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re-enable gravity effect on arm IK

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This commit is contained in:
Andrew Meadows 2014-07-03 09:10:23 -07:00
parent 356a29c2fb
commit 55dd2a4835
1 changed files with 4 additions and 11 deletions
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15
interface/src/renderer/Model.cpp
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@ -1158,14 +1158,9 @@ void Model::inverseKinematics(int endIndex, glm::vec3 targetPosition, const glm:
} }
glm::quat deltaRotation = rotationBetween(leverArm, targetPosition - pivot); glm::quat deltaRotation = rotationBetween(leverArm, targetPosition - pivot);
/* DON'T REMOVE! This code provides the gravitational effect on the IK solution. // We want to mix the shortest rotation with one that will pull the system down with gravity
* It is commented out for the moment because we're blending the IK solution with // so that limbs don't float unrealistically. To do this we compute a simplified center of mass
* the default pose which provides similar stability, but we might want to use // where each joint has unit mass and we don't bother averaging it because we only need direction.
* gravity again later.
// We want to mix the shortest rotation with one that will pull the system down with gravity.
// So we compute a simplified center of mass, where each joint has a mass of 1.0 and we don't
// bother averaging it because we only need direction.
if (j > 1) { if (j > 1) {
glm::vec3 centerOfMass(0.0f); glm::vec3 centerOfMass(0.0f);
@ -1187,11 +1182,9 @@ void Model::inverseKinematics(int endIndex, glm::vec3 targetPosition, const glm:
} }
deltaRotation = safeMix(deltaRotation, gravityDelta, mixFactor); deltaRotation = safeMix(deltaRotation, gravityDelta, mixFactor);
} }
*/
// Apply the rotation, but use mixRotationDelta() which blends a bit of the default pose // Apply the rotation, but use mixRotationDelta() which blends a bit of the default pose
// at in the process. This provides stability to the IK solution and removes the necessity // at in the process. This provides stability to the IK solution for most models.
// for the gravity effect.
glm::quat oldNextRotation = nextState.getRotation(); glm::quat oldNextRotation = nextState.getRotation();
float mixFactor = 0.03f; float mixFactor = 0.03f;
nextState.mixRotationDelta(deltaRotation, mixFactor, priority); nextState.mixRotationDelta(deltaRotation, mixFactor, priority);