C++ PalmData::getPosition方法代码示例

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::applyPalmData(int jointIndex, PalmData& palm) {
    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
        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 palm to align with its normal (normal points out of hand's palm)
    glm::quat inverseRotation = glm::inverse(_rotation);
    glm::vec3 palmPosition = inverseRotation * (palm.getPosition() - _translation);
    glm::vec3 palmNormal = inverseRotation * palm.getNormal();
    glm::vec3 fingerDirection = inverseRotation * palm.getFingerDirection();

    glm::quat palmRotation = rotationBetween(geometry.palmDirection, palmNormal);
    palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), fingerDirection) * palmRotation;

    if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
        setHandPosition(jointIndex, palmPosition, palmRotation);  
    } else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
        float forearmLength = geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale);
        glm::vec3 forearm = palmRotation * glm::vec3(sign * forearmLength, 0.0f, 0.0f);
        setJointPosition(parentJointIndex, palmPosition + forearm,
            glm::quat(), false, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
        JointState& parentState = _jointStates[parentJointIndex];
        parentState.setRotationInBindFrame(palmRotation, PALM_PRIORITY);
        // lock hand to forearm by slamming its rotation (in parent-frame) to identity
        _jointStates[jointIndex].setRotationInConstrainedFrame(glm::quat(), PALM_PRIORITY);
    } else {
        inverseKinematics(jointIndex, palmPosition, palmRotation, PALM_PRIORITY);
    }
}

void SkeletonModel::applyPalmData(int jointIndex, 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 palm to align with its normal (normal points out of hand's palm)
    glm::quat palmRotation;
    if (!Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK) &&
            Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
        getJointRotation(parentJointIndex, palmRotation, true);
    } else {
        getJointRotation(jointIndex, palmRotation, true);
    }
    palmRotation = rotationBetween(palmRotation * geometry.palmDirection, palm.getNormal()) * palmRotation;
    
    // rotate palm to align with finger direction
    glm::vec3 direction = palm.getFingerDirection();
    palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction) * palmRotation;

    // set hand position, rotation
    if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
        setHandPosition(jointIndex, palm.getPosition(), palmRotation);  
        
    } else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
        glm::vec3 forearmVector = palmRotation * glm::vec3(sign, 0.0f, 0.0f);
        setJointPosition(parentJointIndex, palm.getPosition() + forearmVector *
            geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale));
        setJointRotation(parentJointIndex, palmRotation, true);
        _jointStates[jointIndex].rotation = glm::quat();
        
    } else {
        setJointPosition(jointIndex, palm.getPosition(), palmRotation, true);
    }
}