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Refactor engine loop to have better sync between game update, physics and drawing

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This commit is contained in:
Wojtek Figat
2024-04-17 13:38:06 +02:00
parent e53ab10145
commit 9f983cff49
4 changed files with 28 additions and 37 deletions
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13
Source/Engine/Animations/InverseKinematics.cpp
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@@ -10,7 +10,6 @@ void InverseKinematics::SolveAimIK(const Transform& node, const Vector3& target,
Quaternion::FindBetween(fromNode, toTarget, outNodeCorrection);
}
void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJointTransform, Transform& endEffectorTransform, const Vector3& targetPosition, const Vector3& poleVector, bool allowStretching, float maxStretchScale)
{
// Calculate limb segment lengths
@@ -82,17 +81,20 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
Vector3 newEndEffectorPos = targetPosition;
Vector3 newMidJointPos = midJointPos;
if (toTargetLength >= totalLimbLength) {
if (toTargetLength >= totalLimbLength)
{
// Target is beyond the reach of the limb
Vector3 rootToEnd = (targetPosition - rootTransform.Translation).GetNormalized();
// Calculate the slight offset towards the pole vector
Vector3 rootToPole = (poleVector - rootTransform.Translation).GetNormalized();
Vector3 slightBendDirection = Vector3::Cross(rootToEnd, rootToPole);
if (slightBendDirection.LengthSquared() < ZeroTolerance * ZeroTolerance) {
if (slightBendDirection.LengthSquared() < ZeroTolerance * ZeroTolerance)
{
slightBendDirection = Vector3::Up;
}
else {
else
{
slightBendDirection.Normalize();
}
@@ -140,7 +142,6 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
rootTransform.Orientation = newRootJointOrientation;
}
// Update mid joint orientation to point Y-axis towards the end effector and Z-axis perpendicular to the IK plane
{
// Vector from mid joint to end effector (local Y-axis direction after rotation)
@@ -150,7 +151,6 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
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();
@@ -163,7 +163,6 @@ void InverseKinematics::SolveTwoBoneIK(Transform& rootTransform, Transform& midJ
// 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