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Elliptical swing targets for the spine, Bug fix for debug draw

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This commit is contained in:
Anthony J. Thibault 2017-04-14 16:57:30 -07:00
parent b49760cee2
commit 22e79504bb
1 changed files with 34 additions and 17 deletions
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51
libraries/animation/src/AnimInverseKinematics.cpp
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@ -149,7 +149,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
float maxError = FLT_MAX;
int numLoops = 0;
const int MAX_IK_LOOPS = 16;
const int MAX_IK_LOOPS = 48;
const float MAX_ERROR_TOLERANCE = 0.1f; // cm
while (maxError > MAX_ERROR_TOLERANCE && numLoops < MAX_IK_LOOPS) {
++numLoops;
@ -365,7 +365,9 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
}
// store the relative rotation change in the accumulator
_accumulators[pivotIndex].add(newRot, target.getWeight());
// AJT: Hack give head more weight.
float weight = (target.getIndex() == _headIndex) ? 2.0f : 1.0f;
_accumulators[pivotIndex].add(newRot, weight);
// this joint has been changed so we check to see if it has the lowest index
if (pivotIndex < lowestMovedIndex) {
@ -445,8 +447,6 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
computeTargets(animVars, targets, underPoses);
}
_previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets();
if (targets.empty()) {
// no IK targets but still need to enforce constraints
std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
@ -510,6 +510,8 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
DebugDraw::getInstance().removeMyAvatarMarker(name);
}
}
_previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets();
}
{
@ -551,6 +553,22 @@ void AnimInverseKinematics::clearConstraints() {
_constraints.clear();
}
// set up swing limits around a swingTwistConstraint in an ellipse, where lateralSwingTheta is the swing limit for lateral swings (side to side)
// anteriorSwingTheta is swing limit for forward and backward swings. (where x-axis of reference rotation is sideways and -z-axis is forward)
static void setEllipticalSwingLimits(SwingTwistConstraint* stConstraint, float lateralSwingTheta, float anteriorSwingTheta) {
assert(stConstraint);
const int NUM_SUBDIVISIONS = 8;
std::vector<float> minDots;
minDots.reserve(NUM_SUBDIVISIONS);
float dTheta = (2.0f * PI) / NUM_SUBDIVISIONS;
float theta = 0.0f;
for (int i = 0; i < NUM_SUBDIVISIONS; i++) {
minDots.push_back(cosf(glm::length(glm::vec2(anteriorSwingTheta * cosf(theta), lateralSwingTheta * sinf(theta)))));
theta += dTheta;
}
stConstraint->setSwingLimits(minDots);
}
void AnimInverseKinematics::initConstraints() {
if (!_skeleton) {
return;
@ -740,41 +758,40 @@ void AnimInverseKinematics::initConstraints() {
} else if (baseName.startsWith("Spine", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
const float MAX_SPINE_TWIST = PI / 12.0f;
const float MAX_SPINE_TWIST = PI / 20.0f;
stConstraint->setTwistLimits(-MAX_SPINE_TWIST, MAX_SPINE_TWIST);
/*
std::vector<float> minDots;
const float MAX_SPINE_SWING = PI / 10.0f;
minDots.push_back(cosf(MAX_SPINE_SWING));
stConstraint->setSwingLimits(minDots);
*/
// AJT: limit lateral swings more then forward-backward swings
setEllipticalSwingLimits(stConstraint, PI / 30.0f, PI / 20.0f);
if (0 == baseName.compare("Spine1", Qt::CaseSensitive)
|| 0 == baseName.compare("Spine", Qt::CaseSensitive)) {
stConstraint->setLowerSpine(true);
}
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (baseName.startsWith("Hips2", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
const float MAX_SPINE_TWIST = PI / 8.0f;
stConstraint->setTwistLimits(-MAX_SPINE_TWIST, MAX_SPINE_TWIST);
std::vector<float> minDots;
const float MAX_SPINE_SWING = PI / 14.0f;
minDots.push_back(cosf(MAX_SPINE_SWING));
stConstraint->setSwingLimits(minDots);
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (0 == baseName.compare("Neck", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
const float MAX_NECK_TWIST = PI / 9.0f;
const float MAX_NECK_TWIST = PI / 10.0f;
stConstraint->setTwistLimits(-MAX_NECK_TWIST, MAX_NECK_TWIST);
/*
std::vector<float> minDots;
const float MAX_NECK_SWING = PI / 8.0f;
minDots.push_back(cosf(MAX_NECK_SWING));
stConstraint->setSwingLimits(minDots);
*/
setEllipticalSwingLimits(stConstraint, PI / 10.0f, PI / 8.0f);
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (0 == baseName.compare("Head", Qt::CaseSensitive)) {