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Another IK improvement: guessing correct PalmToThumb vector #20

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Another IK improvement: guessing correct PalmToThumb vector #20

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bb35864
fix issue that palmToThumb vector which leads bad IK results is compu…
Jan 16, 2019
e01272e
Merge branch 'master' into vrik-fix2
Assistant Jan 19, 2019
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13 changes: 7 additions & 6 deletions CustomAvatar/VRIK/IKSolverVR.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ public void GuessHandOrientations(VRIK.References references, bool onlyIfZero)

if (leftArm.palmToThumbAxis == Vector3.zero || !onlyIfZero)
{
leftArm.palmToThumbAxis = GuessPalmToThumbAxis(references.leftHand, references.leftForearm);
leftArm.palmToThumbAxis = GuessPalmToThumbAxis(references.leftHand, references.leftForearm, leftArm.wristToPalmAxis);
}

if (rightArm.wristToPalmAxis == Vector3.zero || !onlyIfZero)
Expand All @@ -68,7 +68,7 @@ public void GuessHandOrientations(VRIK.References references, bool onlyIfZero)

if (rightArm.palmToThumbAxis == Vector3.zero || !onlyIfZero)
{
rightArm.palmToThumbAxis = GuessPalmToThumbAxis(references.rightHand, references.rightForearm);
rightArm.palmToThumbAxis = GuessPalmToThumbAxis(references.rightHand, references.rightForearm, rightArm.wristToPalmAxis);
}
}

Expand Down Expand Up @@ -273,7 +273,7 @@ private Vector3 GuessWristToPalmAxis(Transform hand, Transform forearm)
return axis;
}

private Vector3 GuessPalmToThumbAxis(Transform hand, Transform forearm)
private Vector3 GuessPalmToThumbAxis(Transform hand, Transform forearm, Vector3 wristToPalmAxis)
{
if (hand.childCount == 0)
{
Expand All @@ -294,9 +294,10 @@ private Vector3 GuessPalmToThumbAxis(Transform hand, Transform forearm)
}
}

Vector3 handNormal = Vector3.Cross(hand.position - forearm.position, hand.GetChild(thumbIndex).position - hand.position);
Vector3 toThumb = Vector3.Cross(handNormal, hand.position - forearm.position);
Vector3 axis = AxisTools.ToVector3(AxisTools.GetAxisToDirection(hand, toThumb));
Vector3 wristToPalm = hand.rotation * wristToPalmAxis;
Vector3 handNormal = Vector3.Cross(wristToPalm, (hand.GetChild(thumbIndex).position - hand.position).normalized).normalized;
Vector3 toThumb = Vector3.Cross(handNormal, wristToPalm).normalized;
Vector3 axis = Quaternion.Inverse(hand.rotation) * toThumb;
if (Vector3.Dot(toThumb, hand.rotation * axis) < 0f) axis = -axis;
return axis;
}
Expand Down
2 changes: 1 addition & 1 deletion CustomAvatar/VRIK/IKSolverVRArm.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -416,7 +416,7 @@ private Vector3 GetBendNormal(Vector3 dir) {
b = chestRotation * b;

b = Vector3.Slerp(b, armDir, 0.5f);
Vector3 vectorHand = (q * wristToPalmAxis * 0.15f + q * palmToThumbAxis * 0.85f) * -1.0f;
Vector3 vectorHand = q * Vector3.Slerp(wristToPalmAxis, palmToThumbAxis, 0.85f) * -1.0f;
float handWeight = (Vector3.Dot(b, vectorHand) + 1.0f) * 0.5f * 0.75f; // to range of 0 - 0.75
b = Vector3.Slerp(b, vectorHand, handWeight);

Expand Down