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improved elbow pole vector calculation

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Also, pole vectors are blended spherical linearly, this might help fast moving
pole vectors from rotating too quickly.
This commit is contained in:
Anthony J. Thibault 2017-06-19 13:21:12 -07:00
parent 81852cd91c
commit 3f5aba2655
1 changed files with 35 additions and 22 deletions
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57
libraries/animation/src/Rig.cpp
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@ -1158,23 +1158,27 @@ glm::vec3 Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIn
AnimPose armPose = _externalPoseSet._absolutePoses[armIndex]; AnimPose armPose = _externalPoseSet._absolutePoses[armIndex];
glm::vec3 d = glm::normalize(handPose.trans() - armPose.trans()); glm::vec3 d = glm::normalize(handPose.trans() - armPose.trans());
float sign = isLeft ? 1.0f : -1.0f;
glm::vec3 n = hipsPose.rot() * Vectors::UNIT_X;
glm::vec3 y = hipsPose.rot() * Vectors::UNIT_Y;
// project d onto n.
glm::vec3 dProj = d - glm::dot(d, n) * n;
const float LATERAL_OFFSET = 0.333f;
const float VERTICAL_OFFSET = -0.333f;
// give dProj a bit of offset away from the body.
glm::vec3 dProjWithOffset = dProj + sign * LATERAL_OFFSET * n + y * VERTICAL_OFFSET;
// rotate dProj by 90 degrees to get the poleVector.
glm::vec3 poleVector = glm::angleAxis(PI / 2.0f, n) * dProjWithOffset;
// blend the wrist oreintation into the pole vector to reduce the painfully bent wrist problem.
glm::quat elbowToHandDelta = handPose.rot() * glm::inverse(elbowPose.rot()); glm::quat elbowToHandDelta = handPose.rot() * glm::inverse(elbowPose.rot());
const float WRIST_POLE_ADJUST_FACTOR = 0.5f; const float WRIST_POLE_ADJUST_FACTOR = 0.5f;
glm::quat poleAdjust = quatLerp(Quaternions::IDENTITY, elbowToHandDelta, WRIST_POLE_ADJUST_FACTOR); glm::quat poleAdjust = quatLerp(Quaternions::IDENTITY, elbowToHandDelta, WRIST_POLE_ADJUST_FACTOR);
glm::vec3 n; return glm::normalize(poleAdjust * poleVector);
if (isLeft) {
n = hipsPose.rot() * glm::normalize(glm::vec3(1.0f, 1.5f, -0.1f));
} else {
n = hipsPose.rot() * -glm::normalize(glm::vec3(-1.0f, 1.5f, -0.1f));
}
// project d onto n.
glm::vec3 dProj = d - glm::dot(d, n) * n;
glm::vec3 dProjRot = glm::angleAxis(PI / 2.0f, n) * dProj;
glm::vec3 pole = glm::normalize(dProjRot);
return glm::normalize(poleAdjust * pole);
} }
glm::vec3 Rig::calculateKneePoleVector(int footJointIndex, const glm::quat& footTargetOrientation, int hipsIndex) const { glm::vec3 Rig::calculateKneePoleVector(int footJointIndex, const glm::quat& footTargetOrientation, int hipsIndex) const {
@ -1217,7 +1221,8 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
const bool LEFT_HAND = true; const bool LEFT_HAND = true;
const bool RIGHT_HAND = false; const bool RIGHT_HAND = false;
const float POLE_VECTOR_BLEND_FACTOR = 0.9f; const float KNEE_POLE_VECTOR_BLEND_FACTOR = 0.9f;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.9f;
if (params.isLeftEnabled) { if (params.isLeftEnabled) {
if (!_isLeftHandControlled) { if (!_isLeftHandControlled) {
@ -1232,8 +1237,8 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
// Move hand from non-controlled position to controlled position. // Move hand from non-controlled position to controlled position.
