GoaLitiuM/FlaxEngine
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Revert #2421 two bone ik to solve #2610 regression

Browse Source
This commit is contained in:
Wojtek Figat
2024-05-20 11:19:03 +02:00
parent 2cdd0ff644
commit 73f68c102d
1 changed files with 21 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
Source/Engine/Animations/InverseKinematics.cpp
View File

@@ -80,7 +80,6 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
// Calculate new positions for joint and end effector
Vector3 newEndEffectorPos = targetPosition;
Vector3 newMidJointPos = midJointPos;
if (toTargetLength >= totalLimbLength)
{
// Target is beyond the reach of the limb
@@ -90,13 +89,9 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
Vector3 rootToPole = (poleVector - rootTransform.Translation).GetNormalized();
Vector3 slightBendDirection = Vector3::Cross(rootToEnd, rootToPole);
if (slightBendDirection.LengthSquared() < ZeroTolerance * ZeroTolerance)
{
slightBendDirection = Vector3::Up;
}
else
{
slightBendDirection.Normalize();
}
// Calculate the direction from root to mid joint with a slight offset towards the pole vector
Vector3 midJointDirection = Vector3::Cross(slightBendDirection, rootToEnd).GetNormalized();
@@ -117,9 +112,16 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
projJointDist *= -1.0f;
newMidJointPos = rootTransform.Translation + projJointDist * toTargetDir + jointLineDist * bendDirection;
}
// TODO: fix the new IK impl (https://github.com/FlaxEngine/FlaxEngine/pull/2421) to properly work for character from https://github.com/PrecisionRender/CharacterControllerPro
#define OLD 1
// Update root joint orientation
{
#if OLD
const Vector3 oldDir = (midJointPos - rootTransform.Translation).GetNormalized();
const Vector3 newDir = (newMidJointPos - rootTransform.Translation).GetNormalized();
const Quaternion deltaRotation = Quaternion::FindBetween(oldDir, newDir);
rootTransform.Orientation = deltaRotation * rootTransform.Orientation;
#else
// Vector from root joint to mid joint (local Y-axis direction)
Vector3 localY = (newMidJointPos - rootTransform.Translation).GetNormalized();
@@ -136,20 +138,23 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
localZ = Vector3::Cross(localX, localY).GetNormalized();
// Construct a rotation from the orthogonal basis vectors
Quaternion newRootJointOrientation = Quaternion::LookRotation(localZ, localY);
// Apply the new rotation to the root joint
rootTransform.Orientation = newRootJointOrientation;
rootTransform.Orientation = Quaternion::LookRotation(localZ, localY);
#endif
}
// Update mid joint orientation to point Y-axis towards the end effector and Z-axis perpendicular to the IK plane
{
#if OLD
const Vector3 oldDir = (endEffectorTransform.Translation - midJointPos).GetNormalized();
const Vector3 newDir = (newEndEffectorPos - newMidJointPos).GetNormalized();
const Quaternion deltaRotation = Quaternion::FindBetween(oldDir, newDir);
midJointTransform.Orientation = deltaRotation * midJointTransform.Orientation;
#else
// Vector from mid joint to end effector (local Y-axis direction after rotation)
Vector3 midToEnd = (newEndEffectorPos - newMidJointPos).GetNormalized();
// Calculate the plane normal using the root, mid joint, and end effector positions (will be the local Z-axis direction)
Vector3 rootToMid = (newMidJointPos - rootTransform.Translation).GetNormalized();
Vector3 planeNormal = Vector3::Cross(rootToMid, midToEnd).GetNormalized();
// Vector from mid joint to end effector (local Y-axis direction)
Vector3 localY = (newEndEffectorPos - newMidJointPos).GetNormalized();
@@ -157,21 +162,18 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
// Calculate the plane normal using the root, mid joint, and end effector positions (local Z-axis direction)
Vector3 localZ = Vector3::Cross(rootToMid, localY).GetNormalized();
//// Calculate the local X-axis direction, should be perpendicular to the Y and Z axes
// Calculate the local X-axis direction, should be perpendicular to the Y and Z axes
Vector3 localX = Vector3::Cross(localY, localZ).GetNormalized();
// Correct the local Z-axis direction based on the cross product of X and Y to ensure orthogonality
localZ = Vector3::Cross(localX, localY).GetNormalized();
// Construct a rotation from the orthogonal basis vectors
// The axes are used differently here than a standard LookRotation to align Z towards the end and Y perpendicular
Quaternion newMidJointOrientation = Quaternion::LookRotation(localZ, localY); // Assuming FromLookRotation creates a rotation with the first vector as forward and the second as up
// Apply the new rotation to the mid joint
midJointTransform.Orientation = newMidJointOrientation;
midJointTransform.Translation = newMidJointPos;
midJointTransform.Orientation = Quaternion::LookRotation(localZ, localY);
#endif
}
// Update end effector transform
// Update mid and end locations
midJointTransform.Translation = newMidJointPos;
endEffectorTransform.Translation = newEndEffectorPos;
}