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track tipRotation for HmdHead target

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This commit is contained in:
Andrew Meadows 2015-10-10 16:52:01 -07:00
parent 5f1068c404
commit 35d2a5b5ea
1 changed files with 4 additions and 3 deletions
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7
libraries/animation/src/AnimInverseKinematics.cpp
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@ -162,7 +162,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
}
glm::vec3 tipPosition = absolutePoses[tipIndex].trans;
//glm::quat tipRotation = absolutePoses[tipIndex].rot;
glm::quat tipRotation = absolutePoses[tipIndex].rot;
// cache tip's parent's absolute rotation so we can recompute the tip's parent-relative
// as we proceed walking down the joint chain
@ -220,11 +220,11 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
}
}
} else if (targetType == IKTarget::Type::HmdHead) {
/* TODO: implement this
// An HmdHead target slaves the orientation of the end-effector by distributing rotation
// deltas up the hierarchy. Its target position is enforced later by shifting the hips.
deltaRotation = target.getRotation() * glm::inverse(tipRotation);
*/
float dotSign = copysignf(1.0f, deltaRotation.w);
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, 0.15f));
}
// compute joint's new parent-relative rotation after swing
@ -258,6 +258,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
// keep track of tip's new transform as we descend towards root
tipPosition = jointPosition + deltaRotation * leverArm;
tipRotation = glm::normalize(deltaRotation * tipRotation);
tipParentRotation = glm::normalize(deltaRotation * tipParentRotation);
pivotIndex = pivotsParentIndex;