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Merge pull request #6955 from AndrewMeadows/stable-judasboots

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apply "hips offset" to root of state graph
This commit is contained in:
Anthony Thibault 2016-01-28 11:13:11 -08:00
commit 85843cff39
2 changed files with 30 additions and 12 deletions
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33
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -246,7 +246,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
// deltas up the hierarchy. Its target position is enforced later by shifting the hips.
deltaRotation = target.getRotation() * glm::inverse(tipOrientation);
float dotSign = copysignf(1.0f, deltaRotation.w);
const float ANGLE_DISTRIBUTION_FACTOR = 0.35f;
const float ANGLE_DISTRIBUTION_FACTOR = 0.45f;
deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR));
}
@ -376,13 +376,26 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
++constraintItr;
}
} else {
// shift the hips according to the offset from the previous frame
// shift the everything according to the _hipsOffset from the previous frame
float offsetLength = glm::length(_hipsOffset);
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH) {
// but only if offset is long enough
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans + scaleFactor * _hipsOffset;
if (_hipsParentIndex == -1) {
// the hips are the root so _hipsOffset is in the correct frame
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans + scaleFactor * _hipsOffset;
} else {
// the hips are NOT the root so we need to transform _hipsOffset into hips local-frame
glm::quat hipsFrameRotation = _relativePoses[_hipsParentIndex].rot;
int index = _skeleton->getParentIndex(_hipsParentIndex);
while (index != -1) {
hipsFrameRotation *= _relativePoses[index].rot;
index = _skeleton->getParentIndex(index);
}
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans
+ glm::inverse(glm::normalize(hipsFrameRotation)) * (scaleFactor * _hipsOffset);
}
}
solveWithCyclicCoordinateDescent(targets);
@ -621,7 +634,7 @@ void AnimInverseKinematics::initConstraints() {
} else if (baseName.startsWith("Spine", Qt::CaseInsensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot);
const float MAX_SPINE_TWIST = PI / 8.0f;
const float MAX_SPINE_TWIST = PI / 12.0f;
stConstraint->setTwistLimits(-MAX_SPINE_TWIST, MAX_SPINE_TWIST);
std::vector<float> minDots;
@ -645,11 +658,11 @@ void AnimInverseKinematics::initConstraints() {
} else if (0 == baseName.compare("Neck", Qt::CaseInsensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot);
const float MAX_NECK_TWIST = PI / 6.0f;
const float MAX_NECK_TWIST = PI / 9.0f;
stConstraint->setTwistLimits(-MAX_NECK_TWIST, MAX_NECK_TWIST);
std::vector<float> minDots;
const float MAX_NECK_SWING = PI / 4.0f;
const float MAX_NECK_SWING = PI / 8.0f;
minDots.push_back(cosf(MAX_NECK_SWING));
stConstraint->setSwingLimits(minDots);
@ -657,11 +670,11 @@ void AnimInverseKinematics::initConstraints() {
} else if (0 == baseName.compare("Head", Qt::CaseInsensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot);
const float MAX_HEAD_TWIST = PI / 8.0f;
const float MAX_HEAD_TWIST = PI / 9.0f;
stConstraint->setTwistLimits(-MAX_HEAD_TWIST, MAX_HEAD_TWIST);
std::vector<float> minDots;
const float MAX_HEAD_SWING = PI / 6.0f;
const float MAX_HEAD_SWING = PI / 10.0f;
minDots.push_back(cosf(MAX_HEAD_SWING));
stConstraint->setSwingLimits(minDots);
@ -775,9 +788,13 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
initConstraints();
_headIndex = _skeleton->nameToJointIndex("Head");
_hipsIndex = _skeleton->nameToJointIndex("Hips");
// also cache the _hipsParentIndex for later
_hipsParentIndex = _skeleton->getParentIndex(_hipsIndex);
} else {
clearConstraints();
_headIndex = -1;
_hipsIndex = -1;
_hipsParentIndex = -1;
}
}

9
libraries/animation/src/AnimInverseKinematics.h
View file

@ -79,13 +79,14 @@ protected:
AnimPoseVec _relativePoses; // current relative poses
// experimental data for moving hips during IK
int _headIndex = -1;
int _hipsIndex = -1;
glm::vec3 _hipsOffset = Vectors::ZERO;
glm::vec3 _hipsOffset { Vectors::ZERO };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _hipsParentIndex { -1 };
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm
int _maxTargetIndex = 0;
int _maxTargetIndex { 0 };
};
#endif // hifi_AnimInverseKinematics_h