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Restore master version of computeHipsOffset() and special case for HeadHMD target type

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This commit is contained in:
Anthony J. Thibault 2017-04-24 14:19:06 -07:00
parent dc3803a225
commit 1cd0f03242
1 changed files with 22 additions and 38 deletions
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60
libraries/animation/src/AnimInverseKinematics.cpp
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@ -107,7 +107,6 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses); AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, defaultPose.rot()); glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, defaultPose.rot());
glm::vec3 translation = animVars.lookupRigToGeometry(targetVar.positionVar, defaultPose.trans()); glm::vec3 translation = animVars.lookupRigToGeometry(targetVar.positionVar, defaultPose.trans());
AnimPose absPose(glm::vec3(1.0f), rotation, translation);
target.setPose(rotation, translation); target.setPose(rotation, translation);
target.setIndex(targetVar.jointIndex); target.setIndex(targetVar.jointIndex);
@ -155,7 +154,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
float maxError = FLT_MAX; float maxError = FLT_MAX;
int numLoops = 0; int numLoops = 0;
const int MAX_IK_LOOPS = 48; const int MAX_IK_LOOPS = 16;
const float MAX_ERROR_TOLERANCE = 0.1f; // cm const float MAX_ERROR_TOLERANCE = 0.1f; // cm
while (maxError > MAX_ERROR_TOLERANCE && numLoops < MAX_IK_LOOPS) { while (maxError > MAX_ERROR_TOLERANCE && numLoops < MAX_IK_LOOPS) {
++numLoops; ++numLoops;
@ -248,8 +247,6 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
// the tip's parent-relative as we proceed up the chain // the tip's parent-relative as we proceed up the chain
glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot(); glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot();
// AJT: REMOVE
/*
if (targetType == IKTarget::Type::HmdHead) { if (targetType == IKTarget::Type::HmdHead) {
// rotate tip directly to target orientation // rotate tip directly to target orientation
tipOrientation = target.getRotation(); tipOrientation = target.getRotation();
@ -267,7 +264,6 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
// store the relative rotation change in the accumulator // store the relative rotation change in the accumulator
_accumulators[tipIndex].add(tipRelativeRotation, target.getWeight()); _accumulators[tipIndex].add(tipRelativeRotation, target.getWeight());
} }
*/
// cache tip absolute position // cache tip absolute position
glm::vec3 tipPosition = absolutePoses[tipIndex].trans(); glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
@ -544,13 +540,7 @@ void AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targe
// measure new _hipsOffset for next frame // measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is // by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done) // and where it wants to be (after IK solutions are done)
glm::vec3 newHipsOffset = Vectors::ZERO;
// OUTOFBODY_HACK:use weighted average between HMD and other targets
float HMD_WEIGHT = 10.0f;
float OTHER_WEIGHT = 1.0f;
float totalWeight = 0.0f;
glm::vec3 additionalHipsOffset = Vectors::ZERO;
for (auto& target: targets) { for (auto& target: targets) {
int targetIndex = target.getIndex(); int targetIndex = target.getIndex();
if (targetIndex == _headIndex && _headIndex != -1) { if (targetIndex == _headIndex && _headIndex != -1) {
@ -561,46 +551,40 @@ void AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targe
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans(); glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans();
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans(); glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f; const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
additionalHipsOffset += (OTHER_WEIGHT * HEAD_OFFSET_SLAVE_FACTOR) * (under - actual); newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
totalWeight += OTHER_WEIGHT;
} else if (target.getType() == IKTarget::Type::HmdHead) { } else if (target.getType() == IKTarget::Type::HmdHead) {
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans(); glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
glm::vec3 thisOffset = target.getTranslation() - actual; _hipsOffset += target.getTranslation() - actual;
glm::vec3 futureHipsOffset = _hipsOffset + thisOffset; // and ignore all other targets
if (glm::length(glm::vec2(futureHipsOffset.x, futureHipsOffset.z)) < _maxHipsOffsetLength) { newHipsOffset = _hipsOffset;
// it is imperative to shift the hips and bring the head to its designated position break;
// so we slam newHipsOffset here and ignore all other targets } else if (target.getType() == IKTarget::Type::RotationAndPosition) {
additionalHipsOffset = futureHipsOffset - _hipsOffset; glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
totalWeight = 0.0f; glm::vec3 targetPosition = target.getTranslation();
break; newHipsOffset += targetPosition - actualPosition;
} else {
additionalHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual); // Add downward pressure on the hips
totalWeight += HMD_WEIGHT; newHipsOffset *= 0.95f;
} newHipsOffset -= 1.0f;
} }
} else if (target.getType() == IKTarget::Type::RotationAndPosition) { } else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans(); glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation(); glm::vec3 targetPosition = target.getTranslation();
additionalHipsOffset += OTHER_WEIGHT * (targetPosition - actualPosition); newHipsOffset += targetPosition - actualPosition;
totalWeight += OTHER_WEIGHT;
} }
} }
if (totalWeight > 1.0f) {
additionalHipsOffset /= totalWeight;
}
// smooth transitions by relaxing _hipsOffset toward the new value // smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f; const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f; float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
_hipsOffset += additionalHipsOffset * tau; _hipsOffset += (newHipsOffset - _hipsOffset) * tau;
// clamp the horizontal component of the hips offset // clamp the hips offset
float hipsOffsetLength2D = glm::length(glm::vec2(_hipsOffset.x, _hipsOffset.z)); float hipsOffsetLength = glm::length(_hipsOffset);
if (hipsOffsetLength2D > _maxHipsOffsetLength) { if (hipsOffsetLength > _maxHipsOffsetLength) {
_hipsOffset.x *= _maxHipsOffsetLength / hipsOffsetLength2D; _hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
_hipsOffset.z *= _maxHipsOffsetLength / hipsOffsetLength2D;
} }
} }
void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) { void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {