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Merge pull request #6320 from hyperlogic/tony/blender-avatar-ik-fix

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IK fix for avatars exported from Blender
This commit is contained in:
Andrew Meadows 2015-11-06 15:00:25 -08:00
commit e410030dd9
1 changed files with 5 additions and 5 deletions
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10
libraries/animation/src/AnimInverseKinematics.cpp
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@ -156,11 +156,11 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
// cache tip absolute transform // cache tip absolute transform
int tipIndex = target.getIndex(); int tipIndex = target.getIndex();
int pivotIndex = _skeleton->getParentIndex(tipIndex); int pivotIndex = _skeleton->getParentIndex(tipIndex);
if (pivotIndex == -1) { if (pivotIndex == -1 || pivotIndex == _hipsIndex) {
continue; continue;
} }
int pivotsParentIndex = _skeleton->getParentIndex(pivotIndex); int pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
if (pivotsParentIndex == -1) { if (pivotsParentIndex == -1 || pivotIndex == _hipsIndex) {
// TODO?: handle case where tip's parent is root? // TODO?: handle case where tip's parent is root?
continue; continue;
} }
@ -173,7 +173,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
glm::quat tipParentRotation = absolutePoses[pivotIndex].rot; glm::quat tipParentRotation = absolutePoses[pivotIndex].rot;
// descend toward root, pivoting each joint to get tip closer to target // descend toward root, pivoting each joint to get tip closer to target
while (pivotsParentIndex != -1) { while (pivotsParentIndex != _hipsIndex && pivotsParentIndex != -1) {
// compute the two lines that should be aligned // compute the two lines that should be aligned
glm::vec3 jointPosition = absolutePoses[pivotIndex].trans; glm::vec3 jointPosition = absolutePoses[pivotIndex].trans;
glm::vec3 leverArm = tipPosition - jointPosition; glm::vec3 leverArm = tipPosition - jointPosition;
@ -285,7 +285,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
// only update the absolutePoses that need it: those between lowestMovedIndex and _maxTargetIndex // only update the absolutePoses that need it: those between lowestMovedIndex and _maxTargetIndex
for (int i = lowestMovedIndex; i <= _maxTargetIndex; ++i) { for (int i = lowestMovedIndex; i <= _maxTargetIndex; ++i) {
int parentIndex = _skeleton->getParentIndex(i); int parentIndex = _skeleton->getParentIndex(i);
if (parentIndex != -1) { if (parentIndex != -1 && parentIndex != _hipsIndex) {
absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i]; absolutePoses[i] = absolutePoses[parentIndex] * _relativePoses[i];
} }
} }
@ -295,7 +295,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
for (auto& target: targets) { for (auto& target: targets) {
int tipIndex = target.getIndex(); int tipIndex = target.getIndex();
int parentIndex = _skeleton->getParentIndex(tipIndex); int parentIndex = _skeleton->getParentIndex(tipIndex);
if (parentIndex != -1) { if (parentIndex != -1 && parentIndex != _hipsIndex) {
const glm::quat& targetRotation = target.getRotation(); const glm::quat& targetRotation = target.getRotation();
// compute tip's new parent-relative rotation // compute tip's new parent-relative rotation
// Q = Qp * q --> q' = Qp^ * Q // Q = Qp * q --> q' = Qp^ * Q