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Added setSolutionSource to AnimInverseKinematics node.

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Anthony J. Thibault 2017-05-08 14:10:16 -07:00
parent 712fcbe27a
commit 2166d8c159
2 changed files with 52 additions and 19 deletions
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58
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -414,25 +414,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
PROFILE_RANGE_EX(simulation_animation, "ik/relax", 0xffff00ff, 0);
// relax toward underPoses
// HACK: this relaxation needs to be constant per-frame rather than per-realtime
// in order to prevent IK "flutter" for bad FPS. The bad news is that the good parts
// of this relaxation will be FPS dependent (low FPS will make the limbs align slower
// in real-time), however most people will not notice this and this problem is less
// annoying than the flutter.
const float blend = (1.0f / 60.0f) / (0.25f); // effectively: dt / RELAXATION_TIMESCALE
int numJoints = (int)_relativePoses.size();
for (int i = 0; i < numJoints; ++i) {
float dotSign = copysignf(1.0f, glm::dot(_relativePoses[i].rot(), underPoses[i].rot()));
if (_accumulators[i].isDirty()) {
// this joint is affected by IK --> blend toward underPose rotation
_relativePoses[i].rot() = glm::normalize(glm::lerp(_relativePoses[i].rot(), dotSign * underPoses[i].rot(), blend));
} else {
// this joint is NOT affected by IK --> slam to underPose rotation
_relativePoses[i].rot() = underPoses[i].rot();
}
_relativePoses[i].trans() = underPoses[i].trans();
}
initRelativePosesFromSolutionSource(underPoses);
if (!underPoses.empty()) {
// Sometimes the underpose itself can violate the constraints. Rather than
@ -1135,3 +1117,41 @@ void AnimInverseKinematics::debugDrawConstraints(const AnimContext& context) con
}
}
}
void AnimInverseKinematics::relaxToPoses(const AnimPoseVec& poses) {
// relax toward poses
const float blend = (1.0f / 60.0f) / (0.25f);
int numJoints = (int)_relativePoses.size();
for (int i = 0; i < numJoints; ++i) {
float dotSign = copysignf(1.0f, glm::dot(_relativePoses[i].rot(), poses[i].rot()));
if (_accumulators[i].isDirty()) {
// this joint is affected by IK --> blend toward each pose rotation
_relativePoses[i].rot() = glm::normalize(glm::lerp(_relativePoses[i].rot(), dotSign * poses[i].rot(), blend));
} else {
// this joint is NOT affected by IK --> slam to underPose rotation
_relativePoses[i].rot() = poses[i].rot();
}
_relativePoses[i].trans() = poses[i].trans();
}
}
void AnimInverseKinematics::initRelativePosesFromSolutionSource(const AnimPoseVec& underPoses) {
switch (_solutionSource) {
default:
case SolutionSource::RelaxToUnderPoses:
relaxToPoses(underPoses);
break;
case SolutionSource::RelaxToLimitCenterPoses:
relaxToPoses(_limitCenterPoses);
break;
case SolutionSource::PreviousSolution:
// do nothing... _relativePoses is already the previous solution
break;
case SolutionSource::UnderPoses:
_relativePoses = underPoses;
break;
case SolutionSource::LimitCenterPoses:
_relativePoses = _limitCenterPoses;
break;
}
}

13
libraries/animation/src/AnimInverseKinematics.h
View file

@ -43,12 +43,24 @@ public:
float getMaxErrorOnLastSolve() { return _maxErrorOnLastSolve; }
enum class SolutionSource {
RelaxToUnderPoses = 0,
RelaxToLimitCenterPoses,
PreviousSolution,
UnderPoses,
LimitCenterPoses
};
void setSolutionSource(SolutionSource solutionSource) { _solutionSource = solutionSource; }
protected:
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
int solveTargetWithCCD(const IKTarget& target, AnimPoseVec& absolutePoses);
virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
void debugDrawConstraints(const AnimContext& context) const;
void initRelativePosesFromSolutionSource(const AnimPoseVec& underPose);
void relaxToPoses(const AnimPoseVec& poses);
// for AnimDebugDraw rendering
virtual const AnimPoseVec& getPosesInternal() const override { return _relativePoses; }
@ -103,6 +115,7 @@ protected:
float _maxErrorOnLastSolve { FLT_MAX };
bool _previousEnableDebugIKTargets { false };
SolutionSource _solutionSource { SolutionSource::RelaxToUnderPoses };
};
#endif // hifi_AnimInverseKinematics_h