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Truncate IK Targets

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This commit is contained in:
Anthony J. Thibault 2016-09-09 17:33:02 -07:00
parent 86351ca21c
commit 49cac31b6c
2 changed files with 67 additions and 14 deletions
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79
libraries/animation/src/Rig.cpp
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@ -47,6 +47,10 @@ const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 0.9f, 0.0f);
const glm::vec3 DEFAULT_HEAD_POS(0.0f, 0.75f, 0.0f);
const glm::vec3 DEFAULT_NECK_POS(0.0f, 0.70f, 0.0f);
const glm::vec3 TRUNCATE_IK_CAPSULE_POSITION(0.0f, 0.0f, 0.0f);
float TRUNCATE_IK_CAPSULE_LENGTH = 1000.0;
float TRUNCATE_IK_CAPSULE_RADIUS = 0.5;
extern Rig* HACKY_GLOBAL_RIG_POINTER;
void Rig::overrideAnimation(const QString& url, float fps, bool loop, float firstFrame, float lastFrame) {
@ -999,6 +1003,37 @@ void Rig::computeHeadNeckAnimVars(const AnimPose& hmdPose, glm::vec3& headPositi
neckOrientationOut = safeMix(hmdOrientation, _animSkeleton->getRelativeDefaultPose(neckIndex).rot, 0.5f);
}
static bool pointIsInsideCapsule(const glm::vec3& point, const glm::vec3& capsulePosition, float capsuleLength, float capsuleRadius) {
glm::vec3 top = capsulePosition.y + glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f);
glm::vec3 bottom = capsulePosition.y - glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f);
if (point.y > top.y + capsuleRadius) {
return false;
} else if (point.y > top.y) {
return glm::length(point - top) < capsuleRadius;
} else if (point.y < bottom.y - capsuleRadius) {
return false;
} else if (point.y < bottom.y) {
return glm::length(point - bottom) < capsuleRadius;
} else {
return glm::length(glm::vec2(point.x, point.z) - glm::vec2(capsulePosition.x, capsulePosition.z)) < capsuleRadius;
}
}
static glm::vec3 projectPointOntoCapsule(const glm::vec3& point, const glm::vec3& capsulePosition, float capsuleLength, float capsuleRadius) {
glm::vec3 top = capsulePosition.y + glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f);
glm::vec3 bottom = capsulePosition.y - glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f);
if (point.y > top.y) {
return capsuleRadius * glm::normalize(point - top) + top;
} else if (point.y < bottom.y) {
return capsuleRadius * glm::normalize(point - bottom) + bottom;
} else {
glm::vec2 capsulePosition2D(capsulePosition.x, capsulePosition.z);
glm::vec2 point2D(point.x, point.z);
glm::vec2 projectedPoint2D = capsuleRadius * glm::normalize(point2D - capsulePosition2D) + capsulePosition2D;
return glm::vec3(projectedPoint2D.x, point.y, projectedPoint2D.y);
}
}
void Rig::updateNeckJoint(int index, const HeadParameters& params) {
if (_animSkeleton && index >= 0 && index < _animSkeleton->getNumJoints()) {
glm::quat yFlip180 = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
@ -1009,19 +1044,19 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
AnimPose hmdPose(glm::vec3(1.0f), params.rigHeadOrientation * yFlip180, params.rigHeadPosition);
computeHeadNeckAnimVars(hmdPose, headPos, headRot, neckPos, neckRot);
// debug rendering
#ifdef DEBUG_RENDERING
const glm::vec4 red(1.0f, 0.0f, 0.0f, 1.0f);
const glm::vec4 green(0.0f, 1.0f, 0.0f, 1.0f);
// decide if we SHOULD truncate IK targets
if (!pointIsInsideCapsule(params.rigHeadPosition, TRUNCATE_IK_CAPSULE_POSITION, TRUNCATE_IK_CAPSULE_LENGTH, TRUNCATE_IK_CAPSULE_RADIUS)) {
_desiredRigHeadPosition = headPos;
_truncateIKTargets = true;
} else {
_truncateIKTargets = false;
}
// transform from bone into avatar space
AnimPose headPose(glm::vec3(1), headRot, headPos);
DebugDraw::getInstance().addMyAvatarMarker("headTarget", headPose.rot, headPose.trans, red);
// transform from bone into avatar space
AnimPose neckPose(glm::vec3(1), neckRot, neckPos);
DebugDraw::getInstance().addMyAvatarMarker("neckTarget", neckPose.rot, neckPose.trans, green);
#endif
// truncate head IK target.
if (_truncateIKTargets) {
headPos = projectPointOntoCapsule(_desiredRigHeadPosition, TRUNCATE_IK_CAPSULE_POSITION, TRUNCATE_IK_CAPSULE_LENGTH, TRUNCATE_IK_CAPSULE_RADIUS);
neckPos = (neckPos - _desiredRigHeadPosition) + headPos;
}
_animVars.set("headPosition", headPos);
_animVars.set("headRotation", headRot);
@ -1095,8 +1130,16 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
if (params.isLeftEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 handPosition = params.leftPosition;
// truncate hand IK target
if (_truncateIKTargets) {
glm::vec3 offset = handPosition - _desiredRigHeadPosition;
glm::vec3 headPos = projectPointOntoCapsule(_desiredRigHeadPosition, TRUNCATE_IK_CAPSULE_POSITION, TRUNCATE_IK_CAPSULE_LENGTH, TRUNCATE_IK_CAPSULE_RADIUS);
handPosition = headPos + offset;
}
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement(glm::vec3::_null);
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
@ -1113,8 +1156,16 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
if (params.isRightEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 handPosition = params.rightPosition;
// truncate hand IK target
if (_truncateIKTargets) {
glm::vec3 offset = handPosition - _desiredRigHeadPosition;
glm::vec3 headPos = projectPointOntoCapsule(_desiredRigHeadPosition, TRUNCATE_IK_CAPSULE_POSITION, TRUNCATE_IK_CAPSULE_LENGTH, TRUNCATE_IK_CAPSULE_RADIUS);
handPosition = headPos + offset;
}
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement(glm::vec3::_null);
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;

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

@ -312,6 +312,8 @@ protected:
bool _enableInverseKinematics { true };
mutable uint32_t _jointNameWarningCount { 0 };
glm::vec3 _desiredRigHeadPosition;
bool _truncateIKTargets { false };
private:
QMap<int, StateHandler> _stateHandlers;