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cleanup white space

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This commit is contained in:
Angus Antley 2019-02-16 23:40:16 -08:00
parent 0982c37c5e
commit e1dfd7d288
6 changed files with 25 additions and 43 deletions
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1
libraries/animation/src/AnimNodeLoader.cpp
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@ -42,7 +42,6 @@ static AnimNode::Pointer loadManipulatorNode(const QJsonObject& jsonObj, const Q
static AnimNode::Pointer loadInverseKinematicsNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl); static AnimNode::Pointer loadInverseKinematicsNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadDefaultPoseNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl); static AnimNode::Pointer loadDefaultPoseNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadTwoBoneIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl); static AnimNode::Pointer loadTwoBoneIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadArmIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl); static AnimNode::Pointer loadSplineIKNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);
static AnimNode::Pointer loadPoleVectorConstraintNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl); static AnimNode::Pointer loadPoleVectorConstraintNode(const QJsonObject& jsonObj, const QString& id, const QUrl& jsonUrl);

5
libraries/animation/src/AnimPoleVectorConstraint.cpp
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@ -13,7 +13,6 @@
#include "AnimUtil.h" #include "AnimUtil.h"
#include "GLMHelpers.h" #include "GLMHelpers.h"
#define USE_Q_OS_ANDROID
const float FRAMES_PER_SECOND = 30.0f; const float FRAMES_PER_SECOND = 30.0f;
const float INTERP_DURATION = 6.0f; const float INTERP_DURATION = 6.0f;
@ -122,8 +121,6 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
float sideDot = glm::dot(poleVector, sideVector); float sideDot = glm::dot(poleVector, sideVector);
float theta = copysignf(1.0f, sideDot) * acosf(dot); float theta = copysignf(1.0f, sideDot) * acosf(dot);
glm::quat deltaRot = glm::angleAxis(theta, unitAxis); glm::quat deltaRot = glm::angleAxis(theta, unitAxis);
// transform result back into parent relative frame. // transform result back into parent relative frame.
@ -133,7 +130,7 @@ const AnimPoseVec& AnimPoleVectorConstraint::evaluate(const AnimVariantMap& anim
glm::quat relTipRot = glm::inverse(midPose.rot()) * glm::inverse(deltaRot) * tipPose.rot(); glm::quat relTipRot = glm::inverse(midPose.rot()) * glm::inverse(deltaRot) * tipPose.rot();
ikChain.setRelativePoseAtJointIndex(_tipJointIndex, AnimPose(relTipRot, underPoses[_tipJointIndex].trans())); ikChain.setRelativePoseAtJointIndex(_tipJointIndex, AnimPose(relTipRot, underPoses[_tipJointIndex].trans()));
} }
// start off by initializing output poses with the underPoses // start off by initializing output poses with the underPoses
_poses = underPoses; _poses = underPoses;

1
libraries/animation/src/AnimSplineIK.cpp
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@ -14,7 +14,6 @@
#include <DebugDraw.h> #include <DebugDraw.h>
#include "AnimUtil.h" #include "AnimUtil.h"
static const float JOINT_CHAIN_INTERP_TIME = 0.5f;
static const float FRAMES_PER_SECOND = 30.0f; static const float FRAMES_PER_SECOND = 30.0f;
AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration, AnimSplineIK::AnimSplineIK(const QString& id, float alpha, bool enabled, float interpDuration,

2
libraries/animation/src/AnimSplineIK.h
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@ -57,8 +57,8 @@ protected:
bool _enabled; bool _enabled;
float _interpDuration; float _interpDuration;
QString _baseJointName; QString _baseJointName;
QString _tipJointName;
QString _midJointName; QString _midJointName;
QString _tipJointName;
QString _basePositionVar; QString _basePositionVar;
QString _baseRotationVar; QString _baseRotationVar;
QString _midPositionVar; QString _midPositionVar;

