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AnimInverseKinematics: fix for extra twist in lowerSpine joints.

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* When computing tipPosition, for the next iteration of the CCD,
  use the leverArm before it's projected onto the lowerSpine twist axis.
* fix for acos() that was going outside of valid domain. (-1.0, 1.0)
This commit is contained in:
Anthony J. Thibault 2016-02-16 17:31:39 -08:00
parent f932999b2c
commit df21fffa4a
1 changed files with 3 additions and 3 deletions
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6
libraries/animation/src/AnimInverseKinematics.cpp
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@ -278,8 +278,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
if (axisLength > MIN_AXIS_LENGTH) {
// compute angle of rotation that brings tip closer to target
axis /= axisLength;
float angle = acosf(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine)));
float cos_angle = std::min(std::max(glm::dot(leverArm, targetLine) / (glm::length(leverArm) * glm::length(targetLine)), -1.0f), 1.0f);
float angle = acosf(cos_angle);
const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
if (angle > MIN_ADJUSTMENT_ANGLE) {
// reduce angle by a fraction (for stability)
@ -348,7 +348,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
}
// keep track of tip's new transform as we descend towards root
tipPosition = jointPosition + deltaRotation * leverArm;
tipPosition = jointPosition + deltaRotation * (tipPosition - jointPosition);
tipOrientation = glm::normalize(deltaRotation * tipOrientation);
tipParentOrientation = glm::normalize(deltaRotation * tipParentOrientation);