CMUK_ERROR_CODE cmuk::computeFootIK( LegIndex leg,
const vec3f& pos,
vec3f* q_bent_forward,
vec3f* q_bent_rearward ) const {
if ((int)leg < 0 || (int)leg >= NUM_LEGS) {
return CMUK_BAD_LEG_INDEX;
} else if (!q_bent_forward || !q_bent_rearward) {
return CMUK_INSUFFICIENT_ARGUMENTS;
}
debug << "*** computing IK...\n";
int hipflags = 0;
// subtract off hip position
vec3f p = pos - jo(_kc, leg, HIP_RX_OFFSET, _centeredFootIK);
vec3f orig = pos;
// get dist from hip rx joint to y rotation plane
const float& d = jo(_kc, leg, HIP_RY_OFFSET, _centeredFootIK)[1];
// get the squared length of the distance on the plane
float yz = p[1]*p[1] + p[2]*p[2];
// alpha is the angle of the foot in the YZ plane with respect to the Y axis
float alpha = atan2(p[2], p[1]);
// h is the distance of foot from hip in YZ plane
float h = sqrt(yz);
// beta is the angle between the foot-hip vector (projected in YZ
// plane) and the top hip link.
float cosbeta = d / h;
debug << "p = " << p << ", d = " << d << ", yz = " << yz << "\nalpha = " << alpha << ", h = " << h << ", cosbeta=" << cosbeta << "\n";
if (fabs(cosbeta) > 1) {
debug << "violated triangle inequality when calculating hip_rx_angle!\n" ;
if (fabs(cosbeta) - 1 > 1e-4) {
hipflags = hipflags | IK_UPPER_DISTANCE;
}
cosbeta = (cosbeta < 0) ? -1 : 1;
if (yz < 1e-4) {
p[1] = d;
p[2] = 0;
} else {
float scl = fabs(d) / h;
p[1] *= scl;
p[2] *= scl;
orig = p + jo(_kc, leg, HIP_RX_OFFSET, _centeredFootIK);
}
}
float beta = acos(cosbeta);
// Now compute the two possible hip angles
float hip_rx_angles[2], badness[2];
int flags[2];
flags[0] = hipflags;
flags[1] = hipflags;
hip_rx_angles[0] = fix_angle(alpha - beta, -M_PI, M_PI);
hip_rx_angles[1] = fix_angle(alpha + beta, -M_PI, M_PI);
const float& min = jl(_kc, leg, HIP_RX, 0);
const float& max = jl(_kc, leg, HIP_RX, 1);
// See how badly we violate the joint limits for this hip angles
for (int i=0; i<2; ++i) {
float& angle = hip_rx_angles[i];
badness[i] = fabs(compute_badness(angle, min, max));
if (badness[i]) { flags[i] = flags[i] | IK_UPPER_ANGLE_RANGE; }
}
// Put the least bad (and smallest) hip angle first
bool swap = false;
if ( badness[1] <= badness[0] ) {
// We want the less bad solution for hip angle
swap = true;
} else if (badness[0] == 0 && badness[1] == 0) {
// We want the solution for hip angle that leaves the hip up.
