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do some hokey pokey to avoid jitter of held entities while walking

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This commit is contained in:
Seth Alves 2016-08-25 18:49:47 -07:00
parent 3b278adba3
commit 174a95a005
2 changed files with 35 additions and 5 deletions
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37
interface/src/avatar/AvatarActionHold.cpp
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@ -56,6 +56,12 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
}
withWriteLock([&]{
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;
getAvatarRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
_preStepAvatarPosition = avatarRigidBodyPosition;
_preStepAvatarRotation = avatarRigidBodyRotation;
if (_ignoreIK) {
return;
}
@ -70,9 +76,6 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
palmRotation = holdingAvatar->getUncachedLeftPalmRotation();
}
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;
getAvatarRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
// determine the difference in translation and rotation between the avatar's
// rigid body and the palm position. The avatar's rigid body will be moved by bullet
@ -129,8 +132,32 @@ bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::
if (_ignoreIK && pose.isValid()) {
// We cannot ignore other avatars IK and this is not the point of this option
// This is meant to make the grabbing behavior more reactive.
palmPosition = pose.getTranslation();
palmRotation = pose.getRotation();
// The avatar moves between prepareForPhysicsSimulation and this, so do some stuff to avoid jitter:
// - transform the pose's world-position into the space relative to the old rigid-body
// - then transform this relative position back into world-space via the new rigid-body's transform
Transform poseTransform;
poseTransform.setTranslation(pose.getTranslation());
poseTransform.setRotation(pose.getRotation());
Transform preStepAvatarTransform;
preStepAvatarTransform.setTranslation(_preStepAvatarPosition);
preStepAvatarTransform.setRotation(_preStepAvatarRotation);
Transform inversePreStepAvatarTransform = Transform(preStepAvatarTransform.getInverseMatrix());
Transform avatarTransform;
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;
getAvatarRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
avatarTransform.setTranslation(avatarRigidBodyPosition);
avatarTransform.setRotation(avatarRigidBodyRotation);
glm::mat4 adjustedMatrix = avatarTransform.getMatrix() *
(inversePreStepAvatarTransform.getMatrix() * poseTransform.getMatrix());
Transform adjustedTransform = Transform(adjustedMatrix);
palmPosition = adjustedTransform.getTranslation();
palmRotation = adjustedTransform.getRotation();
} else {
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;

3
interface/src/avatar/AvatarActionHold.h
View file

@ -68,6 +68,9 @@ private:
static const int velocitySmoothFrames;
QVector<glm::vec3> _measuredLinearVelocities;
int _measuredLinearVelocitiesIndex { 0 };
glm::vec3 _preStepAvatarPosition;
glm::quat _preStepAvatarRotation;
};
#endif // hifi_AvatarActionHold_h