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Merge pull request #5903 from AndrewMeadows/ik-repairs-006

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enforce target rotation during IK calculations
This commit is contained in:
Howard Stearns 2015-09-25 15:50:59 -07:00
commit 9e001f0b4b
1 changed files with 53 additions and 13 deletions
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66
libraries/animation/src/AnimInverseKinematics.cpp
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@ -9,6 +9,7 @@
#include "AnimInverseKinematics.h"
#include <GeometryUtil.h>
#include <GLMHelpers.h>
#include <NumericalConstants.h>
#include <SharedUtil.h>
@ -159,24 +160,34 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
continue;
}
AnimPose targetPose = target.pose;
glm::vec3 tip = absolutePoses[tipIndex].trans;
// cache tip absolute transform
glm::vec3 tipPosition = absolutePoses[tipIndex].trans;
glm::quat tipRotation = absolutePoses[tipIndex].rot;
// cache tip's parent's absolute rotation so we can recompute the tip's parent-relative
// as we proceed walking down the joint chain
int pivotIndex = _skeleton->getParentIndex(tipIndex);
glm::quat tipParentRotation;
if (pivotIndex != -1) {
tipParentRotation = absolutePoses[pivotIndex].rot;
}
// descend toward root, pivoting each joint to get tip closer to target
int pivotIndex = _skeleton->getParentIndex(tipIndex);
float fractionDenominator = 1.0f;
int ancestorCount = 1;
while (pivotIndex != -1) {
// compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans;
glm::vec3 leverArm = tip - jointPosition;
glm::vec3 leverArm = tipPosition - jointPosition;
glm::vec3 targetLine = targetPose.trans - jointPosition;
// compute the axis of the rotation that would align them
// compute the swing that would get get tip closer
glm::vec3 axis = glm::cross(leverArm, targetLine);
float axisLength = glm::length(axis);
glm::quat deltaRotation;
const float MIN_AXIS_LENGTH = 1.0e-4f;
if (axisLength > MIN_AXIS_LENGTH) {
// compute deltaRotation for alignment (brings tip closer to target)
// compute deltaRotation for alignment (swings tip closer to target)
axis /= axisLength;
float angle = acosf(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine)));
@ -184,24 +195,50 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
// still possible for the angle to be zero so we also check that to avoid unnecessary calculations.
const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
if (angle > MIN_ADJUSTMENT_ANGLE) {
// reduce angle by half: slows convergence but adds stability to IK solution
angle /= fractionDenominator;
// reduce angle by a fraction (reduces IK swing contribution of this joint)
angle /= (float)ancestorCount;
deltaRotation = glm::angleAxis(angle, axis);
}
// The swing will re-orient the tip but there will tend to be be a non-zero delta between the tip's
// new rotation and its target. We compute that delta here and rotate the tipJoint accordingly.
glm::quat tipRelativeRotation = glm::inverse(deltaRotation * tipParentRotation) * targetPose.rot;
// enforce tip's constraint
RotationConstraint* constraint = getConstraint(tipIndex);
if (constraint) {
bool constrained = constraint->apply(tipRelativeRotation);
if (constrained) {
// The tip's final parent-relative rotation violates its constraint
// so we try to twist this pivot to compensate.
glm::quat constrainedTipRotation = deltaRotation * tipParentRotation * tipRelativeRotation;
glm::quat missingRotation = targetPose.rot * glm::inverse(constrainedTipRotation);
glm::quat swingPart;
glm::quat twistPart;
glm::vec3 axis = glm::normalize(deltaRotation * leverArm);
swingTwistDecomposition(missingRotation, axis, swingPart, twistPart);
deltaRotation = twistPart * deltaRotation;
}
// we update the tip rotation here to rotate it as close to its target orientation as possible
// before moving on to next pivot
tipRotation = tipParentRotation * tipRelativeRotation;
}
}
fractionDenominator++;
++ancestorCount;
int parentIndex = _skeleton->getParentIndex(pivotIndex);
if (parentIndex == -1) {
// TODO? apply constraints to root?
// TODO? harvest the root's transform as movement of entire skeleton?
} else {
// compute joint's new parent-relative rotation
// compute joint's new parent-relative rotation after swing
// Q' = dQ * Q and Q = Qp * q --> q' = Qp^ * dQ * Q
glm::quat newRot = glm::normalize(glm::inverse(
absolutePoses[parentIndex].rot) *
deltaRotation *
absolutePoses[pivotIndex].rot);
// enforce pivot's constraint
RotationConstraint* constraint = getConstraint(pivotIndex);
if (constraint) {
bool constrained = constraint->apply(newRot);
@ -214,6 +251,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
glm::inverse(absolutePoses[pivotIndex].rot);
}
}
// store the rotation change in the accumulator
_accumulators[pivotIndex].add(newRot);
}
@ -222,8 +260,10 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
lowestMovedIndex = pivotIndex;
}
// keep track of tip's new position as we descend towards root
tip = jointPosition + deltaRotation * leverArm;
// keep track of tip's new transform as we descend towards root
tipPosition = jointPosition + deltaRotation * leverArm;
tipRotation = glm::normalize(deltaRotation * tipRotation);
tipParentRotation = glm::normalize(deltaRotation * tipParentRotation);
pivotIndex = _skeleton->getParentIndex(pivotIndex);
}
@ -464,7 +504,7 @@ void AnimInverseKinematics::initConstraints() {
} else if (0 == baseName.compare("Hand", Qt::CaseInsensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot);
const float MAX_HAND_TWIST = PI;
const float MAX_HAND_TWIST = 3.0f * PI / 5.0f;
const float MIN_HAND_TWIST = -PI / 2.0f;
if (isLeft) {
stConstraint->setTwistLimits(-MAX_HAND_TWIST, -MIN_HAND_TWIST);