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Merge pull request #13786 from hyperlogic/bug-fix/remove-tip-constraint-enforcement

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In CCD IK chains, remove the LeftHand and RightHand constraint
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John Conklin II 2018-08-09 10:49:55 -07:00 committed by GitHub
commit 17189b403a
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1 changed files with 1 additions and 65 deletions
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66
libraries/animation/src/AnimInverseKinematics.cpp
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@ -481,29 +481,6 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// reduce angle by a flexCoefficient
angle *= target.getFlexCoefficient(chainDepth);
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
// new orientation and its target. This is the final parent-relative orientation that the tip joint have
// make to achieve its target orientation.
glm::quat tipRelativeRotation = glm::inverse(deltaRotation * tipParentOrientation) * 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
// so we try to pre-twist this pivot to compensate.
glm::quat constrainedTipRotation = deltaRotation * tipParentOrientation * tipRelativeRotation;
glm::quat missingRotation = target.getRotation() * glm::inverse(constrainedTipRotation);
glm::quat swingPart;
glm::quat twistPart;
glm::vec3 axis = glm::normalize(deltaRotation * leverArm);
swingTwistDecomposition(missingRotation, axis, swingPart, twistPart);
const float LIMIT_LEAK_FRACTION = 0.1f;
deltaRotation = safeLerp(glm::quat(), twistPart, LIMIT_LEAK_FRACTION);
}
}
}
}
} else if (targetType == IKTarget::Type::HmdHead) {
@ -1255,48 +1232,7 @@ void AnimInverseKinematics::initConstraints() {
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (0 == baseName.compare("Hand", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
stConstraint->setTwistLimits(0.0f, 0.0f); // max == min, disables twist limits
/* KEEP THIS CODE for future experimentation -- twist limits for hands
const float MAX_HAND_TWIST = 3.0f * PI / 5.0f;
const float MIN_HAND_TWIST = -PI / 2.0f;
if (isLeft) {
stConstraint->setTwistLimits(-MAX_HAND_TWIST, -MIN_HAND_TWIST);
} else {
stConstraint->setTwistLimits(MIN_HAND_TWIST, MAX_HAND_TWIST);
}
*/
/* KEEP THIS CODE for future experimentation -- non-symmetrical swing limits for wrist
* a more complicated wrist with asymmetric cone
// these directions are approximate swing limits in parent-frame
// NOTE: they don't need to be normalized
std::vector<glm::vec3> swungDirections;
swungDirections.push_back(glm::vec3(1.0f, 1.0f, 0.0f));
swungDirections.push_back(glm::vec3(0.75f, 1.0f, -1.0f));
swungDirections.push_back(glm::vec3(-0.75f, 1.0f, -1.0f));
swungDirections.push_back(glm::vec3(-1.0f, 1.0f, 0.0f));
swungDirections.push_back(glm::vec3(-0.75f, 1.0f, 1.0f));
swungDirections.push_back(glm::vec3(0.75f, 1.0f, 1.0f));
// rotate directions into joint-frame
glm::quat invRelativeRotation = glm::inverse(_defaultRelativePoses[i].rot);
int numDirections = (int)swungDirections.size();
for (int j = 0; j < numDirections; ++j) {
swungDirections[j] = invRelativeRotation * swungDirections[j];
}
stConstraint->setSwingLimits(swungDirections);
*/
// simple cone
std::vector<float> minDots;
const float MAX_HAND_SWING = PI / 2.0f;
minDots.push_back(cosf(MAX_HAND_SWING));
stConstraint->setSwingLimits(minDots);
constraint = static_cast<RotationConstraint*>(stConstraint);
// hand/wrist constraints have been disabled.
} else if (baseName.startsWith("Shoulder", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());