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Fix for HMDHead tip constraint

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This commit is contained in:
Anthony J. Thibault 2017-04-24 14:33:14 -07:00
parent 1cd0f03242
commit deca26e9eb
1 changed files with 5 additions and 4 deletions
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9
libraries/animation/src/AnimInverseKinematics.cpp
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@ -248,17 +248,18 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot(); glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot();
if (targetType == IKTarget::Type::HmdHead) { if (targetType == IKTarget::Type::HmdHead) {
// rotate tip directly to target orientation // rotate tip directly to target orientation
tipOrientation = target.getRotation(); tipOrientation = target.getRotation();
glm::quat tipRelativeRotation = glm::normalize(tipOrientation * glm::inverse(tipParentOrientation)); glm::quat tipRelativeRotation = glm::inverse(tipParentOrientation) * tipOrientation;
// enforce tip's constraint // then enforce tip's constraint
RotationConstraint* constraint = getConstraint(tipIndex); RotationConstraint* constraint = getConstraint(tipIndex);
if (constraint) { if (constraint) {
bool constrained = constraint->apply(tipRelativeRotation); bool constrained = constraint->apply(tipRelativeRotation);
if (constrained) { if (constrained) {
tipOrientation = glm::normalize(tipRelativeRotation * tipParentOrientation); tipOrientation = tipParentOrientation * tipRelativeRotation;
tipRelativeRotation = glm::normalize(tipOrientation * glm::inverse(tipParentOrientation)); tipRelativeRotation = tipRelativeRotation;
} }
} }
// store the relative rotation change in the accumulator // store the relative rotation change in the accumulator