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apply _hipsOffset in hips local-frame

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This commit is contained in:
Andrew Meadows 2016-01-27 14:22:50 -08:00
parent 00715f1906
commit f67a20ee68
2 changed files with 18 additions and 10 deletions
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26
libraries/animation/src/AnimInverseKinematics.cpp
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@ -382,7 +382,20 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
if (offsetLength > MIN_HIPS_OFFSET_LENGTH) {
// but only if offset is long enough
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
_relativePoses[_rootIndex].trans = underPoses[_rootIndex].trans + scaleFactor * _hipsOffset;
if (_hipsParentIndex == -1) {
// the hips are the root so _hipsOffset is in the correct frame
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans + scaleFactor * _hipsOffset;
} else {
// the hips are NOT the root so we need to transform _hipsOffset into hips local-frame
glm::quat hipsFrameRotation = _relativePoses[_hipsParentIndex].rot;
int index = _skeleton->getParentIndex(_hipsParentIndex);
while (index != -1) {
hipsFrameRotation *= _relativePoses[index].rot;
index = _skeleton->getParentIndex(index);
}
_relativePoses[_hipsIndex].trans = underPoses[_hipsIndex].trans
+ glm::inverse(glm::normalize(hipsFrameRotation)) * (scaleFactor * _hipsOffset);
}
}
solveWithCyclicCoordinateDescent(targets);
@ -776,17 +789,12 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
_headIndex = _skeleton->nameToJointIndex("Head");
_hipsIndex = _skeleton->nameToJointIndex("Hips");
// walk up the hierarchy until we find the root and cache its index
_rootIndex = _hipsIndex;
int parentIndex = _skeleton->getParentIndex(_hipsIndex);
while (parentIndex != -1) {
_rootIndex = parentIndex;
parentIndex = _skeleton->getParentIndex(_rootIndex);
}
// also cache the _hipsParentIndex for later
_hipsParentIndex = _skeleton->getParentIndex(_hipsIndex);
} else {
clearConstraints();
_headIndex = -1;
_hipsIndex = -1;
_rootIndex = -1;
_hipsParentIndex = -1;
}
}

2
libraries/animation/src/AnimInverseKinematics.h
View file

@ -82,7 +82,7 @@ protected:
glm::vec3 _hipsOffset { Vectors::ZERO };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _rootIndex { -1 };
int _hipsParentIndex { -1 };
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm