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IK transforms are better affected by other bones

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This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent f8d5beb5d6
commit 539c147c92
2 changed files with 16 additions and 44 deletions
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ikSolver.cpp
+1 -1
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@@ -8,7 +8,7 @@ namespace vb01{
sumLengths += boneChain[i]->getLength();
Bone *subBase = (Bone*)boneChain[0]->getIkTarget()->getParent();
Vector3 startPos = boneChain[chainLength - 1]->getBoneSpaceRestPos(subBase);
Vector3 startPos = subBase->globalToLocalPosition(boneChain[chainLength - 1]->localToGlobalPosition(Vector3::VEC_ZERO));
if(startPos.getDistanceFrom(targetPos) < sumLengths){
int numIterations = 500;
skeleton.cpp
+15 -43
View File
@@ -36,8 +36,12 @@ namespace vb01{
for(int i = 0; i < chainLength; i++){
boneChain[i] = ikBoneAncestor;
ikBoneAncestor = (Bone*)ikBoneAncestor->getParent();
boneIkPos[i] = boneChain[i]->getBoneSpaceRestPos(subBase);
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++)
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);
@@ -46,62 +50,30 @@ namespace vb01{
void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Bone* ikTarget){
Bone *subBase = (Bone*)ikTarget->getParent();
Vector3 rotAxis[chainLength];
float angles[chainLength];
for(int i = 0; i < chainLength; i++){
Vector3 tailPosBoneSpace;
Vector3 tailRestPosBoneSpace;
for(int i = chainLength - 1; i >= 0; i--){
Vector3 tailPosBoneSpace, tailRestPosBoneSpace;
if(i == 0){
tailPosBoneSpace = subBase->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
tailRestPosBoneSpace = ikTarget->getBoneSpaceRestPos(subBase);
tailRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3(0, boneChain[i]->getLength(), 0)));
}
else{
tailPosBoneSpace = boneIkPos[i - 1];
tailRestPosBoneSpace = boneChain[i - 1]->getBoneSpaceRestPos(subBase);
tailRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i - 1]->localToGlobalPosition(Vector3::VEC_ZERO));
}
Vector3 headRestPosBoneSpace = boneChain[i]->getBoneSpaceRestPos(subBase);
Vector3 headRestPosBoneSpace = subBase->globalToLocalPosition(boneChain[i]->localToGlobalPosition(Vector3::VEC_ZERO));
Vector3 headDir = (tailPosBoneSpace - headRestPosBoneSpace).norm();
Vector3 boneDir = (tailRestPosBoneSpace - headRestPosBoneSpace).norm();
float angle = boneDir.getAngleBetween(headDir);
angles[i] = angle;
Vector3 axis = boneDir.cross(headDir).norm();
axis =
boneChain[i]->globalToLocalPosition(subBase->localToGlobalPosition(axis)) -
boneChain[i]->globalToLocalPosition(subBase->localToGlobalPosition(Vector3::VEC_ZERO));
if(axis == Vector3::VEC_ZERO)
axis = Vector3::VEC_I;
axis = (
subBase->getInitAxis(0) * axis.x +
subBase->getInitAxis(1) * axis.y +
subBase->getInitAxis(2) * axis.z
).norm();
mat3 mat;
mat[0][0] = boneChain[i]->getInitAxis(0).x;
mat[1][0] = boneChain[i]->getInitAxis(0).y;
mat[2][0] = boneChain[i]->getInitAxis(0).z;
mat[0][1] = boneChain[i]->getInitAxis(1).x;
mat[1][1] = boneChain[i]->getInitAxis(1).y;
mat[2][1] = boneChain[i]->getInitAxis(1).z;
mat[0][2] = boneChain[i]->getInitAxis(2).x;
mat[1][2] = boneChain[i]->getInitAxis(2).y;
mat[2][2] = boneChain[i]->getInitAxis(2).z;
vec3 localAxis = vec3(axis.x, axis.y, axis.z) * inverse(mat);
rotAxis[i] = Vector3(localAxis.x, localAxis.y, localAxis.z).norm();
float angle = boneDir.getAngleBetween(headDir);
boneChain[i]->setPoseRot(Quaternion(angle, axis));
}
for(int i = 0; i < chainLength; i++){
for(int j = i + 1; j < chainLength; j++)
angles[i] -= angles[j];
if(angles[i] < 0)
angles[i] = 0;
}
for(int i = 0; i < chainLength; i++)
boneChain[i]->setPoseRot(Quaternion(angles[i], rotAxis[i]));
}
void Skeleton::addBone(Bone *bone, Bone *parent){