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failed experiment for getting hip lean over table

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This commit is contained in:
Andrew Meadows 2016-09-16 10:16:18 -07:00
parent 20418d5f58
commit 61a05eb4d1
2 changed files with 28 additions and 14 deletions
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41
libraries/animation/src/AnimInverseKinematics.cpp
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@ -244,6 +244,11 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
// the tip's parent-relative as we proceed up the chain
glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot;
/* OUTOFBODY_HACK -- experimental override target type when HmdHead pushes outside hipsOffset limit
if (targetType == IKTarget::Type::HmdHead && _hipsAreOver) {
targetType = IKTarget::Type::RotationAndPosition;
}
*/
if (targetType == IKTarget::Type::HmdHead) {
// rotate tip directly to target orientation
tipOrientation = target.getRotation();
@ -525,17 +530,19 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
newHipsOffset += (OTHER_WEIGHT * HEAD_OFFSET_SLAVE_FACTOR) * (actual - under);
totalWeight += OTHER_WEIGHT;
} else if (target.getType() == IKTarget::Type::HmdHead) {
/* OUTOFBODY_HACK: keep this old code to remind us of what changed
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
_hipsOffset += target.getTranslation() - actual;
// and ignore all other targets
newHipsOffset = _hipsOffset;
break;
*/
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
newHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual);
totalWeight += HMD_WEIGHT;
glm::vec3 thisOffset = target.getTranslation() - actual;
glm::vec3 futureHipsOffset = _hipsOffset + thisOffset;
if (glm::length(futureHipsOffset) < _maxHipsOffsetLength) {
// it is imperative to shift the hips and bring the head to its designated position
// so we slam newHipsOffset here and ignore all other targets
newHipsOffset = futureHipsOffset;
totalWeight = 0.0f;
break;
} else {
newHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual);
totalWeight += HMD_WEIGHT;
}
}
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans;
@ -544,13 +551,12 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
totalWeight += OTHER_WEIGHT;
}
}
if (totalWeight == 0.0f) {
totalWeight = 1.0f;
if (totalWeight > 1.0f) {
newHipsOffset /= totalWeight;
}
newHipsOffset /= totalWeight;
// smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.15f;
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
float newOffsetLength = glm::length(newHipsOffset);
if (newOffsetLength > _maxHipsOffsetLength) {
@ -558,6 +564,13 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
newHipsOffset *= _maxHipsOffsetLength / newOffsetLength;
}
_hipsOffset += (newHipsOffset - _hipsOffset) * tau;
/* OUTOFBODY_HACK: experimental code for disabling HmdHead IK behavior when hips over limit
if (_hipsAreOver) {
_hipsAreOver = glm::length(newHipsOffset) - _maxHipsOffsetLength > -1.0f;
} else {
_hipsAreOver = glm::length(newHipsOffset) - _maxHipsOffsetLength > 1.0f;
}
*/
}
}
}

1
libraries/animation/src/AnimInverseKinematics.h
View file

@ -86,6 +86,7 @@ protected:
// experimental data for moving hips during IK
glm::vec3 _hipsOffset { Vectors::ZERO };
float _maxHipsOffsetLength { 1.0f };
bool _hipsAreOver { false }; // OUTOFBODY_HACK: experimental
int _headIndex { -1 };
int _hipsIndex { -1 };
int _hipsParentIndex { -1 };