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limited IK calculation

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devZoGok
2021-10-19 19:06:41 +03:00
parent de8a6fb1aa
commit 9eb87999cf
4 changed files with 71 additions and 17 deletions
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skeleton.cpp
+58 -14
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@@ -29,7 +29,7 @@ namespace vb01{
Bone *boneChain[chainLength];
Bone *ikBoneAncestor = ikBone;
Vector3 boneIkPos[chainLength];
Vector3 targetPos = ikTarget->getModelSpacePos() + model->globalToLocalPosition(ikTarget->localToGlobalPosition(ikTarget->getPosePos()));
Vector3 targetPos = ikTarget->getPosition();
float sumLengths = 0;
@@ -42,40 +42,84 @@ namespace vb01{
Vector3 startPos = boneChain[chainLength - 1]->getModelSpacePos();
if(startPos.getDistanceFrom(targetPos) < sumLengths){
int numIterations = 500;
int numIterations = 2;
for(int i = 0 ; i < numIterations; i++){
bool backward = (i % 2 == 0);
for(int j = 0; j < chainLength; j++){
int boneId = (backward ? j : chainLength - 1 - j);
Vector3 ikPos = (j == 0 ? (backward ? targetPos : startPos) : boneIkPos[boneId]);
Vector3 bonePos = boneChain[boneId]->getModelSpacePos();
Vector3 fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * boneChain[boneId]->getLength();
int boneId;
float length;
Vector3 ikPos, bonePos, fromBoneToIkPos;
if(backward){
boneId = j;
length = boneChain[boneId]->getLength();
ikPos = (j == 0 ? targetPos : boneIkPos[boneId - 1]);
bonePos = boneIkPos[boneId];
fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * length;
}
else{
boneId = chainLength - 1 - j;
if(j == 0){
ikPos = startPos;
length = 0;
}
else{
ikPos = boneIkPos[boneId + 1];
length = boneChain[boneId + 0]->getLength();
}
bonePos = boneIkPos[boneId];
fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * length;
}
}
}
}
/*
else{
Vector3 fromStartToTarget = targetPos - startPos;
for(int i = 0; i < chainLength; i++){
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];
}
else{
length = boneChain[i]->getLength();
bonePos = boneIkPos[i + 1];
}
boneIkPos[i] = bonePos + startToEndVec * length;
}
}
*/
float boneAngles[chainLength];
Vector3 axis[chainLength];
for(int i = chainLength - 1; i >= 0; i--){
Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneChain[i]->getModelSpacePos()).norm() * -1;
Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneIkPos[i]).norm();
Vector3 boneAxis = boneChain[i]->getInitAxis(1);
Vector3 rotAxis = dir.cross(boneAxis).norm();
//rotAxis = (model->localToGlobalPosition(boneChain[i]->globalToLocalPosition(rotAxis))).norm();
float angle = boneAxis.getAngleBetween(dir);
if(rotAxis == Vector3::VEC_ZERO){
angle = 0;
rotAxis = Vector3::VEC_I;
}
boneAngles[i] = angle;
axis[i] = rotAxis;
}
for(int i = 0; i < chainLength; i++){
for(int j = i + 1; j < chainLength; j++){
boneAngles[i] -= boneAngles[j];
if(boneAngles[i] <= 0){
boneAngles[i] = 0;
break;
}
}
float angle = boneAngles[i];
Vector3 rotAxis = axis[i];
boneChain[i]->setPoseRot(Quaternion(angle, rotAxis));
//((Node*)boneChain[i])->lookAt(dir, model);
}
}