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working on the wrist tweak, dampened the spine twist

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amantley 2019-02-08 17:53:23 -08:00
parent 9eceb1d0bd
commit 822ec1c529
3 changed files with 65 additions and 15 deletions
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1
interface/src/avatar/MySkeletonModel.cpp
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@ -262,6 +262,7 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
if (spine2Exists && headExists && hipsExists) {
AnimPose rigSpaceYaw(myAvatar->getSpine2RotationRigSpace());
rigSpaceYaw.rot() = safeLerp(Quaternions::IDENTITY, rigSpaceYaw.rot(), 0.5f);
glm::vec3 u, v, w;
glm::vec3 fwd = rigSpaceYaw.rot() * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 up = currentHeadPose.trans() - currentHipsPose.trans();

2
libraries/animation/src/AnimArmIK.cpp
View file

@ -31,7 +31,7 @@ AnimArmIK::~AnimArmIK() {
const AnimPoseVec& AnimArmIK::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
qCDebug(animation) << "evaluating the arm IK";
//qCDebug(animation) << "evaluating the arm IK";
_poses = AnimTwoBoneIK::evaluate(animVars, context, dt, triggersOut);
//assert(_children.size() == 1);

77
libraries/animation/src/AnimPoleVectorConstraint.cpp
View file

@ -34,7 +34,7 @@ AnimPoleVectorConstraint::~AnimPoleVectorConstraint() {
}
static float correctElbowForHandRotation(const AnimPose& hand, const AnimPose& lowerArm) {
static float correctElbowForHandFlexionExtension(const AnimPose& hand, const AnimPose& lowerArm) {
// first calculate the ulnar/radial deviation
// use the lower arm x-axis and the hand x-axis
@ -44,18 +44,57 @@ static float correctElbowForHandRotation(const AnimPose& hand, const AnimPose& l
glm::vec3 xAxisHand = hand.rot() * glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 yAxisHand = hand.rot() * glm::vec3(0.0f, 1.0f, 0.0f);
float ulnarRadialDeviation = atan2(glm::dot(xAxisHand, xAxisLowerArm), glm::dot(xAxisHand, yAxisLowerArm));
//float ulnarRadialDeviation = atan2(glm::dot(xAxisHand, xAxisLowerArm), glm::dot(xAxisHand, yAxisLowerArm));
float flexionExtension = atan2(glm::dot(yAxisHand, zAxisLowerArm), glm::dot(yAxisHand, yAxisLowerArm));
qCDebug(animation) << "flexion angle " << flexionExtension;
//qCDebug(animation) << "flexion angle " << flexionExtension;
float deltaInDegrees = (flexionExtension / PI) * 180.0f;
qCDebug(animation) << "delta in degrees " << deltaInDegrees;
//qCDebug(animation) << "delta in degrees " << deltaInDegrees;
float deltaFinal = glm::sign(deltaInDegrees) * powf(fabsf(deltaInDegrees/180.0f), 1.5f) * 180.0f * -0.3f;
return deltaFinal;
return deltaInDegrees;// deltaFinal;
}
static float correctElbowForHandUlnarRadialDeviation(const AnimPose& hand, const AnimPose& lowerArm) {
const float DEAD_ZONE = 0.3f;
const float FILTER_EXPONENT = 2.0f;
// first calculate the ulnar/radial deviation
// use the lower arm x-axis and the hand x-axis
glm::vec3 xAxisLowerArm = lowerArm.rot() * glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 yAxisLowerArm = lowerArm.rot() * glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 zAxisLowerArm = lowerArm.rot() * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 xAxisHand = hand.rot() * glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 yAxisHand = hand.rot() * glm::vec3(0.0f, 1.0f, 0.0f);
