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fixed wrap around 180 degrees

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This commit is contained in:
Angus Antley 2019-02-13 18:33:01 -08:00
parent fc978f0ee7
commit aa0c52abd7
1 changed files with 13 additions and 0 deletions
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13
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -277,6 +277,10 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
glm::vec3 ulnarAxis = glm::axis(ulnarDeviation);
//float twistTheta = glm::sign(twistAxis[1]) * glm::angle(twist);
float ulnarDeviationTheta = glm::sign(ulnarAxis[2]) * glm::angle(ulnarDeviation);
if (glm::sign(ulnarDeviationTheta) != glm::sign(_ulnarRadialThetaRunningAverage) && fabsf(ulnarDeviationTheta) >(5.0f * PI) / 6.0f) {
// don't allow the theta to cross the 180 degree limit.
ulnarDeviationTheta = -1.0f * ulnarDeviationTheta;
}
_ulnarRadialThetaRunningAverage = 0.5f * _ulnarRadialThetaRunningAverage + 0.5f * ulnarDeviationTheta;
//get the swingTwist of the hand to lower arm
@ -297,6 +301,10 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
//float swingTheta = glm::angle(twistUlnarSwing);
float flexTheta = glm::sign(flexAxis[0]) * glm::angle(flex);
if (glm::sign(flexTheta) != glm::sign(_flexThetaRunningAverage) && fabsf(flexTheta) > (5.0f * PI) / 6.0f) {
// don't allow the theta to cross the 180 degree limit.
flexTheta = -1.0f * flexTheta;
}
_flexThetaRunningAverage = 0.5f * _flexThetaRunningAverage + 0.5f * flexTheta;
@ -313,6 +321,11 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
glm::vec3 trueTwistAxis = glm::axis(trueTwist);
float trueTwistTheta;
trueTwistTheta = glm::sign(trueTwistAxis[1]) * glm::angle(trueTwist);
if (glm::sign(trueTwistTheta) != glm::sign(_twistThetaRunningAverage) && fabsf(trueTwistTheta) >(5.0f * PI) / 6.0f) {
// don't allow the theta to cross the 180 degree limit.
trueTwistTheta = -1.0f * trueTwistTheta;
}
_twistThetaRunningAverage = 0.5f * _twistThetaRunningAverage + 0.5f * trueTwistTheta;