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more tweaks to get the wrist action right

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This commit is contained in:
Angus Antley 2019-02-12 07:40:18 -08:00
parent bb29e382f0
commit 7bb353742a
1 changed files with 37 additions and 12 deletions
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49
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -310,29 +310,54 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
// make the dead zone PI/6.0
const float POWER = 4.0f;
const float POWER = 2.0f;
const float FLEX_BOUNDARY = PI / 2.0f;
const float EXTEND_BOUNDARY = -PI / 4.0f;
/*
if (fabsf(flexTheta) > (PI / 6.0f)) {
fred -= glm::sign(flexTheta) * pow(flexTheta / PI, POWER) * 180.0f;
if (flexTheta > FLEX_BOUNDARY) {
fred -= glm::sign(flexTheta) * pow((flexTheta - FLEX_BOUNDARY) / PI, POWER) * 180.0f;
} else if (flexTheta < EXTEND_BOUNDARY) {
fred -= glm::sign(flexTheta) * pow((flexTheta - EXTEND_BOUNDARY) / PI, POWER) * 180.0f;
}
if (fabsf(ulnarDeviationTheta) > (PI / 6.0f)) {
const float ULNAR_BOUNDARY = PI / 6.0f;
if (fabsf(ulnarDeviationTheta) > ULNAR_BOUNDARY) {
if (trueTwistTheta > 0.0f) {
fred -= glm::sign(ulnarDeviationTheta) * pow(ulnarDeviationTheta / PI, POWER) * 180.0f;
fred -= glm::sign(ulnarDeviationTheta) * pow(fabsf(ulnarDeviationTheta) - ULNAR_BOUNDARY / PI, POWER) * 180.0f;
} else {
fred += glm::sign(ulnarDeviationTheta) * pow(ulnarDeviationTheta / PI, POWER) * 180.0f;
fred += glm::sign(ulnarDeviationTheta) * pow(fabsf(ulnarDeviationTheta) - ULNAR_BOUNDARY/ PI, POWER) * 180.0f;
}
}
*/
// remember direction of travel.
const float TWIST_DEADZONE = PI / 2.0f;
if (trueTwistTheta < -TWIST_DEADZONE) {
fred += glm::sign(trueTwistTheta) * pow((trueTwistTheta / PI), POWER) * 180.0f + pow(TWIST_DEADZONE / PI, POWER) * 180.0f;
} else {
if (trueTwistTheta > (PI / 2.0f)) {
fred += glm::sign(trueTwistTheta) * pow((trueTwistTheta / PI), POWER) * 180.0f - pow(TWIST_DEADZONE / PI, POWER) * 180.0f;
if (!isLeft) {
if (trueTwistTheta < -TWIST_DEADZONE) {
fred += glm::sign(trueTwistTheta) * pow((fabsf(trueTwistTheta) - TWIST_DEADZONE) / PI, POWER) * 90.0f;
} else {
if (trueTwistTheta > TWIST_DEADZONE) {
fred += glm::sign(trueTwistTheta) * pow((fabsf(trueTwistTheta) - TWIST_DEADZONE) / PI, POWER) * 90.0f;
}
}
} else {
if (trueTwistTheta < -TWIST_DEADZONE) {
fred -= glm::sign(trueTwistTheta) * pow((fabsf(trueTwistTheta) - TWIST_DEADZONE) / PI, POWER) * 90.0f;
} else {
if (trueTwistTheta > TWIST_DEADZONE) {
fred -= glm::sign(trueTwistTheta) * pow((fabsf(trueTwistTheta) - TWIST_DEADZONE) / PI, POWER) * 90.0f;
}
}
}
/*
if (fred < 70.0f) {
fred = 70.0f;
}
if (fred > 175.0f) {
fred = 175.0f;
}
*/
if (isLeft) {
fred *= -1.0f;
}