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Improvement: Inverse Kinematics now breaks the iteration if the computed

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angle change drops below some minimal level.
This commit is contained in:
jmekaelthas 2015-06-28 15:11:04 +02:00
parent 4992eba850
commit 483156f2ba
1 changed files with 13 additions and 10 deletions
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23
jme3-blender/src/main/java/com/jme3/scene/plugins/blender/constraints/definitions/ConstraintDefinitionIK.java
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@ -25,19 +25,20 @@ import com.jme3.scene.plugins.blender.math.Vector3d;
* @author Marcin Roguski (Kaelthas)
*/
public class ConstraintDefinitionIK extends ConstraintDefinition {
private static final float MIN_DISTANCE = 0.001f;
private static final int FLAG_USE_TAIL = 0x01;
private static final int FLAG_POSITION = 0x20;
private static final float MIN_DISTANCE = 0.001f;
private static final float MIN_ANGLE_CHANGE = 0.001f;
private static final int FLAG_USE_TAIL = 0x01;
private static final int FLAG_POSITION = 0x20;
private BonesChain bones;
private BonesChain bones;
/** The number of affected bones. Zero means that all parent bones of the current bone should take part in baking. */
private int bonesAffected;
private int bonesAffected;
/** Indicates if the tail of the bone should be used or not. */
private boolean useTail;
private boolean useTail;
/** The amount of iterations of the algorithm. */
private int iterations;
private int iterations;
/** The count of bones' chain. */
private int bonesCount = -1;
private int bonesCount = -1;
public ConstraintDefinitionIK(Structure constraintData, Long ownerOMA, BlenderContext blenderContext) {
super(constraintData, ownerOMA, blenderContext);
@ -117,7 +118,9 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
Matrix J_1 = J.pseudoinverse();
SimpleMatrix deltaThetas = J_1.mult(deltaP);
if (deltaThetas.elementMaxAbs() < MIN_ANGLE_CHANGE) {
break;
}
for (int j = 0; j < deltaThetas.numRows(); ++j) {
double angle = deltaThetas.get(j, 0);
Vector3d rotationVector = rotationVectors[j];
@ -171,7 +174,7 @@ public class ConstraintDefinitionIK extends ConstraintDefinition {
private static class BonesChain extends ArrayList<BoneContext> {
private static final long serialVersionUID = -1850524345643600718L;
private List<Matrix> bonesMatrices = new ArrayList<Matrix>();
private List<Matrix> bonesMatrices = new ArrayList<Matrix>();
public BonesChain(Bone bone, boolean useTail, int bonesAffected, Collection<Long> alteredOmas, BlenderContext blenderContext) {
if (bone != null) {