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minor cleanup

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This commit is contained in:
Andrew Meadows 2015-09-15 15:47:50 -07:00
parent e9265ebec2
commit 089c719612
1 changed files with 25 additions and 19 deletions
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44
libraries/animation/src/AnimInverseKinematics.cpp
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@ -9,6 +9,7 @@
#include "AnimInverseKinematics.h" #include "AnimInverseKinematics.h"
#include <GLMHelpers.h>
#include <NumericalConstants.h> #include <NumericalConstants.h>
#include <SharedUtil.h> #include <SharedUtil.h>
@ -109,9 +110,6 @@ const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVar
} }
} }
// RELAX! Don't do it.
// relaxTowardDefaults(dt);
if (_absoluteTargets.empty()) { if (_absoluteTargets.empty()) {
// no IK targets but still need to enforce constraints // no IK targets but still need to enforce constraints
std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin(); std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
@ -277,10 +275,6 @@ void AnimInverseKinematics::clearConstraints() {
_constraints.clear(); _constraints.clear();
} }
const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
void AnimInverseKinematics::initConstraints() { void AnimInverseKinematics::initConstraints() {
if (!_skeleton) { if (!_skeleton) {
return; return;
@ -306,7 +300,7 @@ void AnimInverseKinematics::initConstraints() {
// y | // y |
// | | // | |
// | O---O---O RightUpLeg // | O---O---O RightUpLeg
// z | | | // z | | Hips2 |
// \ | | | // \ | | |
// \| | | // \| | |
// x -----+ O O RightLeg // x -----+ O O RightLeg
@ -334,7 +328,7 @@ void AnimInverseKinematics::initConstraints() {
_constraints.clear(); _constraints.clear();
for (int i = 0; i < numJoints; ++i) { for (int i = 0; i < numJoints; ++i) {
// compute the joint's baseName and remember if it was Left or not // compute the joint's baseName and remember whether its prefix was "Left" or not
QString baseName = _skeleton->getJointName(i); QString baseName = _skeleton->getJointName(i);
bool isLeft = baseName.startsWith("Left", Qt::CaseInsensitive); bool isLeft = baseName.startsWith("Left", Qt::CaseInsensitive);
float mirror = isLeft ? -1.0f : 1.0f; float mirror = isLeft ? -1.0f : 1.0f;
@ -467,6 +461,18 @@ void AnimInverseKinematics::initConstraints() {
minDots.push_back(cosf(MAX_SPINE_SWING)); minDots.push_back(cosf(MAX_SPINE_SWING));
stConstraint->setSwingLimits(minDots); stConstraint->setSwingLimits(minDots);
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (baseName.startsWith("Hips2", Qt::CaseInsensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot);
const float MAX_SPINE_TWIST = PI / 8.0f;
stConstraint->setTwistLimits(-MAX_SPINE_TWIST, MAX_SPINE_TWIST);
std::vector<float> minDots;
const float MAX_SPINE_SWING = PI / 14.0f;
minDots.push_back(cosf(MAX_SPINE_SWING));
stConstraint->setSwingLimits(minDots);
constraint = static_cast<RotationConstraint*>(stConstraint); constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (0 == baseName.compare("Neck", Qt::CaseInsensitive)) { } else if (0 == baseName.compare("Neck", Qt::CaseInsensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint(); SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
@ -488,18 +494,18 @@ void AnimInverseKinematics::initConstraints() {
// we determine the max/min angles by rotating the swing limit lines from parent- to child-frame // we determine the max/min angles by rotating the swing limit lines from parent- to child-frame
// then measure the angles to swing the yAxis into alignment // then measure the angles to swing the yAxis into alignment
glm::vec3 hingeAxis = - mirror * zAxis; glm::vec3 hingeAxis = - mirror * Vectors::UNIT_Z;
const float MIN_ELBOW_ANGLE = 0.05f; const float MIN_ELBOW_ANGLE = 0.05f;
const float MAX_ELBOW_ANGLE = 11.0f * PI / 12.0f; const float MAX_ELBOW_ANGLE = 11.0f * PI / 12.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation); glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_ELBOW_ANGLE, hingeAxis) * yAxis; glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_ELBOW_ANGLE, hingeAxis) * Vectors::UNIT_Y;