_leftHandControlTimeRemaining = std::max(_leftHandControlTimeRemaining - dt, 0.0f); _leftHandControlTimeRemaining = std::max(_leftHandControlTimeRemaining - dt, 0.0f);
AnimPose handPose(Vectors::ONE, handRotation, handPosition); AnimPose handPose(Vectors::ONE, handRotation, handPosition);
if (transitionHandPose(_leftHandControlTimeRemaining, CONTROL_DURATION, handPose, LEFT_HAND, TO_CONTROLLED, if (transitionHandPose(_leftHandControlTimeRemaining, CONTROL_DURATION, handPose,
handPose)) { LEFT_HAND, TO_CONTROLLED, handPose)) {
handPosition = handPose.trans(); handPosition = handPose.trans();
handRotation = handPose.rot(); handRotation = handPose.rot();
} }
@ -1268,7 +1273,9 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_prevLeftHandPoleVectorValid = true; _prevLeftHandPoleVectorValid = true;
_prevLeftHandPoleVector = poleVector; _prevLeftHandPoleVector = poleVector;
} }
_prevLeftHandPoleVector = lerp(poleVector, _prevLeftHandPoleVector, POLE_VECTOR_BLEND_FACTOR); glm::quat deltaRot = rotationBetween(_prevLeftHandPoleVector, poleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevLeftHandPoleVector = smoothDeltaRot * _prevLeftHandPoleVector;
_animVars.set("leftHandPoleVectorEnabled", true); _animVars.set("leftHandPoleVectorEnabled", true);
_animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X); _animVars.set("leftHandPoleReferenceVector", Vectors::UNIT_X);
@ -1290,8 +1297,8 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
// Move hand from controlled position to non-controlled position. // Move hand from controlled position to non-controlled position.
_leftHandRelaxTimeRemaining = std::max(_leftHandRelaxTimeRemaining - dt, 0.0f); _leftHandRelaxTimeRemaining = std::max(_leftHandRelaxTimeRemaining - dt, 0.0f);
AnimPose handPose; AnimPose handPose;
if (transitionHandPose(_leftHandRelaxTimeRemaining, RELAX_DURATION, _lastLeftHandControlledPose, LEFT_HAND, if (transitionHandPose(_leftHandRelaxTimeRemaining, RELAX_DURATION, _lastLeftHandControlledPose,
FROM_CONTROLLED, handPose)) { LEFT_HAND, FROM_CONTROLLED, handPose)) {
_animVars.set("leftHandPosition", handPose.trans()); _animVars.set("leftHandPosition", handPose.trans());
_animVars.set("leftHandRotation", handPose.rot()); _animVars.set("leftHandRotation", handPose.rot());
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition); _animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
@ -1352,7 +1359,9 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_prevRightHandPoleVectorValid = true; _prevRightHandPoleVectorValid = true;
_prevRightHandPoleVector = poleVector; _prevRightHandPoleVector = poleVector;
} }
_prevRightHandPoleVector = lerp(poleVector, _prevRightHandPoleVector, POLE_VECTOR_BLEND_FACTOR); glm::quat deltaRot = rotationBetween(_prevRightHandPoleVector, poleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, ELBOW_POLE_VECTOR_BLEND_FACTOR);
_prevRightHandPoleVector = smoothDeltaRot * _prevRightHandPoleVector;
_animVars.set("rightHandPoleVectorEnabled", true); _animVars.set("rightHandPoleVectorEnabled", true);
_animVars.set("rightHandPoleReferenceVector", -Vectors::UNIT_X); _animVars.set("rightHandPoleReferenceVector", -Vectors::UNIT_X);
@ -1401,7 +1410,9 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_prevLeftFootPoleVectorValid = true; _prevLeftFootPoleVectorValid = true;
_prevLeftFootPoleVector = poleVector; _prevLeftFootPoleVector = poleVector;
} }
_prevLeftFootPoleVector = lerp(poleVector, _prevLeftFootPoleVector, POLE_VECTOR_BLEND_FACTOR); glm::quat deltaRot = rotationBetween(_prevLeftFootPoleVector, poleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, KNEE_POLE_VECTOR_BLEND_FACTOR);
_prevLeftFootPoleVector = smoothDeltaRot * _prevLeftFootPoleVector;
_animVars.set("leftFootPoleVectorEnabled", true); _animVars.set("leftFootPoleVectorEnabled", true);
_animVars.set("leftFootPoleReferenceVector", Vectors::UNIT_Z); _animVars.set("leftFootPoleReferenceVector", Vectors::UNIT_Z);
@ -1427,7 +1438,9 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
_prevRightFootPoleVectorValid = true; _prevRightFootPoleVectorValid = true;
_prevRightFootPoleVector = poleVector; _prevRightFootPoleVector = poleVector;
} }
_prevRightFootPoleVector = lerp(poleVector, _prevRightFootPoleVector, POLE_VECTOR_BLEND_FACTOR); glm::quat deltaRot = rotationBetween(_prevRightFootPoleVector, poleVector);
glm::quat smoothDeltaRot = safeMix(deltaRot, Quaternions::IDENTITY, KNEE_POLE_VECTOR_BLEND_FACTOR);
_prevRightFootPoleVector = smoothDeltaRot * _prevRightFootPoleVector;
_animVars.set("rightFootPoleVectorEnabled", true); _animVars.set("rightFootPoleVectorEnabled", true);
_animVars.set("rightFootPoleReferenceVector", Vectors::UNIT_Z); _animVars.set("rightFootPoleReferenceVector", Vectors::UNIT_Z);