if ((leg == FL || leg == HL) && hip_rx_angles[0] > hip_rx_angles[1]) {
swap = true;
} else if ((leg == FR || leg == HR) && hip_rx_angles[0] < hip_rx_angles[1]) {
swap = true;
}
}
if (swap) {
std::swap(hip_rx_angles[0], hip_rx_angles[1]);
std::swap(badness[0], badness[1]);
std::swap(flags[0], flags[1]);
}
int hip_solution_cnt = 2;
if (badness[0] == 0 && badness[1] != 0) {
hip_solution_cnt = 1;
}
debug << "hip_rx_angles[0]=" << hip_rx_angles[0]
<< ", badness=" << badness[0]
<< ", flags=" << flags[0] << "\n";
debug << "hip_rx_angles[1]=" << hip_rx_angles[1]
<< ", badness=" << badness[1]
<< ", flags=" << flags[1] << "\n";
debug << "hip_solution_cnt = " << hip_solution_cnt << "\n";
vec3f qfwd[2], qrear[2];
for (int i=0; i<hip_solution_cnt; ++i) {
debug << "** computing ll solution " << (i+1) << " of " << (hip_solution_cnt) << "\n";
float hip_rx = hip_rx_angles[i];
// now make inv. transform to get rid of hip rotation
Transform3f tx = Transform3f::rx(hip_rx, jo(_kc, leg, HIP_RX_OFFSET, _centeredFootIK));
vec3f ptx = tx.transformInv(orig);
debug << "tx=[" << tx.translation() << ", " << tx.rotation() << "], ptx = " << ptx << "\n";
// calculate lengths for cosine law
float l1sqr = ol2(_kc, leg, KNEE_RY_OFFSET, _centeredFootIK);
float l2sqr = ol2(_kc, leg, FOOT_OFFSET, _centeredFootIK);
float l1 = ol(_kc, leg, KNEE_RY_OFFSET, _centeredFootIK);
float l2 = ol(_kc, leg, FOOT_OFFSET, _centeredFootIK);
float ksqr = ptx[0]*ptx[0] + ptx[2]*ptx[2];
float k = sqrt(ksqr);
debug << "l1=" << l1 << ", l2=" << l2 << ", k=" << k << "\n";
// check triangle inequality
if (k > l1 + l2) {
debug << "oops, violated the triangle inequality for lower segments: "
<< "k = " << k << ", "
<< "l1 + l2 = " << l1 + l2 << "\n";
if (k - (l1 + l2) > 1e-4) {
flags[i] = flags[i] | IK_LOWER_DISTANCE;
}
k = l1 + l2;
ksqr = k * k;
}
// 2*theta is the acute angle formed by the spread
// of the two hip rotations...
float costheta = (l1sqr + ksqr - l2sqr) / (2 * l1 * k);
if (fabs(costheta) > 1) {
debug << "costheta = " << costheta << " > 1\n";
if (fabs(costheta) - 1 > 1e-4) {
flags[i] = flags[i] | IK_LOWER_DISTANCE;
}
costheta = (costheta < 0) ? -1 : 1;
}
float theta = acos(costheta);
// gamma is the angle of the foot with respect to the z axis
float gamma = atan2(-ptx[0], -ptx[2]);
// hip angles are just offsets off of gamma now
float hip_ry_1 = gamma - theta;
float hip_ry_2 = gamma + theta;
// phi is the obtuse angle of the parallelogram
float cosphi = (l1sqr + l2sqr - ksqr) / (2 * l1 * l2);
if (fabs(cosphi) > 1) {
debug << "cosphi = " << cosphi << " > 1\n";
if (fabs(cosphi) - 1 > 1e-4) {
flags[i] = flags[i] | IK_LOWER_DISTANCE;
}
cosphi = (cosphi < 0) ? -1 : 1;
}
float phi = acos(cosphi);
// epsilon is the "error" caused by not having feet offset directly
// along the z-axis (if they were, epsilon would equal zero)
float epsilon = le(_kc, leg, _centeredFootIK);
// now we can directly solve for knee angles
float knee_ry_1 = M_PI - phi - epsilon;
float knee_ry_2 = -M_PI + phi - epsilon;
// now fill out angle structs and check limits
qfwd[i] = vec3f(hip_rx, hip_ry_1, knee_ry_1);
qrear[i] = vec3f(hip_rx, hip_ry_2, knee_ry_2);
debug << "before wrap, qfwd = " << qfwd[i] << "\n";
debug << "before wrap, qrear = " << qrear[i] << "\n";
check_wrap(_kc, qfwd[i], leg);
check_wrap(_kc, qrear[i], leg);
debug << "after wrap, qfwd = " << qfwd[i] << "\n";
debug << "after wrap, qrear = " << qrear[i] << "\n";
if (!check_limits(_kc, qfwd[i], leg)) {
debug << "violated limits forward!\n";
flags[i] = flags[i] | IK_LOWER_ANGLE_RANGE_FWD;
}
if (!check_limits(_kc, qrear[i], leg)) {
debug << "violated limits rearward!\n";
flags[i] = flags[i] | IK_LOWER_ANGLE_RANGE_REAR;
}
} // for each viable hip solution
int best = 0;
if (hip_solution_cnt == 2) {
if (howbad(flags[0]) > howbad(flags[1])) {
best = 1;
}
debug << "best overall solution is " << (best+1) << "\n";
}
*q_bent_forward = qfwd[best];
*q_bent_rearward = qrear[best];
return flags_to_errcode(flags[best]);
}
/** \reimpl
*/
void
FeatureLabelSetGeometry::render(RenderContext& rc, double /* clock */) const
{
const float visibleSizeThreshold = 20.0f; // in pixels
// No need to draw anything if the labels are turned off with an opacity
// setting near 0.
