From 2814c945821edc60f14d692df69812896407e9c2 Mon Sep 17 00:00:00 2001 From: "Anthony J. Thibault" Date: Mon, 26 Jun 2017 17:43:51 -0700 Subject: [PATCH] Hips should no longer waggle when feet are active --- libraries/animation/src/AnimInverseKinematics.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp index 3e948a4f5b..5d98357ea3 100644 --- a/libraries/animation/src/AnimInverseKinematics.cpp +++ b/libraries/animation/src/AnimInverseKinematics.cpp @@ -870,9 +870,9 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength); glm::vec3 hipsOffset = scaleFactor * _hipsOffset; if (_hipsParentIndex == -1) { - _relativePoses[_hipsIndex].trans() = underPoses[_hipsIndex].trans() + hipsOffset; + _relativePoses[_hipsIndex].trans() = _relativePoses[_hipsIndex].trans() + hipsOffset; } else { - auto absHipsPose = _skeleton->getAbsolutePose(_hipsIndex, underPoses); + auto absHipsPose = _skeleton->getAbsolutePose(_hipsIndex, _relativePoses); absHipsPose.trans() += hipsOffset; _relativePoses[_hipsIndex] = _skeleton->getAbsolutePose(_hipsParentIndex, _relativePoses).inverse() * absHipsPose; } @@ -1732,6 +1732,10 @@ void AnimInverseKinematics::initRelativePosesFromSolutionSource(SolutionSource s break; case SolutionSource::RelaxToLimitCenterPoses: blendToPoses(_limitCenterPoses, underPoses, RELAX_BLEND_FACTOR); + // special case for hips: copy over hips pose whether or not IK is enabled. + if (_hipsIndex >= 0 && _hipsIndex < _relativePoses.size()) { + _relativePoses[_hipsIndex] = _limitCenterPoses[_hipsIndex]; + } break; case SolutionSource::PreviousSolution: // do nothing... _relativePoses is already the previous solution