ApfelTeeSaft/vb01
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bone setup corrections

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This commit is contained in:
devZoGok
2022-03-11 07:57:01 +02:00
parent 8936266dcb
commit ff44ad178d
6 changed files with 32 additions and 3 deletions
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ikSolver.cpp
+8
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@@ -5,12 +5,14 @@
namespace vb01{
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();
Skeleton *skeleton = boneChain[0]->getSkeleton();
Bone *subBase = (Bone*)skeleton->getBone(boneChain[0]->getIkTarget())->getParent();
Vector3 startPos = subBase->globalToLocalPosition(boneChain[chainLength - 1]->localToGlobalPosition(Vector3::VEC_ZERO));
if(startPos.getDistanceFrom(targetPos) < sumLengths){
int numIterations = 500;
@@ -21,6 +23,7 @@ namespace vb01{
int boneId;
float length;
Vector3 ikPos, bonePos, fromBoneToIkPos;
if(backward){
boneId = j;
length = boneChain[boneId]->getLength();
@@ -28,6 +31,7 @@ namespace vb01{
}
else{
boneId = chainLength - 1 - j;
if(j == 0){
ikPos = startPos;
length = 0;
@@ -37,6 +41,7 @@ namespace vb01{
length = boneChain[boneId + 0]->getLength();
}
}
bonePos = boneIkPos[boneId];
fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * length;
@@ -45,9 +50,11 @@ namespace vb01{
}
else{
Vector3 startToEndVec = (targetPos - startPos).norm();
for(int i = chainLength - 1; i >= 0; i--){
float length;
Vector3 bonePos;
if(i == chainLength - 1){
length = 0;
bonePos = boneIkPos[i];
@@ -56,6 +63,7 @@ namespace vb01{
length = boneChain[i]->getLength();
bonePos = boneIkPos[i + 1];
}
boneIkPos[i] = bonePos + startToEndVec * length;
}
}