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Merge pull request #6486 from hyperlogic/tony/hand-ik-fix

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Fixes hand IK for some avatars
This commit is contained in:
Brad Hefta-Gaub 2015-11-24 20:00:12 -08:00
commit e807aaf718
3 changed files with 5 additions and 23 deletions
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17
libraries/animation/src/AnimSkeleton.cpp
View file

@ -49,23 +49,6 @@ const AnimPose& AnimSkeleton::getAbsoluteBindPose(int jointIndex) const {
return _absoluteBindPoses[jointIndex];
}
AnimPose AnimSkeleton::getRootAbsoluteBindPoseByChildName(const QString& childName) const {
AnimPose pose = AnimPose::identity;
int jointIndex = nameToJointIndex(childName);
if (jointIndex >= 0) {
int numJoints = (int)(_absoluteBindPoses.size());
if (jointIndex < numJoints) {
int parentIndex = getParentIndex(jointIndex);
while (parentIndex != -1 && parentIndex < numJoints) {
jointIndex = parentIndex;
parentIndex = getParentIndex(jointIndex);
}
pose = _absoluteBindPoses[jointIndex];
}
}
return pose;
}
const AnimPose& AnimSkeleton::getRelativeBindPose(int jointIndex) const {
return _relativeBindPoses[jointIndex];
}

1
libraries/animation/src/AnimSkeleton.h
View file

@ -31,7 +31,6 @@ public:
// absolute pose, not relative to parent
const AnimPose& getAbsoluteBindPose(int jointIndex) const;
AnimPose getRootAbsoluteBindPoseByChildName(const QString& childName) const;
// relative to parent pose
const AnimPose& getRelativeBindPose(int jointIndex) const;

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

@ -1306,10 +1306,10 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
// TODO: figure out how to obtain the yFlip from where it is actually stored
glm::quat yFlipHACK = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
AnimPose rootBindPose = _animSkeleton->getRootAbsoluteBindPoseByChildName("LeftHand");
AnimPose hipsBindPose = _animSkeleton->getAbsoluteBindPose(_animSkeleton->nameToJointIndex("Hips"));
if (params.isLeftEnabled) {
_animVars.set("leftHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.leftPosition);
_animVars.set("leftHandRotation", rootBindPose.rot * yFlipHACK * params.leftOrientation);
_animVars.set("leftHandPosition", hipsBindPose.trans + hipsBindPose.rot * yFlipHACK * params.leftPosition);
_animVars.set("leftHandRotation", hipsBindPose.rot * yFlipHACK * params.leftOrientation);
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
} else {
_animVars.unset("leftHandPosition");
@ -1317,8 +1317,8 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
_animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
}
if (params.isRightEnabled) {
_animVars.set("rightHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.rightPosition);
_animVars.set("rightHandRotation", rootBindPose.rot * yFlipHACK * params.rightOrientation);
_animVars.set("rightHandPosition", hipsBindPose.trans + hipsBindPose.rot * yFlipHACK * params.rightPosition);
_animVars.set("rightHandRotation", hipsBindPose.rot * yFlipHACK * params.rightOrientation);
_animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
} else {
_animVars.unset("rightHandPosition");