void SkeletonModel::applyPalmData(int jointIndex, const QVector<int>& fingerJointIndices,
const QVector<int>& fingertipJointIndices, PalmData& palm) {
if (jointIndex == -1) {
return;
}
const FBXGeometry& geometry = _geometry->getFBXGeometry();
float sign = (jointIndex == geometry.rightHandJointIndex) ? 1.0f : -1.0f;
glm::quat palmRotation;
getJointRotation(jointIndex, palmRotation, true);
applyRotationDelta(jointIndex, rotationBetween(palmRotation * geometry.palmDirection, palm.getNormal()), false);
getJointRotation(jointIndex, palmRotation, true);
// sort the finger indices by raw x, get the average direction
QVector<IndexValue> fingerIndices;
glm::vec3 direction;
for (size_t i = 0; i < palm.getNumFingers(); i++) {
glm::vec3 fingerVector = palm.getFingers()[i].getTipPosition() - palm.getPosition();
float length = glm::length(fingerVector);
if (length > EPSILON) {
direction += fingerVector / length;
}
fingerVector = glm::inverse(palmRotation) * fingerVector * -sign;
IndexValue indexValue = { i, atan2f(fingerVector.z, fingerVector.x) };
fingerIndices.append(indexValue);
}
qSort(fingerIndices.begin(), fingerIndices.end());
// rotate palm according to average finger direction
float directionLength = glm::length(direction);
const int MIN_ROTATION_FINGERS = 3;
if (directionLength > EPSILON && palm.getNumFingers() >= MIN_ROTATION_FINGERS) {
applyRotationDelta(jointIndex, rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction), false);
getJointRotation(jointIndex, palmRotation, true);
}
// no point in continuing if there are no fingers
if (palm.getNumFingers() == 0 || fingerJointIndices.isEmpty()) {
stretchArm(jointIndex, palm.getPosition());
return;
}
// match them up as best we can
float proportion = fingerIndices.size() / (float)fingerJointIndices.size();
for (int i = 0; i < fingerJointIndices.size(); i++) {
int fingerIndex = fingerIndices.at(roundf(i * proportion)).index;
glm::vec3 fingerVector = palm.getFingers()[fingerIndex].getTipPosition() -
palm.getFingers()[fingerIndex].getRootPosition();
int fingerJointIndex = fingerJointIndices.at(i);
int fingertipJointIndex = fingertipJointIndices.at(i);
glm::vec3 jointVector = extractTranslation(geometry.joints.at(fingertipJointIndex).bindTransform) -
extractTranslation(geometry.joints.at(fingerJointIndex).bindTransform);
setJointRotation(fingerJointIndex, rotationBetween(palmRotation * jointVector, fingerVector) * palmRotation, true);
}
stretchArm(jointIndex, palm.getPosition());
}
void SkeletonModel::applyPalmData(int jointIndex, const QVector<int>& fingerJointIndices,
const QVector<int>& fingertipJointIndices, PalmData& palm) {
if (jointIndex == -1) {
return;
}
const FBXGeometry& geometry = _geometry->getFBXGeometry();
float sign = (jointIndex == geometry.rightHandJointIndex) ? 1.0f : -1.0f;
int parentJointIndex = geometry.joints.at(jointIndex).parentIndex;
if (parentJointIndex == -1) {
return;
}
// rotate forearm to align with palm direction
glm::quat palmRotation;
getJointRotation(parentJointIndex, palmRotation, true);
applyRotationDelta(parentJointIndex, rotationBetween(palmRotation * geometry.palmDirection, palm.getNormal()), false);
getJointRotation(parentJointIndex, palmRotation, true);
// sort the finger indices by raw x, get the average direction
QVector<IndexValue> fingerIndices;
glm::vec3 direction;
for (size_t i = 0; i < palm.getNumFingers(); i++) {
glm::vec3 fingerVector = palm.getFingers()[i].getTipPosition() - palm.getPosition();
float length = glm::length(fingerVector);
if (length > EPSILON) {
direction += fingerVector / length;
}
fingerVector = glm::inverse(palmRotation) * fingerVector * -sign;
IndexValue indexValue = { (int)i, atan2f(fingerVector.z, fingerVector.x) };
fingerIndices.append(indexValue);
}
qSort(fingerIndices.begin(), fingerIndices.end());
// rotate forearm according to average finger direction
float directionLength = glm::length(direction);
const unsigned int MIN_ROTATION_FINGERS = 3;
if (directionLength > EPSILON && palm.getNumFingers() >= MIN_ROTATION_FINGERS) {
applyRotationDelta(parentJointIndex, rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction), false);
getJointRotation(parentJointIndex, palmRotation, true);
}
// let wrist inherit forearm rotation
_jointStates[jointIndex].rotation = glm::quat();
// set elbow position from wrist position
glm::vec3 forearmVector = palmRotation * glm::vec3(sign, 0.0f, 0.0f);
setJointPosition(parentJointIndex, palm.getPosition() + forearmVector *
geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale));
}