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parent-relative linear slaving of verlet shapes

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This commit is contained in:
Andrew Meadows 2014-07-23 17:00:17 -07:00
parent 72c7498454
commit 559188cace
1 changed files with 44 additions and 13 deletions
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57
interface/src/avatar/SkeletonModel.cpp
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@ -533,6 +533,7 @@ void SkeletonModel::buildRagdollConstraints() {
_ragdollConstraints.push_back(anchor);
} else {
DistanceConstraint* bone = new DistanceConstraint(&(_ragdollPoints[i]), &(_ragdollPoints[parentIndex]));
bone->setDistance(state.getDistanceToParent());
_ragdollConstraints.push_back(bone);
families.insert(parentIndex, i);
}
@ -597,11 +598,7 @@ void SkeletonModel::updateVisibleJointStates() {
// virtual
void SkeletonModel::stepRagdollForward(float deltaTime) {
// NOTE: increasing this timescale reduces vibrations in the ragdoll solution and reduces tunneling
// but makes the shapes slower to follow the body (introduces lag).
const float RAGDOLL_FOLLOWS_JOINTS_TIMESCALE = 0.05f;
float fraction = glm::clamp(deltaTime / RAGDOLL_FOLLOWS_JOINTS_TIMESCALE, 0.0f, 1.0f);
moveShapesTowardJoints(fraction);
moveShapesTowardJoints(deltaTime);
}
float DENSITY_OF_WATER = 1000.0f; // kg/m^3
@ -676,17 +673,51 @@ void SkeletonModel::buildShapes() {
enforceRagdollConstraints();
}
void SkeletonModel::moveShapesTowardJoints(float fraction) {
void SkeletonModel::moveShapesTowardJoints(float deltaTime) {
const int numStates = _jointStates.size();
assert(_jointStates.size() == _ragdollPoints.size());
assert(fraction >= 0.0f && fraction <= 1.0f);
if (_ragdollPoints.size() == numStates) {
float oneMinusFraction = 1.0f - fraction;
int numJoints = _jointStates.size();
for (int i = 0; i < numJoints; ++i) {
_ragdollPoints[i]._lastPosition = _ragdollPoints[i]._position;
_ragdollPoints[i]._position = oneMinusFraction * _ragdollPoints[i]._position + fraction * _jointStates.at(i).getPosition();
if (_ragdollPoints.size() != numStates) {
return;
}
const float RAGDOLL_FOLLOWS_JOINTS_TIMESCALE = 0.05f;
float fraction = glm::clamp(deltaTime / RAGDOLL_FOLLOWS_JOINTS_TIMESCALE, 0.0f, 1.0f);
// SIMPLE LINEAR_SLAVING -- KEEP this implementation for reference
//float oneMinusFraction = 1.0f - fraction;
//for (int i = 0; i < numStates; ++i) {
// _ragdollPoints[i]._lastPosition = _ragdollPoints[i]._position;
// _ragdollPoints[i]._position = oneMinusFraction * _ragdollPoints[i]._position + fraction * _jointStates.at(i).getPosition();
//}
// LINEAR_SLAVING -- KEEP
// parent-relative linear slaving
for (int i = 0; i < numStates; ++i) {
JointState& state = _jointStates[i];
_ragdollPoints[i]._lastPosition = _ragdollPoints.at(i)._position;
int p = state.getParentIndex();
if (p == -1) {
_ragdollPoints[i]._position = glm::vec3(0.0f);
continue;
}
if (state.getDistanceToParent() < EPSILON) {
_ragdollPoints[i]._position = _ragdollPoints.at(p)._position;
continue;
}
const JointState& parentState = _jointStates.at(p);
glm::vec3 targetBone = state.getPosition() - parentState.getPosition();
glm::vec3 bone = _ragdollPoints.at(i)._lastPosition - _ragdollPoints.at(p)._lastPosition;
glm::vec3 newBone = (1.0f - fraction) * bone + fraction * targetBone;
float boneLength = glm::length(newBone);
if (boneLength > EPSILON) {
// slam newBone's lenght to that of the joint, which helps maintain distance constraints
newBone *= state.getDistanceToParent() / boneLength;
}
// we set the new position relative to parent
_ragdollPoints[i]._position = _ragdollPoints.at(p)._position + newBone;
}
}