glm::vec3 maxSwingAxis = invReferenceRotation * glm::angleAxis(MAX_ELBOW_ANGLE, hingeAxis) * yAxis; glm::vec3 maxSwingAxis = invReferenceRotation * glm::angleAxis(MAX_ELBOW_ANGLE, hingeAxis) * Vectors::UNIT_Y;
// for the rest of the math we rotate hingeAxis into the child frame // for the rest of the math we rotate hingeAxis into the child frame
hingeAxis = referenceRotation * hingeAxis; hingeAxis = referenceRotation * hingeAxis;
eConstraint->setHingeAxis(hingeAxis); eConstraint->setHingeAxis(hingeAxis);
glm::vec3 projectedYAxis = glm::normalize(yAxis - glm::dot(yAxis, hingeAxis) * hingeAxis); glm::vec3 projectedYAxis = glm::normalize(Vectors::UNIT_Y - glm::dot(Vectors::UNIT_Y, hingeAxis) * hingeAxis);
float minAngle = acosf(glm::dot(projectedYAxis, minSwingAxis)); float minAngle = acosf(glm::dot(projectedYAxis, minSwingAxis));
if (glm::dot(hingeAxis, glm::cross(projectedYAxis, minSwingAxis)) < 0.0f) { if (glm::dot(hingeAxis, glm::cross(projectedYAxis, minSwingAxis)) < 0.0f) {
minAngle = - minAngle; minAngle = - minAngle;
@ -516,21 +522,21 @@ void AnimInverseKinematics::initConstraints() {
ElbowConstraint* eConstraint = new ElbowConstraint(); ElbowConstraint* eConstraint = new ElbowConstraint();
glm::quat referenceRotation = _defaultRelativePoses[i].rot; glm::quat referenceRotation = _defaultRelativePoses[i].rot;
eConstraint->setReferenceRotation(referenceRotation); eConstraint->setReferenceRotation(referenceRotation);
glm::vec3 hingeAxis = -1.0f * xAxis; glm::vec3 hingeAxis = -1.0f * Vectors::UNIT_X;
// we determine the max/min angles by rotating the swing limit lines from parent- to child-frame // we determine the max/min angles by rotating the swing limit lines from parent- to child-frame
// then measure the angles to swing the yAxis into alignment // then measure the angles to swing the yAxis into alignment
const float MIN_KNEE_ANGLE = 0.0f; const float MIN_KNEE_ANGLE = 0.0f;
const float MAX_KNEE_ANGLE = 3.0f * PI / 4.0f; const float MAX_KNEE_ANGLE = 3.0f * PI / 4.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation); glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_KNEE_ANGLE, hingeAxis) * yAxis; glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_KNEE_ANGLE, hingeAxis) * Vectors::UNIT_Y;
glm::vec3 maxSwingAxis = invReferenceRotation * glm::angleAxis(MAX_KNEE_ANGLE, hingeAxis) * yAxis; glm::vec3 maxSwingAxis = invReferenceRotation * glm::angleAxis(MAX_KNEE_ANGLE, hingeAxis) * Vectors::UNIT_Y;
// for the rest of the math we rotate hingeAxis into the child frame // for the rest of the math we rotate hingeAxis into the child frame
hingeAxis = referenceRotation * hingeAxis; hingeAxis = referenceRotation * hingeAxis;
eConstraint->setHingeAxis(hingeAxis); eConstraint->setHingeAxis(hingeAxis);
glm::vec3 projectedYAxis = glm::normalize(yAxis - glm::dot(yAxis, hingeAxis) * hingeAxis); glm::vec3 projectedYAxis = glm::normalize(Vectors::UNIT_Y - glm::dot(Vectors::UNIT_Y, hingeAxis) * hingeAxis);
float minAngle = acosf(glm::dot(projectedYAxis, minSwingAxis)); float minAngle = acosf(glm::dot(projectedYAxis, minSwingAxis));
if (glm::dot(hingeAxis, glm::cross(projectedYAxis, minSwingAxis)) < 0.0f) { if (glm::dot(hingeAxis, glm::cross(projectedYAxis, minSwingAxis)) < 0.0f) {
minAngle = - minAngle; minAngle = - minAngle;
@ -550,8 +556,8 @@ void AnimInverseKinematics::initConstraints() {
// these directions are approximate swing limits in parent-frame // these directions are approximate swing limits in parent-frame
// NOTE: they don't need to be normalized // NOTE: they don't need to be normalized
std::vector<glm::vec3> swungDirections; std::vector<glm::vec3> swungDirections;
swungDirections.push_back(yAxis); swungDirections.push_back(Vectors::UNIT_Y);
swungDirections.push_back(xAxis); swungDirections.push_back(Vectors::UNIT_X);
swungDirections.push_back(glm::vec3(1.0f, 1.0f, 1.0f)); swungDirections.push_back(glm::vec3(1.0f, 1.0f, 1.0f));
swungDirections.push_back(glm::vec3(1.0f, 1.0f, -1.0f)); swungDirections.push_back(glm::vec3(1.0f, 1.0f, -1.0f));