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first try at the new elbow code

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amantley 2019-02-06 18:29:33 -08:00
parent 22cfcc4ac9
commit e2c9058f0a
2 changed files with 59 additions and 1 deletions
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58
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -34,6 +34,53 @@ AnimPoleVectorConstraint::~AnimPoleVectorConstraint() {
}
float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder) 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.
// make the angle less when z is small.
// lower y with x center lower angle
// lower y with x out higher angle
AnimPose shoulderPose = _skeleton->getAbsoluteDefaultPose(_skeleton->nameToJointIndex("RightShoulder"));
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;
// phi_0 is the lowest angle we can have
const float phi_0 = 15.0f;
// biases
const glm::vec3 biases(60.0f, 120.0f, -30.0f);
// weights
const glm::vec3 weights(-70.0f, 60.0f, 210.0f);
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 = ((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;
}
if (initial_valuesY < 0.0f) {
initial_valuesY = 0.0f;
}
if (initial_valuesZ < 0.0f) {
initial_valuesZ = 0.0f;
}
float theta = initial_valuesX + initial_valuesY + initial_valuesZ;
if (theta < 13.0f) {
theta = 13.0f;
}
if (theta > 175.0f) {
theta = 175.0f;
}
qCDebug(animation) << "relative hand" << initial_valuesX << " " << initial_valuesY << " " << initial_valuesZ << "theta value for pole vector is " << theta;
return theta;
}
const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
assert(_children.size() == 1);
@ -121,7 +168,14 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
float sideDot = glm::dot(poleVector, sideVector);
float theta = copysignf(1.0f, sideDot) * acosf(dot);
glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
float fred;
if (_skeleton->nameToJointIndex("RightHand") == _tipJointIndex) {
qCDebug(animation) << "theta from the old code " << theta;
fred = findThetaNewWay(tipPose.trans(), basePose.trans());
}
//glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
glm::quat deltaRot = glm::angleAxis(((180.0f - fred)/180.0f)*PI, unitAxis);
// transform result back into parent relative frame.
glm::quat relBaseRot = glm::inverse(baseParentPose.rot()) * deltaRot * basePose.rot();
@ -208,6 +262,8 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
return _poses;
}
// for AnimDebugDraw rendering
const AnimPoseVec& AnimPoleVectorConstraint::getPosesInternal() const {
return _poses;

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

@ -25,6 +25,8 @@ public:
const QString& enabledVar, const QString& poleVectorVar);
virtual ~AnimPoleVectorConstraint() override;
float findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder) const;
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) override;
protected: