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Interpolate out of ik chains when they are disabled

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Anthony J. Thibault 2017-07-07 09:29:57 -07:00
parent 92926e7a59
commit bd8d6280a8
2 changed files with 13 additions and 3 deletions
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14
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -252,6 +252,14 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
jointChainInfoVec[i].jointInfoVec[j].rot = safeMix(_prevJointChainInfoVec[i].jointInfoVec[j].rot, jointChainInfoVec[i].jointInfoVec[j].rot, alpha);
jointChainInfoVec[i].jointInfoVec[j].trans = lerp(_prevJointChainInfoVec[i].jointInfoVec[j].trans, jointChainInfoVec[i].jointInfoVec[j].trans, alpha);
}
// if joint chain was just disabled, ramp the weight toward zero.
if (_prevJointChainInfoVec[i].target.getType() != IKTarget::Type::Unknown &&
jointChainInfoVec[i].target.getType() == IKTarget::Type::Unknown) {
IKTarget newTarget = _prevJointChainInfoVec[i].target;
newTarget.setWeight(alpha);
jointChainInfoVec[i].target = newTarget;
}
}
}
}
@ -336,6 +344,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
}
}
// copy jointChainInfoVec into _prevJointChainInfoVec, and update timers
for (size_t i = 0; i < jointChainInfoVec.size(); i++) {
_prevJointChainInfoVec[i].timer = _prevJointChainInfoVec[i].timer - dt;
if (_prevJointChainInfoVec[i].timer <= 0.0f) {
@ -888,7 +897,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
{
PROFILE_RANGE_EX(simulation_animation, "ik/jointChainInfo", 0xffff00ff, 0);
// initialize a new jointChainInfoVec, this will holds the results for solving each ik chain.
// initialize a new jointChainInfoVec, this will hold the results for solving each ik chain.
JointInfo defaultJointInfo = { glm::quat(), glm::vec3(), -1, false };
for (size_t i = 0; i < targets.size(); i++) {
size_t chainDepth = (size_t)_skeleton->getChainDepth(targets[i].getIndex());
@ -902,6 +911,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
}
}
// identity joint chains that have changed types this frame.
_prevJointChainInfoVec.resize(jointChainInfoVec.size());
for (size_t i = 0; i < _prevJointChainInfoVec.size(); i++) {
if (_prevJointChainInfoVec[i].timer <= 0.0f &&
@ -923,7 +933,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
int parentIndex = _skeleton->getParentIndex(targets[_hipsTargetIndex].getIndex());
AnimPose parentAbsPose = _skeleton->getAbsolutePose(parentIndex, _relativePoses);
// do smooth interpolation of hips here, if necessary.
// do smooth interpolation of hips, if necessary.
if (_prevJointChainInfoVec[_hipsTargetIndex].timer > 0.0f) {
float alpha = (JOINT_CHAIN_INTERP_TIME - _prevJointChainInfoVec[_hipsTargetIndex].timer) / JOINT_CHAIN_INTERP_TIME;

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

@ -56,7 +56,7 @@ private:
glm::vec3 _poleReferenceVector;
bool _poleVectorEnabled { false };
int _index { -1 };
Type _type { Type::RotationAndPosition };
Type _type { Type::Unknown };
float _weight { 0.0f };
float _flexCoefficients[MAX_FLEX_COEFFICIENTS];
size_t _numFlexCoefficients;