Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 03:44:02 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

remove IK 'flutter' bug

Browse source
This commit is contained in:
Andrew Meadows 2015-09-16 15:23:52 -07:00
parent d4ea661aca
commit e1fc1900ab
1 changed files with 7 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

10
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -283,12 +283,16 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
loadPoses(underPoses);
} else {
// relax toward underpose
const float RELAXATION_TIMESCALE = 0.125f;
const float alpha = glm::clamp(dt / RELAXATION_TIMESCALE, 0.0f, 1.0f);
// HACK: this relaxation needs to be constant per-frame rather than per-realtime
// in order to prevent IK "flutter" for bad FPS. The bad news is that the good parts
// of this relaxation will be FPS dependent (low FPS will make the limbs align slower
// in real-time), however most people will not notice this and this problem is less
// annoying than the flutter.
const float blend = (1.0f / 60.0f) / (0.25f); // effectively: dt / RELAXATION_TIMESCALE
int numJoints = (int)_relativePoses.size();
for (int i = 0; i < numJoints; ++i) {
float dotSign = copysignf(1.0f, glm::dot(_relativePoses[i].rot, underPoses[i].rot));
_relativePoses[i].rot = glm::normalize(glm::lerp(_relativePoses[i].rot, dotSign * underPoses[i].rot, alpha));
_relativePoses[i].rot = glm::normalize(glm::lerp(_relativePoses[i].rot, dotSign * underPoses[i].rot, blend));
}
}
return evaluate(animVars, dt, triggersOut);