51
libraries/animation/src/Rig.cpp
View file

@ -1462,7 +1462,7 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
glm::vec3 poleVector; glm::vec3 poleVector;
#if defined(Q_OS_ANDROID) || defined(USE_Q_OS_ANDROID) #if defined(Q_OS_ANDROID) || defined(USE_Q_OS_ANDROID)
bool isLeft = true; bool isLeft = true;
bool usePoleVector = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, isLeft, poleVector); bool usePoleVector = calculateElbowPoleVectorOptimized(handJointIndex, elbowJointIndex, armJointIndex, isLeft, poleVector);
#else #else
bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector); bool usePoleVector = calculateElbowPoleVector(handJointIndex, elbowJointIndex, armJointIndex, oppositeArmJointIndex, poleVector);
#endif #endif
@ -1727,9 +1727,9 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
float zFactor; float zFactor;
if (armToHand[1] > 0.0f) { if (armToHand[1] > 0.0f) {
zFactor = weights[2] * glm::max(zStart - (armToHand[2] / defaultArmLength), 0.0f) * fabs(armToHand[1] / defaultArmLength); zFactor = weights[2] * glm::max(zStart - (armToHand[2] / defaultArmLength), 0.0f) * fabsf(armToHand[1] / defaultArmLength);
} else { } else {
zFactor = zWeightBottom * glm::max(zStart - (armToHand[2] / defaultArmLength), 0.0f) * fabs(armToHand[1] / defaultArmLength); zFactor = zWeightBottom * glm::max(zStart - (armToHand[2] / defaultArmLength), 0.0f) * fabsf(armToHand[1] / defaultArmLength);
} }
float xFactor; float xFactor;
@ -1766,8 +1766,8 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
// now we calculate the contribution of the hand rotation relative to the arm // now we calculate the contribution of the hand rotation relative to the arm
// we are adding in the delta rotation so that we have the hand correction relative to the // we are adding in the delta rotation so that we have the hand correction relative to the
// latest theta for hand position // latest theta for hand position
glm::quat relativeHandRotation = (newAbsMid.inverse() * handPose).rot(); glm::quat relativeHandRotation = (newAbsMid.inverse() * handPose).rot();
//glm::quat relativeHandRotation = (elbowPose.inverse() * handPose).rot(); //glm::quat relativeHandRotation = (elbowPose.inverse() * handPose).rot();
if (relativeHandRotation.w < 0.0f) { if (relativeHandRotation.w < 0.0f) {
@ -1852,7 +1852,6 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
//qCDebug(animation) << "flex ave: " << (_flexThetaRunningAverageRight / PI) * 180.0f << " twist ave: " << (_twistThetaRunningAverageRight / PI) * 180.0f << " ulnar deviation ave: " << (_ulnarRadialThetaRunningAverageRight / PI) * 180.0f; //qCDebug(animation) << "flex ave: " << (_flexThetaRunningAverageRight / PI) * 180.0f << " twist ave: " << (_twistThetaRunningAverageRight / PI) * 180.0f << " ulnar deviation ave: " << (_ulnarRadialThetaRunningAverageRight / PI) * 180.0f;
} }
const float POWER = 2.0f;
const float FLEX_BOUNDARY = PI / 6.0f; const float FLEX_BOUNDARY = PI / 6.0f;
const float EXTEND_BOUNDARY = -PI / 4.0f; const float EXTEND_BOUNDARY = -PI / 4.0f;
float flexCorrection = 0.0f; float flexCorrection = 0.0f;
@ -1862,7 +1861,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
} else if (_flexThetaRunningAverageLeft < EXTEND_BOUNDARY) { } else if (_flexThetaRunningAverageLeft < EXTEND_BOUNDARY) {
flexCorrection = ((_flexThetaRunningAverageLeft - EXTEND_BOUNDARY) / PI) * 180.0f; flexCorrection = ((_flexThetaRunningAverageLeft - EXTEND_BOUNDARY) / PI) * 180.0f;
} }
if (fabs(flexCorrection) > 30.0f) { if (fabsf(flexCorrection) > 30.0f) {
flexCorrection = glm::sign(flexCorrection) * 30.0f; flexCorrection = glm::sign(flexCorrection) * 30.0f;
} }
theta += flexCorrection; theta += flexCorrection;
@ -1872,7 +1871,7 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
} else if (_flexThetaRunningAverageRight < EXTEND_BOUNDARY) { } else if (_flexThetaRunningAverageRight < EXTEND_BOUNDARY) {
flexCorrection = ((_flexThetaRunningAverageRight - EXTEND_BOUNDARY) / PI) * 180.0f; flexCorrection = ((_flexThetaRunningAverageRight - EXTEND_BOUNDARY) / PI) * 180.0f;
} }
if (fabs(flexCorrection) > 30.0f) { if (fabsf(flexCorrection) > 30.0f) {
flexCorrection = glm::sign(flexCorrection) * 30.0f; flexCorrection = glm::sign(flexCorrection) * 30.0f;
} }
theta -= flexCorrection; theta -= flexCorrection;
