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minor skeleton changes

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devZoGok
2021-10-19 19:06:41 +03:00
parent 3ee5555652
commit e106379f2f
1 changed files with 26 additions and 9 deletions
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skeleton.cpp
+26 -9
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@@ -21,11 +21,16 @@ namespace vb01{
}
void Skeleton::solveIk(Bone *ikBone){
Bone *rootBone = getRootBone();
Node *model = rootBone->getParent();
const int chainLength = ikBone->getIkChainLength();
Bone *ikTarget = ikBone->getIkTarget();
Bone *boneChain[chainLength];
Bone *ikBoneAncestor = ikBone;
Vector3 boneIkPos[chainLength], targetPos = ikTarget->getModelSpacePos();
Vector3 boneIkPos[chainLength];
Vector3 targetPos = ikTarget->getModelSpacePos() + model->globalToLocalPosition(ikTarget->localToGlobalPosition(ikTarget->getPosePos()));
float sumLengths = 0;
for(int i = 0; i < chainLength; i++){
@@ -40,11 +45,12 @@ namespace vb01{
int numIterations = 500;
for(int i = 0 ; i < numIterations; i++){
bool backward = i % 2;
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 fromBoneToIkPos = ikPos - boneChain[boneId]->getModelSpacePos();
Vector3 bonePos = boneChain[boneId]->getModelSpacePos();
Vector3 fromBoneToIkPos = (ikPos - bonePos).norm();
boneIkPos[boneId] = ikPos - fromBoneToIkPos * boneChain[boneId]->getLength();
}
}
@@ -57,9 +63,20 @@ namespace vb01{
}
*/
Bone *rootBone = getRootBone();
for(int i = 0; i < chainLength; i++)
(boneChain[i])->lookAt(boneIkPos[i], rootBone->getParent());
for(int i = chainLength - 1; i >= 0; i--){
Vector3 dir = ((i == 0 ? targetPos : boneIkPos[i - 1]) - boneChain[i]->getModelSpacePos()).norm() * -1;
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;
}
boneChain[i]->setPoseRot(Quaternion(angle, rotAxis));
//((Node*)boneChain[i])->lookAt(dir, model);
}
}
void Skeleton::addBone(Bone *bone, Bone *parent){
@@ -70,10 +87,10 @@ namespace vb01{
}
Bone* Skeleton::getBone(string name){
Bone *bone=nullptr;
Bone *bone = nullptr;
for(Bone *b : bones)
if(b->getName()==name){
bone=b;
if(b->getName() == name){
bone = b;
break;
}
return bone;