if (ms_globalOpacity <= 0.01f)
{
return;
}
// Render during the opaque pass if opaque or during the translucent pass if not.
if (rc.pass() == RenderContext::TranslucentPass)
{
// Get the position of the camera in the body-fixed frame of the labeled object
Transform3f inv = Transform3f(rc.modelview().inverse(Affine)); // Assuming an affine modelview matrix
Vector3f cameraPosition = inv.translation();
float overallPixelSize = boundingSphereRadius() / (rc.pixelSize() * cameraPosition.norm());
// Only draw individual labels if the overall projected size of the set exceeds the threshold
if (overallPixelSize > visibleSizeThreshold)
{
// Labels are treated as either completely visible or completely occluded. A label is
// visible when the labeled point isn't blocked by the occluding ellipsoid.
AlignedEllipsoid testEllipsoid(m_occludingEllipsoid.semiAxes() * 0.999);
Vector3f ellipsoidSemiAxes = testEllipsoid.semiAxes().cast<float>();
Vector3f viewDir = -cameraPosition.normalized();
double distanceToEllipsoid = 0.0;
// Instead of computing the ellipsoid intersection (as the line below), just treat the planet as a sphere
//TestRayEllipsoidIntersection(cameraPosition, viewDir, ellipsoidSemiAxes, &distanceToEllipsoid);
distanceToEllipsoid = (cameraPosition.norm() - ellipsoidSemiAxes.maxCoeff()) * 0.99f;
// We don't want labels partially hidden by the planet ellipsoid, so we'll project them onto a
// plane that lies just in front of the planet ellipsoid and which is parallel to the view plane
Hyperplane<float, 3> labelPlane(viewDir, cameraPosition + viewDir * float(distanceToEllipsoid));
for (vector<Feature, Eigen::aligned_allocator<Feature> >::const_iterator iter = m_features.begin(); iter != m_features.end(); ++iter)
{
Vector3f r = iter->position - cameraPosition;
Vector3f labelPosition = labelPlane.projection(iter->position);
float k = -(labelPlane.normal().dot(cameraPosition) + labelPlane.offset()) / (labelPlane.normal().dot(r));
labelPosition = cameraPosition + k * r;
rc.pushModelView();
rc.translateModelView(labelPosition);
float featureDistance = rc.modelview().translation().norm();
float pixelSize = iter->size / (rc.pixelSize() * featureDistance);
float d = r.norm();
r /= d;
double t = 0.0;
TestRayEllipsoidIntersection(cameraPosition, r, ellipsoidSemiAxes, &t);
if (pixelSize > visibleSizeThreshold && d < t)
{
rc.drawEncodedText(Vector3f::Zero(), iter->label, m_font.ptr(), TextureFont::Utf8, iter->color, ms_globalOpacity);
}
rc.popModelView();
}
}
}
}
