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Bugfix: fixed some of the artifacts (unfortunately no all of them) that

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appeared after IK constraint computation; the algorithm now selects the
best found solution among all iterations.
This commit is contained in:
jmekaelthas 2015-04-16 22:18:36 +02:00
parent 60ed6b7620
commit 20ea38e97e
1 changed files with 16 additions and 0 deletions
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16
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/definitions/ConstraintDefinitionIK.java
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@ -110,6 +110,8 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
}
}
List<Transform> bestSolution = new ArrayList<Transform>(bones.size());
double bestSolutionDistance = Double.MAX_VALUE;
BoneContext topBone = bones.get(0);
for (int i = 0; i < iterations && distanceFromTarget > MIN_DISTANCE; ++i) {
for (BoneContext boneContext : bones) {
@ -150,6 +152,20 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
DTransform topBoneTransform = new DTransform(constraintHelper.getTransform(topBone.getArmatureObjectOMA(), topBone.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD));
Vector3d e = topBoneTransform.getTranslation().addLocal(topBoneTransform.getRotation().mult(Vector3d.UNIT_Y).multLocal(topBone.getLength()));// effector
distanceFromTarget = e.distance(t);
if(distanceFromTarget < bestSolutionDistance) {
bestSolutionDistance = distanceFromTarget;
bestSolution.clear();
for(BoneContext boneContext : bones) {
bestSolution.add(constraintHelper.getTransform(boneContext.getArmatureObjectOMA(), boneContext.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD));
}
}
}
// applying best solution
for(int i=0;i<bestSolution.size();++i) {
BoneContext boneContext = bones.get(i);
constraintHelper.applyTransform(boneContext.getArmatureObjectOMA(), boneContext.getBone().getName(), Space.CONSTRAINT_SPACE_WORLD, bestSolution.get(i));
}
}