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add arm ik class for cleanup of inverse kinematics

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amantley 2019-01-10 10:27:15 -08:00
parent 3b5d8db650
commit bd9405aef8
3 changed files with 77 additions and 1 deletions
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40
libraries/animation/src/AnimArmIK.cpp Normal file
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@ -0,0 +1,40 @@
//
// AnimArmIK.cpp
//
// Created by Angus Antley on 1/9/19.
// Copyright (c) 2019 High Fidelity, Inc. All rights reserved.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "AnimArmIK.h"
#include <DebugDraw.h>
#include "AnimationLogging.h"
#include "AnimUtil.h"
AnimArmIK::AnimArmIK(const QString& id, float alpha, bool enabled, float interpDuration,
const QString& baseJointName, const QString& midJointName,
const QString& tipJointName, const glm::vec3& midHingeAxis,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar) :
AnimTwoBoneIK(id, alpha, enabled, interpDuration, baseJointName, midJointName, tipJointName, midHingeAxis, alphaVar, enabledVar, endEffectorRotationVarVar, endEffectorPositionVarVar) {
}
AnimArmIK::~AnimArmIK() {
}
const AnimPoseVec& AnimArmIK::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
qCDebug(animation) << "evaluating the arm IK";
assert(_children.size() == 1);
if (_children.size() != 1) {
return _poses;
} else {
return _poses;
}
}

34
libraries/animation/src/AnimArmIK.h Normal file
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@ -0,0 +1,34 @@
//
// AnimArmIK.h
//
// Created by Angus Antley on 1/9/19.
// Copyright (c) 2019 High Fidelity, Inc. All rights reserved.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_AnimArmIK_h
#define hifi_AnimArmIK_h
//#include "AnimNode.h"
#include "AnimTwoBoneIK.h"
//#include "AnimChain.h"
// Simple two bone IK chain
class AnimArmIK : public AnimTwoBoneIK {
public:
AnimArmIK(const QString& id, float alpha, bool enabled, float interpDuration,
const QString& baseJointName, const QString& midJointName,
const QString& tipJointName, const glm::vec3& midHingeAxis,
const QString& alphaVar, const QString& enabledVar,
const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar);
virtual ~AnimArmIK();
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) override;
protected:
};
#endif // hifi_AnimArmIK_h

4
libraries/animation/src/AnimInverseKinematics.cpp
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@ -237,6 +237,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
// solve all targets
for (size_t i = 0; i < targets.size(); i++) {
qCDebug(animation) << "target id: " << targets[i].getIndex() << " and type " << (int)targets[i].getType();
switch (targets[i].getType()) {
case IKTarget::Type::Unknown:
break;
@ -859,6 +860,7 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
//virtual
const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
// don't call this function, call overlay() instead
qCDebug(animation) << "called evaluate for inverse kinematics";
assert(false);
return _relativePoses;
}
@ -869,7 +871,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
// disable IK on android
return underPoses;
#endif
qCDebug(animation) << "called overlay for inverse kinematics";
// allows solutionSource to be overridden by an animVar
auto solutionSource = animVars.lookup(_solutionSourceVar, (int)_solutionSource);