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remove IK 'flutter' bug

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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
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10
libraries/animation/src/AnimInverseKinematics.cpp
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@ -283,12 +283,16 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
loadPoses(underPoses); loadPoses(underPoses);
} else { } else {
// relax toward underpose // relax toward underpose
const float RELAXATION_TIMESCALE = 0.125f; // HACK: this relaxation needs to be constant per-frame rather than per-realtime
const float alpha = glm::clamp(dt / RELAXATION_TIMESCALE, 0.0f, 1.0f); // 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(); int numJoints = (int)_relativePoses.size();
for (int i = 0; i < numJoints; ++i) { for (int i = 0; i < numJoints; ++i) {
float dotSign = copysignf(1.0f, glm::dot(_relativePoses[i].rot, underPoses[i].rot)); 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); return evaluate(animVars, dt, triggersOut);