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more cleanup

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This commit is contained in:
Andrew Meadows 2015-10-12 14:07:23 -07:00
parent 22786dea7d
commit 8ebdd25b71
1 changed files with 16 additions and 15 deletions
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31
libraries/animation/src/AnimInverseKinematics.cpp
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@ -56,9 +56,9 @@ void AnimInverseKinematics::computeAbsolutePoses(AnimPoseVec& absolutePoses) con
}
void AnimInverseKinematics::setTargetVars(
const QString& jointName,
const QString& positionVar,
const QString& rotationVar,
const QString& jointName,
const QString& positionVar,
const QString& rotationVar,
const QString& typeVar) {
// if there are dups, last one wins.
bool found = false;
@ -98,7 +98,7 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition));
if (target.getType() != IKTarget::Type::Unknown) {
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
glm::quat rotation = animVars.lookup(targetVar.rotationVar, defaultPose.rot);
glm::quat rotation = animVars.lookup(targetVar.rotationVar, defaultPose.rot);
glm::vec3 translation = animVars.lookup(targetVar.positionVar, defaultPose.trans);
if (target.getType() == IKTarget::Type::HipsRelativeRotationAndPosition) {
translation += _hipsOffset;
@ -168,7 +168,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
glm::vec3 tipPosition = absolutePoses[tipIndex].trans;
glm::quat tipRotation = absolutePoses[tipIndex].rot;
// cache tip's parent's absolute rotation so we can recompute the tip's parent-relative
// cache tip's parent's absolute rotation so we can recompute the tip's parent-relative
// as we proceed walking down the joint chain
glm::quat tipParentRotation = absolutePoses[pivotIndex].rot;
@ -179,7 +179,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
glm::vec3 leverArm = tipPosition - jointPosition;
glm::quat deltaRotation;
if (targetType == IKTarget::Type::RotationAndPosition ||
if (targetType == IKTarget::Type::RotationAndPosition ||
targetType == IKTarget::Type::HipsRelativeRotationAndPosition) {
// compute the swing that would get get tip closer
glm::vec3 targetLine = target.getTranslation() - jointPosition;
@ -190,7 +190,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
// compute deltaRotation for alignment (swings tip closer to target)
axis /= axisLength;
float angle = acosf(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine)));
// NOTE: even when axisLength is not zero (e.g. lever-arm and pivot-arm are not quite aligned) it is
// still possible for the angle to be zero so we also check that to avoid unnecessary calculations.
const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
@ -199,18 +199,18 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
const float fraction = 0.5f;
angle *= fraction;
deltaRotation = glm::angleAxis(angle, axis);
// The swing will re-orient the tip but there will tend to be be a non-zero delta between the tip's
// The swing will re-orient the tip but there will tend to be be a non-zero delta between the tip's
// new rotation and its target. This is the final parent-relative rotation that the tip joint have
// make to achieve its target rotation.
glm::quat tipRelativeRotation = glm::inverse(deltaRotation * tipParentRotation) * target.getRotation();
// enforce tip's constraint
RotationConstraint* constraint = getConstraint(tipIndex);
if (constraint) {
bool constrained = constraint->apply(tipRelativeRotation);
if (constrained) {
// The tip's final parent-relative rotation would violate its constraint
// The tip's final parent-relative rotation would violate its constraint
// so we try to pre-twist this pivot to compensate.
glm::quat constrainedTipRotation = deltaRotation * tipParentRotation * tipRelativeRotation;
glm::quat missingRotation = target.getRotation() * glm::inverse(constrainedTipRotation);
@ -225,11 +225,12 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
}
}
} else if (targetType == IKTarget::Type::HmdHead) {
// An HmdHead target slaves the orientation of the end-effector by distributing rotation
// An HmdHead target slaves the orientation of the end-effector by distributing rotation
// deltas up the hierarchy. Its target position is enforced later by shifting the hips.
deltaRotation = target.getRotation() * glm::inverse(tipRotation);
float dotSign = copysignf(1.0f, deltaRotation.w);
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, 0.15f));
const float ANGLE_DISTRIBUTION_FACTOR = 0.15f;
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR));
}
// compute joint's new parent-relative rotation after swing
@ -327,7 +328,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
// relax toward underpose
// HACK: this relaxation needs to be constant per-frame rather than per-realtime
// in order to prevent IK "flutter" for bad FPS. The bad news is that the good parts
// of this relaxation will be FPS dependent (low FPS will make the limbs align slower
// of this relaxation will be FPS dependent (low FPS will make the limbs align slower
// in real-time), however most people will not notice this and this problem is less
// annoying than the flutter.
const float blend = (1.0f / 60.0f) / (0.25f); // effectively: dt / RELAXATION_TIMESCALE
@ -379,7 +380,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
if (targetIndex == _headIndex && _headIndex != -1) {
// special handling for headTarget
if (target.getType() == IKTarget::Type::RotationOnly) {
// we want to shift the hips to bring the underpose closer
// we want to shift the hips to bring the underpose closer
// to where the head happens to be (overpose)
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans;
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;