Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-10 02:52:57 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

added the wrist and position coeffs back in, 1.0 works

Browse source
This commit is contained in:
Angus Antley 2019-02-20 06:25:44 -08:00
parent 951380db15
commit 1e73422b80
2 changed files with 41 additions and 27 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

66
libraries/animation/src/Rig.cpp
View file

@ -1691,7 +1691,7 @@ void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm
} }
} }
static float getHandPositionTheta(glm::vec3 armToHand, float defaultArmLength) { static float getHandPositionTheta(glm::vec3 armToHand, float defaultArmLength, bool left) {
float handPositionTheta = 0.0f; float handPositionTheta = 0.0f;
//calculate the hand position influence on theta //calculate the hand position influence on theta
const float zStart = 0.6f; const float zStart = 0.6f;
@ -1720,10 +1720,10 @@ static float getHandPositionTheta(glm::vec3 armToHand, float defaultArmLength) {
xFactor = weights[0] * (((armToHand[0] / defaultArmLength) + xStart) - (0.2f) * ((1.0f + (armToHand[1] / defaultArmLength)) / 2.0f)); xFactor = weights[0] * (((armToHand[0] / defaultArmLength) + xStart) - (0.2f) * ((1.0f + (armToHand[1] / defaultArmLength)) / 2.0f));
} }
float theta = xFactor + yFactor + zFactor; handPositionTheta = xFactor + yFactor + zFactor;
if (handPositionTheta < 13.0f) { if (handPositionTheta < 50.0f) {
handPositionTheta = 13.0f; handPositionTheta = 50.0f;
} }
if (handPositionTheta > 175.0f) { if (handPositionTheta > 175.0f) {
handPositionTheta = 175.0f; handPositionTheta = 175.0f;
@ -1755,9 +1755,9 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
twistCoefficient = 1.0f; twistCoefficient = 1.0f;
} }
if (twistTheta < 0.0f) { if (twistTheta < 0.0f) {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient; ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} else { } else {
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient; ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} }
if (fabsf(ulnarCorrection) > 20.0f) { if (fabsf(ulnarCorrection) > 20.0f) {
ulnarCorrection = glm::sign(ulnarCorrection) * 20.0f; ulnarCorrection = glm::sign(ulnarCorrection) * 20.0f;
@ -1777,9 +1777,9 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
twistCoefficient = 1.0f; twistCoefficient = 1.0f;
} }
if (twistTheta < 0.0f) { if (twistTheta < 0.0f) {
ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient; ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} else { } else {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 90.0f * twistCoefficient; ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 45.0f * twistCoefficient;
} }
if (fabsf(ulnarCorrection) > 20.0f) { if (fabsf(ulnarCorrection) > 20.0f) {
ulnarCorrection = glm::sign(ulnarCorrection) * 20.0f; ulnarCorrection = glm::sign(ulnarCorrection) * 20.0f;
@ -1795,7 +1795,7 @@ static float computeUlnarRadialCompensation(float ulnarRadialTheta, float twistT
static float computeTwistCompensation(float twistTheta, bool left) { static float computeTwistCompensation(float twistTheta, bool left) {
const float TWIST_DEADZONE = (4 * PI) / 9.0f; const float TWIST_DEADZONE = PI / 2.0f;
float twistCorrection = 0.0f; float twistCorrection = 0.0f;
if (left) { if (left) {
if (fabsf(twistTheta) > TWIST_DEADZONE) { if (fabsf(twistTheta) > TWIST_DEADZONE) {
