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everything looks pretty good now but need to move the code to rig and need to get rig of wrap around problem with the twist decomp

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amantley 2019-02-13 17:12:28 -08:00
parent 9baed717f9
commit c6da7cc41d
1 changed files with 52 additions and 30 deletions
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82
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -131,11 +131,13 @@ float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm
initial_valuesZ = zWeightBottom * glm::max(zStart - (armToHand[2] / defaultArmLength), 0.0f) * fabs(armToHand[1] / defaultArmLength);
}
//1.0f + armToHand[1]/defaultArmLength
float initial_valuesX;
if (left) {
initial_valuesX = weights[0] * glm::max(-1.0f * (armToHand[0] / defaultArmLength) + xStart, 0.0f);
} else {
initial_valuesX = weights[0] * ((armToHand[0] / defaultArmLength) + xStart);
initial_valuesX = weights[0] * (((armToHand[0] / defaultArmLength) + xStart) - (0.3f) * ((1.0f + (armToHand[1] / defaultArmLength))/2.0f));
}
float theta = initial_valuesX + initial_valuesY + initial_valuesZ;
@ -264,6 +266,7 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
//swingTwistDecomposition(twistUlnarSwing, Vectors::UNIT_Z, twist, ulnarDeviation);
swingTwistDecomposition(relativeHandRotation, Vectors::UNIT_Z, twist, ulnarDeviation);
ulnarDeviation = glm::normalize(ulnarDeviation);
if (ulnarDeviation.w < 0.0f) {
ulnarDeviation.x *= -1.0f;
ulnarDeviation.y *= -1.0f;
@ -280,7 +283,9 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
glm::quat flex;
glm::quat twistUlnarSwing;
swingTwistDecomposition(twist, Vectors::UNIT_X, twistUlnarSwing, flex);
swingTwistDecomposition(relativeHandRotation, Vectors::UNIT_X, twistUlnarSwing, flex);
flex = glm::normalize(flex);
if (flex.w < 0.0f) {
flex.x *= -1.0f;
flex.y *= -1.0f;
@ -298,6 +303,7 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
glm::quat trueTwist;
glm::quat nonTwist;
swingTwistDecomposition(relativeHandRotation, Vectors::UNIT_Y, nonTwist, trueTwist);
trueTwist = glm::normalize(trueTwist);
if (trueTwist.w < 0.0f) {
trueTwist.x *= -1.0f;
trueTwist.y *= -1.0f;
@ -320,6 +326,7 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
// glm::vec3 eulerVersion = glm::eulerAngles(relativeHandRotation);
if (!isLeft) {
qCDebug(animation) << "flex ave: " << (_flexThetaRunningAverage / PI) * 180.0f << " twist ave: " << (_twistThetaRunningAverage / PI) * 180.0f << " ulnar deviation ave: " << (_ulnarRadialThetaRunningAverage / PI) * 180.0f;
qCDebug(animation) << "flex: " << (flexTheta / PI) * 180.0f << " twist: " << (trueTwistTheta / 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;
@ -350,48 +357,59 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
const float POWER = 2.0f;
const float FLEX_BOUNDARY = PI / 4.0f;
const float EXTEND_BOUNDARY = -PI / 6.0f;
const float EXTEND_BOUNDARY = -PI / 5.0f;
float flexCorrection = 0.0f;
if (isLeft) {
if (_flexThetaRunningAverage > FLEX_BOUNDARY) {
flexCorrection = ((_flexThetaRunningAverage - FLEX_BOUNDARY) / PI) * 180.0f; // glm::sign(flexTheta) * pow((flexTheta - FLEX_BOUNDARY) / PI, POWER) * 180.0f;
if (flexCorrection > 30.0f) {
flexCorrection = 30.0f;
}
flexCorrection = ((_flexThetaRunningAverage - FLEX_BOUNDARY) / PI) * 90.0f; // glm::sign(flexTheta) * pow((flexTheta - FLEX_BOUNDARY) / PI, POWER) * 180.0f;
} else if (_flexThetaRunningAverage < EXTEND_BOUNDARY) {
flexCorrection = ((_flexThetaRunningAverage - EXTEND_BOUNDARY) / PI) * 180.0f; // glm::sign(flexTheta) * pow((flexTheta - EXTEND_BOUNDARY) / PI, POWER) * 180.0f;
flexCorrection = ((_flexThetaRunningAverage - EXTEND_BOUNDARY) / PI) * 90.0f; // glm::sign(flexTheta) * pow((flexTheta - EXTEND_BOUNDARY) / PI, POWER) * 180.0f;
}
if (fabs(flexCorrection) > 30.0f) {
flexCorrection = glm::sign(flexCorrection) * 30.0f;
}
fred += flexCorrection;
} else {
if (_flexThetaRunningAverage > FLEX_BOUNDARY) {
flexCorrection = ((_flexThetaRunningAverage - FLEX_BOUNDARY) / PI) * 180.0f; // glm::sign(flexTheta) * pow((flexTheta - FLEX_BOUNDARY) / PI, POWER) * 180.0f;
if (flexCorrection > 30.0f) {
flexCorrection = 30.0f;
}
} else if (_flexThetaRunningAverage < EXTEND_BOUNDARY) {
flexCorrection = ((_flexThetaRunningAverage - EXTEND_BOUNDARY) / PI) * 180.0f; // glm::sign(flexTheta) * pow((flexTheta - EXTEND_BOUNDARY) / PI, POWER) * 180.0f;
}
if (fabs(flexCorrection) > 30.0f) {
flexCorrection = glm::sign(flexCorrection) * 30.0f;
}
fred -= flexCorrection;
}
const float TWIST_ULNAR_DEADZONE = 0.0f;
const float ULNAR_BOUNDARY = PI / 12.0f;
if (fabsf(_ulnarRadialThetaRunningAverage) > ULNAR_BOUNDARY) {
const float ULNAR_BOUNDARY_MINUS = -PI / 12.0f;
const float ULNAR_BOUNDARY_PLUS = PI / 24.0f;
float ulnarDiff = 0.0f;
float ulnarCorrection = 0.0f;
if (_ulnarRadialThetaRunningAverage > ULNAR_BOUNDARY_PLUS) {
ulnarDiff = _ulnarRadialThetaRunningAverage - ULNAR_BOUNDARY_PLUS;
} else if (_ulnarRadialThetaRunningAverage < ULNAR_BOUNDARY_MINUS) {
ulnarDiff = _ulnarRadialThetaRunningAverage - ULNAR_BOUNDARY_MINUS;
}
if(fabs(ulnarDiff) > 0.0f){
if (fabs(_twistThetaRunningAverage) > TWIST_ULNAR_DEADZONE) {
float twistCoefficient = pow((fabs(_twistThetaRunningAverage) - TWIST_ULNAR_DEADZONE) / (PI / 20.0f), POWER);
float ulnarCorrection = 0.0f;
float twistCoefficient = (fabs(_twistThetaRunningAverage) / (PI / 20.0f));
if (twistCoefficient > 1.0f) {
twistCoefficient = 1.0f;
}
if (isLeft) {
if (trueTwistTheta < 0.0f) {
ulnarCorrection -= glm::sign(_ulnarRadialThetaRunningAverage) * pow((fabsf(_ulnarRadialThetaRunningAverage) - ULNAR_BOUNDARY) / PI, POWER) * 80.0f * twistCoefficient;
ulnarCorrection -= glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 90.0f * twistCoefficient;
} else {
ulnarCorrection += glm::sign(_ulnarRadialThetaRunningAverage) * pow((fabsf(_ulnarRadialThetaRunningAverage) - ULNAR_BOUNDARY) / PI, POWER) * 80.0f * twistCoefficient;
ulnarCorrection += glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 90.0f * twistCoefficient;
}
} else {
// right hand
if (trueTwistTheta > 0.0f) {
ulnarCorrection -= glm::sign(_ulnarRadialThetaRunningAverage) * pow((fabsf(_ulnarRadialThetaRunningAverage) - ULNAR_BOUNDARY) / PI, POWER) * 80.0f * twistCoefficient;
ulnarCorrection -= glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 90.0f * twistCoefficient;
} else {
ulnarCorrection += glm::sign(_ulnarRadialThetaRunningAverage) * pow((fabsf(_ulnarRadialThetaRunningAverage) - ULNAR_BOUNDARY) / PI, POWER) * 80.0f * twistCoefficient;
ulnarCorrection += glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 90.0f * twistCoefficient;
}
}
@ -403,24 +421,26 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
}
// remember direction of travel.
const float TWIST_DEADZONE = (4.0f * PI) / 9.0f;
const float TWIST_DEADZONE = PI / 2.0f;
//if (!isLeft) {
float twistCorrection = 0.0f;
if (_twistThetaRunningAverage < -TWIST_DEADZONE) {
twistCorrection = glm::sign(_twistThetaRunningAverage) * pow((fabsf(_twistThetaRunningAverage) - TWIST_DEADZONE) / PI, POWER) * 80.0f;
twistCorrection = glm::sign(_twistThetaRunningAverage) * ((fabsf(_twistThetaRunningAverage) - TWIST_DEADZONE) / PI) * 60.0f;
} else {
if (_twistThetaRunningAverage > TWIST_DEADZONE) {
twistCorrection = glm::sign(_twistThetaRunningAverage) * pow((fabsf(_twistThetaRunningAverage) - TWIST_DEADZONE) / PI, POWER) * 80.0f;
twistCorrection = glm::sign(_twistThetaRunningAverage) * ((fabsf(_twistThetaRunningAverage) - TWIST_DEADZONE) / PI) * 60.0f;
}
}
if (fabsf(twistCorrection) > 45.0f) {
fred += glm::sign(twistCorrection) * 45.0f;
if (fabsf(twistCorrection) > 30.0f) {
fred += glm::sign(twistCorrection) * 30.0f;
} else {
fred += twistCorrection;
}
_lastTheta = 0.5f * _lastTheta + 0.5f * fred;
qCDebug(animation) << "twist correction: " << twistCorrection << " flex correction: " << flexCorrection << " ulnar correction " << ulnarCorrection;
//}
/*else {
@ -435,14 +455,16 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
}
*/
/*
if (fred < 70.0f) {
fred = 70.0f;
if (fabsf(_lastTheta) < 50.0f) {
if (fabsf(_lastTheta) < 50.0f) {
_lastTheta = glm::sign(_lastTheta) * 50.0f;
}
}
if (fred > 175.0f) {
fred = 175.0f;
if (fabsf(_lastTheta) > 175.0f) {
_lastTheta = glm::sign(_lastTheta) * 175.0f;
}
*/
theta = ((180.0f - _lastTheta) / 180.0f)*PI;