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apply flexCoeff to tip of joint chain as well.

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This commit is contained in:
Anthony J. Thibault 2017-05-18 11:24:30 -07:00
parent abe19310da
commit 87adeb0565
2 changed files with 20 additions and 8 deletions
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6
interface/resources/avatar/avatar-animation.json
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@ -68,7 +68,7 @@
"typeVar": "rightHandType", "typeVar": "rightHandType",
"weightVar": "rightHandWeight", "weightVar": "rightHandWeight",
"weight": 1.0, "weight": 1.0,
"flexCoefficients": [1, 0.5, 0.5, 0.2, 0.00, 0.00, 0.00, 0.0, 0.0] "flexCoefficients": [1, 0.5, 0.5, 0.25, 0.1, 0.05, 0.01, 0.0, 0.0]
}, },
{ {
"jointName": "LeftHand", "jointName": "LeftHand",
@ -77,7 +77,7 @@
"typeVar": "leftHandType", "typeVar": "leftHandType",
"weightVar": "leftHandWeight", "weightVar": "leftHandWeight",
"weight": 1.0, "weight": 1.0,
"flexCoefficients": [1, 0.5, 0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 0.0] "flexCoefficients": [1, 0.5, 0.5, 0.2, 0.00, 0.00, 0.00, 0.0, 0.0]
}, },
{ {
"jointName": "RightFoot", "jointName": "RightFoot",
@ -104,7 +104,7 @@
"typeVar": "spine2Type", "typeVar": "spine2Type",
"weightVar": "spine2Weight", "weightVar": "spine2Weight",
"weight": 1.0, "weight": 1.0,
"flexCoefficients": [0.45, 0.45] "flexCoefficients": [1.0, 0.5, 0.5]
}, },
{ {
"jointName": "Head", "jointName": "Head",

22
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -195,7 +195,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const AnimContext&
// solve all targets // solve all targets
for (auto& target: targets) { for (auto& target: targets) {
bool debug = numLoops == MAX_IK_LOOPS; bool debug = false;
solveTargetWithCCD(context, target, absolutePoses, debug); solveTargetWithCCD(context, target, absolutePoses, debug);
} }
@ -254,6 +254,8 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const AnimContext&
} }
void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug) { void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const IKTarget& target, const AnimPoseVec& absolutePoses, bool debug) {
size_t chainDepth = 0;
IKTarget::Type targetType = target.getType(); IKTarget::Type targetType = target.getType();
if (targetType == IKTarget::Type::RotationOnly) { if (targetType == IKTarget::Type::RotationOnly) {
// the final rotation will be enforced after the iterations // the final rotation will be enforced after the iterations
@ -287,9 +289,18 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
targetType == IKTarget::Type::RotationAndPosition || targetType == IKTarget::Type::RotationAndPosition ||
targetType == IKTarget::Type::HipsRelativeRotationAndPosition) { targetType == IKTarget::Type::HipsRelativeRotationAndPosition) {
// rotate tip directly to target orientation // rotate tip toward target orientation
tipOrientation = target.getRotation(); glm::quat deltaRot = target.getRotation() * glm::inverse(tipOrientation);
glm::quat tipRelativeRotation = glm::inverse(tipParentOrientation) * tipOrientation;
// decompose deltaRot into axis angle
glm::vec3 axis = glm::axis(deltaRot);
float angle = glm::angle(deltaRot);
// apply flexCoefficent and re-compose quat
glm::quat deltaRotation = glm::angleAxis(angle * target.getFlexCoefficient(chainDepth), axis);
// compute parent relative rotation
glm::quat tipRelativeRotation = glm::inverse(tipParentOrientation) * deltaRotation * tipOrientation;
// then enforce tip's constraint // then enforce tip's constraint
RotationConstraint* constraint = getConstraint(tipIndex); RotationConstraint* constraint = getConstraint(tipIndex);
@ -301,6 +312,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
tipRelativeRotation = tipRelativeRotation; tipRelativeRotation = tipRelativeRotation;
} }
} }
// store the relative rotation change in the accumulator // store the relative rotation change in the accumulator
_accumulators[tipIndex].add(tipRelativeRotation, target.getWeight()); _accumulators[tipIndex].add(tipRelativeRotation, target.getWeight());
@ -312,7 +324,7 @@ void AnimInverseKinematics::solveTargetWithCCD(const AnimContext& context, const
// cache tip absolute position // cache tip absolute position
glm::vec3 tipPosition = absolutePoses[tipIndex].trans(); glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
size_t chainDepth = 1; chainDepth++;
// descend toward root, pivoting each joint to get tip closer to target position // descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) { while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {