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simpler logic for tracking hips offset

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This commit is contained in:
Andrew Meadows 2015-10-10 10:13:33 -07:00
parent 03eaa95258
commit 56f038d5a7
2 changed files with 9 additions and 10 deletions
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16
libraries/animation/src/AnimInverseKinematics.cpp
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@ -356,12 +356,12 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
}
} else {
// shift the hips according to the offset from the previous frame
float offsetLength = glm::length(_actualHipsOffset);
float offsetLength = glm::length(_hipsOffset);
const float MIN_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_OFFSET_LENGTH) {
// but only if actual offset is long enough
float scaleFactor = ((offsetLength - MIN_OFFSET_LENGTH) / offsetLength);
_relativePoses[0].trans = underPoses[0].trans + scaleFactor * _actualHipsOffset;
_relativePoses[0].trans = underPoses[0].trans + scaleFactor * _hipsOffset;
}
solveWithCyclicCoordinateDescent(targets);
@ -369,7 +369,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
// compute the new target hips offset (for next frame)
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
_targetHipsOffset = Vectors::ZERO;
glm::vec3 newOffset = Vectors::ZERO;
for (auto& target: targets) {
if (target.index == _headIndex && _headIndex != -1) {
// special handling for headTarget
@ -382,18 +382,18 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
}
glm::vec3 headOffset = headOverPose.trans - headUnderPose.trans;
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
_targetHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * headOffset;
newOffset += HEAD_OFFSET_SLAVE_FACTOR * headOffset;
} else if (target.type == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(target.index, _relativePoses).trans;
glm::vec3 targetPosition = target.pose.trans;
_targetHipsOffset += targetPosition - actualPosition;
newOffset += targetPosition - actualPosition;
}
}
// smooth transitions by relaxing targetHipsOffset onto actualHipsOffset over some timescale
// smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.15f;
glm::vec3 deltaOffset = (_targetHipsOffset - _actualHipsOffset) * (dt / HIPS_OFFSET_SLAVE_TIMESCALE);
_actualHipsOffset += deltaOffset;
glm::vec3 deltaOffset = (newOffset - _hipsOffset) * (dt / HIPS_OFFSET_SLAVE_TIMESCALE);
_hipsOffset += deltaOffset;
}
}
return _relativePoses;

3
libraries/animation/src/AnimInverseKinematics.h
View file

@ -91,8 +91,7 @@ protected:
// experimental data for moving hips during IK
int _headIndex = -1;
glm::vec3 _targetHipsOffset = Vectors::ZERO; // offset we want
glm::vec3 _actualHipsOffset = Vectors::ZERO; // offset we have
glm::vec3 _hipsOffset = Vectors::ZERO;
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm