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Pull part of the Out Of Body Exp code

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Atlante45 2017-02-08 12:38:34 -08:00
parent 40b238c12e
commit cc5967e8f9
2 changed files with 45 additions and 10 deletions
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52
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -486,7 +486,13 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
// measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
glm::vec3 newHipsOffset = Vectors::ZERO;
// OUTOFBODY_HACK:use weighted average between HMD and other targets
float HMD_WEIGHT = 10.0f;
float OTHER_WEIGHT = 1.0f;
float totalWeight = 0.0f;
glm::vec3 additionalHipsOffset = Vectors::ZERO;
for (auto& target: targets) {
int targetIndex = target.getIndex();
if (targetIndex == _headIndex && _headIndex != -1) {
@ -497,32 +503,58 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans();
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
additionalHipsOffset += (OTHER_WEIGHT * HEAD_OFFSET_SLAVE_FACTOR) * (under- actual);
totalWeight += OTHER_WEIGHT;
} else if (target.getType() == IKTarget::Type::HmdHead) {
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
_hipsOffset += target.getTranslation() - actual;
// and ignore all other targets
newHipsOffset = _hipsOffset;
break;
glm::vec3 thisOffset = target.getTranslation() - actual;
glm::vec3 futureHipsOffset = _hipsOffset + thisOffset;
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
// so we slam newHipsOffset here and ignore all other targets
additionalHipsOffset = futureHipsOffset - _hipsOffset;
totalWeight = 0.0f;
break;
} else {
additionalHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual);
totalWeight += HMD_WEIGHT;
}
}
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
additionalHipsOffset += OTHER_WEIGHT * (targetPosition - actualPosition);
totalWeight += OTHER_WEIGHT;
}
}
if (totalWeight > 1.0f) {
additionalHipsOffset /= totalWeight;
}
// smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.15f;
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
_hipsOffset += (newHipsOffset - _hipsOffset) * tau;
_hipsOffset += additionalHipsOffset * tau;
// clamp the horizontal component of the hips offset
float hipsOffsetLength2D = glm::length(glm::vec2(_hipsOffset.x, _hipsOffset.z));
if (hipsOffsetLength2D > _maxHipsOffsetLength) {
_hipsOffset.x *= _maxHipsOffsetLength / hipsOffsetLength2D;
_hipsOffset.z *= _maxHipsOffsetLength / hipsOffsetLength2D;
}
}
}
}
return _relativePoses;
}
void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
// OUTOFBODY_HACK: manually adjust scale here
const float METERS_TO_CENTIMETERS = 100.0f;
_maxHipsOffsetLength = METERS_TO_CENTIMETERS * maxLength;
}
void AnimInverseKinematics::clearIKJointLimitHistory() {
for (auto& pair : _constraints) {
pair.second->clearHistory();

3
libraries/animation/src/AnimInverseKinematics.h
View file

@ -39,6 +39,8 @@ public:
void clearIKJointLimitHistory();
void setMaxHipsOffsetLength(float maxLength);
protected:
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
@ -83,6 +85,7 @@ protected:
// experimental data for moving hips during IK
glm::vec3 _hipsOffset { Vectors::ZERO };
float _maxHipsOffsetLength { 1.0f };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _hipsParentIndex { -1 };