devZoGok/vb01
1
0
Fork 0
mirror of https://github.com/devZoGok/vb01.git synced 2026-08-26 19:43:30 +00:00
Code Issues Packages Projects Releases Wiki Activity

changed pose orientation calculation

Browse Source
This commit is contained in:
devZoGok
2021-10-19 19:06:41 +03:00
parent d430bc6fc0
commit 756c58fc89
7 changed files with 45 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
skeleton.cpp
+12 -5
View File
@@ -22,11 +22,12 @@ namespace vb01{
void Skeleton::solveIk(Bone *ikBone){
const int chainLength = ikBone->getIkChainLength();
Bone *rootBone = getRootBone();
Bone *ikTarget = ikBone->getIkTarget();
Bone *boneChain[chainLength];
Bone *ikBoneAncestor = ikBone;
Vector3 boneIkPos[chainLength];
Vector3 targetPos = ikTarget->getPosition();
Vector3 targetPos = rootBone->globalToLocalPosition(ikTarget->localToGlobalPosition(Vector3::VEC_ZERO));
float sumLengths = 0;
@@ -45,7 +46,7 @@ namespace vb01{
void Skeleton::calculateFabrik(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos, float sumLengths){
Vector3 startPos = boneChain[chainLength - 1]->getModelSpacePos();
if(startPos.getDistanceFrom(targetPos) < sumLengths){
int numIterations = 2;
int numIterations = 200;
for(int i = 0 ; i < numIterations; i++){
bool backward = (i % 2 == 0);
@@ -94,11 +95,19 @@ namespace vb01{
}
void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos){
/*
Bone *rootBone = getRootBone();
for(int i = chainLength - 1; i >= 0; i--){
Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneChain[i]->getModelSpacePos()).norm();
boneChain[i]->lookAt(dir, rootBone);
}
*/
float boneAngles[chainLength];
Vector3 axis[chainLength];
for(int i = chainLength - 1; i >= 0; i--){
Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneIkPos[i]).norm();
Vector3 boneAxis = boneChain[i]->getInitAxis(1);
Vector3 rotAxis = boneAxis.cross(dir).norm();
float angle = boneAxis.getAngleBetween(dir);
@@ -108,8 +117,6 @@ namespace vb01{
rotAxis = Vector3::VEC_I;
}
//rotAxis = (boneChain[i]->getInitAxis(0) * rotAxis.x + boneChain[i]->getInitAxis(1) * rotAxis.y + boneChain[i]->getInitAxis(2) * rotAxis.z).norm();
boneAngles[i] = angle;
axis[i] = rotAxis;
}