Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-05 03:38:28 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

fix IK looping error after minor refactor

Browse source
This commit is contained in:
Andrew Meadows 2016-01-29 10:19:12 -08:00
parent 7b3f688a17
commit 48f6a9c05f
1 changed files with 24 additions and 35 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

59
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -142,18 +142,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
absolutePoses.resize(_relativePoses.size());
computeAbsolutePoses(absolutePoses);
#if 0
// TODO: implement this
if (targets[0].getType() == IKTarget::Type::HmdHead) {
// first solve HmdHead rotation
IKTarget& target = targets[0];
// measure the head's position error
// update hipsOffset to compensate for error
}
#endif
//if (targets[0].getType() == IKTarget::Type::HmdHead) {
// clear the accumulators before we start the IK solver
for (auto& accumulator: _accumulators) {
accumulator.clearAndClean();
@ -162,30 +151,28 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
int numLoops = 0;
const int MAX_IK_LOOPS = 4;
while (numLoops < MAX_IK_LOOPS) {
++numLoops;
// solve all targets
int lowestMovedIndex = (int)_relativePoses.size();
for (auto& target: targets) {
lowestMovedIndex = solveTargetWithCCD(target, absolutePoses);
++numLoops;
}
if (lowestMovedIndex >= (int)_relativePoses.size()) {
continue;
// harvest accumulated rotations and apply the average
const int numJoints = (int)_accumulators.size();
for (int i = 0; i < numJoints; ++i) {
if (_accumulators[i].size() > 0) {
_relativePoses[i].rot = _accumulators[i].getAverage();
_accumulators[i].clear();
}
}
// harvest accumulated rotations and apply the average
const int numJoints = (int)_accumulators.size();
for (int i = 0; i < numJoints; ++i) {
if (_accumulators[i].size() > 0) {
_relativePoses[i].rot = _accumulators[i].getAverage();
_accumulators[i].clear();
}
}
// only update the absolutePoses that need it: those between lowestMovedIndex and _maxTargetIndex
for (auto i = lowestMovedIndex; i <= _maxTargetIndex; ++i) {
auto parentIndex = _skeleton->getParentIndex((int)i);
if (parentIndex != -1) {
absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i];
}
// only update the absolutePoses that need it: those between lowestMovedIndex and _maxTargetIndex
for (auto i = lowestMovedIndex; i <= _maxTargetIndex; ++i) {
auto parentIndex = _skeleton->getParentIndex((int)i);
if (parentIndex != -1) {
absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i];
}
}
}
@ -371,7 +358,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
if (_relativePoses.size() != underPoses.size()) {
loadPoses(underPoses);
} else {
// relax toward underpose
// relax toward underPoses
// HACK: this relaxation needs to be constant per-frame rather than per-realtime
// in order to prevent IK "flutter" for bad FPS. The bad news is that the good parts
// of this relaxation will be FPS dependent (low FPS will make the limbs align slower
@ -382,8 +369,10 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
for (int i = 0; i < numJoints; ++i) {
float dotSign = copysignf(1.0f, glm::dot(_relativePoses[i].rot, underPoses[i].rot));
if (_accumulators[i].isDirty()) {
// this joint is affected by IK --> blend toward underPose rotation
_relativePoses[i].rot = glm::normalize(glm::lerp(_relativePoses[i].rot, dotSign * underPoses[i].rot, blend));
} else {
// this joint is NOT affected by IK --> slam to underPose rotation
_relativePoses[i].rot = underPoses[i].rot;
}
_relativePoses[i].trans = underPoses[i].trans;
@ -406,7 +395,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
++constraintItr;
}
} else {
// shift the everything according to the _hipsOffset from the previous frame
// shift hips according to the _hipsOffset from the previous frame
float offsetLength = glm::length(_hipsOffset);
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH) {
@ -423,14 +412,14 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
hipsFrameRotation *= _relativePoses[index].rot;
index = _skeleton->getParentIndex(index);
}
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans
+ glm::inverse(glm::normalize(hipsFrameRotation)) * (scaleFactor * _hipsOffset);
}
}
solveWithCyclicCoordinateDescent(targets);
// compute the new target hips offset (for next frame)
// measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
glm::vec3 newHipsOffset = Vectors::ZERO;
@ -439,7 +428,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
if (targetIndex == _headIndex && _headIndex != -1) {
// special handling for headTarget
if (target.getType() == IKTarget::Type::RotationOnly) {
// we want to shift the hips to bring the underpose closer
// we want to shift the hips to bring the underPose closer
// to where the head happens to be (overpose)
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans;
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;