@ -1888,23 +1887,23 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
} else if (_ulnarRadialThetaRunningAverageLeft < ULNAR_BOUNDARY_MINUS) { } else if (_ulnarRadialThetaRunningAverageLeft < ULNAR_BOUNDARY_MINUS) {
ulnarDiff = _ulnarRadialThetaRunningAverageLeft - ULNAR_BOUNDARY_MINUS; ulnarDiff = _ulnarRadialThetaRunningAverageLeft - ULNAR_BOUNDARY_MINUS;
} }
if (fabs(ulnarDiff) > 0.0f) { if (fabsf(ulnarDiff) > 0.0f) {
float twistCoefficient = (fabs(_twistThetaRunningAverageLeft) / (PI / 20.0f)); float twistCoefficient = (fabsf(_twistThetaRunningAverageLeft) / (PI / 20.0f));
if (twistCoefficient > 1.0f) { if (twistCoefficient > 1.0f) {
twistCoefficient = 1.0f; twistCoefficient = 1.0f;
} }
if (left) { if (left) {
if (trueTwistTheta < 0.0f) { if (trueTwistTheta < 0.0f) {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} else { } else {
ulnarCorrection += glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} }
} else { } else {
// right hand // right hand
if (trueTwistTheta > 0.0f) { if (trueTwistTheta > 0.0f) {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} else { } else {
ulnarCorrection += glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} }
} }
if (fabsf(ulnarCorrection) > 20.0f) { if (fabsf(ulnarCorrection) > 20.0f) {
@ -1918,23 +1917,23 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
} else if (_ulnarRadialThetaRunningAverageRight < ULNAR_BOUNDARY_MINUS) { } else if (_ulnarRadialThetaRunningAverageRight < ULNAR_BOUNDARY_MINUS) {
ulnarDiff = _ulnarRadialThetaRunningAverageRight - ULNAR_BOUNDARY_MINUS; ulnarDiff = _ulnarRadialThetaRunningAverageRight - ULNAR_BOUNDARY_MINUS;
} }
if (fabs(ulnarDiff) > 0.0f) { if (fabsf(ulnarDiff) > 0.0f) {
float twistCoefficient = (fabs(_twistThetaRunningAverageRight) / (PI / 20.0f)); float twistCoefficient = (fabsf(_twistThetaRunningAverageRight) / (PI / 20.0f));
if (twistCoefficient > 1.0f) { if (twistCoefficient > 1.0f) {
twistCoefficient = 1.0f; twistCoefficient = 1.0f;
} }
if (left) { if (left) {
if (trueTwistTheta < 0.0f) { if (trueTwistTheta < 0.0f) {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} else { } else {
ulnarCorrection += glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} }
} else { } else {
// right hand // right hand
if (trueTwistTheta > 0.0f) { if (trueTwistTheta > 0.0f) {
ulnarCorrection -= glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection -= glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} else { } else {
ulnarCorrection += glm::sign(ulnarDiff) * (fabs(ulnarDiff) / PI) * 40.0f * twistCoefficient; ulnarCorrection += glm::sign(ulnarDiff) * (fabsf(ulnarDiff) / PI) * 40.0f * twistCoefficient;
} }
} }
if (fabsf(ulnarCorrection) > 20.0f) { if (fabsf(ulnarCorrection) > 20.0f) {
@ -1998,15 +1997,12 @@ bool Rig::calculateElbowPoleVectorOptimized(int handIndex, int elbowIndex, int s
float yValue = -1.0f * cos(thetaRadians); float yValue = -1.0f * cos(thetaRadians);
float zValue = 0.0f; float zValue = 0.0f;
glm::vec3 thetaVector(xValue, yValue, zValue); glm::vec3 thetaVector(xValue, yValue, zValue);
//glm::vec3 thetaVector(1.0f, 0.0f, 0.0f);
glm::vec3 xAxis = glm::cross(Vectors::UNIT_Y, armToHand); glm::vec3 up = Vectors::UNIT_Y;
glm::vec3 up = glm::cross(armToHand, xAxis);
glm::quat armAxisRotation;
glm::vec3 u, v, w;
glm::vec3 fwd = armToHand/glm::length(armToHand); glm::vec3 fwd = armToHand/glm::length(armToHand);
glm::vec3 u, v, w;
generateBasisVectors(fwd, Vectors::UNIT_Y, u, v, w); generateBasisVectors(fwd, up, u, v, w);
AnimPose armAxisPose(glm::mat4(glm::vec4(-w, 0.0f), glm::vec4(v, 0.0f), glm::vec4(u, 0.0f), glm::vec4(glm::vec3(0.0f, 0.0f, 0.0f), 1.0f))); AnimPose armAxisPose(glm::mat4(glm::vec4(-w, 0.0f), glm::vec4(v, 0.0f), glm::vec4(u, 0.0f), glm::vec4(glm::vec3(0.0f, 0.0f, 0.0f), 1.0f)));
poleVector = armAxisPose * thetaVector; poleVector = armAxisPose * thetaVector;
@ -2092,9 +2088,6 @@ bool Rig::calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex,
} }
poleVector = glm::normalize(attenuationVector + fullPoleVector + correctionVector); poleVector = glm::normalize(attenuationVector + fullPoleVector + correctionVector);
if (handIndex == _animSkeleton->nameToJointIndex("LeftHand")) {
qCDebug(animation) << "the pole vector is " << poleVector;
}
return true; return true;
} }

