Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-19 17:03:43 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Pole Vectors always calculated when arms are crossed

Browse source
This commit is contained in:
luiscuenca 2018-07-24 08:58:17 -07:00
parent 8f547d9bdd
commit e7d70a832d
3 changed files with 61 additions and 13 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
interface/src/avatar/MyAvatar.h
View file

@ -612,6 +612,8 @@ public:
const MyHead* getMyHead() const;
Q_INVOKABLE void toggleSmoothPoleVectors() { _skeletonModel->getRig().toggleSmoothPoleVectors(); };
/**jsdoc
* Get the current position of the avatar's "Head" joint.
* @function MyAvatar.getHeadPosition

61
libraries/animation/src/Rig.cpp
View file

@ -1247,6 +1247,9 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo,
const glm::mat4& rigToSensorMatrix, const glm::mat4& sensorToRigMatrix) {
const bool ENABLE_POLE_VECTORS = true;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f;
if (leftHandEnabled) {
glm::vec3 handPosition = leftHandPose.trans();
@ -1266,22 +1269,38 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int armJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
int elbowJointIndex = _animSkeleton->nameToJointIndex("LeftForeArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("RightArm");
if (handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
if (usePoleVector) {
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
if (_smoothPoleVectors) {
// smooth toward desired pole vector from previous pole vector... to reduce jitter
if (!_prevLeftHandPoleVectorValid) {
_prevLeftHandPoleVectorValid = true;
_prevLeftHandPoleVector = sensorPoleVector;
}
glm::quat deltaRot = rotationBetween(_prevLeftHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector;
} else {
_prevLeftHandPoleVector = sensorPoleVector;
}
_animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X);
_animVars.set("leftHandPoleVector", transformVectorFast(sensorToRigMatrix, sensorPoleVector));
_animVars.set("leftHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevLeftHandPoleVector));
} else {
_prevLeftHandPoleVectorValid = false;
_animVars.set("leftHandPoleVectorEnabled", false);
}
} else {
_prevLeftHandPoleVectorValid = false;
_animVars.set("leftHandPoleVectorEnabled", false);
}
} else {
_prevLeftHandPoleVectorValid = false;
_animVars.set("leftHandPoleVectorEnabled", false);
_animVars.unset("leftHandPosition");
@ -1309,22 +1328,38 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
int elbowJointIndex = _animSkeleton->nameToJointIndex("RightForeArm");
int oppositeArmJointIndex = _animSkeleton->nameToJointIndex("LeftArm");
if (handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
if (ENABLE_POLE_VECTORS && handJointIndex >= 0 && armJointIndex >= 0 && elbowJointIndex >= 0 && oppositeArmJointIndex >= 0) {
glm::vec3 poleVector;
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
if (usePoleVector) {
glm::vec3 sensorPoleVector = transformVectorFast(rigToSensorMatrix, poleVector);
if (_smoothPoleVectors) {
// smooth toward desired pole vector from previous pole vector... to reduce jitter
if (!_prevRightHandPoleVectorValid) {
_prevRightHandPoleVectorValid = true;
_prevRightHandPoleVector = sensorPoleVector;
}
glm::quat deltaRot = rotationBetween(_prevRightHandPoleVector, sensorPoleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector;
} else {
_prevRightHandPoleVector = sensorPoleVector;
}
_animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleReferenceVector", -Vectors::UNIT_X);
_animVars.set("rightHandPoleVector", transformVectorFast(sensorToRigMatrix, sensorPoleVector));
_animVars.set("rightHandPoleVector", transformVectorFast(sensorToRigMatrix, _prevRightHandPoleVector));
} else {
_prevRightHandPoleVectorValid = false;
_animVars.set("rightHandPoleVectorEnabled", false);
}
} else {
_prevRightHandPoleVectorValid = false;
_animVars.set("rightHandPoleVectorEnabled", false);
}
} else {
_prevRightHandPoleVectorValid = false;
_animVars.set("rightHandPoleVectorEnabled", false);
_animVars.unset("rightHandPosition");
@ -1487,21 +1522,23 @@ bool Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex,
glm::vec3 headForward = headCenter + horizontalModule * frontVector;
glm::vec3 armToHead = headForward - armPose.trans();
float armToHandDistance = glm::length(armToHand);
float armToElbowDistance = glm::length(armToElbow);
float elbowToHandDistance = glm::length(elbowToHand);
float armTotalDistance = armToElbowDistance + elbowToHandDistance;
// Don't use pole vector when the hands are behind
if (glm::dot(frontVector, armToHand) < 0) {
return false;
}
glm::vec3 armToHandDir = armToHand / armToHandDistance;
glm::vec3 armToHeadPlaneNormal = glm::cross(armToHead, armToHandDir);
// How much the hand is reaching for the opposite side
float oppositeProjection = glm::dot(armToHandDir, glm::normalize(backVector));
// Don't use pole vector when the hands are behind
if (glm::dot(frontVector, armToHand) < 0 && oppositeProjection < 0.5f * armTotalDistance) {
return false;
}
// The strenght of the resulting pole determined by the arm flex.
float armFlexCoeficient = armToHandDistance / armTotalDistance;
glm::vec3 attenuationVector = armFlexCoeficient * armToHandDir;
@ -1515,7 +1552,7 @@ bool Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex,
const float FORWARD_CORRECTOR_WEIGHT = 3.0f;
float elbowForwardTrigger = FORWARD_TRIGGER_PERCENTAGE * armToHandDistance;
float oppositeProjection = glm::dot(armToHandDir, glm::normalize(backVector));
if (oppositeProjection > -elbowForwardTrigger) {
float forwardAmount = FORWARD_CORRECTOR_WEIGHT * (elbowForwardTrigger + oppositeProjection);
correctionVector = forwardAmount * frontVector;

11
libraries/animation/src/Rig.h
View file

@ -217,7 +217,7 @@ public:
// input assumed to be in rig space
void computeHeadFromHMD(const AnimPose& hmdPose, glm::vec3& headPositionOut, glm::quat& headOrientationOut) const;
void toggleSmoothPoleVectors() { _smoothPoleVectors = !_smoothPoleVectors; };
signals:
void onLoadComplete();
@ -245,6 +245,7 @@ protected:
glm::vec3 deflectHandFromTorso(const glm::vec3& handPosition, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) const;
AnimPose _modelOffset; // model to rig space
AnimPose _geometryOffset; // geometry to model space (includes unit offset & fst offsets)
AnimPose _invGeometryOffset;
@ -368,6 +369,14 @@ protected:
glm::vec3 _prevLeftFootPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevLeftFootPoleVectorValid { false };
glm::vec3 _prevRightHandPoleVector{ -Vectors::UNIT_Z }; // sensor space
bool _prevRightHandPoleVectorValid{ false };
glm::vec3 _prevLeftHandPoleVector{ -Vectors::UNIT_Z }; // sensor space
bool _prevLeftHandPoleVectorValid{ false };
bool _smoothPoleVectors { false };
int _rigId;
};