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Rotation bits for alternate IK.

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This commit is contained in:
Andrzej Kapolka 2014-05-15 15:32:32 -07:00
parent 94988ed5e6
commit 3eefb6a93e
1 changed files with 14 additions and 2 deletions
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16
interface/src/avatar/SkeletonModel.cpp
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@ -322,8 +322,8 @@ void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, c
const float NORMAL_WEIGHT = 0.5f; const float NORMAL_WEIGHT = 0.5f;
glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT); glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
if((jointIndex == geometry.rightHandJointIndex && finalNormal.y > 0.0f) || bool rightHand = (jointIndex == geometry.rightHandJointIndex);
(jointIndex == geometry.leftHandJointIndex && finalNormal.y < 0)) { if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis) finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
} }
@ -331,5 +331,17 @@ void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, c
// ik solution // ik solution
glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height; glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
glm::quat shoulderRotation;
getJointRotation(shoulderJointIndex, shoulderRotation, true);
applyRotationDelta(shoulderJointIndex, rotationBetween(shoulderRotation * forwardVector, elbowPosition - shoulderPosition), false);
glm::quat elbowRotation;
getJointRotation(elbowJointIndex, elbowRotation, true);
applyRotationDelta(elbowJointIndex, rotationBetween(elbowRotation * forwardVector, wristPosition - elbowPosition), false);
setJointRotation(jointIndex, rotation, true);
} }