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opened up shoulder constraint + other fixes

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* bent elbows will be away from the body a bit more.
* sped up smoothing of pole vectors
This commit is contained in:
Anthony J. Thibault 2017-06-23 14:06:00 -07:00
parent 54af6af651
commit f320610681
2 changed files with 7 additions and 5 deletions
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6
libraries/animation/src/AnimInverseKinematics.cpp
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@ -1122,7 +1122,9 @@ void AnimInverseKinematics::initConstraints() {
if (0 == baseName.compare("Arm", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
stConstraint->setTwistLimits(-PI / 2.0f, PI / 2.0f);
//stConstraint->setTwistLimits(-PI / 2.0f, PI / 2.0f);
const float TWIST_LIMIT = 5.0f * PI / 8.0f;
stConstraint->setTwistLimits(-TWIST_LIMIT, TWIST_LIMIT);
/* KEEP THIS CODE for future experimentation
// these directions are approximate swing limits in root-frame
@ -1148,7 +1150,7 @@ void AnimInverseKinematics::initConstraints() {
// simple cone
std::vector<float> minDots;
const float MAX_HAND_SWING = PI / 2.0f;
const float MAX_HAND_SWING = 5.0f * PI / 8.0f;
minDots.push_back(cosf(MAX_HAND_SWING));
stConstraint->setSwingLimits(minDots);

6
libraries/animation/src/Rig.cpp
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@ -1089,7 +1089,7 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
const bool LEFT_HAND = true;
const bool RIGHT_HAND = false;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.9f;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f;
if (leftHandEnabled) {
if (!_isLeftHandControlled) {
@ -1260,7 +1260,7 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
void Rig::updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose) {
const float KNEE_POLE_VECTOR_BLEND_FACTOR = 0.9f;
const float KNEE_POLE_VECTOR_BLEND_FACTOR = 0.95f;
int hipsIndex = indexOfJoint("Hips");
@ -1390,7 +1390,7 @@ glm::vec3 Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIn
// give dProj a bit of offset away from the body.
float avatarScale = extractUniformScale(_modelOffset);
const float LATERAL_OFFSET = 0.333f * avatarScale;
const float LATERAL_OFFSET = 1.0f * avatarScale;
const float VERTICAL_OFFSET = -0.333f * avatarScale;
glm::vec3 dProjWithOffset = dProj + sign * LATERAL_OFFSET * n + y * VERTICAL_OFFSET;