientRight += currentWristCoefficient;
_lastPositionThetaRight = theta;
theta += _lastWristCoefficientRight;
_lastPositionThetaRight = positionalTheta;
theta += positionalTheta + _lastWristCoefficientRight;
if (theta < 0.0f) {
theta = 0.0f;
}