8
libraries/animation/src/Rig.h
View file

@ -415,12 +415,6 @@ protected:
glm::vec3 _prevLeftFootPoleVector { Vectors::UNIT_Z }; // sensor space glm::vec3 _prevLeftFootPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevLeftFootPoleVectorValid { false }; bool _prevLeftFootPoleVectorValid { false };
glm::vec3 _prevRightHandPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevRightHandPoleVectorValid { false };
glm::vec3 _prevLeftHandPoleVector { Vectors::UNIT_Z }; // sensor space
bool _prevLeftHandPoleVectorValid { false };
int _rigId; int _rigId;
bool _headEnabled { false }; bool _headEnabled { false };
bool _computeNetworkAnimation { false }; bool _computeNetworkAnimation { false };
@ -429,7 +423,7 @@ protected:
float _twistThetaRunningAverageLeft { 0.0f }; float _twistThetaRunningAverageLeft { 0.0f };
float _flexThetaRunningAverageLeft { 0.0f }; float _flexThetaRunningAverageLeft { 0.0f };
float _ulnarRadialThetaRunningAverageLeft { 0.0f }; float _ulnarRadialThetaRunningAverageLeft { 0.0f };
float _twistThetaRunningAverageRight{ 0.0f }; float _twistThetaRunningAverageRight { 0.0f };
float _flexThetaRunningAverageRight { 0.0f }; float _flexThetaRunningAverageRight { 0.0f };
float _ulnarRadialThetaRunningAverageRight { 0.0f }; float _ulnarRadialThetaRunningAverageRight { 0.0f };
float _lastThetaLeft { 0.0f }; float _lastThetaLeft { 0.0f };