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replace Model::setJointRotation() with JointState::setRotation()

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This commit is contained in:
Andrew Meadows 2014-05-30 09:57:32 -07:00
parent 557d7d428b
commit 4eb4334ed8
3 changed files with 24 additions and 22 deletions
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20
interface/src/avatar/SkeletonModel.cpp
View file

@ -45,7 +45,8 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
}
int jointIndex = geometry.humanIKJointIndices.at(humanIKJointIndex);
if (jointIndex != -1) {
setJointRotation(jointIndex, _rotation * prioVR->getJointRotations().at(i), PALM_PRIORITY);
JointState& state = _jointStates[jointIndex];
state.setRotation(_rotation * prioVR->getJointRotations().at(i), PALM_PRIORITY);
}
}
return;
@ -189,7 +190,9 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
setJointPosition(parentJointIndex, palm.getPosition() + forearmVector *
geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale),
glm::quat(), false, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
setJointRotation(parentJointIndex, palmRotation, PALM_PRIORITY);
JointState& parentState = _jointStates[parentJointIndex];
parentState.setRotation(palmRotation, PALM_PRIORITY);
// slam parent-relative rotation to identity
_jointStates[jointIndex]._rotation = glm::quat();
} else {
@ -352,16 +355,17 @@ void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, c
// ik solution
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 = rotationBetween(forwardVector, elbowPosition - shoulderPosition);
setJointRotation(shoulderJointIndex, shoulderRotation, PALM_PRIORITY);
JointState& shoulderState = _jointStates[shoulderJointIndex];
shoulderState.setRotation(shoulderRotation, PALM_PRIORITY);
setJointRotation(elbowJointIndex, rotationBetween(shoulderRotation * forwardVector,
wristPosition - elbowPosition) * shoulderRotation, PALM_PRIORITY);
JointState& elbowState = _jointStates[elbowJointIndex];
elbowState.setRotation(rotationBetween(shoulderRotation * forwardVector, wristPosition - elbowPosition) * shoulderRotation, PALM_PRIORITY);
setJointRotation(jointIndex, rotation, PALM_PRIORITY);
JointState& handState = _jointStates[jointIndex];
handState.setRotation(rotation, PALM_PRIORITY);
}
bool SkeletonModel::getLeftHandPosition(glm::vec3& position) const {

21
interface/src/renderer/Model.cpp
View file

@ -1219,19 +1219,6 @@ bool Model::setJointPosition(int jointIndex, const glm::vec3& translation, const
return true;
}
bool Model::setJointRotation(int jointIndex, const glm::quat& rotation, float priority) {
if (jointIndex == -1 || _jointStates.isEmpty()) {
return false;
}
JointState& state = _jointStates[jointIndex];
if (priority >= state._animationPriority) {
state._rotation = state._rotation * glm::inverse(state._combinedRotation) * rotation *
glm::inverse(_geometry->getFBXGeometry().joints.at(jointIndex).inverseBindRotation);
state._animationPriority = priority;
}
return true;
}
bool Model::restoreJointPosition(int jointIndex, float fraction, float priority) {
if (jointIndex == -1 || _jointStates.isEmpty()) {
return false;
@ -1884,6 +1871,14 @@ void JointState::restoreRotation(float fraction, float priority) {
}
}
void JointState::setRotation(const glm::quat& rotation, float priority) {
assert(_fbxJoint != NULL);
if (priority >= _animationPriority) {
_rotation = _rotation * glm::inverse(_combinedRotation) * rotation * glm::inverse(_fbxJoint->inverseBindRotation);
_animationPriority = priority;
}
}
void JointState::applyRotationDelta(const glm::quat& delta, bool constrain, float priority) {
assert(_fbxJoint != NULL);
if (priority < _animationPriority) {

5
interface/src/renderer/Model.h
View file

@ -52,6 +52,10 @@ public:
void restoreRotation(float fraction, float priority);
/// \param rotation is from bind- to world-frame
/// computes parent relative _rotation and sets that
void setRotation(const glm::quat& rotation, float priority);
glm::quat _rotation; // rotation relative to parent
glm::mat4 _transform; // rotation to world frame + translation in model frame
glm::quat _combinedRotation; // rotation from joint local to world frame
@ -242,7 +246,6 @@ protected:
bool setJointPosition(int jointIndex, const glm::vec3& translation, const glm::quat& rotation = glm::quat(),
bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
bool setJointRotation(int jointIndex, const glm::quat& rotation, float priority = 1.0f);
/// Restores the indexed joint to its default position.
/// \param fraction the fraction of the default position to apply (i.e., 0.25f to slerp one fourth of the way to