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apply "hips offset" to root of state graph

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(Somemtimes the hips are not the root.
I'm looking at YOU blender!)
This commit is contained in:
Andrew Meadows 2016-01-27 10:14:37 -08:00
parent 3cdd88e06c
commit 00715f1906
2 changed files with 16 additions and 6 deletions
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13
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -376,13 +376,13 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
++constraintItr;
}
} else {
// shift the hips according to the offset from the previous frame
// shift the everything according to the _hipsOffset from the previous frame
float offsetLength = glm::length(_hipsOffset);
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH) {
// but only if offset is long enough
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans + scaleFactor * _hipsOffset;
_relativePoses[_rootIndex].trans = underPoses[_rootIndex].trans + scaleFactor * _hipsOffset;
}
solveWithCyclicCoordinateDescent(targets);
@ -775,9 +775,18 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
initConstraints();
_headIndex = _skeleton->nameToJointIndex("Head");
_hipsIndex = _skeleton->nameToJointIndex("Hips");
// walk up the hierarchy until we find the root and cache its index
_rootIndex = _hipsIndex;
int parentIndex = _skeleton->getParentIndex(_hipsIndex);
while (parentIndex != -1) {
_rootIndex = parentIndex;
parentIndex = _skeleton->getParentIndex(_rootIndex);
}
} else {
clearConstraints();
_headIndex = -1;
_hipsIndex = -1;
_rootIndex = -1;
}
}

9
libraries/animation/src/AnimInverseKinematics.h
View file

@ -79,13 +79,14 @@ protected:
AnimPoseVec _relativePoses; // current relative poses
// experimental data for moving hips during IK
int _headIndex = -1;
int _hipsIndex = -1;
glm::vec3 _hipsOffset = Vectors::ZERO;
glm::vec3 _hipsOffset { Vectors::ZERO };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _rootIndex { -1 };
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm
int _maxTargetIndex = 0;
int _maxTargetIndex { 0 };
};
#endif // hifi_AnimInverseKinematics_h