@ -1822,9 +1822,9 @@ static float computeFlexCompensation(float flexTheta, bool left) {
float currentWristCoefficient = 0.0f; float currentWristCoefficient = 0.0f;
if (left) { if (left) {
if (flexTheta > FLEX_BOUNDARY) { if (flexTheta > FLEX_BOUNDARY) {
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 180.0f; flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 60.0f;
} else if (flexTheta < EXTEND_BOUNDARY) { } else if (flexTheta < EXTEND_BOUNDARY) {
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 180.0f; flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 60.0f;
} }
if (fabsf(flexCorrection) > 175.0f) { if (fabsf(flexCorrection) > 175.0f) {
flexCorrection = glm::sign(flexCorrection) * 175.0f; flexCorrection = glm::sign(flexCorrection) * 175.0f;
@ -1832,9 +1832,9 @@ static float computeFlexCompensation(float flexTheta, bool left) {
currentWristCoefficient += flexCorrection; currentWristCoefficient += flexCorrection;
} else { } else {
if (flexTheta > FLEX_BOUNDARY) { if (flexTheta > FLEX_BOUNDARY) {
flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 180.0f; flexCorrection = ((flexTheta - FLEX_BOUNDARY) / PI) * 60.0f;
} else if (flexTheta < EXTEND_BOUNDARY) { } else if (flexTheta < EXTEND_BOUNDARY) {
flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 180.0f; flexCorrection = ((flexTheta - EXTEND_BOUNDARY) / PI) * 60.0f;
} }
if (fabsf(flexCorrection) > 175.0f) { if (fabsf(flexCorrection) > 175.0f) {
flexCorrection = glm::sign(flexCorrection) * 175.0f; flexCorrection = glm::sign(flexCorrection) * 175.0f;
@ -1870,7 +1870,8 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
unitAxis = Vectors::UNIT_Y; unitAxis = Vectors::UNIT_Y;
} }
float theta = 175.0f;// getHandPositionTheta(armToHand, defaultArmLength); float theta = getHandPositionTheta(armToHand, defaultArmLength, left);
qCDebug(animation) << "hand position theta " << left << " " << theta;
float deltaTheta = 0.0f; float deltaTheta = 0.0f;
if (left) { if (left) {
@ -1887,7 +1888,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
glm::quat axisRotation; glm::quat axisRotation;
glm::quat nonAxisRotation; glm::quat nonAxisRotation;
swingTwistDecomposition(updatedBase.rot(), unitAxis, nonAxisRotation, axisRotation); swingTwistDecomposition(updatedBase.rot(), unitAxis, nonAxisRotation, axisRotation);
qCDebug(animation) << "the rotation about the axis of the arm " << (glm::sign(glm::axis(axisRotation)[2]) * glm::angle(axisRotation) / PI)*180.0f << " delta Rot theta " << deltaTheta; //qCDebug(animation) << "the rotation about the axis of the arm " << (glm::sign(glm::axis(axisRotation)[2]) * glm::angle(axisRotation) / PI)*180.0f << " delta Rot theta " << deltaTheta;
// now we calculate the contribution of the hand rotation relative to the arm // now we calculate the contribution of the hand rotation relative to the arm
// we are adding in the delta rotation so that we have the hand correction relative to the // we are adding in the delta rotation so that we have the hand correction relative to the
@ -1984,16 +1985,22 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
currentWristCoefficient += computeFlexCompensation(_flexThetaRunningAverageRight, left); currentWristCoefficient += computeFlexCompensation(_flexThetaRunningAverageRight, left);
} }
// i think limit theta here so we don't subtract more than is possible from last theta.
// actually theta is limited. to what though?
if (left) { if (left) {
