Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 14:24:22 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

fix hips sweep test

Browse source
This commit is contained in:
Andrew Meadows 2016-09-15 18:39:57 -07:00
parent 7f381ac4c4
commit 20418d5f58
3 changed files with 30 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

5
interface/src/avatar/MyAvatar.cpp
View file

@ -1354,12 +1354,15 @@ void MyAvatar::prepareForPhysicsSimulation() {
}
void MyAvatar::harvestResultsFromPhysicsSimulation(float deltaTime) {
// figoure out how far the hips can move before they hit something
// figure out how far the hips can move before they hit something
int hipsJoint = getJointIndex("Hips");
glm::vec3 hipsPosition; // rig-frame
// OUTOFBODY_HACK -- hardcoded maxHipsOffsetRadius (ultimately must exceed FollowHelper lateral/forward/back walk thresholds)
float maxHipsOffsetRadius = 3.0f * _characterController.getCapsuleRadius();
if (_rig->getJointPosition(hipsJoint, hipsPosition)) {
// OUTOFBODY_HACK -- flip PI about yAxis
hipsPosition.x *= -1.0f;
hipsPosition.z *= -1.0f;
maxHipsOffsetRadius = _characterController.measureMaxHipsOffsetRadius(hipsPosition, maxHipsOffsetRadius);
}
_rig->setMaxHipsOffsetLength(maxHipsOffsetRadius);

25
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -505,6 +505,12 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
// measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
// OUTOFBODY_HACK:use weighted average between HMD and other targets
// ANDREW TODO: change how HMD IK target is handled to allow torso to lean over
float HMD_WEIGHT = 10.0f;
float OTHER_WEIGHT = 1.0f;
float totalWeight = 0.0f;
glm::vec3 newHipsOffset = Vectors::ZERO;
for (auto& target: targets) {
int targetIndex = target.getIndex();
@ -516,21 +522,32 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans;
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
newHipsOffset += (OTHER_WEIGHT * HEAD_OFFSET_SLAVE_FACTOR) * (actual - under);
totalWeight += OTHER_WEIGHT;
} else if (target.getType() == IKTarget::Type::HmdHead) {
/* OUTOFBODY_HACK: keep this old code to remind us of what changed
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
_hipsOffset += target.getTranslation() - actual;
// and ignore all other targets
newHipsOffset = _hipsOffset;
break;
*/
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
newHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual);
totalWeight += HMD_WEIGHT;
}
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans;
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
newHipsOffset += OTHER_WEIGHT * (targetPosition - actualPosition);
totalWeight += OTHER_WEIGHT;
}
}
if (totalWeight == 0.0f) {
totalWeight = 1.0f;
}
newHipsOffset /= totalWeight;
// smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.15f;
@ -555,7 +572,9 @@ void AnimInverseKinematics::clearIKJointLimitHistory() {
void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
assert(maxLength > 0.0f);
_maxHipsOffsetLength = maxLength;
// OUTOFBODY_HACK: manually adjust scale here
const float METERS_TO_CENTIMETERS = 100.0f;
_maxHipsOffsetLength = METERS_TO_CENTIMETERS * maxLength;
}
RotationConstraint* AnimInverseKinematics::getConstraint(int index) {

6
libraries/physics/src/CharacterController.cpp
View file

@ -734,14 +734,16 @@ float CharacterController::measureMaxHipsOffsetRadius(const glm::vec3& currentHi
btTransform rotation = transform;
rotation.setOrigin(btVector3(0.0f, 0.0f, 0.0f));
btVector3 startPos = transform.getOrigin() - rotation * glmToBullet(_shapeLocalOffset);
btTransform startTransform = transform;
startTransform.setOrigin(startPos);
btVector3 endPos = startPos + rotation * ((maxSweepDistance / hipsOffsetLength) * hipsOffset);
// sweep test a sphere
btSphereShape sphere(_radius);
CharacterSweepResult result(&_ghost);
btTransform endTransform = transform;
btTransform endTransform = startTransform;
endTransform.setOrigin(endPos);
_ghost.sweepTest(&sphere, transform, endTransform, result);
_ghost.sweepTest(&sphere, startTransform, endTransform, result);
// measure sweep success
if (result.hasHit()) {