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Fixes the SkeletonIK twisting issue by using the skeleton global pose without overrides

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(cherry picked from commit c1bc87ed0d)
This commit is contained in:
TwistedTwigleg
2021-04-27 17:56:19 -04:00
committed by Rémi Verschelde
parent feaf4e6207
commit e9c8889ae8
4 changed files with 78 additions and 106 deletions
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72
scene/animation/skeleton_ik.cpp
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@@ -257,7 +257,7 @@ void FabrikInverseKinematic::make_goal(Task *p_task, const Transform &p_inverse_
} else {
// End effector in local transform
const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose(p_task->end_effectors[0].tip_bone));
const Transform end_effector_pose(p_task->skeleton->get_bone_global_pose_no_override(p_task->end_effectors[0].tip_bone));
// Update the end_effector (local transform) by blending with current pose
p_task->end_effectors.write[0].goal_transform = end_effector_pose.interpolate_with(p_inverse_transf * p_task->goal_global_transform, blending_delta);
@@ -282,18 +282,7 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
return; // Skip solving
}
p_task->skeleton->set_bone_global_pose_override(p_task->chain.chain_root.bone, Transform(), 0.0, true);
if (p_task->chain.middle_chain_item) {
p_task->skeleton->set_bone_global_pose_override(p_task->chain.middle_chain_item->bone, Transform(), 0.0, true);
}
for (int i = 0; i < p_task->chain.tips.size(); i += 1) {
p_task->skeleton->set_bone_global_pose_override(p_task->chain.tips[i].chain_item->bone, Transform(), 0.0, true);
}
// Update the initial root transform
// (Needed to sync IK with animation)
// Update the initial root transform so its synced with any animation changes
_update_chain(p_task->skeleton, &p_task->chain.chain_root);
make_goal(p_task, p_task->skeleton->get_global_transform().affine_inverse(), blending_delta);
@@ -310,49 +299,22 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
Transform new_bone_pose(ci->initial_transform);
new_bone_pose.origin = ci->current_pos;
// The root bone needs to be rotated differently so it isn't frozen in place
if (ci == &p_task->chain.chain_root && !ci->children.empty()) {
new_bone_pose = new_bone_pose.looking_at(ci->children[0].current_pos, Vector3(0, 1, 0));
const Vector3 bone_rest_dir = p_task->skeleton->get_bone_rest(ci->children[0].bone).origin.normalized().abs();
const Vector3 bone_rest_dir_abs = bone_rest_dir.abs();
if (bone_rest_dir_abs.x > bone_rest_dir_abs.y && bone_rest_dir_abs.x > bone_rest_dir_abs.z) {
if (bone_rest_dir.x < 0) {
new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), -Math_PI / 2.0f);
} else {
new_bone_pose.basis.rotate_local(Vector3(0, 1, 0), Math_PI / 2.0f);
}
} else if (bone_rest_dir_abs.y > bone_rest_dir_abs.x && bone_rest_dir_abs.y > bone_rest_dir_abs.z) {
if (bone_rest_dir.y < 0) {
new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), Math_PI / 2.0f);
} else {
new_bone_pose.basis.rotate_local(Vector3(1, 0, 0), -Math_PI / 2.0f);
}
} else {
if (bone_rest_dir.z < 0) {
// Do nothing!
} else {
new_bone_pose.basis.rotate_local(Vector3(0, 0, 1), Math_PI);
}
if (!ci->children.empty()) {
/// Rotate basis
const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized());
const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized());
if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) {
const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1)));
new_bone_pose.basis.rotate(rot_axis, rot_angle);
}
} else {
if (!ci->children.empty()) {
/// Rotate basis
const Vector3 initial_ori((ci->children[0].initial_transform.origin - ci->initial_transform.origin).normalized());
const Vector3 rot_axis(initial_ori.cross(ci->current_ori).normalized());
if (rot_axis[0] != 0 && rot_axis[1] != 0 && rot_axis[2] != 0) {
const real_t rot_angle(Math::acos(CLAMP(initial_ori.dot(ci->current_ori), -1, 1)));
new_bone_pose.basis.rotate(rot_axis, rot_angle);
}
} else {
// Set target orientation to tip
if (override_tip_basis)
new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
else
new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
}
// Set target orientation to tip
if (override_tip_basis)
new_bone_pose.basis = p_task->chain.tips[0].end_effector->goal_transform.basis;
else
new_bone_pose.basis = new_bone_pose.basis * p_task->chain.tips[0].end_effector->goal_transform.basis;
}
// IK should not affect scale, so undo any scaling
@@ -373,7 +335,7 @@ void FabrikInverseKinematic::_update_chain(const Skeleton *p_sk, ChainItem *p_ch
return;
}
p_chain_item->initial_transform = p_sk->get_bone_global_pose(p_chain_item->bone);
p_chain_item->initial_transform = p_sk->get_bone_global_pose_no_override(p_chain_item->bone);
p_chain_item->current_pos = p_chain_item->initial_transform.origin;
ChainItem *items = p_chain_item->children.ptrw();