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influence of additional bones for IK chains

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devZoGok
2021-10-19 19:06:41 +03:00
parent 539c147c92
commit 18fab525e8
4 changed files with 28 additions and 24 deletions
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ikSolver.cpp
+1 -1
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@@ -2,7 +2,7 @@
#include "bone.h"
namespace vb01{
void IkSolver::calculateFabrik(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos){
void IkSolver::calculateFabrik(int chainLength, Bone **boneChain, Vector3 boneIkPos[], Vector3 targetPos){
float sumLengths = 0;
for(int i = 0; i < chainLength; i++)
sumLengths += boneChain[i]->getLength();
ikSolver.h
+1 -1
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@@ -10,7 +10,7 @@ namespace vb01{
public:
IkSolver();
~IkSolver(){}
static void calculateFabrik(int, Bone*[], Vector3[], Vector3);
static void calculateFabrik(int, Bone**, Vector3[], Vector3);
private:
};
}
skeleton.cpp
+24 -21
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@@ -17,7 +17,6 @@ namespace vb01{
void Skeleton::update(){
for(Bone *b : bones){
//b->update();
if(b->getIkTarget())
solveIk(b);
}
@@ -25,41 +24,35 @@ namespace vb01{
}
void Skeleton::solveIk(Bone *ikBone){
const int chainLength = ikBone->getIkChainLength();
Bone *ikTarget = ikBone->getIkTarget();
Bone *subBase = (Bone*)ikTarget->getParent();
const int chainLength = ikBone->getIkChainLength();
Bone **boneChain = getIkBoneChain(ikBone);
Vector3 boneIkPos[chainLength];
Bone *boneChain[chainLength];
Bone *ikBoneAncestor = ikBone;
for(int i = 0; i < chainLength; i++){
boneChain[i] = ikBoneAncestor;
ikBoneAncestor = (Bone*)ikBoneAncestor->getParent();
boneChain[i]->setPosePos(Vector3::VEC_ZERO);
boneChain[i]->setPoseRot(Quaternion::QUAT_W);
boneChain[i]->setPoseScale(Vector3::VEC_IJK);
}
for(int i = 0; i < chainLength; i++)
for(int i = chainLength - 1; i >= 0; i--){
boneIkPos[i] = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
}
Vector3 targetPos = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
IkSolver::calculateFabrik(chainLength, boneChain, boneIkPos, targetPos);
transformIkChain(chainLength, boneChain, boneIkPos, ikTarget);
delete[] boneChain;
}
void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Bone* ikTarget){
void Skeleton::transformIkChain(int chainLength, Bone **boneChain, Vector3 boneIkPos[], Bone* ikTarget){
Bone *subBase = (Bone*)ikTarget->getParent();
for(int i = chainLength - 1; i >= 0; i--){
Vector3 tailPosBoneSpace, tailRestPosBoneSpace;
if(i == 0){
boneChain[i]->setPoseRot(Quaternion::QUAT_W);
Vector3 tailPosBoneSpace;
if(i == 0)
tailPosBoneSpace = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
tailRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3(0, boneChain[i]->getLength(), 0)));
}
else{
else
tailPosBoneSpace = boneIkPos[i - 1];
tailRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i - 1]->localToGlobalPosition(Vector3::VEC_ZERO));
}
Vector3 tailRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3(0, boneChain[i]->getLength(), 0)));
Vector3 headRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
Vector3 headDir = (tailPosBoneSpace - headRestPosBoneSpace).norm();
Vector3 boneDir = (tailRestPosBoneSpace - headRestPosBoneSpace).norm();
@@ -93,4 +86,14 @@ namespace vb01{
return bone;
}
Bone** Skeleton::getIkBoneChain(Bone *ikBone){
int chainLength = ikBone->getIkChainLength();
Bone **chain = new Bone*[chainLength];
Bone *ikBoneAncestor = ikBone;
for(int i = 0; i < chainLength; i++){
chain[i] = ikBoneAncestor;
ikBoneAncestor = (Bone*)ikBoneAncestor->getParent();
}
return chain;
}
}
skeleton.h
+2 -1
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@@ -23,7 +23,8 @@ namespace vb01{
inline int getNumBones(){return bones.size();}
private:
void solveIk(Bone*);
void transformIkChain(int, Bone*[], Vector3[], Bone*);
void transformIkChain(int, Bone**, Vector3[], Bone*);
Bone** getIkBoneChain(Bone*);
std::string name;
std::vector<Bone*> bones;