From f3206106812ceb2e376f6dd41c7d9aa3d8a8da64 Mon Sep 17 00:00:00 2001
From: "Anthony J. Thibault" <tony@highfidelity.io>
Date: Fri, 23 Jun 2017 14:06:00 -0700
Subject: [PATCH] opened up shoulder constraint + other fixes

* bent elbows will be away from the body a bit more.
* sped up smoothing of pole vectors
---
 libraries/animation/src/AnimInverseKinematics.cpp | 6 ++++--
 libraries/animation/src/Rig.cpp                   | 6 +++---
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index e2e0d72d66..0395d4d391 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -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);
 
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 8466b79d1d..53e3f3ddc0 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -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;