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broken up IK method

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devZoGok
2021-10-19 19:06:41 +03:00
parent 47dfabf73c
commit a70d9c8af9
2 changed files with 15 additions and 6 deletions
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skeleton.cpp
+13 -6
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@@ -37,6 +37,12 @@ namespace vb01{
boneIkPos[i] = boneChain[i]->getModelSpacePos();
}
calculateFabrik(chainLength, boneChain, boneIkPos, targetPos, sumLengths);
transformIkChain(chainLength, boneChain, boneIkPos, targetPos);
}
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;
@@ -51,9 +57,6 @@ namespace vb01{
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;
@@ -65,10 +68,10 @@ namespace vb01{
ikPos = boneIkPos[boneId + 1];
length = boneChain[boneId + 0]->getLength();
}
bonePos = boneIkPos[boneId];
fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * length;
}
bonePos = boneIkPos[boneId];
fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * length;
}
}
}
@@ -88,9 +91,12 @@ namespace vb01{
boneIkPos[i] = bonePos + startToEndVec * length;
}
}
}
void Skeleton::transformIkChain(int chainLength, Bone *boneChain[], Vector3 boneIkPos[], Vector3 targetPos){
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);
@@ -105,6 +111,7 @@ namespace vb01{
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];
skeleton.h
+2
View File
@@ -23,6 +23,8 @@ namespace vb01{
inline int getNumBones(){return bones.size();}
private:
void solveIk(Bone*);
void calculateFabrik(int, Bone*[], Vector3[], Vector3, float);
void transformIkChain(int, Bone*[], Vector3[], Vector3);
std::string name;
std::vector<Bone*> bones;