float ulnarRadialDeviation = atan2(glm::dot(xAxisHand, xAxisLowerArm), glm::dot(xAxisHand, yAxisLowerArm));
//float flexionExtension = atan2(glm::dot(yAxisHand, zAxisLowerArm), glm::dot(yAxisHand, yAxisLowerArm));
float makeForwardZeroRadians = ulnarRadialDeviation - (PI / 2.0f);
qCDebug(animation) << "calibrated ulnar " << makeForwardZeroRadians;
float deltaFractionOfPi = (makeForwardZeroRadians / PI);
float deltaUlnarRadial;
if (fabsf(deltaFractionOfPi) < DEAD_ZONE) {
deltaUlnarRadial = 0.0f;
} else {
deltaUlnarRadial = (deltaFractionOfPi - glm::sign(deltaFractionOfPi) * DEAD_ZONE) / (1.0f - DEAD_ZONE);
}
float deltaUlnarRadialDegrees = glm::sign(deltaUlnarRadial) * powf(fabsf(deltaUlnarRadial), FILTER_EXPONENT) * 180.0f;
qCDebug(animation) << "ulnar delta in degrees " << deltaUlnarRadialDegrees;
float deltaFinal = deltaUlnarRadialDegrees;
return deltaFractionOfPi * 180.0f; // deltaFinal;
}
float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder, bool left) const {
@ -81,10 +120,10 @@ float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm
// weights
const float zWeightBottom = -100.0f;
//const glm::vec3 weights(-30.0f, 30.0f, 210.0f);
const glm::vec3 weights(-50.0f, -60.0f, 260.0f);
const glm::vec3 weights(-50.0f, 60.0f, 260.0f);
glm::vec3 armToHand = hand - shoulder;
// qCDebug(animation) << "current arm length " << glm::length(armToHand);
float initial_valuesY = ((armToHand[1] / defaultArmLength) * weights[1]) + biases[1];
float initial_valuesY = (fabsf(armToHand[1] / defaultArmLength) * weights[1]) + biases[1];
float initial_valuesZ;
if (armToHand[1] > 0.0f) {
initial_valuesZ = weights[2] * glm::max(zStart - (armToHand[2] / defaultArmLength), 0.0f) * fabs(armToHand[1] / defaultArmLength);
@ -96,7 +135,7 @@ float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm
if (left) {
initial_valuesX = weights[0] * glm::max(-1.0f * (armToHand[0] / defaultArmLength) + xStart, 0.0f);
} else {
initial_valuesX = weights[0] * glm::max((armToHand[0] / defaultArmLength) + xStart, 0.0f);
initial_valuesX = weights[0] * ((armToHand[0] / defaultArmLength) + xStart);
}
float theta = initial_valuesX + initial_valuesY + initial_valuesZ;
@ -108,7 +147,9 @@ float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm
theta = 175.0f;
}
// qCDebug(animation) << "relative hand" << initial_valuesX << " " << initial_valuesY << " " << initial_valuesZ << "theta value for pole vector is " << theta;
if (!left) {
//qCDebug(animation) << "relative hand x " << initial_valuesX << " y " << initial_valuesY << " z " << initial_valuesZ << "theta value for pole vector is " << theta;
}
return theta;
}
@ -207,14 +248,22 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
isLeft = true;
}
fred = findThetaNewWay(tipPose.trans(), basePose.trans(), isLeft);
if (isLeft){
// here is where we would do the wrist correction.
float deltaTheta = correctElbowForHandFlexionExtension(tipPose, midPose);
float deltaThetaUlnar;
if (!isLeft) {
deltaThetaUlnar = correctElbowForHandUlnarRadialDeviation(tipPose, midPose);
}
//fred -= deltaThetaUlnar;
fred -= deltaTheta;
if (isLeft) {
fred *= -1.0f;
}
theta = ((180.0f - fred) / 180.0f)*PI;
// here is where we would do the wrist correction.
float deltaTheta = correctElbowForHandRotation(tipPose, midPose);
qCDebug(animation) << "the wrist correction theta is -----> " << deltaTheta;
//qCDebug(animation) << "the wrist correction theta is -----> " << isLeft << " theta: " << deltaTheta;
}