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implemented the code for the heuristic elbows including code from the paper authors. to do: dampen the twist of the spine

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caused by the hand azimuth and put in the constraints for the wrists on
the pole vector theta computation.
This commit is contained in:
amantley 2019-02-07 17:45:58 -08:00
parent 4d9d597b4f
commit 9eceb1d0bd
2 changed files with 62 additions and 20 deletions
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80
libraries/animation/src/AnimPoleVectorConstraint.cpp
View file

@ -34,7 +34,31 @@ AnimPoleVectorConstraint::~AnimPoleVectorConstraint() {
}
float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder) const {
static float correctElbowForHandRotation(const AnimPose& hand, const AnimPose& lowerArm) {
// 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));
qCDebug(animation) << "flexion angle " << flexionExtension;
float deltaInDegrees = (flexionExtension / PI) * 180.0f;
qCDebug(animation) << "delta in degrees " << deltaInDegrees;
float deltaFinal = glm::sign(deltaInDegrees) * powf(fabsf(deltaInDegrees/180.0f), 1.5f) * 180.0f * -0.3f;
return deltaFinal;
}
float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder, bool left) const {
// get the default poses for the upper and lower arm
// then use this length to judge how far the arm is away from the shoulder.
// then create weights that make the elbow angle less when the x value is large in either direction.
@ -45,27 +69,34 @@ float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm
AnimPose handPose = _skeleton->getAbsoluteDefaultPose(_skeleton->nameToJointIndex("RightHand"));
// subtract 10 centimeters from the arm length for some reason actual arm position is clamped to length - 10cm.
float defaultArmLength = glm::length( handPose.trans() - shoulderPose.trans() ) - 10.0f;
qCDebug(animation) << "default arm length " << defaultArmLength;
// qCDebug(animation) << "default arm length " << defaultArmLength;
// phi_0 is the lowest angle we can have
const float phi_0 = 15.0f;
const float zStart = 0.6f;
const float xStart = 0.1f;
// biases
const glm::vec3 biases(30.0f, 120.0f, -30.0f);
//const glm::vec3 biases(30.0f, 120.0f, -30.0f);
const glm::vec3 biases(0.0f, 135.0f, 0.0f);
// weights
const glm::vec3 weights(-30.0f, 30.0f, 210.0f);
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);
glm::vec3 armToHand = hand - shoulder;
qCDebug(animation) << "current arm length " << glm::length(armToHand);
float initial_valuesX = ((fabsf(armToHand[0]) / defaultArmLength) * weights[0]) + biases[0];
float initial_valuesY = ((fabs(armToHand[1]) / defaultArmLength) * weights[1]) + biases[1];
float initial_valuesZ = ((armToHand[2] / defaultArmLength) * weights[2]) + biases[2];
if (initial_valuesX < 0.0f) {
initial_valuesX = 0.0f;
// qCDebug(animation) << "current arm length " << glm::length(armToHand);
float initial_valuesY = ((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);
} else {
initial_valuesZ = zWeightBottom * glm::max(zStart - (armToHand[2] / defaultArmLength), 0.0f) * fabs(armToHand[1] / defaultArmLength);
}
if (initial_valuesY < 0.0f) {
initial_valuesY = 0.0f;
}
if (initial_valuesZ < 0.0f) {
initial_valuesZ = 0.0f;
float initial_valuesX;
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);
}
float theta = initial_valuesX + initial_valuesY + initial_valuesZ;
@ -77,7 +108,7 @@ 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;
// qCDebug(animation) << "relative hand" << initial_valuesX << " " << initial_valuesY << " " << initial_valuesZ << "theta value for pole vector is " << theta;
return theta;
}
@ -170,14 +201,25 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
float fred;
if ((_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) || (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex)) {
qCDebug(animation) << "theta from the old code " << theta;
fred = findThetaNewWay(tipPose.trans(), basePose.trans());
//qCDebug(animation) << "theta from the old code " << theta;
bool isLeft = false;
if (_skeleton->nameToJointIndex("LeftHand") == _tipJointIndex) {
fred = -1.0f * fred;
isLeft = true;
}
fred = findThetaNewWay(tipPose.trans(), basePose.trans(), isLeft);
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;
}
//glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
glm::quat deltaRot = glm::angleAxis(theta, unitAxis);

2
libraries/animation/src/AnimPoleVectorConstraint.h
View file

@ -25,7 +25,7 @@ public:
const QString& enabledVar, const QString& poleVectorVar);
virtual ~AnimPoleVectorConstraint() override;
float findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder) const;
float findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder, bool left) const;
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) override;