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This commit is contained in:
Anthony J. Thibault 2017-06-02 15:47:51 -07:00
parent 3710637254
commit 2422c7e1bb
3 changed files with 26 additions and 21 deletions
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31
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -540,16 +540,21 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
if (splineJointInfo.jointIndex != _hipsIndex) {
// constrain the amount the spine can stretch or compress
float length = glm::length(relPose.trans());
float defaultLength = glm::length(_skeleton->getRelativeDefaultPose(splineJointInfo.jointIndex).trans());
const float STRETCH_COMPRESS_PERCENTAGE = 0.15f;
const float MAX_LENGTH = defaultLength * (1.0f + STRETCH_COMPRESS_PERCENTAGE);
const float MIN_LENGTH = defaultLength * (1.0f - STRETCH_COMPRESS_PERCENTAGE);
if (length > MAX_LENGTH) {
relPose.trans() = (relPose.trans() / length) * MAX_LENGTH;
constrained = true;
} else if (length < MIN_LENGTH) {
relPose.trans() = (relPose.trans() / length) * MIN_LENGTH;
constrained = true;
const float EPSILON = 0.0001f;
if (length > EPSILON) {
float defaultLength = glm::length(_skeleton->getRelativeDefaultPose(splineJointInfo.jointIndex).trans());
const float STRETCH_COMPRESS_PERCENTAGE = 0.15f;
const float MAX_LENGTH = defaultLength * (1.0f + STRETCH_COMPRESS_PERCENTAGE);
const float MIN_LENGTH = defaultLength * (1.0f - STRETCH_COMPRESS_PERCENTAGE);
if (length > MAX_LENGTH) {
relPose.trans() = (relPose.trans() / length) * MAX_LENGTH;
constrained = true;
} else if (length < MIN_LENGTH) {
relPose.trans() = (relPose.trans() / length) * MIN_LENGTH;
constrained = true;
}
} else {
relPose.trans() = glm::vec3(0.0f);
}
}
@ -1521,10 +1526,10 @@ void AnimInverseKinematics::debugDrawSpineSplines(const AnimContext& context, co
// draw red and white stripped spline, parameterized by arc length.
// i.e. each stripe should be the same length.
AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix());
int NUM_SUBDIVISIONS = 20;
const float dArcLength = totalArcLength / NUM_SUBDIVISIONS;
const int NUM_SEGMENTS = 20;
const float dArcLength = totalArcLength / NUM_SEGMENTS;
float arcLength = 0.0f;
for (int i = 0; i < NUM_SUBDIVISIONS; i++) {
for (int i = 0; i < NUM_SEGMENTS; i++) {
float prevT = spline.arcLengthInverse(arcLength);
float nextT = spline.arcLengthInverse(arcLength + dArcLength);
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(spline(prevT)), geomToWorldPose.xformPoint(spline(nextT)), (i % 2) == 0 ? RED : WHITE);

10
libraries/animation/src/TranslationAccumulator.h
View file

@ -18,19 +18,19 @@ public:
int size() const { return _totalWeight > 0.0f; }
/// \param rotation rotation to add
/// \param weight contribution factor of this rotation to total accumulation
/// \param translation translation to add
/// \param weight contribution factor of this translation to total accumulation
void add(const glm::vec3& translation, float weight = 1.0f);
glm::vec3 getAverage();
/// \return true if any rotations were accumulated
/// \return true if any translation were accumulated
bool isDirty() const { return _isDirty; }
/// \brief clear accumulated rotation but don't change _isDirty
/// \brief clear accumulated translation but don't change _isDirty
void clear();
/// \brief clear accumulated rotation and set _isDirty to false
/// \brief clear accumulated translation and set _isDirty to false
void clearAndClean();
private:

6
libraries/shared/src/CubicHermiteSpline.h
View file

@ -23,8 +23,8 @@ public:
// evalute the hermite curve at parameter t (0..1)
glm::vec3 operator()(float t) const {
float t3 = t * t * t;
float t2 = t * t;
float t3 = t2 * t;
float w0 = 2.0f * t3 - 3.0f * t2 + 1.0f;
float w1 = t3 - 2.0f * t2 + t;
float w2 = -2.0f * t3 + 3.0f * t2;
@ -63,7 +63,7 @@ public:
enum Constants { NUM_SUBDIVISIONS = 30 };
CubicHermiteSplineFunctorWithArcLength() : CubicHermiteSplineFunctor() {
memset(_values, 0, sizeof(float) * NUM_SUBDIVISIONS + 1);
memset(_values, 0, sizeof(float) * (NUM_SUBDIVISIONS + 1));
}
CubicHermiteSplineFunctorWithArcLength(const glm::vec3& p0, const glm::vec3& m0, const glm::vec3& p1, const glm::vec3& m1) : CubicHermiteSplineFunctor(p0, m0, p1, m1) {
// initialize _values with the accumulated arcLength along the spline.
@ -80,7 +80,7 @@ public:
}
CubicHermiteSplineFunctorWithArcLength(const CubicHermiteSplineFunctorWithArcLength& orig) : CubicHermiteSplineFunctor(orig) {
memcpy(_values, orig._values, sizeof(float) * NUM_SUBDIVISIONS + 1);
memcpy(_values, orig._values, sizeof(float) * (NUM_SUBDIVISIONS + 1));
}
// given the spline parameter (0..1) output the arcLength of the spline up to that point.