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remove hips swing

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This commit is contained in:
Atlante45 2017-02-26 17:15:31 -08:00
parent 6991970044
commit 2d8b71810e
1 changed files with 4 additions and 9 deletions
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13
libraries/animation/src/AnimInverseKinematics.cpp
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@ -262,8 +262,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
glm::vec3 tipPosition = absolutePoses[tipIndex].trans(); glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
// descend toward root, pivoting each joint to get tip closer to target position // descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != -1) { while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
// compute the two lines that should be aligned // compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans(); glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
glm::vec3 leverArm = tipPosition - jointPosition; glm::vec3 leverArm = tipPosition - jointPosition;
@ -340,15 +339,10 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR)); deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR));
} }
glm::quat parentRotation;
if (pivotsParentIndex != -1) {
parentRotation = absolutePoses[pivotsParentIndex].rot();
}
// compute joint's new parent-relative rotation after swing // compute joint's new parent-relative rotation after swing
// Q' = dQ * Q and Q = Qp * q --> q' = Qp^ * dQ * Q // Q' = dQ * Q and Q = Qp * q --> q' = Qp^ * dQ * Q
glm::quat newRot = glm::normalize(glm::inverse( glm::quat newRot = glm::normalize(glm::inverse(
parentRotation) * absolutePoses[pivotsParentIndex].rot()) *
deltaRotation * deltaRotation *
absolutePoses[pivotIndex].rot()); absolutePoses[pivotIndex].rot());
@ -360,7 +354,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
// the constraint will modify the local rotation of the tip so we must // the constraint will modify the local rotation of the tip so we must
// compute the corresponding model-frame deltaRotation // compute the corresponding model-frame deltaRotation
// Q' = Qp^ * dQ * Q --> dQ = Qp * Q' * Q^ // Q' = Qp^ * dQ * Q --> dQ = Qp * Q' * Q^
deltaRotation = parentRotation * newRot * glm::inverse(absolutePoses[pivotIndex].rot()); deltaRotation = absolutePoses[pivotsParentIndex].rot() * newRot * glm::inverse(absolutePoses[pivotIndex].rot());
} }
} }
@ -378,6 +372,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
tipParentOrientation = glm::normalize(deltaRotation * tipParentOrientation); tipParentOrientation = glm::normalize(deltaRotation * tipParentOrientation);
pivotIndex = pivotsParentIndex; pivotIndex = pivotsParentIndex;
pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
} }
return lowestMovedIndex; return lowestMovedIndex;
} }