_lastWristCoefficientLeft = _lastThetaLeft - theta; _lastWristCoefficientLeft = _lastThetaLeft - _lastPositionThetaLeft;
_lastWristCoefficientLeft += currentWristCoefficient; _lastWristCoefficientLeft += currentWristCoefficient;
_lastPositionThetaLeft = theta;
theta += _lastWristCoefficientLeft; theta += _lastWristCoefficientLeft;
if (theta > 0.0f) { if (theta > 0.0f) {
theta = 0.0f; theta = 0.0f;
} }
//qCDebug(animation) << "theta " << theta << " lastThetaLeft " << _lastThetaLeft << "last position theta left"<<_lastPositionThetaLeft << "last wrist coeff " << _lastWristCoefficientLeft;
} else { } else {
_lastWristCoefficientRight = _lastThetaRight - theta; _lastWristCoefficientRight = _lastThetaRight - _lastPositionThetaRight;
_lastWristCoefficientRight += currentWristCoefficient; _lastWristCoefficientRight += currentWristCoefficient;
_lastPositionThetaRight = theta;
theta += _lastWristCoefficientRight; theta += _lastWristCoefficientRight;
if (theta < 0.0f) { if (theta < 0.0f) {
theta = 0.0f; theta = 0.0f;
@ -2008,26 +2015,31 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
float thetaRadians = 0.0f; float thetaRadians = 0.0f;
if (left) { if (left) {
// final global smoothing // final global smoothing
_lastThetaLeft = 0.5f * _lastThetaLeft + 0.5f * theta; //_lastThetaLeft = 0.5f * _lastThetaLeft + 0.5f * theta;
_lastThetaLeft = theta;
if (fabsf(_lastThetaLeft) < 50.0f) { if (_lastThetaLeft > -50.0f) {
_lastThetaLeft = glm::sign(_lastThetaLeft) * 50.0f; _lastThetaLeft = -50.0f;
} }
if (fabsf(_lastThetaLeft) > 175.0f) { if (_lastThetaLeft < -175.0f) {
_lastThetaLeft = glm::sign(_lastThetaLeft) * 175.0f; _lastThetaLeft = -175.0f;
}
const float MIN_VALUE = 0.0001f;
if (fabsf(_lastPositionThetaLeft - _lastThetaLeft) > MIN_VALUE) {
qCDebug(animation) << "theta " << theta << " lastThetaLeft " << _lastThetaLeft << "last position theta left" << _lastPositionThetaLeft << "last wrist coeff " << _lastWristCoefficientLeft;
} }
// convert to radians and make 180 0 to match pole vector theta // convert to radians and make 180 0 to match pole vector theta
thetaRadians = ((180.0f - _lastThetaLeft) / 180.0f)*PI; thetaRadians = ((180.0f - _lastThetaLeft) / 180.0f)*PI;
} else { } else {
// final global smoothing // final global smoothing
_lastThetaRight = 0.5f * _lastThetaRight + 0.5f * theta; _lastThetaRight = theta; // 0.5f * _lastThetaRight + 0.5f * theta;
if (fabsf(_lastThetaRight) < 10.0f) { if (_lastThetaRight < 50.0f) {
_lastThetaRight = glm::sign(_lastThetaRight) * 50.0f; _lastThetaRight = 50.0f;
} }
if (fabsf(_lastThetaRight) > 175.0f) { if (_lastThetaRight > 175.0f) {
_lastThetaRight = glm::sign(_lastThetaRight) * 175.0f; _lastThetaRight = 175.0f;
} }
// convert to radians and make 180 0 to match pole vector theta // convert to radians and make 180 0 to match pole vector theta
thetaRadians = ((180.0f - _lastThetaRight) / 180.0f)*PI; thetaRadians = ((180.0f - _lastThetaRight) / 180.0f)*PI;

2
libraries/animation/src/Rig.h
View file

@ -430,6 +430,8 @@ protected:
float _lastThetaRight { 0.0f }; float _lastThetaRight { 0.0f };
float _lastWristCoefficientRight { 0.0f }; float _lastWristCoefficientRight { 0.0f };
float _lastWristCoefficientLeft { 0.0f }; float _lastWristCoefficientLeft { 0.0f };
float _lastPositionThetaLeft { 0.0f };
float _lastPositionThetaRight { 0.0f };
AnimContext _lastContext; AnimContext _lastContext;
AnimVariantMap _lastAnimVars; AnimVariantMap _lastAnimVars;