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tweaking the hand pose correction on the pole vector

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This commit is contained in:
amantley 2019-02-11 18:05:29 -08:00
parent f125e90449
commit bb29e382f0
1 changed files with 66 additions and 18 deletions
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84
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -250,27 +250,51 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
fred = findThetaNewWay(tipPose.trans(), basePose.trans(), isLeft);
//get the swingTwist of the hand to lower arm
glm::quat yTwist;
glm::quat flexUlnarSwing;
glm::quat relativeHandRotation = (midPose.inverse() * tipPose).rot();
swingTwistDecomposition(relativeHandRotation, Vectors::UNIT_X, flexUlnarSwing, yTwist);
glm::vec3 twistAxis = glm::axis(yTwist);
glm::vec3 flexUlnarAxis = glm::axis(flexUlnarSwing);
float swingTheta = glm::angle(flexUlnarSwing);
float twistTheta = glm::angle(yTwist);
glm::quat flex;
glm::quat twistUlnarSwing;
glm::quat relativeHandRotation = (midPose.inverse() * tipPose).rot();
swingTwistDecomposition(relativeHandRotation, Vectors::UNIT_X, twistUlnarSwing, flex);
glm::vec3 flexAxis = glm::axis(flex);
//float swingTheta = glm::angle(twistUlnarSwing);
float flexTheta = glm::sign(flexAxis[0]) * glm::angle(flex);
glm::quat twist;
glm::quat ulnarDeviation;
swingTwistDecomposition(flexUlnarSwing, Vectors::UNIT_Z, flex, ulnarDeviation);
float flexTheta = glm::angle(flex);
swingTwistDecomposition(twistUlnarSwing, Vectors::UNIT_Z, twist, ulnarDeviation);
glm::vec3 twistAxis = glm::axis(twist);
glm::vec3 ulnarAxis = glm::axis(ulnarDeviation);
float ulnarDeviationTheta = glm::angle(ulnarDeviation);
float twistTheta = glm::sign(twistAxis[1]) * glm::angle(twist);
float ulnarDeviationTheta = glm::sign(ulnarAxis[2]) * glm::angle(ulnarDeviation);
glm::vec3 eulerVersion = glm::eulerAngles(relativeHandRotation);
glm::quat trueTwist;
glm::quat nonTwist;
swingTwistDecomposition(relativeHandRotation, Vectors::UNIT_Y, nonTwist, trueTwist);
if (trueTwist.w < 0.0f) {
trueTwist.x *= -1.0f;
trueTwist.y *= -1.0f;
trueTwist.z *= -1.0f;
trueTwist.w *= -1.0f;
}
glm::vec3 trueTwistAxis = glm::axis(trueTwist);
float trueTwistTheta = glm::angle(trueTwist);
trueTwistTheta *= glm::sign(trueTwistAxis[1]) * glm::angle(trueTwist);
//while (trueTwistTheta > PI) {
// trueTwistTheta -= 2.0f * PI;
//}
// glm::vec3 eulerVersion = glm::eulerAngles(relativeHandRotation);
if (!isLeft) {
//qCDebug(animation) << "wrist thetas -----> X " << twistTheta << " twist: " << flexTheta << "ulnar deviation: " << ulnarDeviationTheta;
qCDebug(animation) << "0: " << eulerVersion[0] << " 1: " << eulerVersion[1] << " 2: " << eulerVersion[2];
//qCDebug(animation) << "flex: " << (flexTheta / PI) * 180.0f << " twist: " << (twistTheta / PI) * 180.0f << " ulnar deviation: " << (ulnarDeviationTheta / PI) * 180.0f;
qCDebug(animation) << "trueTwist: " << (trueTwistTheta / PI) * 180.0f;// << " old twist: " << (twistTheta / PI) * 180.0f;
//qCDebug(animation) << "ulnarAxis " << flexUlnarAxis;
//qCDebug(animation) << "twistAxis " << twistAxis;
qCDebug(animation) << "relative hand rotation " << relativeHandRotation;
qCDebug(animation) << "twist rotation " << trueTwist;
//QString name = QString("handMarker3");
//const vec4 WHITE(1.0f);
//DebugDraw::getInstance().addMyAvatarMarker(name, relativeHandRotation, midPose.trans(), WHITE);
}
//QString name = QString("wrist_target").arg(_id);
@ -283,13 +307,37 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
if (!isLeft) {
deltaThetaUlnar = correctElbowForHandUlnarRadialDeviation(tipPose, midPose);
}
//fred -= deltaThetaUlnar;
fred -= deltaTheta;
// make the dead zone PI/6.0
const float POWER = 4.0f;
/*
if (fabsf(flexTheta) > (PI / 6.0f)) {
fred -= glm::sign(flexTheta) * pow(flexTheta / PI, POWER) * 180.0f;
}
if (fabsf(ulnarDeviationTheta) > (PI / 6.0f)) {
if (trueTwistTheta > 0.0f) {
fred -= glm::sign(ulnarDeviationTheta) * pow(ulnarDeviationTheta / PI, POWER) * 180.0f;
} else {
fred += glm::sign(ulnarDeviationTheta) * pow(ulnarDeviationTheta / 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) {
fred *= -1.0f;
}
// theta = ((180.0f - fred) / 180.0f)*PI;
theta = ((180.0f - fred) / 180.0f)*PI;
//qCDebug(animation) << "the wrist correction theta is -----> " << isLeft << " theta: " << deltaTheta;
}