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)); }
void SkeletonModel::stretchArm(int jointIndex, const glm::vec3& position) { // find out where the hand is pointing glm::quat handRotation; getJointRotation(jointIndex, handRotation, true); const FBXGeometry& geometry = _geometry->getFBXGeometry(); glm::vec3 forwardVector(jointIndex == geometry.rightHandJointIndex ? -1.0f : 1.0f, 0.0f, 0.0f); glm::vec3 handVector = handRotation * forwardVector; // align elbow with hand const FBXJoint& joint = geometry.joints.at(jointIndex); if (joint.parentIndex == -1) { return; } glm::quat elbowRotation; getJointRotation(joint.parentIndex, elbowRotation, true); applyRotationDelta(joint.parentIndex, rotationBetween(elbowRotation * forwardVector, handVector), false); // set position according to normal length float scale = extractUniformScale(_scale); glm::vec3 handPosition = position - _translation; glm::vec3 elbowPosition = handPosition - handVector * joint.distanceToParent * scale; // set shoulder orientation to point to elbow const FBXJoint& parentJoint = geometry.joints.at(joint.parentIndex); if (parentJoint.parentIndex == -1) { return; } glm::quat shoulderRotation; getJointRotation(parentJoint.parentIndex, shoulderRotation, true); applyRotationDelta(parentJoint.parentIndex, rotationBetween(shoulderRotation * forwardVector, elbowPosition - extractTranslation(_jointStates.at(parentJoint.parentIndex).transform)), false); // update the shoulder state updateJointState(parentJoint.parentIndex); // adjust the elbow's local translation setJointTranslation(joint.parentIndex, elbowPosition); }
void SkeletonModel::applyHandPosition(int jointIndex, const glm::vec3& position) { if (jointIndex == -1) { return; } setJointPosition(jointIndex, position); const FBXGeometry& geometry = _geometry->getFBXGeometry(); glm::vec3 handPosition, elbowPosition; getJointPosition(jointIndex, handPosition); getJointPosition(geometry.joints.at(jointIndex).parentIndex, elbowPosition); glm::vec3 forearmVector = handPosition - elbowPosition; float forearmLength = glm::length(forearmVector); if (forearmLength < EPSILON) { return; } glm::quat handRotation; getJointRotation(jointIndex, handRotation, true); // align hand with forearm float sign = (jointIndex == geometry.rightHandJointIndex) ? 1.0f : -1.0f; applyRotationDelta(jointIndex, rotationBetween(handRotation * glm::vec3(-sign, 0.0f, 0.0f), forearmVector), false); }
void JointState::setRotation(const glm::quat& rotation, bool constrain, float priority) { applyRotationDelta(rotation * glm::inverse(_rotation), true, priority); }