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Fix spline interpolation the wrong way when bending backward.

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This commit is contained in:
Anthony J. Thibault 2017-05-31 16:58:17 -07:00
parent cff42ab9b0
commit d3ca34956d
2 changed files with 46 additions and 74 deletions
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86
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -499,6 +499,13 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
}
}
// This prevents the rotation interpolation from rotating the wrong physical way (but correct mathematical way)
// when the head is arched backwards very far.
glm::quat halfRot = glm::normalize(glm::lerp(basePose.rot(), tipPose.rot(), 0.5f));
if (glm::dot(halfRot * Vectors::UNIT_Z, basePose.rot() * Vectors::UNIT_Z) < 0.0f) {
tipPose.rot() = -tipPose.rot();
}
if (splineJointInfoVec && splineJointInfoVec->size() > 0) {
const int baseParentIndex = _skeleton->getParentIndex(baseIndex);
AnimPose parentAbsPose = (baseParentIndex >= 0) ? absolutePoses[baseParentIndex] : AnimPose();
@ -662,7 +669,6 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
if (context.getEnableDebugDrawIKConstraints()) {
debugDrawConstraints(context);
}
debugDrawSpineSpline(context, targets);
}
return _relativePoses;
@ -1447,79 +1453,45 @@ void AnimInverseKinematics::computeSplineJointInfosForIKTarget(const AnimContext
_splineJointInfoMap[target.getIndex()] = splineJointInfoVec;
}
void AnimInverseKinematics::debugDrawSpineSpline(const AnimContext& context, const std::vector<IKTarget>& targets) {
void AnimInverseKinematics::debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const {
/*
// find head target
int headTargetIndex = -1;
for (int i = 0; i < (int)targets.size(); i++) {
if (targets[i].getIndex() == _headIndex) {
headTargetIndex = i;
break;
}
for (auto& target : targets) {
if (target.getType() != IKTarget::Type::Spline) {
continue;
}
// find or create splineJointInfo for the head target
const std::vector<SplineJointInfo>* splineJointInfoVec = nullptr;
if (headTargetIndex != -1) {
auto iter = _splineJointInfoMap.find(headTargetIndex);
if (iter != _splineJointInfoMap.end()) {
splineJointInfoVec = &(iter->second);
} else {
computeSplineJointInfosForIKTarget(context, headTargetIndex, targets[headTargetIndex]);
auto iter = _splineJointInfoMap.find(headTargetIndex);
if (iter != _splineJointInfoMap.end()) {
splineJointInfoVec = &(iter->second);
}
}
}
const int baseIndex = _hipsIndex;
AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix());
// build spline
AnimPose tipPose = AnimPose(glm::vec3(1.0f), target.getRotation(), target.getTranslation());
AnimPose basePose = _skeleton->getAbsolutePose(baseIndex, _relativePoses);
AnimPose hipsPose = geomToWorldPose * _skeleton->getAbsolutePose(_hipsIndex, _relativePoses);
AnimPose headPose = geomToWorldPose * _skeleton->getAbsolutePose(_headIndex, _relativePoses);
const float BASE_GAIN = 0.5f;
const float TIP_GAIN = 1.0f;
float d = glm::length(basePose.trans() - tipPose.trans());
glm::vec3 p0 = basePose.trans();
glm::vec3 m0 = BASE_GAIN * d * (basePose.rot() * Vectors::UNIT_Y);
glm::vec3 p1 = tipPose.trans();
glm::vec3 m1 = TIP_GAIN * d * (tipPose.rot() * Vectors::UNIT_Y);
float d = glm::length(hipsPose.trans() - headPose.trans());
const float BACK_GAIN = 0.5f;
const float NECK_GAIN = 1.0f;
glm::vec3 p0 = hipsPose.trans();
glm::vec3 m0 = BACK_GAIN * d * (hipsPose.rot() * Vectors::UNIT_Y);
glm::vec3 p1 = headPose.trans();
glm::vec3 m1 = NECK_GAIN * d * (headPose.rot() * Vectors::UNIT_Y);
CubicHermiteSplineFunctorWithArcLength hermiteFunc(p0, m0, p1, m1);
CubicHermiteSplineFunctorWithArcLength spline(p0, m0, p1, m1);
float totalArcLength = spline.arcLength(1.0f);
const glm::vec4 RED(1.0f, 0.0f, 0.0f, 1.0f);
const glm::vec4 WHITE(1.0f, 1.0f, 1.0f, 1.0f);
const glm::vec4 BLUE(0.0f, 0.0f, 1.0f, 1.0f);
const glm::vec4 GREEN(0.0f, 1.0f, 0.0f, 1.0f);
// draw red and white stripped spline, parameterized by arc length.
// i.e. each stripe should be the same length.
AnimPose geomToWorldPose = AnimPose(context.getRigToWorldMatrix() * context.getGeometryToRigMatrix());
int NUM_SUBDIVISIONS = 20;
float totalArcLength = hermiteFunc.arcLength(1.0f);
const float dArcLength = totalArcLength / NUM_SUBDIVISIONS;
float arcLength = 0.0f;
for (int i = 0; i < NUM_SUBDIVISIONS; i++) {
float prevT = hermiteFunc.arcLengthInverse(arcLength);
float nextT = hermiteFunc.arcLengthInverse(arcLength + dArcLength);
DebugDraw::getInstance().drawRay(hermiteFunc(prevT), hermiteFunc(nextT), (i % 2) == 0 ? RED : WHITE);
float prevT = spline.arcLengthInverse(arcLength);
float nextT = spline.arcLengthInverse(arcLength + dArcLength);
DebugDraw::getInstance().drawRay(geomToWorldPose.xformPoint(spline(prevT)), geomToWorldPose.xformPoint(spline(nextT)), (i % 2) == 0 ? RED : WHITE);
arcLength += dArcLength;
}
AnimPose defaultHipsPose = _skeleton->getAbsoluteDefaultPose(_hipsIndex);
AnimPose defaultHeadPose = _skeleton->getAbsoluteDefaultPose(_headIndex);
float hipsToHeadHeight = defaultHeadPose.trans().y - defaultHipsPose.trans().y;
if (splineJointInfoVec) {
for (auto& splineJointInfo : *splineJointInfoVec) {
float t = hermiteFunc.arcLengthInverse(splineJointInfo.ratio * totalArcLength);
glm::vec3 trans = hermiteFunc(t);
glm::quat rot = glm::normalize(glm::lerp(hipsPose.rot(), headPose.rot(), t));
AnimPose pose = AnimPose(glm::vec3(1.0f), rot, trans) * splineJointInfo.offsetPose;
DebugDraw::getInstance().addMarker(QString("splineJoint%1").arg(splineJointInfo.jointIndex), pose.rot(), pose.trans(), BLUE);
}
}
*/
}

2
libraries/animation/src/AnimInverseKinematics.h
View file

@ -73,7 +73,7 @@ protected:
void debugDrawIKChain(std::map<int, DebugJoint>& debugJointMap, const AnimContext& context) const;
void debugDrawRelativePoses(const AnimContext& context) const;
void debugDrawConstraints(const AnimContext& context) const;
void debugDrawSpineSpline(const AnimContext& context, const std::vector<IKTarget>& targets);
void debugDrawSpineSplines(const AnimContext& context, const std::vector<IKTarget>& targets) const;
void computeSplineJointInfosForIKTarget(const AnimContext& context, const IKTarget& target);
void initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPose);
void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor);