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More stability in hips offset calculation.

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This commit is contained in:
Anthony J. Thibault 2016-09-21 18:20:35 -07:00
parent 1f7dc25f12
commit 9fa8fc11c9
3 changed files with 23 additions and 13 deletions
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32
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -392,6 +392,10 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
dt = MAX_OVERLAY_DT; dt = MAX_OVERLAY_DT;
} }
// OUTOFBODY_HACK: smoothly update update _hipsOffsetLength, otherwise we risk introducing oscillation in the hips offset.
float tau = dt / 0.5f;
_maxHipsOffsetLength = (1.0f - tau) * _maxHipsOffsetLength + tau * _desiredMaxHipsOffsetLength;
if (_relativePoses.size() != underPoses.size()) { if (_relativePoses.size() != underPoses.size()) {
loadPoses(underPoses); loadPoses(underPoses);
} else { } else {
@ -516,7 +520,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
float OTHER_WEIGHT = 1.0f; float OTHER_WEIGHT = 1.0f;
float totalWeight = 0.0f; float totalWeight = 0.0f;
glm::vec3 newHipsOffset = Vectors::ZERO; glm::vec3 additionalHipsOffset = Vectors::ZERO;
for (auto& target: targets) { for (auto& target: targets) {
int targetIndex = target.getIndex(); int targetIndex = target.getIndex();
if (targetIndex == _headIndex && _headIndex != -1) { if (targetIndex == _headIndex && _headIndex != -1) {
@ -527,43 +531,45 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans; glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans;
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans; glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f; const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += (OTHER_WEIGHT * HEAD_OFFSET_SLAVE_FACTOR) * (actual - under); additionalHipsOffset += (OTHER_WEIGHT * HEAD_OFFSET_SLAVE_FACTOR) * (actual - under);
totalWeight += OTHER_WEIGHT; totalWeight += OTHER_WEIGHT;
} else if (target.getType() == IKTarget::Type::HmdHead) { } else if (target.getType() == IKTarget::Type::HmdHead) {
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans; glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
glm::vec3 thisOffset = target.getTranslation() - actual; glm::vec3 thisOffset = target.getTranslation() - actual;
glm::vec3 futureHipsOffset = _hipsOffset + thisOffset; glm::vec3 futureHipsOffset = _hipsOffset + thisOffset;
if (glm::length(futureHipsOffset) < _maxHipsOffsetLength) { if (glm::length(glm::vec2(futureHipsOffset.x, futureHipsOffset.z)) < _maxHipsOffsetLength) {
// it is imperative to shift the hips and bring the head to its designated position // it is imperative to shift the hips and bring the head to its designated position
// so we slam newHipsOffset here and ignore all other targets // so we slam newHipsOffset here and ignore all other targets
newHipsOffset = futureHipsOffset; additionalHipsOffset = futureHipsOffset - _hipsOffset;
totalWeight = 0.0f; totalWeight = 0.0f;
break; break;
} else { } else {
newHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual); additionalHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual);
totalWeight += HMD_WEIGHT; totalWeight += HMD_WEIGHT;
} }
} }
} else if (target.getType() == IKTarget::Type::RotationAndPosition) { } else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans; glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans;
glm::vec3 targetPosition = target.getTranslation(); glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += OTHER_WEIGHT * (targetPosition - actualPosition); additionalHipsOffset += OTHER_WEIGHT * (targetPosition - actualPosition);
totalWeight += OTHER_WEIGHT; totalWeight += OTHER_WEIGHT;
} }
} }
if (totalWeight > 1.0f) { if (totalWeight > 1.0f) {
newHipsOffset /= totalWeight; additionalHipsOffset /= totalWeight;
} }
// smooth transitions by relaxing _hipsOffset toward the new value // smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f; const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f; float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
float newOffsetLength = glm::length(newHipsOffset); _hipsOffset += additionalHipsOffset * tau;
if (newOffsetLength > _maxHipsOffsetLength) {
// clamp the hips offset // clamp the horizontal component of the hips offset
newHipsOffset *= _maxHipsOffsetLength / newOffsetLength; float hipsOffsetLength2D = glm::length(glm::vec2(_hipsOffset.x, _hipsOffset.z));
if (hipsOffsetLength2D > _maxHipsOffsetLength) {
_hipsOffset.x *= _maxHipsOffsetLength / hipsOffsetLength2D;
_hipsOffset.z *= _maxHipsOffsetLength / hipsOffsetLength2D;
} }
_hipsOffset += (newHipsOffset - _hipsOffset) * tau;
} }
} }
} }
@ -579,7 +585,7 @@ void AnimInverseKinematics::clearIKJointLimitHistory() {
void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) { void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
// OUTOFBODY_HACK: manually adjust scale here // OUTOFBODY_HACK: manually adjust scale here
const float METERS_TO_CENTIMETERS = 100.0f; const float METERS_TO_CENTIMETERS = 100.0f;
_maxHipsOffsetLength = METERS_TO_CENTIMETERS * maxLength; _desiredMaxHipsOffsetLength = METERS_TO_CENTIMETERS * maxLength;
} }
RotationConstraint* AnimInverseKinematics::getConstraint(int index) { RotationConstraint* AnimInverseKinematics::getConstraint(int index) {

1
libraries/animation/src/AnimInverseKinematics.h
View file

@ -85,6 +85,7 @@ protected:
// experimental data for moving hips during IK // experimental data for moving hips during IK
glm::vec3 _hipsOffset { Vectors::ZERO }; glm::vec3 _hipsOffset { Vectors::ZERO };
float _desiredMaxHipsOffsetLength { 1.0f };
float _maxHipsOffsetLength { 1.0f }; float _maxHipsOffsetLength { 1.0f };
int _headIndex { -1 }; int _headIndex { -1 };
int _hipsIndex { -1 }; int _hipsIndex { -1 };

3
libraries/physics/src/CharacterController.cpp
View file

@ -733,6 +733,9 @@ float CharacterController::measureMaxHipsOffsetRadius(const glm::vec3& currentHi
startTransform.setOrigin(startPos); startTransform.setOrigin(startPos);
btVector3 endPos = startPos + rotation * ((maxSweepDistance / hipsOffsetLength) * hipsOffset); btVector3 endPos = startPos + rotation * ((maxSweepDistance / hipsOffsetLength) * hipsOffset);
// ensure sweep is horizontal.
startPos.setY(endPos.getY());
// sweep test a sphere // sweep test a sphere
btSphereShape sphere(_radius); btSphereShape sphere(_radius);
CharacterSweepResult result(&_ghost); CharacterSweepResult result(&_ghost);