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removed unnecessary hand update function for two bone IK

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amantley 2019-01-25 11:34:18 -08:00
parent 71df614989
commit 992820cd67
2 changed files with 0 additions and 105 deletions
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102
libraries/animation/src/Rig.cpp
View file

@ -1539,104 +1539,6 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
}
}
void Rig::updateHands2(bool leftHandEnabled, bool rightHandEnabled, bool headEnabled,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix) {
int hipsIndex = indexOfJoint("Hips");
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.85f;
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) {
_animVars.set(LEFT_HAND_POSITION, leftHandPose.trans());
_animVars.set(LEFT_HAND_ROTATION, leftHandPose.rot());
// We want to drive the IK directly from the trackers.
_animVars.set(LEFT_HAND_IK_POSITION_VAR, LEFT_HAND_POSITION);
_animVars.set(LEFT_HAND_IK_ROTATION_VAR, LEFT_HAND_ROTATION);
int handJointIndex = _animSkeleton->nameToJointIndex("LeftHand");
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
int shoulderJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm");
glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, oppositeArmJointIndex, poleVector);
//glm::vec3 poleVector = calculateKneePoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, hipsIndex, rightHandPose);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter, but in sensor space.
if (!_prevLeftHandPoleVectorValid) {
_prevLeftHandPoleVectorValid = true;
_prevLeftHandPoleVector = sensorPoleVector;
}
glm::quat deltaRot = rotationBetween(_prevLeftHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector;
_animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevLeftHandPoleVector));
} else {
// We want to drive the IK from the underlying animation.
// This gives us the ability to squat while in the HMD, without the feet from dipping under the floor.
_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);
// We want to match the animated knee pose as close as possible, so don't use poleVectors
_animVars.set("leftHandPoleVectorEnabled", false);
_prevLeftHandPoleVectorValid = false;
}
if (rightHandEnabled) {
_animVars.set(RIGHT_HAND_POSITION, rightHandPose.trans());
_animVars.set(RIGHT_HAND_ROTATION, rightHandPose.rot());
// We want to drive the IK directly from the trackers.
_animVars.set(RIGHT_HAND_IK_POSITION_VAR, RIGHT_HAND_POSITION);
_animVars.set(RIGHT_HAND_IK_ROTATION_VAR, RIGHT_HAND_ROTATION);
int handJointIndex = _animSkeleton->nameToJointIndex("RightHand");
int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm");
int shoulderJointIndex = _animSkeleton->nameToJointIndex("RightArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, shoulderJointIndex, oppositeArmJointIndex, poleVector);
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
// smooth toward desired pole vector from previous pole vector... to reduce jitter, but in sensor space.
if (!_prevRightHandPoleVectorValid) {
_prevRightHandPoleVectorValid = true;
_prevRightHandPoleVector = sensorPoleVector;
}
glm::quat deltaRot = rotationBetween(_prevRightHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector;
_animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevRightHandPoleVector));
} else {
// We want to drive the IK from the underlying animation.
// This gives us the ability to squat while in the HMD, without the feet from dipping under the floor.
_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);
// We want to match the animated knee pose as close as possible, so don't use poleVectors
_animVars.set("rightHandPoleVectorEnabled", false);
_prevRightHandPoleVectorValid = false;
}
}
void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, bool headEnabled,
const AnimPose& leftFootPose, const AnimPose& rightFootPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix) {
@ -1889,10 +1791,6 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
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);
updateFeet(leftFootEnabled, rightFootEnabled, _headEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot],
params.rigToSensorMatrix, sensorToRigMatrix);

3
libraries/animation/src/Rig.h
View file

@ -250,9 +250,6 @@ protected:
const HFMJointShapeInfo& hipsShapeInfo, const HFMJointShapeInfo& spineShapeInfo,
const HFMJointShapeInfo& spine1ShapeInfo, const HFMJointShapeInfo& spine2ShapeInfo,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);
void updateHands2(bool leftHandEnabled, bool rightHandEnabled, bool headEnabled,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);
void updateFeet(bool leftFootEnabled, bool rightFootEnabled, bool headEnabled,
const AnimPose& leftFootPose, const AnimPose& rightFootPose,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix);