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worked on the swing twist decomp to get the angles of the wrist for elbow adjustments

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This commit is contained in:
Angus Antley 2019-02-11 07:41:41 -08:00
parent 822ec1c529
commit f125e90449
1 changed files with 32 additions and 5 deletions
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37
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -77,7 +77,7 @@ static float correctElbowForHandUlnarRadialDeviation(const AnimPose& hand, const
float makeForwardZeroRadians = ulnarRadialDeviation - (PI / 2.0f);
qCDebug(animation) << "calibrated ulnar " << makeForwardZeroRadians;
//qCDebug(animation) << "calibrated ulnar " << makeForwardZeroRadians;
float deltaFractionOfPi = (makeForwardZeroRadians / PI);
float deltaUlnarRadial;
@ -91,7 +91,7 @@ static float correctElbowForHandUlnarRadialDeviation(const AnimPose& hand, const
qCDebug(animation) << "ulnar delta in degrees " << deltaUlnarRadialDegrees;
//qCDebug(animation) << "ulnar delta in degrees " << deltaUlnarRadialDegrees;
float deltaFinal = deltaUlnarRadialDegrees;
return deltaFractionOfPi * 180.0f; // deltaFinal;
@ -99,7 +99,7 @@ static float correctElbowForHandUlnarRadialDeviation(const AnimPose& hand, const
float AnimPoleVectorConstraint::findThetaNewWay(const glm::vec3& hand, const glm::vec3& shoulder, bool left) 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 use this length to judge how far the hand 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
@ -248,7 +248,34 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
isLeft = true;
}
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 ulnarDeviation;
swingTwistDecomposition(flexUlnarSwing, Vectors::UNIT_Z, flex, ulnarDeviation);
float flexTheta = glm::angle(flex);
glm::vec3 ulnarAxis = glm::axis(ulnarDeviation);
float ulnarDeviationTheta = glm::angle(ulnarDeviation);
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) << "ulnarAxis " << flexUlnarAxis;
//qCDebug(animation) << "twistAxis " << twistAxis;
}
//QString name = QString("wrist_target").arg(_id);
//glm::vec4 markerColor(1.0f, 1.0f, 0.0f, 0.0f);
//DebugDraw::getInstance().addMyAvatarMarker(name, midPose.rot(), midPose.trans(), markerColor);
// here is where we would do the wrist correction.
float deltaTheta = correctElbowForHandFlexionExtension(tipPose, midPose);
@ -262,7 +289,7 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
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;
}