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Merge pull request #5944 from AndrewMeadows/ik-repairs-007

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fix bug: IK attenuates fast underpose animations
This commit is contained in:
Howard Stearns 2015-10-01 14:27:21 -07:00
commit 739545794f
4 changed files with 43 additions and 28 deletions
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5
interface/resources/meshes/defaultAvatar_full/avatar-animation.json
View file

@ -26,13 +26,14 @@
{
"jointName": "Neck",
"positionVar": "neckPosition",
"rotationVar": "neckRotation"
"rotationVar": "neckRotation",
"typeVar": "headAndNeckType"
},
{
"jointName": "Head",
"positionVar": "headPosition",
"rotationVar": "headRotation",
"typeVar": "headType"
"typeVar": "headAndNeckType"
}
]
},

60
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -89,7 +89,7 @@ static int findRootJointInSkeleton(AnimSkeleton::ConstPointer skeleton, int inde
return rootIndex;
}
void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets) {
void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) {
// build a list of valid targets from _targetVarVec and animVars
_maxTargetIndex = -1;
bool removeUnfoundJoints = false;
@ -107,7 +107,7 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
}
} else {
IKTarget target;
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, _relativePoses);
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
target.pose.trans = animVars.lookup(targetVar.positionVar, defaultPose.trans);
target.pose.rot = animVars.lookup(targetVar.rotationVar, defaultPose.rot);
target.setType(animVars.lookup(targetVar.typeVar, QString("")));
@ -154,7 +154,6 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
do {
int lowestMovedIndex = _relativePoses.size();
for (auto& target: targets) {
int tipIndex = target.index;
if (target.type == IKTarget::Type::RotationOnly) {
// the final rotation will be enforced after the iterations
continue;
@ -162,6 +161,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
AnimPose targetPose = target.pose;
// cache tip absolute transform
int tipIndex = target.index;
glm::vec3 tipPosition = absolutePoses[tipIndex].trans;
glm::quat tipRotation = absolutePoses[tipIndex].rot;
@ -288,6 +288,17 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
}
} while (numLoops < MAX_IK_LOOPS);
/* KEEP: example code for measuring endeffector error of IK solution
for (uint32_t i = 0; i < targets.size(); ++i) {
auto& target = targets[i];
if (target.type == IKTarget::Type::RotationOnly) {
continue;
}
glm::vec3 tipPosition = absolutePoses[target.index].trans;
std::cout << i << " IK error = " << glm::distance(tipPosition, target.pose.trans) << std::endl; // adebug
}
*/
// finally set the relative rotation of each tip to agree with absolute target rotation
for (auto& target: targets) {
int tipIndex = target.index;
@ -312,25 +323,8 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
//virtual
const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVars, float dt, AnimNode::Triggers& triggersOut) {
if (!_relativePoses.empty()) {
// build a list of targets from _targetVarVec
std::vector<IKTarget> targets;
computeTargets(animVars, targets);
if (targets.empty()) {
// no IK targets but still need to enforce constraints
std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
while (constraintItr != _constraints.end()) {
int index = constraintItr->first;
glm::quat rotation = _relativePoses[index].rot;
constraintItr->second->apply(rotation);
_relativePoses[index].rot = rotation;
++constraintItr;
}
} else {
solveWithCyclicCoordinateDescent(targets);
}
}
// don't call this function, call overlay() instead
assert(false);
return _relativePoses;
}
@ -356,7 +350,27 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
}
}
}
return evaluate(animVars, dt, triggersOut);
if (!_relativePoses.empty()) {
// build a list of targets from _targetVarVec
std::vector<IKTarget> targets;
computeTargets(animVars, targets, underPoses);
if (targets.empty()) {
// no IK targets but still need to enforce constraints
std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
while (constraintItr != _constraints.end()) {
int index = constraintItr->first;
glm::quat rotation = _relativePoses[index].rot;
constraintItr->second->apply(rotation);
_relativePoses[index].rot = rotation;
++constraintItr;
}
} else {
solveWithCyclicCoordinateDescent(targets);
}
}
return _relativePoses;
}
RotationConstraint* AnimInverseKinematics::getConstraint(int index) {

2
libraries/animation/src/AnimInverseKinematics.h
View file

@ -50,7 +50,7 @@ protected:
void setType(const QString& typeVar) { type = ((typeVar == "RotationOnly") ? Type::RotationOnly : Type::RotationAndPosition); }
};
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets);
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton);

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

@ -1088,7 +1088,7 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
_animVars.set("headPosition", headPos);
_animVars.set("headRotation", headRot);
_animVars.set("headType", QString("RotationAndPosition"));
_animVars.set("headAndNeckType", QString("RotationAndPosition"));
_animVars.set("neckPosition", neckPos);
_animVars.set("neckRotation", neckRot);
@ -1101,7 +1101,7 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
_animVars.unset("headPosition");
_animVars.set("headRotation", realLocalHeadOrientation);
_animVars.set("headType", QString("RotationOnly"));
_animVars.set("headAndNeckType", QString("RotationOnly"));
_animVars.unset("neckPosition");
_animVars.unset("neckRotation");
}