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improved collision shapes for fingers

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This commit is contained in:
Andrew Meadows 2014-07-17 14:31:16 -07:00
parent 53ee5f2340
commit 58e31abf60
1 changed files with 30 additions and 19 deletions
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49
libraries/fbx/src/FBXReader.cpp
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@ -967,19 +967,19 @@ QString getString(const QVariant& value) {
class JointShapeInfo {
public:
JointShapeInfo() : numVertices(0), numProjectedVertices(0),
sumVertexWeights(0.0f), sumWeightedRadii(0.0f),
JointShapeInfo() : numVertices(0),
sumVertexWeights(0.0f), sumWeightedRadii(0.0f), numVertexWeights(0),
averageVertex(0.f), boneBegin(0.f), averageRadius(0.f) {
}
// NOTE: the points here are in the "joint frame" which has the "jointEnd" at the origin
int numVertices; // num vertices from contributing meshes
int numProjectedVertices; // num vertices that successfully project onto bone axis
float sumVertexWeights;
float sumWeightedRadii;
glm::vec3 averageVertex; // average of all mesh vertices (in joint frame)
glm::vec3 boneBegin; // parent joint location (in joint frame)
float averageRadius; // average distance from mesh points to averageVertex
int numVertices; // num vertices from contributing meshes
float sumVertexWeights; // sum of all vertex weights
float sumWeightedRadii; // sum of weighted vertices
int numVertexWeights; // num vertices that contributed to sums
glm::vec3 averageVertex;// average of all mesh vertices (in joint frame)
glm::vec3 boneBegin; // parent joint location (in joint frame)
float averageRadius; // average distance from mesh points to averageVertex
};
class AnimationCurve {
@ -1743,11 +1743,14 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
if (weight > EXPANSION_WEIGHT_THRESHOLD) {
const glm::vec3& vertex = extracted.mesh.vertices.at(it.value());
float proj = glm::dot(boneDirection, boneEnd - vertex);
if (proj > 0.0f && proj < boneLength) {
joint.boneRadius = glm::max(joint.boneRadius,
radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj));
++jointShapeInfo.numProjectedVertices;
if (proj < 0.0f || proj > boneLength) {
weight *= 0.5f;
}
jointShapeInfo.sumVertexWeights += weight;
jointShapeInfo.sumWeightedRadii += weight * radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj);
++jointShapeInfo.numVertexWeights;
glm::vec3 vertexInJointFrame = rotateMeshToJoint * (radiusScale * (vertex - boneEnd));
jointShapeInfo.averageVertex += vertexInJointFrame;
++jointShapeInfo.numVertices;
@ -1793,11 +1796,15 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
glm::vec3 averageVertex(0.f);
foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
float weight = 1.0f;
float proj = glm::dot(boneDirection, boneEnd - vertex);
if (proj > 0.0f && proj < boneLength) {
joint.boneRadius = glm::max(joint.boneRadius, radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj));
++jointShapeInfo.numProjectedVertices;
if (proj < 0.0f || proj > boneLength) {
weight *= 0.5f;
}
jointShapeInfo.sumVertexWeights += weight;
jointShapeInfo.sumWeightedRadii += weight * radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj);
++jointShapeInfo.numVertexWeights;
glm::vec3 vertexInJointFrame = rotateMeshToJoint * (radiusScale * (vertex - boneEnd));
jointShapeInfo.averageVertex += vertexInJointFrame;
averageVertex += vertex;
@ -1832,9 +1839,13 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
jointShapeInfo.boneBegin = inverseRotation * (extractTranslation(parentJoint.transform) - extractTranslation(joint.transform));
}
// we use a capsule if the joint ANY mesh vertices successfully projected onto the bone
if (jointShapeInfo.sumVertexWeights > 0.0f) {
joint.boneRadius = jointShapeInfo.sumWeightedRadii / jointShapeInfo.sumVertexWeights;
}
// we use a capsule if the joint had ANY mesh vertices successfully projected onto the bone
// AND its boneRadius is not too close to zero
bool collideLikeCapsule = jointShapeInfo.numProjectedVertices > 0
bool collideLikeCapsule = jointShapeInfo.numVertexWeights > 0
&& glm::length(jointShapeInfo.boneBegin) > EPSILON;
if (collideLikeCapsule) {
@ -1850,7 +1861,7 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
} else {
joint.shapePosition = glm::vec3(0.f);
}
if (jointShapeInfo.numProjectedVertices == 0
if (jointShapeInfo.numVertexWeights == 0
&& jointShapeInfo.numVertices > 0) {
// the bone projection algorithm was not able to compute the joint radius
// so we use an alternative measure