Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-07 19:50:38 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Merge pull request #12655 from hyperlogic/bug-fix/hand-ik-glitch

Browse source 
Fix for hand IK jitter
This commit is contained in:
John Conklin II 2018-03-16 10:43:16 -07:00 committed by GitHub
commit 652ca98ebf
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 5 additions and 9 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
libraries/animation/src/ElbowConstraint.cpp
View file

@ -66,16 +66,12 @@ bool ElbowConstraint::apply(glm::quat& rotation) const {
bool twistWasClamped = (twistAngle != clampedTwistAngle); bool twistWasClamped = (twistAngle != clampedTwistAngle);
// update rotation // update rotation
const float MIN_SWING_REAL_PART = 0.99999f;
if (twistWasClamped || fabsf(swingRotation.w) < MIN_SWING_REAL_PART) {
if (twistWasClamped) { if (twistWasClamped) {
twistRotation = glm::angleAxis(clampedTwistAngle, _axis); twistRotation = glm::angleAxis(clampedTwistAngle, _axis);
} }
// we discard all swing and only keep twist // we discard all swing and only keep twist
rotation = twistRotation * _referenceRotation; rotation = twistRotation * _referenceRotation;
return true; return true;
}
return false;
} }
glm::quat ElbowConstraint::computeCenterRotation() const { glm::quat ElbowConstraint::computeCenterRotation() const {