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use dynamic constraints for IK

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This commit is contained in:
Andrew Meadows 2016-03-11 14:44:43 -08:00
parent 71a81331d1
commit 48efbba335
3 changed files with 16 additions and 1 deletions
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11
libraries/animation/src/AnimInverseKinematics.cpp
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@ -396,6 +396,17 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
}
_relativePoses[i].trans = underPoses[i].trans;
}
if (!_relativePoses.empty()) {
// Sometimes the underpose itself can violate the constraints. Rather than
// clamp the animation we dynamically expand each constraint to accomodate it.
std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
while (constraintItr != _constraints.end()) {
int index = constraintItr->first;
constraintItr->second->dynamicallyAdjustLimits(_relativePoses[index].rot);
++constraintItr;
}
}
}
if (!_relativePoses.empty()) {

4
libraries/animation/src/RotationConstraint.h
View file

@ -31,6 +31,10 @@ public:
/// \return true if this constraint is part of lower spine
virtual bool isLowerSpine() const { return false; }
/// \param rotation rotation to allow
/// \brief clear previous adjustment and adjust constraint limits to allow rotation
virtual void dynamicallyAdjustLimits(const glm::quat& rotation) {}
protected:
glm::quat _referenceRotation = glm::quat();
};

2
libraries/animation/src/SwingTwistConstraint.h
View file

@ -55,7 +55,7 @@ public:
/// \param rotation rotation to allow
/// \brief clear previous adjustment and adjust constraint limits to allow rotation
void dynamicallyAdjustLimits(const glm::quat& rotation);
virtual void dynamicallyAdjustLimits(const glm::quat& rotation) override;
// for testing purposes
const std::vector<float>& getMinDots() { return _swingLimitFunction.getMinDots(); }